[dev_arch_opt_3.0]

[Change] [ 1、删除地图中废弃的定位回掉方法 2、修改小地图监听位置更改的方式，设置为10HZ，更新地图解决跳变问题 ] Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
2023-02-07 18:45:58 +08:00
parent 7ae724c3f0
commit daf51c78ce
15 changed files with 261 additions and 296 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
@@ -6,16 +6,20 @@ import com.amap.api.location.AMapLocationClientOption
 import com.amap.api.location.AMapLocationListener
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssListener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuLocationWGS84Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.CoordinateTransform
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.mogo.eagle.core.utilcode.util.Utils
+import com.mogo.support.obu.model.MogoObuHvBasicsData
 import mogo.telematics.pad.MessagePad

 /**
@@ -25,6 +29,7 @@ import mogo.telematics.pad.MessagePad
 */
 object MoGoLocationDispatcher :
    IMoGoChassisGnssListener,
+    IMoGoObuLocationWGS84Listener,
    AMapLocationListener {

    private val TAG = "MoGoLocationManager"
@@ -37,6 +42,11 @@ object MoGoLocationDispatcher :
     */
    private var lastGnssLocation: MogoLocation = MogoLocation()

+    /**
+     * 最后一次OBU GNSS 返回更新的位置
+     */
+    private var lastOBULocation: MogoLocation = MogoLocation()
+
    /**
     * 最后一次高德定位返回的位置信息
     */
@@ -69,6 +79,7 @@ object MoGoLocationDispatcher :

        // 初始化监听订阅工控机位置信息
        CallerChassisGnssListenerManager.addListener(TAG, this)
+        CallerObuLocationWGS84ListenerManager.addListener(TAG, this)
    }

    override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
@@ -95,17 +106,18 @@ object MoGoLocationDispatcher :
            lastGnssLocation.errorCode = it.errorCode
            lastGnssLocation.errorInfo = it.errorInfo
        }
-
-        // WGS84坐标系高精度位置信息
-        CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
-            lastGnssLocation,
-            DataSourceType.TELEMATIC
-        )
-        // GCJ02高德坐标系位置信息
-        CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
-            lastGnssLocation,
-            DataSourceType.TELEMATIC
-        )
+        if (1 == FunctionBuildConfig.gpsProvider) {
+            // WGS84坐标系高精度位置信息
+            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+                lastGnssLocation,
+                DataSourceType.TELEMATIC
+            )
+            // GCJ02高德坐标系位置信息
+            CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+                lastGnssLocation,
+                DataSourceType.TELEMATIC
+            )
+        }
    }

    /**
@@ -115,7 +127,7 @@ object MoGoLocationDispatcher :
    override fun onLocationChanged(aMapLocation: AMapLocation) {
        mapLocation = aMapLocation
        // 更新GNSS 信息
-
+        lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()

        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
        mapLocation?.let {
@@ -150,27 +162,100 @@ object MoGoLocationDispatcher :
            lastGaoDeLocation.errorInfo = it.errorInfo
        }

-        // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过10秒需要切换
-        if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 10000) {
-            // WGS84坐标系高精度位置信息
-            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
-                lastGaoDeLocation,
-                DataSourceType.MAP
-            )
-            // GCJ02高德坐标系位置信息
-            CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
-                lastGaoDeLocation,
-                DataSourceType.MAP
-            )
+        // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换
+        if (1 == FunctionBuildConfig.gpsProvider) {
+            if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 30000) {
+                syncGaoDeLocation()
+            }
+        } else if (2 == FunctionBuildConfig.gpsProvider) {
+            if (TimeUtils.getNowMills() - lastOBULocation.lastReceiveTime > 30000) {
+                syncGaoDeLocation()
+            }
        }

+
        // 本地SP缓存城市Code
        val cityCode = aMapLocation.cityCode
        if (cityCode != null && cityCode.isNotEmpty()) {
            mCityCode = aMapLocation.cityCode
            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
                .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
+
+            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                .putString(
+                    SharedPrefsConstants.LOCATION_LATITUDE,
+                    aMapLocation.latitude.toString()
+                )
+            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                .putString(
+                    SharedPrefsConstants.LOCATION_LONGITUDE,
+                    aMapLocation.longitude.toString()
+                )
        }

    }
+
+    /**
+     * 对外同步高德回掉的定位数据
+     */
+    private fun syncGaoDeLocation() {
+        // WGS84坐标系高精度位置信息
+        CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+            lastGaoDeLocation,
+            DataSourceType.MAP
+        )
+        // GCJ02高德坐标系位置信息
+        CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+            lastGaoDeLocation,
+            DataSourceType.MAP
+        )
+    }
+
+    /**
+     * OBU定位回调监听
+     */
+    override fun onObuLocationWGS84(data: MogoObuHvBasicsData) {
+        // 更新GNSS 信息
+        lastOBULocation.longitude = data.vehBasicsMsg.longitude
+        lastOBULocation.latitude = data.vehBasicsMsg.latitude
+        lastOBULocation.heading = data.vehBasicsMsg.heading
+        lastOBULocation.gnssSpeed = data.vehBasicsMsg.speed.toFloat()
+        lastOBULocation.altitude = data.vehBasicsMsg.elevation
+        lastOBULocation.satelliteTime = data.vehBasicsMsg.secMark
+        lastOBULocation.lastReceiveTime = TimeUtils.getNowMills()
+
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            lastOBULocation.cityName = it.city
+            lastOBULocation.cityCode = it.cityCode
+            lastOBULocation.provider = it.provider
+            lastOBULocation.address = it.address
+            lastOBULocation.district = it.district
+            lastOBULocation.province = it.province
+            lastOBULocation.adCode = it.adCode
+            lastOBULocation.locationDetail = it.locationDetail
+            lastOBULocation.poiName = it.poiName
+            lastOBULocation.aoiName = it.aoiName
+            lastOBULocation.street = it.street
+            lastOBULocation.streetNum = it.streetNum
+            lastOBULocation.description = it.description
+            lastOBULocation.buildingId = it.buildingId
+            lastOBULocation.floor = it.floor
+            lastOBULocation.errorCode = it.errorCode
+            lastOBULocation.errorInfo = it.errorInfo
+        }
+
+        if (2 == FunctionBuildConfig.gpsProvider) {
+            // WGS84坐标系高精度位置信息
+            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+                lastOBULocation,
+                DataSourceType.OBU
+            )
+            // GCJ02高德坐标系位置信息
+            CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+                lastOBULocation,
+                DataSourceType.OBU
+            )
+        }
+    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -16,6 +16,7 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Defa
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
@@ -31,7 +32,6 @@ import com.mogo.support.obu.model.*
 import com.mogo.support.obu.model.advance.SpatLight
 import com.mogo.support.obu.option.MogoObuCom
 import com.mogo.support.obu.option.MogoObuOptions
-import org.json.JSONObject
 import kotlin.math.roundToInt

 /**
@@ -107,45 +107,22 @@ class MogoPrivateObuNewManager private constructor() {
        /**
         * HV车辆基础信息 CvxHvCarIndInfo  CvxHvInfoIndInfo
         */
-        override fun onMogoObuHvBasics(p0: MogoObuHvBasicsData?) {
-            if (p0 != null && p0.vehBasicsMsg != null) {
+        override fun onMogoObuHvBasics(mogoObuHvBasicsData: MogoObuHvBasicsData?) {
+            if (mogoObuHvBasicsData != null && mogoObuHvBasicsData.vehBasicsMsg != null) {
                CallerLogger.d(
                    "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                    "onMogoObuHvBasics  lon = ${p0.vehBasicsMsg.longitude} --- lat = ${p0.vehBasicsMsg.latitude} ---speed = ${p0.vehBasicsMsg.speed} ---heading = ${p0.vehBasicsMsg.heading} --acceleration = ${p0.vehBasicsMsg.accFourAxes.accLat} --yawRate = ${p0.vehBasicsMsg.accFourAxes.accYaw}"
+                    "onMogoObuHvBasics  lon = ${mogoObuHvBasicsData.vehBasicsMsg.longitude} --- lat = ${mogoObuHvBasicsData.vehBasicsMsg.latitude} ---speed = ${mogoObuHvBasicsData.vehBasicsMsg.speed} ---heading = ${mogoObuHvBasicsData.vehBasicsMsg.heading} --acceleration = ${mogoObuHvBasicsData.vehBasicsMsg.accFourAxes.accLat} --yawRate = ${mogoObuHvBasicsData.vehBasicsMsg.accFourAxes.accYaw}"
                )
-                val data = JSONObject()
-                try {
-                    data.putOpt("lon", p0.vehBasicsMsg.longitude)
-                    data.putOpt("lat", p0.vehBasicsMsg.latitude)
-                    data.putOpt("speed", p0.vehBasicsMsg.speed)
-                    data.putOpt("heading", p0.vehBasicsMsg.heading)
-                    data.putOpt("acceleration", p0.vehBasicsMsg.accFourAxes.accLat)
-                    data.putOpt("yawRate", p0.vehBasicsMsg.accFourAxes.accYaw)
-
-                    try {
-                        data.putOpt("systemTime", System.currentTimeMillis())
-                    } catch (e: Exception) {
-                        e.printStackTrace()
-                    }
-                    try {
-                        data.putOpt("satelliteTime", System.currentTimeMillis())
-                    } catch (e: Exception) {
-                        e.printStackTrace()
-                    }
-
-                    // 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle  GPS_PROVIDER  0-Android系统，1-工控机，2-OBU
-                    if (2 == FunctionBuildConfig.gpsProvider) {
-                        // 同步给MAP地图
-                        CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(data)
-                        // 同步更新经纬度和系统时间至 AutoPilotStatusListener
-                        CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
-                            System.currentTimeMillis() / 1000.0,
-                            p0.vehBasicsMsg.longitude,
-                            p0.vehBasicsMsg.latitude
-                        )
-                    }
-                } catch (e: Exception) {
-                    e.printStackTrace()
+                // 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle  GPS_PROVIDER  0-Android系统，1-工控机，2-OBU
+                if (2 == FunctionBuildConfig.gpsProvider) {
+                    // 同步给MAP地图
+                    CallerObuLocationWGS84ListenerManager.invokeObuLocationWGS84(mogoObuHvBasicsData)
+                    // 同步更新经纬度和系统时间至 AutoPilotStatusListener
+                    CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
+                        System.currentTimeMillis() / 1000.0,
+                        mogoObuHvBasicsData.vehBasicsMsg.longitude,
+                        mogoObuHvBasicsData.vehBasicsMsg.latitude
+                    )
                }
            }
        }
@@ -621,7 +598,7 @@ class MogoPrivateObuNewManager private constructor() {
        }
    }

-  }
+}

 /**
 * 获取消息的方位 车辆相关
@@ -894,7 +871,6 @@ private var isShowGreenWave = false
 private var isShowRunRedLight = false


-
 /**
 * 修改红绿灯
 */
@@ -1004,22 +980,38 @@ private fun changeTrafficLightStatus(
    when (currentLight.light) {
        // 灯光不可用
        0 -> {
-            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(TrafficLightEnum.BLACK,-1,DataSourceType.OBU)
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.BLACK,
+                -1,
+                DataSourceType.OBU
+            )
        }
        // 红灯
        2, 3 -> {
            val red = currentLight.countDown.toInt()
-            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(TrafficLightEnum.RED,red,DataSourceType.OBU)
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.RED,
+                red,
+                DataSourceType.OBU
+            )
        }
        // 绿灯
        4, 5, 6 -> {
            val green = currentLight.countDown.toInt()
-            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(TrafficLightEnum.GREEN,green,DataSourceType.OBU)
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.GREEN,
+                green,
+                DataSourceType.OBU
+            )
        }
        // 黄灯
        7, 8 -> {
            val yellow = currentLight.countDown.toInt()
-            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(TrafficLightEnum.YELLOW,yellow,DataSourceType.OBU)
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.YELLOW,
+                yellow,
+                DataSourceType.OBU
+            )
        }
    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/env/EnvChangeManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/env/EnvChangeManager.kt
@@ -2,12 +2,12 @@ package com.zhjt.mogo_core_function_devatools.env

 import android.content.Context.MODE_PRIVATE
 import android.os.Process
-import com.mogo.commons.constants.*
-import com.mogo.commons.debug.*
+import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.EnvConfig
-import com.mogo.eagle.core.function.call.map.*
-import com.mogo.eagle.core.utilcode.mogo.storage.*
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.Utils


 object EnvChangeManager {
@@ -34,7 +34,7 @@ object EnvChangeManager {
    fun getCityName(): String {
        val cache = getConfig()
        return if (cache == null) {
-            when(CallerMapLocationListenerManager.getCurrentLocation()?.cityCode ?: SharedPrefsMgr.getInstance(Utils.getApp()).getString(SharedPrefsConstants.LOCATION_CITY_CODE) ?: "010") {
+            when(CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()?.cityCode ?: SharedPrefsMgr.getInstance(Utils.getApp()).getString(SharedPrefsConstants.LOCATION_CITY_CODE) ?: "010") {
                "010" -> "北京"
                "0734" -> "衡阳"
                else -> "未知"
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
@@ -14,7 +14,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.zhidaoauto.map.operational.open.GatherApi
@@ -26,7 +25,8 @@ import java.util.concurrent.CopyOnWriteArrayList
 import java.util.concurrent.atomic.AtomicReference

@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
-class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener, IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
+class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
+    IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
    IMoGoAutopilotRecordListener {

    companion object {
@@ -57,11 +57,14 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,

        executor.set(context?.let {
            GatherApi.also { itx ->
-            itx.init(it,
-                GatherParams.init()
-                    .setDebugMode(false)
-                    .setCoordinateType(GatherParams.COORDINATETYPE_GCJ02))
-        } })
+                itx.init(
+                    it,
+                    GatherParams.init()
+                        .setDebugMode(false)
+                        .setCoordinateType(GatherParams.COORDINATETYPE_GCJ02)
+                )
+            }
+        })
        executor.get()?.setOnTaskListener(this)
        val carSn = MoGoAiCloudClientConfig.getInstance().sn
        if (!TextUtils.isEmpty(carSn)) {
@@ -69,7 +72,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
        }
        MoGoAiCloudClient.getInstance().addTokenCallbacks(this)
        CallerLogger.d("$M_MAP$TAG", "--------- init --------")
-        CallerLogger.d("$M_MAP$TAG", "executor: ${ executor.get()?.hashCode() ?: 0 }")
+        CallerLogger.d("$M_MAP$TAG", "executor: ${executor.get()?.hashCode() ?: 0}")
    }

    override fun onDestroy() {
@@ -90,7 +93,13 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
                            recordPanel.stat == 102 || //工控机达到最大采集时长
                            recordPanel.stat == 103)   //工控机磁盘满了
        ) {
-            finish(recordPanel.id, recordPanel.stat, "", recordPanel.filename ?: "", recordPanel.note ?: "")
+            finish(
+                recordPanel.id,
+                recordPanel.stat,
+                "",
+                recordPanel.filename ?: "",
+                recordPanel.note ?: ""
+            )
        }
    }

@@ -131,7 +140,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
            }
            CallerLogger.d("$M_MAP$TAG", "-- finish: 结束任务[$id]")
            executor.get()?.finishTask(id, state, gpsPath, videoPath, reason)
-        } catch (e : Throwable) {
+        } catch (e: Throwable) {
            e.printStackTrace()
            CallerLogger.e("$M_MAP$TAG", "-- finish:\n$e")
        } finally {
@@ -171,14 +180,16 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
    }

    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
-        val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
-        executor.get()?.updateLocation(
-            location.longitude,
-            location.latitude,
-            location.altitude,
-            location.heading.toFloat(),
-            location.gnssSpeed,
-            false)
+        if (gnssInfo != null) {
+            executor.get()?.updateLocation(
+                gnssInfo.longitude,
+                gnssInfo.latitude,
+                gnssInfo.altitude,
+                gnssInfo.heading.toFloat(),
+                gnssInfo.gnssSpeed,
+                false
+            )
+        }
    }

    private fun isInValidStatus(): Boolean {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
@@ -29,7 +29,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import mogo.telematics.pad.MessagePad
-import java.util.*
 import kotlin.math.floor

 class SmallMapView @JvmOverloads constructor(
@@ -156,10 +155,9 @@ class SmallMapView @JvmOverloads constructor(
        initAMapView()

        // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
+        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, 10,this)
        CallerPlanningRottingListenerManager.addListener(TAG, this)
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
-        startTask()
    }

    private fun initAMapView() {
@@ -237,52 +235,6 @@ class SmallMapView @JvmOverloads constructor(
        })
    }

-    private fun startTask() {
-        val mTimer = Timer()
-        mTimer.schedule(UpdateLocationTask(), 1000, 200)
-    }
-
-    private inner class UpdateLocationTask : TimerTask() {
-        override fun run() {
-            if (mLocation != null) {
-                if (mCarMarker == null) {
-                    mCarMarker = mAMap!!.addMarker(
-                        MarkerOptions()
-                            .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_my_location_logo))
-                            .anchor(0.5f, 0.5f)
-                    )
-                }
-                if (mCarMarker == null) {
-                    return
-                }
-                val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
-                val bearing = floor(mLocation!!.heading).toFloat()
-                //更新车辆位置
-                mCarMarker!!.position = currentLatLng
-                if (mCoordinatesLatLng.size > 1) {
-                    // 结束位置
-                    val endLatLng = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
-                    val calculateDistance = CoordinateUtils.calculateLineDistance(
-                        endLatLng.latitude, endLatLng.longitude,
-                        currentLatLng.latitude, currentLatLng.longitude
-                    )
-                    CallerLogger.d(
-                        SceneConstant.M_MAP + TAG,
-                        "calculateDistance=$calculateDistance"
-                    )
-                    if (calculateDistance <= 5) {
-                        clearPolyline()
-                        mCoordinatesLatLng.clear()
-                    }
-                }
-                val cameraPosition: CameraPosition =
-                    CameraPosition.Builder().target(mCarMarker!!.position).tilt(0f).bearing(bearing)
-                        .zoom(zoomLevel.toFloat()).build()
-                mAMap?.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
-            }
-        }
-    }
-
    private fun coordinateConverterFrom84(mContext: Context?, mogoLatLng: MogoLatLng): LatLng {
        val mCoordinateConverter = CoordinateConverter(mContext)
        mCoordinateConverter.from(CoordinateConverter.CoordType.GPS)
@@ -307,6 +259,49 @@ class SmallMapView @JvmOverloads constructor(
            return
        }
        mLocation = mogoLocation
+        if (mCarMarker == null) {
+            mCarMarker =
+                if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+                    mAMap?.addMarker(
+                        MarkerOptions()
+                            .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
+                            .anchor(0.5f, 0.5f)
+                    )
+                } else {
+                    mAMap?.addMarker(
+                        MarkerOptions()
+                            .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
+                            .anchor(0.5f, 0.5f)
+                    )
+                }
+        }
+        if (mCarMarker == null) {
+            return
+        }
+        val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
+        val bearing = floor(mLocation!!.heading).toFloat()
+        //更新车辆位置
+        mCarMarker!!.position = currentLatLng
+        if (mCoordinatesLatLng.size > 1) {
+            // 结束位置
+            val endLatLng = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
+            val calculateDistance = CoordinateUtils.calculateLineDistance(
+                endLatLng.latitude, endLatLng.longitude,
+                currentLatLng.latitude, currentLatLng.longitude
+            )
+            CallerLogger.d(
+                SceneConstant.M_MAP + TAG,
+                "calculateDistance=$calculateDistance"
+            )
+            if (calculateDistance <= 5) {
+                clearPolyline()
+                mCoordinatesLatLng.clear()
+            }
+        }
+        val cameraPosition: CameraPosition =
+            CameraPosition.Builder().target(mCarMarker!!.position).tilt(0f).bearing(bearing)
+                .zoom(zoomLevel.toFloat()).build()
+        mAMap?.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
    }

    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
--- a/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
+++ b/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
@@ -34,7 +34,6 @@ import com.mogo.eagle.core.function.call.analytics.AnalyticsManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -146,7 +145,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                    return HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
                }
                var mogoLocation: MogoLocation? = null
-                val locationClient = CallerMapLocationListenerManager.getCurrentLocation()
+                val locationClient = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
                if (locationClient != null) {
                    mogoLocation = locationClient
                }
@@ -305,7 +304,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {

    private fun startSocketService() {
        CallerLogger.d(SceneConstant.M_MAIN + TAG, "startSocketService")
-        val location = CallerMapLocationListenerManager.getCurrentLocation()
+        val location = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
        // 关闭长链服务
        MogoAiCloudSocketManager.getInstance(context).destroy()
        MogoAiCloudSocketManager.getInstance(context)
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -31,7 +31,6 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
@@ -124,16 +123,17 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
        mogoMarkersHandler.unregisterMarkerClickListener(CARD_TYPE_ROAD_CONDITION)
    }

-    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
-        val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
-        BridgeApi.location.set(location)
-        if (V2XManager.hasInit()) {
-            V2XManager.onLocationChanged(
-                longitude = location.longitude,
-                latitude = location.latitude
-            )
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        BridgeApi.location.set(mogoLocation)
+        mogoLocation?.let {
+            if (V2XManager.hasInit()) {
+                V2XManager.onLocationChanged(
+                    longitude = it.longitude,
+                    latitude = mogoLocation.latitude
+                )
+            }
+            refreshCarState(mogoLocation)
        }
-        refreshCarState(location)
    }

    private fun refreshCarState(location: MogoLocation) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
@@ -2,7 +2,9 @@ package com.mogo.eagle.core.function.v2x.events.manager.impl;

 import static com.mogo.commons.module.ServiceConst.CARD_TYPE_NOVELTY;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
+
 import android.content.Context;
+
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
@@ -12,7 +14,7 @@ import com.mogo.eagle.core.data.map.entity.MarkerExploreWay;
 import com.mogo.eagle.core.data.map.entity.MarkerLocation;
 import com.mogo.eagle.core.data.map.entity.MarkerShowEntity;
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
-import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.v2x.events.consts.MoGoV2XServicePaths;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XMarkerManager;
@@ -26,6 +28,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerClickListener;
 import com.mogo.map.marker.MogoMarkerOptions;
+
 import java.util.List;
 import java.util.Objects;
 import java.util.concurrent.CopyOnWriteArrayList;
@@ -52,7 +55,7 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
    public CopyOnWriteArrayList<V2XRoadEventEntity> getV2XRoadEventEntityList() {
        CopyOnWriteArrayList<V2XRoadEventEntity> roadEventEntities = new CopyOnWriteArrayList<>();
        // 当前车辆数据
-        MogoLocation currentLocation = CallerMapLocationListenerManager.INSTANCE.getCurrentLocation();
+        MogoLocation currentLocation = CallerChassisLocationGCJ20ListenerManager.INSTANCE.getChassisLocationGCJ02();
        if (currentLocation != null) {
            // 重新计算距离
            for (V2XRoadEventEntity v2XRoadEventEntity : mV2XRoadEventEntityArrayList) {