Merge branch 'dev_MogoAP_eagle-930_210926_8.0.12' into dev_MogoAP_eagle-1030_211020_8.0.14

# Conflicts:
#	core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
#	gradle.properties
#	modules/mogo-module-adas/build.gradle
#	modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
#	modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
#	services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
#	services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java

@@ -3,6 +3,8 @@ package com.mogo.module.adas;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
+import android.util.Log;
+
 import com.google.gson.Gson;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
@@ -22,6 +24,18 @@ import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.adas.high.common.MsgActionType;
 import com.zhidao.support.obu.ami.AmiClientManager;
 
 import java.util.ArrayList;
@@ -104,6 +118,18 @@ public class AdasEventManager implements
     }
 
 
+    @Override
+    public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
+//        Log.e("lianglihui","adas onAutopilotTrajectory");
+        if(trajectoryList != null && trajectoryList.size() >0){
+            for (IAdasDataListener listener : iAdasEventListeners) {
+                if (listener != null) {
+                    listener.onAutopilotTrajectory(trajectoryList);
+                }
+            }
+        }
+    }
+
     @Override
     public void onAutopilotSNRequest() {
         if (providerBizListener != null) {
@@ -113,6 +139,11 @@ public class AdasEventManager implements
         }
     }
 
+    @Override
+    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
+
+    }
+
     @Override
     public void onWebSocketConnectSuccess() {
         Logger.d(TAG, "webSocket 连接成功");

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java

@@ -4,6 +4,17 @@ import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.module.adas.entity.WarnMessageModel;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
+import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
+import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+
+import java.util.List;
 
 
 public interface IAdasDataListener {
@@ -50,4 +61,13 @@ public interface IAdasDataListener {
     default void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
     }
 
+    /**
+     * 车前引导路径回调
+     * @param trajectory
+     */
+
+    default void onAutopilotTrajectory(List<TrajectoryInfo> trajectory) {
+
+    }
+
 }

modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java

@@ -2,14 +2,17 @@ package com.mogo.module.service.routeoverlay;
 
 import android.content.Context;
 import android.location.Location;
+import android.util.Log;
 
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.common.drawer.MarkerDrawer;
 import com.mogo.service.adas.IMogoAdasRouteCallBack;
+import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;
 
+import java.util.ArrayList;
 import java.util.List;
 
 public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2 {
@@ -29,10 +32,25 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2
 
             @Override
             public void routeResult(List<MogoLatLng> routeList) {
+                Log.e("lianglihui","routeResult:"+routeList.size());
                 RouteOverlayDrawer.getInstance(mContext).putRouteList(routeList);
             }
         });
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasTrajectoryDataCallBack(new IMogoAdasTrajectoryDataCallBack() {
 
+            @Override
+            public void onAutopilotTrajectory(List<ADASTrajectoryInfo> trajectoryInfos) {
+                if (trajectoryInfos == null || trajectoryInfos.size() == 0){
+                    return;
+                }
+                Log.e("lianglihui","trajectoryInfos:"+trajectoryInfos.size());
+                List<MogoLatLng> mogoLatLngs  = new ArrayList<>();
+                for (ADASTrajectoryInfo a:trajectoryInfos) {
+                    mogoLatLngs.add(new MogoLatLng(a.getLat(),a.getLon()));
+                }
+                RouteOverlayDrawer.getInstance(mContext).drawTrajectoryList(mogoLatLngs);
+            }
+        });
     }
 
     public static MogoRouteOverlayManager getInstance(Context context) {
@@ -49,7 +67,7 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2
 
     @Override
     public void onCarLocationChanged2(Location latLng) {
-        updateLocation(latLng);
+//        updateLocation(latLng);
     }
 
     @Override

modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java

@@ -124,4 +124,21 @@ public class RouteOverlayDrawer {
     public void putRouteList(List<MogoLatLng> routeList) {
         this.mRouteList = routeList;
     }
+
+    public void drawTrajectoryList(List<MogoLatLng> routeList) {
+        clearMogoRouteOverlay();
+        if (routeList != null) {
+            for (MogoLatLng latLng : routeList) {
+                mPolylinePointList.add(latLng);
+            }
+            mPolylineOptions.setGps(true);
+            mPolylineColors.addAll(ColorUtils.getGradientAlpha("#002965ED", "#FF2965ED", "#002965ED", mPolylinePointList.size()));
+            // 替换路径集合
+            mPolylineOptions.points(mPolylinePointList);
+            // 线条粗细，渐变，渐变色值
+            mPolylineOptions.width(25).useGradient(true).colorValues(mPolylineColors);
+            // 绘制线
+            mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);
+        }
+    }
 }