[dev_arch_opt_3.0]

[Change] [ 1、修复在斑马线修改了高德坐标系的自车位置导致，其它地方监听异常。 ] Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>
2023-03-17 18:00:04 +08:00
parent 8988688660
commit ef80aa8281
4 changed files with 80 additions and 58 deletions
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/map/MogoLocation.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/map/MogoLocation.java
@@ -324,6 +324,50 @@ public class MogoLocation implements Cloneable {
        return this;
    }

+    public MogoLocation copy(MogoLocation lastLocation, double longitude, double latitude) {
+        MogoLocation mogoLocation = new MogoLocation();
+        mogoLocation.accuracy = lastLocation.accuracy;
+        mogoLocation.adCode = lastLocation.adCode;
+        mogoLocation.address = lastLocation.address;
+        mogoLocation.aoiName = lastLocation.aoiName;
+        mogoLocation.buildingId = lastLocation.buildingId;
+        mogoLocation.cityCode = lastLocation.cityCode;
+        mogoLocation.cityName = lastLocation.cityName;
+        mogoLocation.description = lastLocation.description;
+        mogoLocation.district = lastLocation.district;
+        mogoLocation.errorCode = lastLocation.errorCode;
+        mogoLocation.errorInfo = lastLocation.errorInfo;
+        mogoLocation.floor = lastLocation.floor;
+        mogoLocation.gpsAccuracyStatus = lastLocation.gpsAccuracyStatus;
+        mogoLocation.lastReceiveTime = lastLocation.lastReceiveTime;
+        mogoLocation.locationDetail = lastLocation.locationDetail;
+        mogoLocation.locType = lastLocation.locType;
+        mogoLocation.poiName = lastLocation.poiName;
+        mogoLocation.provider = lastLocation.provider;
+        mogoLocation.province = lastLocation.province;
+        mogoLocation.satellite = lastLocation.satellite;
+        mogoLocation.street = lastLocation.street;
+        mogoLocation.streetNum = lastLocation.streetNum;
+
+        MessagePad.GnssInfo gnssInfo =
+                MessagePad.GnssInfo.newBuilder()
+                        .setLongitude(longitude) //经度
+                        .setLatitude(latitude)//纬度
+                        .setAltitude(lastLocation.gnssInfo.getAltitude())  //海拔
+                        .setHeading(lastLocation.gnssInfo.getHeading())  //航向角
+                        .setAcceleration(lastLocation.gnssInfo.getAcceleration())  //加速度
+                        .setYawRate(lastLocation.gnssInfo.getYawRate()) //曲率
+                        .setGnssSpeed(lastLocation.gnssInfo.getGnssSpeed())  //惯导车速 m/s
+                        .setVehicleSpeed(lastLocation.gnssInfo.getVehicleSpeed()) //车辆车速 m/s
+                        .setSatelliteTime(lastLocation.gnssInfo.getSatelliteTime()) //gps时间 单位：秒s
+                        .setSystemTime(lastLocation.gnssInfo.getSystemTime())  //系统时间 单位：秒s
+                        .build();
+
+        mogoLocation.gnssInfo = gnssInfo;
+        return mogoLocation;
+    }
+
+
    public long getLastReceiveTime() {
        return lastReceiveTime;
    }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt
@@ -18,7 +18,7 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
    private const val TAG = "CallerChassisLocationGCJ20ListenerManager"

    @Volatile
-    private var mGnssInfo: MogoLocation? = null
+    private var mGnssInfo: MogoLocation = MogoLocation()

    /**
     * 添加监听并指定回掉频率
@@ -35,8 +35,8 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
        setListenerHz(tag, callBackHz)
    }

-    fun getChassisLocationGCJ02(): MogoLocation? {
-        return mGnssInfo
+    fun getChassisLocationGCJ02(): MogoLocation {
+        return mGnssInfo.clone()
    }

    /**
@@ -46,46 +46,42 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
    @Synchronized
    fun invokeChassisLocationGCJ02(gnssInfo: MogoLocation?, sourceType: DataSourceType) {
        gnssInfo?.let {
-            // 克隆定位数据，防止原数据被篡改导致位置跳变
-            mGnssInfo = gnssInfo.clone()
            // 转换 WGS84-->GCJ02 坐标
            val gcj20Location =
                CoordinateTransform.WGS84ToGCJ02(gnssInfo.longitude, gnssInfo.latitude)
-            mGnssInfo?.let {
-                mGnssInfo!!.longitude = gcj20Location[0]
-                mGnssInfo!!.latitude = gcj20Location[1]
+            // 克隆定位数据，防止原数据被篡改导致位置跳变
+            mGnssInfo = gnssInfo.copy(gnssInfo, gcj20Location[0], gcj20Location[1])

-                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 {
-                        //Logger.d(TAG, "没设置监听频率，使用默认5HZ")
-                        val hzTime = (1.0 / 5) * 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 {
+                    //Logger.d(TAG, "没设置监听频率，使用默认5HZ")
+                    val hzTime = (1.0 / 5) * 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)
                    }
                }
            }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationWGS84ListenerManager.kt
@@ -17,7 +17,7 @@ object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocati
    private var mGnssInfo: MogoLocation = MogoLocation()

    fun getChassisLocationWGS84(): MogoLocation {
-        return mGnssInfo
+        return mGnssInfo.clone()
    }

    /**
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -24,7 +24,6 @@ import android.util.Log;
 import android.view.MotionEvent;
 import android.view.View;

-import androidx.annotation.MainThread;
 import androidx.annotation.NonNull;

 import com.mogo.commons.debug.DebugConfig;
@@ -34,7 +33,7 @@ import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.data.map.MapRoadInfo;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
-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.map.CallerMapDataCollectorManager;
 import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager;
@@ -212,28 +211,11 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void onStopLineInfo(@androidx.annotation.Nullable StopLine stopLine) {
-        MogoLocation carLoc = CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02();
+        MogoLocation carLoc = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84();
        if (stopLine != null && stopLine.road_id != null && !stopLine.road_id.isEmpty() && stopLine.points != null && stopLine.points.size() > 0) {
            ArrayList<LonLatPoint> points = stopLine.points;
            if (carLoc != null) {
-                /**
-                 *  //地图组提供的高德坐标切到WGS84坐标系
-                 *  var cal = LonLatPoint(point!!.lon, point!!.lat)
-                 *         if(!point!!.provider.equals(MapAutoApi.GPS_FLAG)){
-                 *             cal = MapTools.switchLonLatWGS84(cal)
-                 *         }
-                 */
-                String provider = carLoc.getProvider();
-                //CallerLogger.INSTANCE.d(M_MAP + TAG, "car_loc: " + carLoc + "");
-                if (!MapAutoApi.GPS_FLAG.equals(provider)) {
-                    //CallerLogger.INSTANCE.d(M_MAP + TAG, "convert before: car_loc: {lon: " + carLoc.getLongitude() + ", lat: " + carLoc.getLatitude() + "}");
-                    LonLatPoint p = new LonLatPoint(carLoc.getLongitude(), carLoc.getLatitude());
-                    p = MapTools.INSTANCE.switchLonLatWGS84(p);
-                    carLoc.setLongitude(p.longitude);
-                    carLoc.setLatitude(p.latitude);
-                    //CallerLogger.INSTANCE.d(M_MAP + TAG, "convert after: car_loc: {lon: " + carLoc.getLongitude() + ", lat: " + carLoc.getLatitude() + "}");
-                }
-                //CallerLogger.INSTANCE.d(M_MAP + TAG, "onStopLineInfo:stop_line" + stopLine + ", car_loc:{lon: " + carLoc.getLatitude() + ", lat: " + carLoc.getLongitude() + "}");
+//                //CallerLogger.INSTANCE.d(M_MAP + TAG, "onStopLineInfo:stop_line" + stopLine + ", car_loc:{lon: " + carLoc.getLatitude() + ", lat: " + carLoc.getLongitude() + "}");
                MapRoadInfo.StopLine stopInfo = convert(stopLine);
                LonLatPoint p1 = points.get(0);
                LonLatPoint p2 = points.get(points.size() - 1);