Merge branch 'dev_arch_opt_3.0' into 'dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0'

[dev_arch_opt_3.0]

See merge request zhjt/AndroidApp/MoGoEagleEye!540

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java

@@ -23,8 +23,8 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -307,8 +307,8 @@ public class SweeperOrderModel {
 
         if (distance > SweeperConst.ARRIVE_AT_END_STATION_DISTANCE) {
             distance = CoordinateUtils.calculateLineDistance(startLon, startLat,
-                    CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon(),
-                    CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat());
+                    CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude(),
+                    CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude());
         }
 
         if (distance <= SweeperConst.ARRIVE_AT_END_STATION_DISTANCE) {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt

@@ -20,8 +20,7 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo.NoticeTrafficAccou
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.notice.NoticeValue
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager.bizProvider
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
@@ -201,8 +200,8 @@ class NoticeTrafficDialog : BaseFloatDialog, LifecycleObserver {
                 mTrafficStyleInfo!!.lat, mTrafficStyleInfo!!.lon
             )
             parameters.startLatLon = AutoPilotLonLat(
-                getCurWgs84Lat(),
-                getCurWgs84Lon()
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude,
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude
             )
             parameters.endLatLon = AutoPilotLonLat(gcj02[0], gcj02[1])
             startAutoPilot(parameters)

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt

@@ -10,8 +10,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -80,7 +79,10 @@ class AutoPilotStatusView constructor(
         currentAutopilot.endName = "HYJC"
         currentAutopilot.isSpeakVoice = false
         currentAutopilot.startLatLon =
-            AutopilotControlParameters.AutoPilotLonLat(getCurWgs84Lat(), getCurWgs84Lon())
+            AutopilotControlParameters.AutoPilotLonLat(
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude,
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude
+            )
         currentAutopilot.endLatLon =
             AutopilotControlParameters.AutoPilotLonLat(26.819716071924688, 112.57715442110867)
         currentAutopilot.vehicleType = 10

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java

@@ -5,16 +5,20 @@ import android.graphics.Color;
 import android.os.Handler;
 import android.os.HandlerThread;
 import android.util.Log;
+
 import androidx.core.util.Pools;
+
 import com.mogo.eagle.core.data.map.MogoLatLng;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
 import com.mogo.map.MogoOverlayManager;
 import com.mogo.map.overlay.IMogoOverlayManager;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.overlay.MogoPolylineOptions;
+
 import java.util.LinkedList;
 import java.util.List;
+
 import mogo.telematics.pad.MessagePad;
 
 public class RouteOverlayDrawer {
@@ -128,8 +132,8 @@ public class RouteOverlayDrawer {
                     pps.add(acquire);
                     RouteStrategy.INSTANCE.check(route.getVelocity(), route.getAcceleration(), routeList.size());
                 }
-                double lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
-                double lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
+                double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+                double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
                 if (points.size() > 0) {
                     MogoLatLng top = null;
                     while (points.size() != 0) {
@@ -140,8 +144,8 @@ public class RouteOverlayDrawer {
                         if (first == top) {
                             break;
                         }
-                        lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
-                        lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
+                        lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+                        lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
                         long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
                         if (angle >= 90) {
                             RouteStrategy.INSTANCE.remove(first.acc);

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java

@@ -11,7 +11,7 @@ import com.mogo.commons.utils.Trigonometric;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.v2x.DrawLineInfo;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoPersonWarnPolylineManager;
@@ -44,8 +44,8 @@ public class V2XWarningMarker implements IV2XMarker {
     private final List fillPoints = new ArrayList();//停止线经纬度合集
     private boolean isFirstLocation = false;
     private MogoLatLng carLocation = new MogoLatLng(
-            CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat(),
-            CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon()
+            CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(),
+            CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude()
     );
 
     /*

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/MapUtils.kt

@@ -3,7 +3,7 @@ package com.mogo.eagle.core.function.v2x.events.utils
 import android.content.Context
 import android.graphics.Rect
 import com.mogo.eagle.core.data.map.MogoLatLng
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.util.WindowUtils
 
@@ -24,8 +24,8 @@ class MapUtils {
                 mBoundRect.right = WindowUtils.dip2px(context, 100f)
                 // 当前车辆位置
                 val carLocation = MogoLatLng(
-                    CallerAutoPilotStatusListenerManager.getCurWgs84Lat(),
-                    CallerAutoPilotStatusListenerManager.getCurWgs84Lon()
+                    CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude,
+                    CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude
                 )
                 // 调整自适应的地图镜头
                 CallerMapUIServiceManager.getMapUIController()

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt

@@ -14,9 +14,9 @@ import com.mogo.eagle.core.utilcode.util.TimeUtils
 object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocationWGS84Listener>() {
 
     @Volatile
-    private var mGnssInfo: MogoLocation? = null
+    private var mGnssInfo: MogoLocation = MogoLocation()
 
-    fun getChassisLocationWGS84(): MogoLocation? {
+    fun getChassisLocationWGS84(): MogoLocation {
         return mGnssInfo
     }
 
@@ -40,27 +40,26 @@ object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocati
     @Synchronized
     fun invokeChassisLocationWGS84(gnssInfo: MogoLocation, sourceType: DataSourceType) {
         this.mGnssInfo = gnssInfo.clone()
-        mGnssInfo?.let {
-            M_LISTENERS.forEach {
-                val tag = it.key
-                // 获取数据监听需要的HZ
-                val hz = M_LISTENERS_HZ[tag]
-                if (hz != null && hz > 0) {
-                    val hzTime = (1.0 / hz.toDouble()) * 1000
-                    // 获取最后一次回调的时间
-                    val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
-                    if (hzLastSendTime != null && hzLastSendTime > 0) {
-                        // 计算是否进入下一次回调周期
-                        val nowTime = TimeUtils.getNowMills()
-                        if (nowTime - hzLastSendTime > hzTime) {
-                            syncLocationCallback(tag, it, mGnssInfo!!, sourceType)
-                        }
-                    } else {
-                        syncLocationCallback(tag, it, mGnssInfo!!, sourceType)
+
+        M_LISTENERS.forEach {
+            val tag = it.key
+            // 获取数据监听需要的HZ
+            val hz = M_LISTENERS_HZ[tag]
+            if (hz != null && hz > 0) {
+                val hzTime = (1.0 / hz.toDouble()) * 1000
+                // 获取最后一次回调的时间
+                val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
+                if (hzLastSendTime != null && hzLastSendTime > 0) {
+                    // 计算是否进入下一次回调周期
+                    val nowTime = TimeUtils.getNowMills()
+                    if (nowTime - hzLastSendTime > hzTime) {
+                        syncLocationCallback(tag, it, mGnssInfo, sourceType)
                     }
                 } else {
-                    syncLocationCallback(tag, it, mGnssInfo!!, sourceType)
+                    syncLocationCallback(tag, it, mGnssInfo, sourceType)
                 }
+            } else {
+                syncLocationCallback(tag, it, mGnssInfo, sourceType)
             }
         }
     }