[3.3.0]merge

2023-06-15 16:38:09 +08:00
parent 08f2e210ae
commit f5e0399c5b
23 changed files with 92 additions and 113 deletions
--- a/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -351,7 +351,7 @@ public class BusPassengerModel {
        IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
        // 定位监听
-        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener); //todo yakun 优化

        //2021.11.1 自动驾驶路线规划接口
        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
@@ -430,14 +430,11 @@ public class BusPassengerModel {
        }
    };

-    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
-        @Override
-        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
-            if (null == gnssInfo) return;
-            mLocation = gnssInfo;
-            for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){
-                callback.onCarLocationChanged(gnssInfo);
-            }
+    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = gnssInfo -> {
+        if (null == gnssInfo) return;
+        mLocation = gnssInfo;
+        for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){
+            callback.onCarLocationChanged(gnssInfo);
        }
    };

--- a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
@@ -385,7 +385,7 @@ public class OrderModel {
            mLongitude = gnssInfo.getLongitude();
            mLatitude = gnssInfo.getLatitude();
            if (mControllerStatusCallback != null) {
-                mControllerStatusCallback.onCarLocationChanged(gnssInfo);
+                mControllerStatusCallback.onCarLocationChanged(gnssInfo); //todo mingjun 优化
            }

            //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
--- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
+++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
@@ -110,7 +110,7 @@ class DriverM1Model {
    fun init(context: Context) {
        mContext = context
        // 定位监听
-        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener)
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener) //todo mingjun 优化
 //        CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2)

        //开启自驾后 异常信息返回
--- a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
+++ b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
@@ -118,7 +118,7 @@ class PM2DrivingModel private constructor() {
        //自动驾驶状态监听
        CallerAutoPilotStatusListenerManager.addListener(TAG, mAutoPilotStatusListener)

-        // 定位监听
+        // 定位监听 //todo yakun 优化
        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener)
 //        CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2)//设置2hz, 1s返回2次

--- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/model/OrderModel.java
@@ -163,7 +163,7 @@ public class OrderModel {
        mContext = AbsMogoApplication.getApp();
        loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation();
        // 定位监听
-        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener); //todo yakun 优化
 //        CallerChassisLocationGCJ02ListenerManager.INSTANCE.setListenerHz(TAG,2);//设置5hz, 1s返回一次

        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -477,7 +477,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
    // 自车定位
    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
        @Override
-        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) { //todo mingjun 优化
            //位置变化时，通过围栏判断是否到达x点
            if (null == gnssInfo) return;
            if (checkCurrentOCHOrder()) {
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -223,7 +223,7 @@ public class TaxiModel {
        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);

        //定位监听， 传false是高德坐标系
-        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener); //todo mingjun 优化

        //2021.11.1 自动驾驶路线规划接口
        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
@@ -345,7 +345,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
    private void startNaviToStation(boolean isVoicePlay, double stationLat, double stationLng) {
        AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
        CallerLogger.INSTANCE.d(M_TAXI + TAG, "currentLatLng=" + mTaxiFragment.mCurLatitude + " " + mTaxiFragment.mCurLongitude);
-        NaviLatLng startNaviLatLng = new NaviLatLng(mTaxiFragment.mCurLatitude, mTaxiFragment.mCurLongitude);
+        NaviLatLng startNaviLatLng = new NaviLatLng(mTaxiFragment.mCurLatitude, mTaxiFragment.mCurLongitude); //todo mingjun 优化
        NaviLatLng endNaviLatLng = new NaviLatLng(stationLat, stationLng);
        AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
        AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(isVoicePlay);
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
@@ -36,7 +36,7 @@ import com.zhjt.mogo.adas.data.bean.MogoReport
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg

-
+//todo emArrow 添加biz链路日志
 //负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
 class DispatchAutoPilotManager private constructor() :
    IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>,
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -10,20 +10,23 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
-import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
+import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_MULTI_CONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_INIT_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT
-import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
-import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.server.AsyncDataToAutopilotServer
@@ -342,8 +345,10 @@ class MoGoAutopilotControlProvider :
    @ChainLog(
        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
        linkCode = CHAIN_SOURCE_ADAS,
+        parentNodeAliasCode = ChainConstant.CHAIN_CODE_EAGLE_START_AUTOPILOT,
        nodeAliasCode = ChainConstant.CHAIN_CODE_EAGLE_START_AUTOPILOT_RESULT,
        paramIndexes = [0]
+
    )
    private fun invokeAutoPilotResult(status: String) {
        CallerLogger.e("$M_ADAS_IMPL$TAG", status)
@@ -528,9 +533,9 @@ class MoGoAutopilotControlProvider :
     * @return boolean
     */
    override fun sendDetouring(isEnable: Boolean): Boolean {
-        return if(isEnable){
+        return if (isEnable) {
            AdasManager.getInstance().sendDetouring(1)
-        }else{
+        } else {
            AdasManager.getInstance().sendDetouring(0)
        }
    }
@@ -551,9 +556,9 @@ class MoGoAutopilotControlProvider :
     * @return boolean
     */
    override fun sendWeakNetSlowDown(isEnable: Boolean): Boolean {
-        return if(isEnable){
+        return if (isEnable) {
            AdasManager.getInstance().sendWeakNetSlowDown(1)
-        }else{
+        } else {
            AdasManager.getInstance().sendWeakNetSlowDown(0)
        }
    }
@@ -565,7 +570,7 @@ class MoGoAutopilotControlProvider :
     * @return boolean
     */
    override fun sendGetAllParamReq(): Boolean {
-       return AdasManager.getInstance().sendGetAllParamReq()
+        return AdasManager.getInstance().sendGetAllParamReq()
    }

    /**
@@ -615,7 +620,7 @@ class MoGoAutopilotControlProvider :
        bagManager.descReq = descReq.build()

        // 空间使用信息,获取响应且reqType=1时有效
-        for(diskSpaceInfoEntity in bagManagerEntity.spaceInfoResp){
+        for (diskSpaceInfoEntity in bagManagerEntity.spaceInfoResp) {
            val spaceInfoResp = BagManagerOuterClass.BagSpaceInfo
                .newBuilder()
            val diskSpaceInfo = BagManagerOuterClass.SpaceInfo
@@ -627,7 +632,7 @@ class MoGoAutopilotControlProvider :
                .build()
            spaceInfoResp
                .setHost(diskSpaceInfoEntity.host).diskSpaceInfo = diskSpaceInfo
-            for(entity in diskSpaceInfoEntity.BagDirsSpaceInfo){
+            for (entity in diskSpaceInfoEntity.BagDirsSpaceInfo) {
                val bagDirsSpaceInfo = BagManagerOuterClass.SpaceInfo
                    .newBuilder()
                    .setDirectory(entity.directory)
@@ -641,8 +646,8 @@ class MoGoAutopilotControlProvider :
        }

        // 包信息列表,获取响应且reqType=2时有效
-        for(bagsInfoRespEntity in bagManagerEntity.bagsInfoResp){
-            if(bagsInfoRespEntity.itemType == 0){
+        for (bagsInfoRespEntity in bagManagerEntity.bagsInfoResp) {
+            if (bagsInfoRespEntity.itemType == 0) {
                // 包描述信息
                val bagDescription = BagManagerOuterClass.BagDescription
                    .newBuilder()
@@ -664,7 +669,7 @@ class MoGoAutopilotControlProvider :
                    .setDescription(bagDescription.build())

                // 子包信息
-                for(subBagEntity in bagsInfoRespEntity.subBags){
+                for (subBagEntity in bagsInfoRespEntity.subBags) {
                    val subBag = BagManagerOuterClass.SubBag
                        .newBuilder()
                        .setKey(subBagEntity.key)
@@ -850,15 +855,18 @@ class MoGoAutopilotControlProvider :
            }
            msgHandler.synMsgToAllClients()
        } else {// 乘客屏
-            CallerDevaToolsManager.getBindingCarInfo( carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
+            CallerDevaToolsManager.getBindingCarInfo(
+                carConfigResp.macAddress,
+                MoGoAiCloudClientConfig.getInstance().sn
+            )
            invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber},Mac地址为：${carConfigResp.macAddress}")
        }

-        if(carConfigResp.dockVersion.isNotEmpty()){
-            if(carConfigResp.dockVersion.contains("taxi")){
+        if (carConfigResp.dockVersion.isNotEmpty()) {
+            if (carConfigResp.dockVersion.contains("taxi")) {
                //修改雨天模式开关默认状态为开启（仅针对taxi320及以上的版本）-sop 215
-                val num = ParseVersionUtils.parseVersion(true,carConfigResp.dockVersion)
-                if(num >= 30200){
+                val num = ParseVersionUtils.parseVersion(true, carConfigResp.dockVersion)
+                if (num >= 30200) {
                    FunctionBuildConfig.isRainMode = true
                }
            }
--- 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
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.datacenter.location

+import android.util.Log
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -52,6 +53,7 @@ object MoGoLocationDispatcher :

    override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
        // 更新GNSS 信息
+        Log.d("emArrow","高精 heading:${gnssInfo.heading}")
        lastGnssLocation.gnssInfo = gnssInfo
        lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
@@ -102,7 +104,7 @@ object MoGoLocationDispatcher :
    override fun onMoGoLocationChanged(mogoLocation: MogoLocation) {
        // 更新GaoDe 信息
        lastGaoDeLocation = mogoLocation
-
+        Log.d("emArrow","高德 heading:${mogoLocation.heading}")
        // 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 > 10000) {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -241,7 +241,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        }
        // 开启定时查询速度
        isRunCheck = true
-        Timer().schedule(timerTaskRefresh, Date(), 300)
+        Timer().schedule(timerTaskRefresh, Date(), 500)
        if (AppConfigInfo.isConnectAutopilot && (AppConfigInfo.plateNumber.isNullOrEmpty() || AppConfigInfo.iPCMacAddress.isNullOrEmpty())) {
            //查询工控机基础配置信息
            CallerAutoPilotControlManager.getCarConfig()
@@ -1909,7 +1909,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                if (accelerationList.size > 9) {
                    accelerationList.removeLast()
                }
-                gnssInfo?.acceleration?.let {
+                gnssInfo.acceleration.let {
                    if (accelerationList.isEmpty()) {
                        accelerationList.add(
                            AccelerationEntity(
@@ -2011,7 +2011,6 @@ internal class DebugSettingView @JvmOverloads constructor(
        }
    }

-
    /**
     * 车辆方向盘转向角回调
     * @param steering 方向盘转向角
@@ -2032,36 +2031,6 @@ internal class DebugSettingView @JvmOverloads constructor(
        }
    }

-    /**
-     * 车辆加速度
-     */
-    override fun onAutopilotAcc(carAcc: Float) {
-
-    }
-
-    /**
-     * 油门
-     */
-    override fun onAutopilotThrottle(throttle: Float) {
-
-    }
-
-    /**
-     * 刹车
-     */
-    override fun onAutopilotBrake(brake: Float) {
-
-    }
-
-    /**
-     * 清扫车（福田）清扫控制系统状态
-     */
-    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
-
-    }
-    override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
-
-    }
    /**
     * 吐司提示
     */
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.hmi.ui.widget;

 import static com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;

 import android.annotation.SuppressLint;
 import android.content.Context;
@@ -152,11 +153,11 @@ public class TrafficDataView extends ConstraintLayout implements
     */
    @Override
    public void onAutopilotSteeringData(float steering) {
-        CallerLogger.INSTANCE.d(TAG, "steering原始值====" + steering);
+        CallerLogger.INSTANCE.d(M_HMI +TAG, "steering原始值====" + steering);
        if (Math.abs(steering) < 1) {
            steering = 0;
        }
-        CallerLogger.INSTANCE.d(TAG, "steering忽略小数点后====" + (int) steering);
+        CallerLogger.INSTANCE.d(M_HMI +TAG, "steering忽略小数点后====" + (int) steering);
    }

    /**
@@ -165,7 +166,7 @@ public class TrafficDataView extends ConstraintLayout implements
     */
    @Override
    public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
-        CallerLogger.INSTANCE.d(TAG, "司机屏档位" + gear.toString());
+        CallerLogger.INSTANCE.d(M_HMI +TAG, "司机屏档位" + gear);
        ThreadUtils.runOnUiThread(() -> {
            if (tapPositionView != null) {
                tapPositionView.updateWithGear(gear);
@@ -175,13 +176,13 @@ public class TrafficDataView extends ConstraintLayout implements

    @Override
    public void onAutopilotBrake(float brake) {
-        CallerLogger.INSTANCE.d(TAG, "刹车:" + brake);
+        CallerLogger.INSTANCE.d(M_HMI +TAG, "刹车:" + brake);
        mBrake = brake;
    }

    @Override
    public void onAutopilotThrottle(float throttle) {
-        CallerLogger.INSTANCE.d(TAG, "油门:" + throttle);
+        CallerLogger.INSTANCE.d(M_HMI +TAG, "油门:" + throttle);
        mThrottle = throttle;
    }
    /**
--- 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
@@ -10,11 +10,11 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.business.cachemap.CacheHDMapManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 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
@@ -27,7 +27,7 @@ import java.util.concurrent.atomic.AtomicReference

@Route(path = MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER)
 class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
-    IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
+    IMoGoChassisLocationWGS84Listener, IMoGoTokenCallback,
    IMoGoAutopilotRecordListener {

    companion object {
@@ -53,7 +53,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,

    override fun init(context: Context?) {

-        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
        CallerAutopilotRecordListenerManager.addListener(TAG, this)

        executor.set(context?.let {
@@ -79,7 +79,7 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,

    override fun onDestroy() {
        CallerLogger.d("$M_MAP$TAG", "--------- onDestroy --------")
-        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+        CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
        CallerAutopilotRecordListenerManager.removeListener(TAG)
        executor.get()?.setOnTaskListener(null)
        listeners.clear()
@@ -181,15 +181,18 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
        }
    }

-    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
-        if (gnssInfo != null) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
+        if (gnssInfo.gnssInfo != null
+            && gnssInfo.gnssInfo.longitude != 0.0
+            && gnssInfo.gnssInfo.latitude != 0.0
+        ) {
            executor.get()?.updateLocation(
-                gnssInfo.longitude,
-                gnssInfo.latitude,
-                gnssInfo.altitude,
-                gnssInfo.heading.toFloat(),
-                gnssInfo.gnssSpeed,
-                false
+                gnssInfo.gnssInfo.longitude,
+                gnssInfo.gnssInfo.latitude,
+                gnssInfo.gnssInfo.altitude,
+                gnssInfo.gnssInfo.heading.toFloat(),
+                gnssInfo.gnssInfo.gnssSpeed.toFloat(),
+                true
            )
        }
    }
@@ -225,4 +228,5 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
        object START : Status()  //开始状态
        object FINISH : Status() //完成状态
    }
+
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener.kt
@@ -8,6 +8,6 @@ interface IMoGoChassisAccStateListener {
    /**
     * 车辆加速度
     */
-    fun onAutopilotAcc(carAcc: Float)
+    fun onAutopilotAcc(carAcc: Float){}

 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener.kt
@@ -8,5 +8,5 @@ interface IMoGoChassisBrakeStateListener {
    /**
     * 刹车
     */
-    fun onAutopilotBrake(brake: Float)
+    fun onAutopilotBrake(brake: Float){}
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener.kt
@@ -8,5 +8,5 @@ interface IMoGoChassisThrottleStateListener {
    /**
     * 油门
     */
-    fun onAutopilotThrottle(throttle: Float)
+    fun onAutopilotThrottle(throttle: Float){}
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener.kt
@@ -10,11 +10,10 @@ interface IMoGoSweeperFutianCleanSystemListener {
    /**
     * 清扫车（福田）清扫控制系统状态
     */
-    fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates)
-
+    fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates){}

    /**
     * 清扫车（福田）指标数据 贴边数据
     */
-    fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex)
+    fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex){}
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -69,7 +69,8 @@ object CallerAutoPilotControlManager {
        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
        linkCode = CHAIN_SOURCE_ADAS,
        nodeAliasCode = CHAIN_CODE_EAGLE_START_AUTOPILOT,
-        paramIndexes = [0]
+        paramIndexes = [0],
+        endPoint = false
    )
    fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
        if (controlParameters == null) {
--- 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
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.call.autopilot

-import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
@@ -109,11 +108,6 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
        val listener = it.value
        listener.onChassisLocationGCJ02(mogoLocation)
-//        FileUtils.writeToFile(
-//            "/sdcard/Download/",
-//            "location_gcj02.txt",
-//            "${mogoLocation.longitude},${mogoLocation.latitude},${sourceType}\n"
-//        )
    }


--- 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
@@ -94,11 +94,6 @@ object CallerChassisLocationWGS84ListenerManager : CallerBase<IMoGoChassisLocati
        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
        val listener = it.value
        listener.onChassisLocationWGS84(mogoLocation)
-//        FileUtils.writeToFile(
-//            "/sdcard/Download/",
-//            "location_wgs84.txt",
-//            "${mogoLocation.longitude},${mogoLocation.latitude},${sourceType}\n"
-//        )
    }


--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisSteeringStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisSteeringStateListenerManager.kt
@@ -2,20 +2,32 @@ package com.mogo.eagle.core.function.call.autopilot

 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import kotlin.properties.Delegates

 /**
 * 车辆方向盘转向角 回调监听
 */
 object CallerChassisSteeringStateListenerManager : CallerBase<IMoGoChassisSteeringStateListener>() {

+    //todo emArrow 总结
+    private var steering: Float? by Delegates.observable(0.0f) { _, oldValue, newValue ->
+        if (newValue == null) {
+            return@observable
+        }
+        if (oldValue == newValue) {
+            return@observable
+        }
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotSteeringData(newValue)
+        }
+    }
+
    /**
     * 车辆方向盘转向角回调
     * @param steering 方向盘转向角
     */
-    fun invokeAutopilotSteeringData(steering: Float){
-        M_LISTENERS.forEach{
-            val listener = it.value
-            listener.onAutopilotSteeringData(steering)
-        }
+    fun invokeAutopilotSteeringData(steering: Float) {
+        this.steering = steering
    }
 }
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/module/receiver/MogoReceiver.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/module/receiver/MogoReceiver.java
@@ -4,7 +4,6 @@ import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
 import android.text.TextUtils;
-import android.util.Log;

 import com.mogo.commons.module.intent.IntentManager;

@@ -46,11 +45,9 @@ public class MogoReceiver extends BroadcastReceiver {
        if (TextUtils.equals(VOICE_ACTION, action)) {
            String cmd = intent.getStringExtra(PARAM_COMMAND);
            if (!TextUtils.isEmpty(cmd)) {
-                Log.i("emArrow","MogoReceiver cmd:" + cmd);
                mMogoIntentManager.invoke(cmd, intent);
            }
        } else {
-            Log.i("emArrow","MogoReceiver action:" + action);
            mMogoIntentManager.invoke(action, intent);
        }
    }