[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>

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;
     }

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)
                     }
                 }
             }

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()
     }
 
     /**