Merge branch 'dev_robotaxi-d_240401_6.4.0' into dev_robotaxi-d_240401_6.4.0_yyk

# Conflicts:
#	app/script/vehicleFlavors/C1.gradle

OCH/bus/passenger/src/main/res/jinlv/layout/p_bus_view_status_bar.xml

@@ -22,7 +22,7 @@
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:id="@+id/wifiStateView"
-        android:layout_width="@dimen/dp_28"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_28"
         android:layout_gravity="center"
         android:layout_marginStart="@dimen/dp_40"

OCH/bus/passenger/src/main/res/m2/layout/bus_p_m2_view_status_bar.xml

@@ -10,7 +10,7 @@
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:id="@+id/wifiStateView"
-        android:layout_width="@dimen/dp_28"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_28"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"

OCH/charter/passenger/src/main/res/layout/charter_p_statusview_datetime.xml

@@ -54,7 +54,7 @@
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:id="@+id/wifiStateView"
-        android:layout_width="@dimen/dp_34"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_34"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"

OCH/shuttle/passenger/src/main/res/jinlv/layout/shuttle_p_jl_view_status_bar.xml

@@ -22,7 +22,7 @@
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:id="@+id/wifiStateView"
-        android:layout_width="@dimen/dp_28"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_28"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"

OCH/shuttle/passenger/src/main/res/m2/layout/shuttle_p_m2_view_status_bar.xml

@@ -10,7 +10,7 @@
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:id="@+id/wifiStateView"
-        android:layout_width="@dimen/dp_28"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_28"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"

OCH/taxi/passenger/src/main/res/layout/taxi_p_statusview.xml

@@ -20,7 +20,7 @@
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:id="@+id/wifiStateView"
-        android:layout_width="@dimen/dp_54"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_54"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal"

OCH/taxi/unmanned-passenger/src/main/res/layout/taxt_u_p_statusview.xml

@@ -20,7 +20,7 @@
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:id="@+id/wifiStateView"
-        android:layout_width="@dimen/dp_54"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_54"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal"

app/script/vehicleFlavors/B1.gradle

@@ -16,7 +16,7 @@ project.android.productFlavors {
         // ②构建的是否要动态更换模型
         buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
-        // ③不能启动自驾的档位
+        // ③能启动自驾的档位
-        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_R);}}'
+        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);}}'
     }
 }

app/script/vehicleFlavors/B2.gradle

@@ -23,7 +23,7 @@ project.android.productFlavors {
         // ②构建的是否要动态更换模型
         buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'false'
 
-        // ③M2不能启动自驾的档位
+        // ③M2能启动自驾的档位
-        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
+        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);}}'
     }
 }

app/script/vehicleFlavors/C1.gradle

@@ -16,9 +16,8 @@ project.android.productFlavors {
         // ②构建的是否要动态更换模型
         buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
-        // ③不能启动自驾的档位
+        // ③能启动自驾的档位
-        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
+        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'null'
-
         // ⑤清扫车 默认模式（运营/云控）
         buildConfigField 'String', 'SWEEPER_DEFAULT_MODE', '\"Cloud\"'
 

app/script/vehicleFlavors/M1.gradle

@@ -13,9 +13,8 @@ project.android.productFlavors {
 
         // ①标识构建的应用身份类型，具体查看  README.md APP_IDENTITY_MODE规则
         buildConfigField 'String', 'APP_IDENTITY_MODE_TAIL', "\"M1\""
-        // ②构建的是否要动态更换模型
+        // ②M1能启动自驾的档位
-        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'null'
+        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);}}'
-
         // ③不能启动自驾的档位
         buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'false'
 

app/script/vehicleFlavors/T1T2.gradle

@@ -17,8 +17,8 @@ project.android.productFlavors {
         // ②构建的是否要动态更换模型
         buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
-        // ③不能启动自驾的档位
+        // ③能启动自驾的档位 MAP<360代码中会移除P档
-        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'UNABLE_LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_P);add(chassis.Chassis.GearPosition.GEAR_R);}}'
+        buildConfigField 'java.util.Set<chassis.Chassis.GearPosition>', 'LAUNCH_AUTOPILOT_GEAR', 'new java.util.HashSet<chassis.Chassis.GearPosition>(){{add(chassis.Chassis.GearPosition.GEAR_D);add(chassis.Chassis.GearPosition.GEAR_N);add(chassis.Chassis.GearPosition.GEAR_P);}}'
 
     }
 

app/src/main/java/com/mogo/launcher/lancet/ViewPressedStateLancet.java

@@ -481,69 +481,119 @@ public class ViewPressedStateLancet {
                 text.setPadding(paddingLeft, paddingTop, paddingRight, paddingBottom);
                 return true;
             }
-
             ColorStateList textColor = text.getTextColors();
             if (textColor != null) {
-                int current = text.getCurrentTextColor();
+                int defaultColor = textColor.getDefaultColor();
-                int pressed = textColor.getColorForState(new int[]{ android.R.attr.state_pressed }, Integer.MIN_VALUE);
+                int pressedColor = Color.argb((int)(Color.alpha(defaultColor) * alpha), Color.red(defaultColor), Color.green(defaultColor), Color.blue(defaultColor));
-                if (pressed != Integer.MIN_VALUE && pressed != current) {
+                if (!textColor.isStateful()) {
+                    /*if (text.getId() != View.NO_ID) {
+                        Log.d("ViewPressedStateLancet", "---- isStateful() => false hit ---" +  "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
+                    } else {
+                        Log.d("ViewPressedStateLancet", "---- isStateful() => false hit ---" +  "["+text+"]");
+                    }*/
+                    int[][] states = new int[2][1];
+                    int[] colors = new int[2];
+                    states[0] = new int[] { android.R.attr.state_pressed, -android.R.attr.state_focused, -android.R.attr.state_active };
+                    colors[0] = pressedColor;
+                    states[1] = StateSet.WILD_CARD;
+                    colors[1] = defaultColor;
+                    ColorStateList newColor = new ColorStateList(states, colors);
+                    text.setTag(R.id.click_pressed_attr_replaced_color, textColor);
+                    text.setTextColor(newColor);
+                    return true;
+                }
+                int pressed = textColor.getColorForState(new int[] { android.R.attr.state_pressed }, Integer.MIN_VALUE);
+                if (pressed != Integer.MIN_VALUE && pressed != defaultColor) {
+                    /*if (text.getId() != View.NO_ID) {
+                        Log.d("ViewPressedStateLancet", "---- pressed hit ---" +  "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
+                    } else {
+                        Log.d("ViewPressedStateLancet", "---- pressed hit ---" +  "["+text+"]");
+                    }*/
                     return false;
                 }
-                int enableColor = textColor.getColorForState(new int[] { android.R.attr.state_enabled }, Integer.MIN_VALUE);
+                int disabledColor = textColor.getColorForState(new int[] { -android.R.attr.state_enabled  }, Integer.MIN_VALUE);
-                int defaultColor = current;
-                if (enableColor == Integer.MIN_VALUE && enableColor != current) {
-                    defaultColor = textColor.getDefaultColor();
-                }
-                int pressedColor = Color.argb((int)(Color.alpha(defaultColor) * alpha), Color.red(defaultColor), Color.green(defaultColor), Color.blue(defaultColor));
-                int disableColor = textColor.getColorForState(new int[] { -android.R.attr.state_enabled }, Integer.MIN_VALUE);
-                int size = 2;
-                if (disableColor != Integer.MIN_VALUE && disableColor != current) {
-                    size += 1;
-                }
-                boolean hasChecked = false;
                 int checkedColor = textColor.getColorForState(new int[] { android.R.attr.state_checked }, Integer.MIN_VALUE);
-                if (checkedColor != Integer.MIN_VALUE && checkedColor != current) {
+                int unCheckedColor = textColor.getColorForState(new int[] { -android.R.attr.state_checked }, Integer.MIN_VALUE);
-                    hasChecked = true;
+                int selectedColor = textColor.getColorForState(new int[] { android.R.attr.state_enabled }, Integer.MIN_VALUE);
-                    size += 1;
+                int unSelectedColor = textColor.getColorForState(new int[] { -android.R.attr.state_selected }, Integer.MIN_VALUE);
+                int size = 2;
+                if (disabledColor != Integer.MIN_VALUE && disabledColor != defaultColor) {
+                    /*if (text.getId() != View.NO_ID) {
+                        Log.d("ViewPressedStateLancet", "---- disabled hit ---" +  "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
+                    } else {
+                        Log.d("ViewPressedStateLancet", "---- disabled hit ---" +  "["+text+"]");
+                    }*/
+                    size++;
                 }
-                boolean hasUnChecked = false;
+                if (checkedColor != Integer.MIN_VALUE  && checkedColor != defaultColor) {
-                int unCheckedColor = textColor.getColorForState(new int[]{ -android.R.attr.state_checked }, Integer.MIN_VALUE);
+                    /*if (text.getId() != View.NO_ID) {
-                if (unCheckedColor != Integer.MIN_VALUE && unCheckedColor != current) {
+                        Log.d("ViewPressedStateLancet", "---- checked hit ---" +  "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
-                    hasUnChecked = true;
+                    } else {
-                    size += 1;
+                        Log.d("ViewPressedStateLancet", "---- checked hit ---" +  "["+text+"]");
+                    }*/
+                    size++;
+                }
+                if (unCheckedColor != Integer.MIN_VALUE && unCheckedColor != defaultColor) {
+                    /*if (text.getId() != View.NO_ID) {
+                        Log.d("ViewPressedStateLancet", "---- unchecked hit ---" +  "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
+                    } else {
+                        Log.d("ViewPressedStateLancet", "---- unchecked hit ---" +  "["+text+"]");
+                    }*/
+                    size++;
+                }
+                if (selectedColor != Integer.MIN_VALUE && selectedColor != defaultColor) {
+                    /*if (text.getId() != View.NO_ID) {
+                        Log.d("ViewPressedStateLancet", "---- selected hit ---" +  "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
+                    } else {
+                        Log.d("ViewPressedStateLancet", "---- selected hit ---" +  "["+text+"]");
+                    }*/
+                    size++;
+                }
+                if (unSelectedColor != Integer.MIN_VALUE && unSelectedColor != defaultColor) {
+                    /*if (text.getId() != View.NO_ID) {
+                        Log.d("ViewPressedStateLancet", "---- unselected hit ---" +  "["+text+"->"+text.getResources().getResourceName(text.getId())+"]");
+                    } else {
+                        Log.d("ViewPressedStateLancet", "---- unselected hit ---" +  "["+text+"]");
+                    }*/
+                    size++;
                 }
                 int[][] states = new int[size][1];
                 int[] colors = new int[size];
-                states[0] = new int[] { android.R.attr.state_pressed, -android.R.attr.state_focused, -android.R.attr.state_active };
+                states[0] = new int[] { android.R.attr.state_pressed };
                 colors[0] = pressedColor;
-                if (size > 2) {
+                int index = 1;
-                    states[1] = new int[] { -android.R.attr.state_enabled };
+                if (disabledColor != Integer.MIN_VALUE && disabledColor != defaultColor) {
-                    colors[1] = disableColor;
+                    states[index] = new int[] { -android.R.attr.state_enabled };
-                    states[2] = new int[] { android.R.attr.state_enabled };
+                    colors[index] = disabledColor;
-                    colors[2] = defaultColor;
+                    index++;
-                    if (hasChecked) {
-                        states[3] = new int[] { android.R.attr.state_checked };
-                        colors[3] = checkedColor;
-                    }
-                    if (hasUnChecked) {
-                        if (size > 4) {
-                            states[4] = new int[] { -android.R.attr.state_checked };
-                            colors[4] = unCheckedColor;
-                        } else {
-                            states[3] = new int[] { -android.R.attr.state_checked };
-                            colors[3] = unCheckedColor;
-                        }
-                    }
-                } else {
-                    states[1] = StateSet.WILD_CARD;
-                    colors[1] = defaultColor;
                 }
+                if (checkedColor != Integer.MIN_VALUE && checkedColor != defaultColor) {
+                    states[index] = new int[] { android.R.attr.state_checked };
+                    colors[index] = checkedColor;
+                    index++;
+                }
+                if (unCheckedColor != Integer.MIN_VALUE && unCheckedColor != defaultColor) {
+                    states[index] = new int[] { -android.R.attr.state_checked };
+                    colors[index] = unCheckedColor;
+                    index++;
+                }
+                if (selectedColor != Integer.MIN_VALUE && selectedColor != defaultColor) {
+                    states[index] = new int[] { android.R.attr.state_selected };
+                    colors[index] = selectedColor;
+                    index++;
+                }
+                if (unSelectedColor != Integer.MIN_VALUE && unSelectedColor != defaultColor) {
+                    states[index] = new int[] { -android.R.attr.state_selected };
+                    colors[index] = unSelectedColor;
+                    index++;
+                }
+                states[index] = StateSet.WILD_CARD;
+                colors[index] = defaultColor;
                 ColorStateList newColor = new ColorStateList(states, colors);
                 text.setTag(R.id.click_pressed_attr_replaced_color, textColor);
                 text.setTextColor(newColor);
                 return true;
             }
-
             return false;
         }
         if (view != null) {

app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt

@@ -51,7 +51,7 @@ object ConfigStartUp {
         // 各个module需要的url
         FunctionBuildConfig.urlJson = GsonUtils.fromJson(BuildConfig.URLs, UrlConfig::class.java)
         //不能启动自动驾驶的档位
-        FunctionBuildConfig.unableLaunchAutopilotGear = BuildConfig.UNABLE_LAUNCH_AUTOPILOT_GEAR
+        FunctionBuildConfig.launchAutopilotGear = BuildConfig.LAUNCH_AUTOPILOT_GEAR
         // 各车型宣传视频本地配置json
         FunctionBuildConfig.mediaUrlConfig = BuildConfig.mediaUrlConfig
         FunctionBuildConfig.musicUrlConfig = BuildConfig.musicUrlConfig

config.gradle

@@ -225,7 +225,7 @@ ext {
             btrace                       : "com.bytedance.btrace:rhea-core:2.0.0",
 
             mofang_runtime               : "com.mogo.eagle.core.mofang:runtime:2.0.11",
-            log_runtime                  : "com.mogo.eagle.core.log.record:runtime:1.0.50",
+            log_runtime                  : "com.mogo.eagle.core.log.record:runtime:1.0.80",
 
             // 安全证书
             passport_secret              : "com.zhidaoauto:sdk-java:1.0.6-SNAPSHOT",

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt

@@ -129,10 +129,10 @@ class MoGoAutopilotControlProvider :
                     .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
                     .setPingAddressList(AdasManager.getInstance().pingAddressList)
                     .setPassenger(false)
-                    .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
+                    .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
-                    .setRootCrt(CallerCloudCertManager.getRootCrtF())
+                    .setRootCrt(CallerCloudCertManager.getRootCrtFDecode())
-                    .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
+                    .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode())
-                    .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
+                    .setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear)
 //                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
                     .build()
 
@@ -228,7 +228,7 @@ class MoGoAutopilotControlProvider :
                                     val options = AdasOptions
                                         .newBuilder()
                                         .setPassenger(true)
-                                        .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
+                                        .setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear)
                                         .build()
                                     AdasManager.getInstance()
                                         .create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -260,10 +260,10 @@ class MoGoAutopilotControlProvider :
             .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.PING)
             .setPingAddressList(AdasManager.getInstance().pingAddressList)
             .setPassenger(false)// 乘客端直连工控机改为false
-            .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
+            .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
-            .setRootCrt(CallerCloudCertManager.getRootCrtF())
+            .setRootCrt(CallerCloudCertManager.getRootCrtFDecode())
-            .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
+            .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode())
-            .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
+            .setLaunchAutopilotGear(FunctionBuildConfig.launchAutopilotGear)
             .build()
         AdasManager.getInstance().create(mContext, options, MoGoAdasMsgConnectStatusListenerImpl())
         //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
@@ -321,9 +321,9 @@ class MoGoAutopilotControlProvider :
                 // 设置IP地址
                 val options = AdasOptions.newBuilder()
                     .setPassenger(false)
-                    .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
+                    .setEnableCertification(SharedPrefsMgr.getInstance().getBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE))
-                    .setRootCrt(CallerCloudCertManager.getRootCrtF())
+                    .setRootCrt(CallerCloudCertManager.getRootCrtFDecode())
-                    .setDeviceCrt(CallerCloudCertManager.getDeviceCrtF())
+                    .setDeviceCrt(CallerCloudCertManager.getDeviceCrtFDecode())
                     .setConnectionMode(AdasOptions.IPC_CONNECTION_MODE.SPECIFIED)
                     .setSpecifiedAddress(autoPilotIp)
                     .build()
@@ -988,7 +988,7 @@ class MoGoAutopilotControlProvider :
      * @param resultCode 上报字段code
      */
     override fun getReportResultDesc(resultCode: String): String {
-        return MogoReport.Result.getDesc(resultCode)
+        return MogoReport.ResultDesc.getDesc(resultCode)
     }
 
     /**
@@ -996,7 +996,7 @@ class MoGoAutopilotControlProvider :
      * @param actionCode 上报字段code
      */
     override fun getReportActionDesc(actionCode: String): String {
-        return MogoReport.Action.getDesc(actionCode)
+        return MogoReport.ActionDesc.getDesc(actionCode)
     }
 
     override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter
 
 import bag_manager.BagManagerOuterClass
+import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
@@ -169,7 +170,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     ) {
         if (vehicleState != null) {
             //转向灯数据
-            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
+//            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
             //刹车灯数据
             CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
             //方向盘转向角数据
@@ -231,10 +232,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     ) {
         if (chassisStates != null) {
             chassisStates.bcmSystemStates?.let { bcmSystemStates ->
-                bcmSystemStates.turnLightState?.let {
+//                bcmSystemStates.turnLightState?.let {
-                    //转向灯数据
+//                    //转向灯数据
-                    CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
+//                    CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
-                }
+//                }
                 //刹车灯数据
                 CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
             }
@@ -277,6 +278,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    /**
+     * 底盘车灯状态 转换过的可以直接使用
+     * 例如：
+     * 原始右转数据： 0 2 0 2 0 2。。。
+     * 转换之后数据： 2 2 2 2 2 2。。。
+     *
+     * @param light 车灯 目前域控发送车灯有 左传{@link Chassis.LightSwitch#LIGHT_LEFT} 右转{@link Chassis.LightSwitch#LIGHT_RIGHT} 危险报警灯{@link Chassis.LightSwitch#LIGHT_FLASH}
+     */
+    override fun onLightSwitch(light: Chassis.LightSwitch) {
+        //转向灯数据
+        CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(light)
+    }
+
     //自动驾驶状态
     @ChainLog(
         linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt

@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -59,13 +60,14 @@ class MoGoAdasMsgConnectStatusListenerImpl :
     private val isSentBasicInfoReq = AtomicBoolean(false)//是否已回复域控基础信息请求
 
     @Volatile
-    private var certificationResult = ""
+    private var certificationResult = "未开启认证"
 
     init {
         CallerCloudListenerManager.addListener(TAG, this)
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
         CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED)
+        CallerAutopilotCarConfigListenerManager.invokeAutopilotCertFileResult(certificationResult)
     }
 
     private fun connectToast(reason: String) {
@@ -249,7 +251,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
      */
     override fun onCertification(status: AdasConstants.CertificationStatus) {
         if (status == AdasConstants.CertificationStatus.TIMEOUT) {
-            certificationResult = "：认证超时";
+            certificationResult = "：证书认证超时"
             CallerLogger.d(
                 "$M_D_C$TAG",
                 "域控证书认证超时（表示域控未发送BasicInfoReq接口的数据【这种情况可能是连接出现了问题】）"
@@ -257,24 +259,25 @@ class MoGoAdasMsgConnectStatusListenerImpl :
         } else {
             if (status != AdasConstants.CertificationStatus.NOT_ENABLED) {
                 if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS) {
+                    certificationResult = "：成功校验域控证书"
                     CallerLogger.d(
                         "$M_D_C$TAG",
-                        "域控证书链校验成功"
+                        "成功校验域控证书"
                     )
                 } else if (status == AdasConstants.CertificationStatus.ROOT_CRT_ERROR) {
-                    certificationResult = "：ROOT证书异常";
+                    certificationResult = "：获取ROOT证书异常"
                     CallerLogger.d(
                         "$M_D_C$TAG",
                         "ROOT证书异常（表示未传递证书，没有拿到ROOT证书）"
                     )
                 } else if (status == AdasConstants.CertificationStatus.IPC_CRT_ERROR) {
-                    certificationResult = "：域控证书异常";
+                    certificationResult = "：获取域控证书异常"
                     CallerLogger.d(
                         "$M_D_C$TAG",
                         "域控证书异常（表示域控发送了BasicInfoReq接口的数据但是未传递证书或证书解码失败【失败的可能性很低】）"
                     )
                 } else if (status == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_FAILED) {
-                    certificationResult = "：证书链校验失败";
+                    certificationResult = "：域控证书校验失败"
                     CallerLogger.d(
                         "$M_D_C$TAG",
                         "域控证书链校验失败（表示证书链未验证通过。证书不匹配、证书格式不正确）"
@@ -282,6 +285,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
                 }
             }
         }
+        CallerAutopilotCarConfigListenerManager.invokeAutopilotCertFileResult(certificationResult)
     }
 
     private fun saveIntoMsgBox(
@@ -341,7 +345,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
      * 工控机获取SN
      */
     override fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {
-        CallerLogger.d("$M_D_C$TAG", "收到域控基础信息请求");
+        CallerLogger.d("$M_D_C$TAG", "收到域控基础信息请求")
         isReceivedBasicInfoReq.set(true)
         if (!TextUtils.isEmpty(SharedPrefsMgr.getInstance().sn)) {
             syncBasicInfoToAutopilot()
@@ -396,7 +400,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
     }
 
     override fun tokenGot(token: String, sn: String) {
-        CallerLogger.d("$M_D_C$TAG", "SN获取成功=$sn");
+        CallerLogger.d("$M_D_C$TAG", "SN获取成功=$sn")
         if (isReceivedBasicInfoReq.get() && !isSentBasicInfoReq.get()) {//已收到域控基础信息请求，但是之前SN没有所以还未回复，现在获取到SN后再进行回复
             syncBasicInfoToAutopilot()
         }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt

@@ -130,6 +130,9 @@ object DataManager {
                 CallerMsgBoxListenerManager.invokeListener(MsgCategory.NOTICE, msg)
             }
             MsgBoxType.FMINFO -> {
+                synchronized(this) {
+                    fmInfoList.add(msg)
+                }
                 CallerMsgBoxListenerManager.invokeListener(MsgCategory.FM_INFO, msg)
             }
             MsgBoxType.VOICE -> {
@@ -250,7 +253,7 @@ object DataManager {
         }
     }
 
-    private suspend fun getCacheMessages(context: Context): List<MsgBoxBean> =
+    private suspend fun getCacheMessages(context: Context): List<MsgBoxBean?> =
         withContext(Dispatchers.IO) {
             delay(2000)
             return@withContext MsgBoxDb.getDb(context)
@@ -326,7 +329,7 @@ object DataManager {
                             }
                         }
                         else -> {
-                            return@map MsgBoxBean(MsgBoxType.V2X, V2XMsg())
+                            return@map null
                         }
                     }
                 }
@@ -368,6 +371,13 @@ object DataManager {
                 recordBagList.clear()
             }
 
+            if (fmInfoList.isNotEmpty()) {
+                fmInfoList.forEach {
+                    msgInfoList.add(MsgBoxInfo(it.bean2Json, it.type.ordinal, it.timestamp))
+                }
+                fmInfoList.clear()
+            }
+
             if (msgInfoList.isNotEmpty()) {
                 MsgBoxDb.getDb(context)
                     .monitorDao()
@@ -387,4 +397,14 @@ object DataManager {
             }
         }
     }
+
+    fun queryFMInfoList(context: Context, startTime: Long, endTime: Long): List<MsgBoxBean> {
+        return MsgBoxDb.getDb(context).monitorDao()
+            .getFMInfoList(MsgBoxType.FMINFO.ordinal, startTime, endTime)
+            .map { boxInfo ->
+                MsgBoxBean(MsgBoxType.FMINFO, GsonUtils.fromJson(boxInfo.bean2Json, FMInfoMsg::class.java)).apply {
+                    timestamp = boxInfo.timeStamp
+                }
+            }
+    }
 }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/MsgBoxProvider.kt

@@ -50,6 +50,14 @@ class MsgBoxProvider : IMsgBoxProvider {
         return DataManager.getRecordBagData()
     }
 
+    override fun queryFMInfoList(
+        context: Context,
+        startTime: Long,
+        endTime: Long
+    ): List<MsgBoxBean> {
+        return DataManager.queryFMInfoList(context, startTime, endTime)
+    }
+
     override fun removeRecordInfo(context: Context, msgBoxBean: MsgBoxBean, key: String) {
         DataManager.removeRecordInfo(key, key)
         DataManager.delMsgBoxBean(context, msgBoxBean)

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/db/MsgBoxDao.kt

@@ -16,6 +16,9 @@ interface MsgBoxDao {
     @Query("SELECT * FROM t_msg_box")
     fun getAllCachedMessages(): List<MsgBoxInfo>
 
+    @Query("SELECT * FROM t_msg_box WHERE json_obj_type == (:fmType) AND time_stamp >= (:startTime) AND time_stamp <= (:endTime)")
+    fun getFMInfoList(fmType: Int, startTime: Long, endTime: Long): List<MsgBoxInfo>
+
     @Query("DELETE FROM t_msg_box")
     fun deleteMsgTable()
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt

@@ -4,6 +4,7 @@ import android.Manifest
 import android.content.*
 import android.content.pm.PackageManager.PERMISSION_GRANTED
 import android.os.Build
+import android.os.Environment
 import android.os.Process
 import android.os.SystemClock
 import android.util.Log
@@ -14,10 +15,13 @@ import com.mogo.commons.AbsMogoApplication
 import com.mogo.core.log.record.*
 import com.mogo.core.log.record.config.*
 import com.mogo.core.log.record.config.crash.CrashConfig
+import com.mogo.core.log.record.config.extra.IExtraFileToUpload
+import com.mogo.core.log.record.config.extra.ToUploadFile
 import com.mogo.core.log.record.config.state.IStateProvider
 import com.mogo.core.log.record.model.UploadError
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.function.api.devatools.logcat.*
+import com.mogo.eagle.core.utilcode.download.DownloadUtils
 import com.zhidao.loglib.bean.RemoteLogPushContent
 import com.zhjt.mogo_core_function_devatools.BuildConfig
 import com.zhjt.mogo_core_function_devatools.logcat.checker.AnrLogChecker
@@ -25,6 +29,7 @@ import com.zhjt.mogo_core_function_devatools.logcat.config.LogRecordConfig
 import com.zhjt.mogo_core_function_devatools.logcat.uploader.*
 import kotlinx.coroutines.*
 import java.io.*
+import java.util.concurrent.TimeUnit
 import java.util.concurrent.TimeUnit.MINUTES
 import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicLong
@@ -45,13 +50,12 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
     private val lastUploadTime by lazy { AtomicLong(0) }
 
     override fun init(context: Context) {
-        val zip = File(context.getExternalFilesDir(null), "logcat/zip")
         val builder = LogcatConfig.Builder().context(context)
             .recordPeriod(MINUTES.toMillis(5)) //  5分钟一个文件
             .maxSizeInLogDir((512 * 1024 * 1024).toLong()) // 512M最大容量
             .recordDir(File(context.getExternalFilesDir(null), "logcat"))
             .pid(Process.myPid())
-            .generateZipDir(zip.absolutePath)
+            .generateZipDir(File(context.getExternalFilesDir(null), "logcat/zip").absolutePath)
             .stateProvider(object : IStateProvider {
                 override fun provide(divider: String?): Map<String, Any?> {
                     return mutableMapOf<String, Any?>().also { itx ->
@@ -104,6 +108,18 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
                         itx["协议版本号"] = AppConfigInfo.protocolVersionNumber
                         itx["${divider}-7"] = divider
                         itx["角色"] = AppConfigInfo.role
+                        val downloads = try {
+                            DownloadUtils.getAllDownloadRecords()
+                        } catch (t: Throwable) {
+                            emptyList()
+                        }
+                        if (downloads.isNotEmpty()) {
+                            itx["${divider}-8"] = divider
+                            itx["下载汇总"] = "(${downloads.size})"
+                            downloads.forEach {
+                                itx[it.first] = "\n\r----------------------------------------------------------${it.second}\n\r"
+                            }
+                        }
                     }
                 }
             })
@@ -114,26 +130,26 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
                 .systemTags("ActivityManager")
                 .checker(AnrLogChecker())
         }
-
+        if (BuildConfig.DEBUG) {
-//        if (BuildConfig.DEBUG) {
+            builder.crashConfig(
-//            builder.crashConfig(
+                CrashConfig.Builder()
-//                CrashConfig.Builder()
+                    .enabled(true)
-//                    .enabled(true)
+                    .crashDir(File(context.getExternalFilesDir(null), "crash"))
-//                    .crashDir(File(context.getExternalFilesDir(null), "logcat/crash"))
+                    .expireDuration(TimeUnit.DAYS.toMillis(3))
-//                    .nativeCrash(true)
+                    .javaCrash(true)
-//                    .anr(true)
+                    .nativeCrash(true)
-//                    .javaCrash(true)
+                    .anr(true)
-//                    .build()
+                    .build()
-//            )
+            )
-//        }
-        LogcatManager.init(builder)
-        scope.launch {
-            try {
-                zip.takeIf { it.exists() }?.deleteRecursively()
-            } catch (t: Throwable) {
-                t.printStackTrace()
-            }
         }
+        builder.extraFilesToUpload(object : IExtraFileToUpload {
+            override fun filesToUpload(): List<ToUploadFile> {
+                return ArrayList<ToUploadFile>().also {
+                    it.add(ToUploadFile(File(Environment.getExternalStorageDirectory(), "MLog")))
+                }
+            }
+        })
+        LogcatManager.init(builder)
     }
 
     override fun target(): Class<RemoteLogPushContent> {
@@ -195,8 +211,8 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
         return LogcatManager.export()
     }
 
-    override fun upload(): Unit = runBlocking {
+    override fun upload(startTime: Long, endTime: Long): Unit = runBlocking {
-        val state = LogcatManager.upload(0, System.currentTimeMillis())
+        val state = LogcatManager.upload(startTime, endTime)
         if (state is UploadError) {
             throw AssertionError(state.toString())
         }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/OverViewImpl.kt

@@ -8,13 +8,20 @@ import android.content.IntentFilter
 import android.location.LocationManager
 import android.util.Log
 import androidx.core.location.LocationManagerCompat
+import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.IMogoStatusChangedListener
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.module.status.StatusDescriptor
+import com.mogo.commons.storage.SharedPrefsMgr
+import com.mogo.eagle.core.data.constants.MoGoConfig
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.telematic.IConnectStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
+import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicStatusListenerManager
 import com.mogo.eagle.core.utilcode.util.AppStateManager
@@ -30,7 +37,8 @@ import java.util.concurrent.atomic.AtomicBoolean
 
 internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
     IMoGoDevaToolsListener, IMoGoAutopilotStatusListener,
-    IConnectStatusListener, IMogoStatusChangedListener {
+    IConnectStatusListener, IMogoStatusChangedListener, IMoGoAutopilotCarConfigListener,
+    IMoGoCloudListener {
 
     companion object {
         const val TAG = "OverViewImpl"
@@ -56,6 +64,9 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
     @Volatile
     private var isAutopilotException = false
 
+    @Volatile
+    private var isAuthCrtException = false
+
     @Volatile
     private var isFirst = true
 
@@ -125,6 +136,8 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
         MogoStatusManager.getInstance()
             .registerStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
+        CallerCloudListenerManager.addListener(TAG, this)
 
         val isGranted = checkIsGpsException()
         if (!isGranted) {
@@ -268,11 +281,41 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
     }
 
     private fun checkIfNotException() {
-        if (!isServerException && !isCloudSocketException && !isTracingException && !isGpsException && !isAutopilotException) {
+        if (!isServerException && !isCloudSocketException && !isTracingException && !isGpsException && !isAutopilotException && !isAuthCrtException) {
             send(OverViewStatus(false))
         }
     }
 
+    override fun authCrtFile(device: String, root: String) {
+        super.authCrtFile(device, root)
+        isAuthCrtException  = false
+        checkIfNotException()
+    }
+
+    override fun authCrtError(errorMsg: String) {
+        super.authCrtError(errorMsg)
+        isAuthCrtException = true
+        send(OverViewStatus(true))
+    }
+
+    override fun onCertificationResult(msg: String) {
+        super.onCertificationResult(msg)
+        if (!SharedPrefsMgr.getInstance().getBoolean(
+                "${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}",
+                MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
+            )
+        ) {
+            return
+        }
+        if(msg.contains("成功校验")){
+            isAuthCrtException  = false
+            checkIfNotException()
+        }else{
+            isAuthCrtException = true
+            send(OverViewStatus(true))
+        }
+    }
+
     override fun onDestroy() {
         super.onDestroy()
 //        CallerDevaToolsListenerManager.removeListener(TAG)
@@ -280,6 +323,9 @@ internal class OverViewImpl(ctx: Context) : IFlow<OverViewStatus>(ctx),
         MogoStatusManager.getInstance()
             .unregisterStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerAutopilotCarConfigListenerManager.removeListener(TAG)
+        CallerCloudListenerManager.removeListener(TAG)
+
         try {
             if (registered.compareAndSet(true, false) && receiver != null) {
                 ctx.unregisterReceiver(receiver)

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusSummaryView.kt

@@ -1,34 +0,0 @@
-package com.zhjt.mogo_core_function_devatools.status.ui
-
-import android.content.Context
-import android.util.AttributeSet
-import android.view.LayoutInflater
-import android.widget.FrameLayout
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.zhjt.mogo_core_function_devatools.R
-
-/**
- * 状态汇总View控件
- */
-class StatusSummaryView@JvmOverloads constructor(
-    context: Context,
-    attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
-) : FrameLayout(
-    context,
-    attrs,
-    defStyleAttr
-), IMoGoAutopilotStatusListener {
-    companion object{
-        private const val TAG = "SummaryStatusView"
-    }
-
-    init {
-        LayoutInflater.from(context).inflate(R.layout.view_initiative_bad_case, this, true)
-        initView()
-    }
-
-    private fun initView() {
-
-    }
-}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt

@@ -8,13 +8,17 @@ import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.recyclerview.widget.LinearLayoutManager
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.deva.report.ReportEntity
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.msgbox.FMInfoMsg
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxCountDownBean
+import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.MsgCategory
+import com.mogo.eagle.core.data.msgbox.MsgFmData
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
 import com.mogo.eagle.core.function.api.order.IOrderListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
@@ -97,23 +101,53 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor(
                     }
                 } else if(category == MsgCategory.SYS_INFO){
                     CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
+                    if(msgBoxBean.type == MsgBoxType.REPORT){
+                        val reportMsg = msgBoxBean.bean as ReportEntity
+                        //P8-P1均只收在消息盒子里，P0消息盒子弹出，其中P0弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
+                        var isShowReport = false
+                        for(action in reportMsg.actionsList){
+                            if("ACTION_MANUAL_HANDLE_IMMEDIATELY" == action){
+                                if(CallerAutoPilotStatusListenerManager.getState() == 2
+                                    || CallerAutoPilotStatusListenerManager.getState() == 7){
+                                    isShowReport = true
+                                }
+                            }
+                        }
+                        if(isShowReport){
+                            //展示消息
+                            showData(msgBoxBean)
+                        }
+                    }
                 } else if(category == MsgCategory.FM_INFO){
                     CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
                     if(FunctionBuildConfig.isTakeoverRemind){
                         //属于停车警示（包括择机靠边停车、立即舒适停车、就地紧急停车）时，需要弹出消息气泡并伴有提示音
                         val fmInfoMsg = msgBoxBean.bean as FMInfoMsg
-                        if(fmInfoMsg.policyCode == "FM_DP_PNC_CHOOSE_STOP" //择机靠边停车
+                        var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
-                            || fmInfoMsg.policyCode == "FM_DP_COMFORTABLE_STOP" //立刻舒适停车
+                        fmInfoMsg.fmInfoList?.forEach { faultInfo ->
-                            || fmInfoMsg.policyCode == "FM_DP_EMERGENCY_STOP" //就地紧急停车
+                            if(faultInfo.faultActionCount>0){
-                        ){
+                                faultInfo.faultActionList.forEach {actionCode ->
-                            //语音提示
+                                    //获取建议操作级别，得到建议操作级别最高的操作
-                            try {
+                                    if(MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel){
-                                SoundPoolUtils.getSoundPool().playSoundWithRedId(context,R.raw.weak_net_tips)
+                                        curFaultLevel = MsgFmData.FaultAction.getFaultLevel(actionCode)
-                            }catch (e: Exception){
+                                    }
-                                e.printStackTrace()
+                                }
+                            }
+                        }
+                        //P0级消息弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
+                        if(curFaultLevel == 0){
+                            //自动驾驶状态 0是不可用 1是ready 2是自动驾驶中 7:平行驾驶中
+                            if(CallerAutoPilotStatusListenerManager.getState() == 2
+                                || CallerAutoPilotStatusListenerManager.getState() == 7){
+                                //语音提示
+                                try {
+                                    SoundPoolUtils.getSoundPool().playSoundWithRedId(context,R.raw.weak_net_tips)
+                                }catch (e: Exception){
+                                    e.printStackTrace()
+                                }
+                                //展示消息
+                                showData(msgBoxBean)
                             }
-                            //展示消息
-                            showData(msgBoxBean)
                         }
                     }
                 } else{

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt

@@ -21,6 +21,7 @@ import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp
 import com.mogo.eagle.core.utilcode.mogo.glide.transform.GlideRoundedCornersTransform
+import com.mogo.eagle.core.utilcode.util.ResourceUtils.getDrawable
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils.getHourMinFormat
 import com.mogo.eagle.core.widget.RoundCanClickConstraintLayout
@@ -242,7 +243,6 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
             is BubbleFmHolder ->{
                 data?.let {
                     val fmMsg = it[position].msgBoxBean.bean as FMInfoMsg
-                    holder.tvBubbleFmFault.text = MsgFmData.getFmPolicyName(fmMsg.policyCode)
                     if(fmMsg.policyTime == null){
                         holder.tvBubbleFmTime.text = TimeUtils.millis2String(it[position].msgBoxBean.timestamp,getHourMinFormat())
                     }else{
@@ -250,26 +250,43 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
                     }
                     if(fmMsg.fmInfoList?.size == 0){
                         holder.tvBubbleFmFaultAction.text = "建议操作：暂无"
+                        holder.tvBubbleFmFault.text = MsgFmData.getFmPolicyName(fmMsg.policyCode)
                     }else{
-                        var curFaultLevel = 0 //默认级别，遍历数组找出级别最高的（level数越小大，级别越高）
+                        var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
                         fmMsg.fmInfoList?.forEach { faultInfo ->
                             if(faultInfo.faultActionCount>0){
                                 faultInfo.faultActionList.forEach {actionCode ->
                                     //获取建议操作级别，得到建议操作级别最高的操作
-                                    if(MsgFmData.FaultAction.getFaultLevel(actionCode) > curFaultLevel){
+                                    if(MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel){
                                         curFaultLevel = MsgFmData.FaultAction.getFaultLevel(actionCode)
                                     }
                                 }
                             }
                         }
                         val faultAction = MsgFmData.FaultAction.getFaultAction(curFaultLevel)
+                        holder.tvBubbleFmFault.text = faultAction
                         //当出现多个建议操作时，按照整车下电重启、请求人工驾驶接管、请求平行驾驶接管、系统重启、联系硬件工程师、
                         // 联系运维工程师、联系软件工程师优先级递减的顺序，只展示最高优先级的内容
-                        if(curFaultLevel == 0){
+                        if(curFaultLevel == 5){
                             holder.tvBubbleFmFaultAction.text = "建议操作：暂无"
                         }else{
                             holder.tvBubbleFmFaultAction.text = "${faultAction}(${MsgFmData.FaultAction.getFaultActionCode(curFaultLevel)})"
                         }
+                        //不同级别的Icon显示
+                        when(curFaultLevel){
+                            0->{
+                                //重度预警样式
+                                holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_normal))
+                            }
+                            1,2,3->{
+                                //中度预警样式
+                                holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_normal))
+                            }
+                            4,5->{
+                                //轻度预警样式
+                                holder.ivBubbleFmImage.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
+                            }
+                        }
                     }
                 }
             }
@@ -409,6 +426,7 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
         var tvBubbleFmFault: TextView = itemView.findViewById(R.id.tvBubbleFmFault)
         var tvBubbleFmFaultAction: TextView = itemView.findViewById(R.id.tvBubbleFmFaultAction)
         var tvBubbleFmTime: TextView = itemView.findViewById(R.id.tvBubbleFmTime)
+        var ivBubbleFmImage: ImageView = itemView.findViewById(R.id.ivBubbleFmImage)
     }
 
     //SSM连接消息

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt

@@ -173,39 +173,21 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                         "时间：${fmInfoMsg.policyTime?.let { it1 -> TimeUtils.millis2String(it1) }}"
                     holder.tvFmTime.text =
                         fmInfoMsg.policyTime?.let { it1 -> TimeUtils.millis2String(it1,getHourMinFormat()) }
-                    //不同级别的Icon显示
-                    if(fmInfoMsg.policyCode == "FM_DP_ONLY_WARNING"){
-                        //警示
-                        holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
-                        holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_open))
-                    }else if(fmInfoMsg.policyCode == "FM_DP_SPEED_LIMIT1"
-                        || fmInfoMsg.policyCode == "FM_DP_SPEED_LIMIT2"
-                        || fmInfoMsg.policyCode == "FM_DP_SPEED_LIMIT3"){
-                        //降速行驶
-                        holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_normal))
-                        holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_open))
-                    }else if(fmInfoMsg.policyCode == "FM_DP_PNC_CHOOSE_STOP"
-                        || fmInfoMsg.policyCode == "FM_DP_COMFORTABLE_STOP"
-                        || fmInfoMsg.policyCode == "FM_DP_EMERGENCY_STOP"){
-                        //安全停车
-                        holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_normal))
-                        holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_open))
-                    }
-                    //Title
-                    holder.tvFmTitleNormal.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
-                    holder.tvFmTitleOpen.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
                     //建议操作
                     if(fmInfoMsg.fmInfoList.isNullOrEmpty()){
                         //建议操作暂无
                         holder.tvFmActionOpen.text = "建议操作：暂无"
                         holder.tvFmActionNormal.text = "建议操作：暂无"
+                        //Title
+                        holder.tvFmTitleNormal.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
+                        holder.tvFmTitleOpen.text = MsgFmData.getFmPolicyName(fmInfoMsg.policyCode)
                     }else{
                         val receiveFaultLevel = ArrayList<Int>()
                         fmInfoMsg.fmInfoList!!.forEach { info ->
                             if(info.faultActionCount != 0){
                                 info.faultActionList.forEach { action ->
                                     //如果不包含此故障Level，则进行添加
-                                    if(!receiveFaultLevel.contains(MsgFmData.FaultAction.getFaultLevel(action)) && MsgFmData.FaultAction.getFaultLevel(action)!=0){
+                                    if(!receiveFaultLevel.contains(MsgFmData.FaultAction.getFaultLevel(action))){
                                         receiveFaultLevel.add(MsgFmData.FaultAction.getFaultLevel(action))
                                     }
                                 }
@@ -216,7 +198,28 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                             val faultActionStr: StringBuilder = StringBuilder()
                             faultActionStr.append("建议操作：")
                             receiveFaultLevel.sort()
-                            receiveFaultLevel.reverse()
+//                            receiveFaultLevel.reverse()
+                            //Title
+                            holder.tvFmTitleNormal.text = MsgFmData.FaultAction.getFaultAction(receiveFaultLevel[0])
+                            holder.tvFmTitleOpen.text = MsgFmData.FaultAction.getFaultAction(receiveFaultLevel[0])
+                            //不同级别的Icon显示
+                            when(receiveFaultLevel[0]){
+                                0->{
+                                    //重度预警样式
+                                    holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_normal))
+                                    holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_stop_open))
+                                }
+                                1,2,3->{
+                                    //中度预警样式
+                                    holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_normal))
+                                    holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_reduce_open))
+                                }
+                                4,5->{
+                                    //轻度预警样式
+                                    holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
+                                    holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_open))
+                                }
+                            }
                             receiveFaultLevel.forEach {level->
                                 if(MsgFmData.FaultAction.getFaultAction(level).isNotBlank()){
                                     faultActionStr.append(MsgFmData.FaultAction.getFaultAction(level))
@@ -227,11 +230,11 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                                     faultActionStr.append(")")
                                 }
                                 if(MsgFmData.FaultAction.getFaultAction(level).isNotBlank() || MsgFmData.FaultAction.getFaultActionCode(level).isNotBlank()){
-                                    faultActionStr.append("/")
+                                    faultActionStr.append(";")
                                 }
                             }
                             if(faultActionStr.length > 5){
-                                if(faultActionStr.endsWith("/")){
+                                if(faultActionStr.endsWith(";")){
                                     faultActionStr.deleteCharAt(faultActionStr.lastIndex)
                                 }
                                 holder.tvFmActionOpen.text = faultActionStr.toString()
@@ -243,6 +246,9 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                         }else{
                             holder.tvFmActionOpen.text = "建议操作：暂无"
                             holder.tvFmActionNormal.text = "建议操作：暂无"
+                            //轻度预警样式
+                            holder.ivFmImageNormal.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_normal))
+                            holder.ivFmImageOpen.setImageDrawable(getDrawable(R.drawable.icon_fm_warning_open))
                         }
                     }
                     //故障策略

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -12,7 +12,6 @@ import android.os.Build
 import android.os.Process
 import android.text.Html
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.view.ViewGroup
@@ -89,6 +88,7 @@ import com.mogo.eagle.core.utilcode.kotlin.lifecycleOwner
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.kotlin.scope
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -204,7 +204,8 @@ internal class DebugSettingView @JvmOverloads constructor(
 
     // 高精地图是否已缓存
     private var isHDCached = false
-    private var isClickCheckedCbSsl = false//是否已经点击且选中证书认证按钮
+    //是否已经点击且选中证书认证按钮
+    private var isCertCheck = false
     private var isFirstDownLoadCertHint = false
 
     init {
@@ -1293,14 +1294,13 @@ internal class DebugSettingView @JvmOverloads constructor(
             }
         }
         //是否启用证书认证
-        cbSsl.isChecked =
+        val check = SharedPrefsMgr.getInstance().getBoolean(
-            SharedPrefsMgr.getInstance().getBoolean(
+            "${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}",
-                MoGoConfig.AUTOPILOT_CERTIFICATION,
+            MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
-                MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
+        )
-            )
+        isCertCheck = check
+        cbSsl.isChecked = check
         cbSsl.setOnCheckedChangeListener { _, isChecked ->
-            isClickCheckedCbSsl = isChecked
-//            下载证书
             if (isChecked) {
                 if (CallerCloudCertManager.getRootCrtF().isNullOrEmpty()) {
                     if (!isFirstDownLoadCertHint) {
@@ -1308,25 +1308,31 @@ internal class DebugSettingView @JvmOverloads constructor(
                         ToastUtils.showShort("证书文件不存在，正在下载")
                     }
                     cbSsl.isChecked = false
+                    //下载证书
                     CallerCloudCertManager.certFileDownLoad { errorMsg ->
                         ThreadUtils.runOnUiThread {
+                            isCertCheck = false
                             ToastUtils.showShort(errorMsg)
                         }
                     }
+                }else{
+                    isCertCheck = true
                 }
+            }else{
+                isCertCheck = false
             }
             SharedPrefsMgr.getInstance()
-                .putBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, cbSsl.isChecked)
+                .putBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", cbSsl.isChecked)
         }
     }
 
     override fun authCrtFile(device: String, root: String) {
         super.authCrtFile(device, root)
         ThreadUtils.runOnUiThread {
-            if (isClickCheckedCbSsl) {
+            if (isCertCheck) {
                 cbSsl.isChecked = true
                 SharedPrefsMgr.getInstance()
-                    .putBoolean(MoGoConfig.AUTOPILOT_CERTIFICATION, true)
+                    .putBoolean("${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}", true)
             }
             if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
                 tvCertFile.text = Html.fromHtml(
@@ -1576,26 +1582,48 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //上传全量日志
         exportAllLogs?.onClick { v ->
-            v.visibility = View.INVISIBLE
+            ListPopupWindow(v.context).also { p ->
-            logLoadingView?.visibility = View.VISIBLE
+                val items = LogcatUploadDuration.values()
-            v.scope.launch(Dispatchers.IO) {
+                p.setAdapter(LogcatUploadAdapter(v.context, items))
-                var isUploadSuccess = false
+                p.anchorView = v
-                try {
+                p.isModal = true
-                    CallerDevaToolsManager.logcat()?.upload()
+                p.setBackgroundDrawable(ColorDrawable(Color.WHITE))
-                    isUploadSuccess = true
+                p.setOnItemClickListener { _, _, position, _ ->
-                } catch (t: Throwable) {
+                    val item = items[position]
-                    t.printStackTrace()
+                    v.visibility = View.INVISIBLE
-                }
+                    logLoadingView?.visibility = View.VISIBLE
-                withContext(Dispatchers.Main) {
+                    p.dismiss()
-                    if (isUploadSuccess) {
+                    v.scope.launch(Dispatchers.IO) {
-                        ToastUtils.showShort("上传成功")
+                        val endTime = System.currentTimeMillis()
-                    } else {
+                        val startTime = when(item) {
-                        ToastUtils.showShort("上传失败")
+                            LogcatUploadDuration.IN_15M -> endTime - TimeUnit.MINUTES.toMillis(15)
+                            LogcatUploadDuration.IN_45M -> endTime - TimeUnit.MINUTES.toMillis(45)
+                            LogcatUploadDuration.IN_1H -> endTime - TimeUnit.HOURS.toMillis(1)
+                            LogcatUploadDuration.IN_2H -> endTime - TimeUnit.HOURS.toMillis(2)
+                            LogcatUploadDuration.IN_3H -> endTime - TimeUnit.HOURS.toMillis(3)
+                            LogcatUploadDuration.IN_6H -> endTime - TimeUnit.HOURS.toMillis(6)
+                            LogcatUploadDuration.IN_1D -> endTime - TimeUnit.DAYS.toMillis(1)
+                            LogcatUploadDuration.ALL -> 0
+                        }
+                        var isUploadSuccess = false
+                        try {
+                            CallerDevaToolsManager.logcat()?.upload(startTime, endTime)
+                            isUploadSuccess = true
+                        } catch (t: Throwable) {
+                            t.printStackTrace()
+                        }
+                        withContext(Dispatchers.Main) {
+                            if (isUploadSuccess) {
+                                ToastUtils.showShort("上传成功")
+                            } else {
+                                ToastUtils.showShort("上传失败")
+                            }
+                            logLoadingView?.visibility = View.INVISIBLE
+                            exportAllLogs?.visibility = View.VISIBLE
+                        }
                     }
-                    logLoadingView?.visibility = View.INVISIBLE
-                    exportAllLogs?.visibility = View.VISIBLE
                 }
-            }
+            }.show()
         }
 
         if (JunkConfig.isSupportJunkDetect) {
@@ -1731,6 +1759,54 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    private enum class LogcatUploadDuration(val text: String) {
+        IN_15M("15分钟内"),
+        IN_45M("45分钟内"),
+        IN_1H("1小时内"),
+        IN_2H("2小时内"),
+        IN_3H("3小时内"),
+        IN_6H("6小时内"),
+        IN_1D("一天内"),
+        ALL("上传所有")
+    }
+
+    private class LogcatUploadAdapter(private val ctx: Context, private val items: Array<LogcatUploadDuration>): BaseAdapter() {
+        override fun getCount(): Int {
+            return items.size
+        }
+
+        override fun getItem(position: Int): Any {
+            return items[position]
+        }
+
+        override fun getItemId(position: Int): Long {
+            return items[position].ordinal.toLong()
+        }
+
+        override fun getView(position: Int, convertView: View?, parent: ViewGroup?): View {
+            var result = convertView
+            val duration = items[position]
+            if (result == null) {
+                val temp = View.inflate(ctx, android.R.layout.simple_list_item_1, null)
+                temp.tag = Holder(temp.findViewById(android.R.id.text1))
+                result = temp
+            }
+            val holder = result?.tag as? Holder
+            if (holder != null) {
+                holder.text?.setTextColor(Color.BLACK)
+                holder.text?.text = duration.text
+            } else {
+                val text = result?.findViewById<TextView>(android.R.id.text1)
+                text?.setTextColor(Color.BLACK)
+                text?.text = duration.text
+                result?.tag = Holder(text)
+            }
+            return result!!
+        }
+
+        private inner class Holder(val text: TextView? = null)
+    }
+
     private enum class ApmVLogUploadDuration(val text: String) {
         IN_15M("15分钟内"),
         IN_45M("45分钟内"),
@@ -2504,6 +2580,6 @@ internal class DebugSettingView @JvmOverloads constructor(
         paramIndexes = [0]
     )
     private fun invokeCronetResult(json: String) {
-        Log.d("CronetNetwork", json)
+        CallerLogger.d(SceneConstant.M_HMI + "CronetNetwork", json)
     }
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryAdapter.kt

@@ -48,6 +48,9 @@ class StatusSummaryAdapter(private val ctx: Context, var data: ArrayList<StatusS
                 4 -> {
                     ivFuncView.setImageResource(R.drawable.controller)
                 }
+                5 -> {
+                    ivFuncView.setImageResource(R.drawable.ssl_check)
+                }
             }
             if (entity.isException) {
                 tvStatusDesc.setTextColor(Color.parseColor("#FF4444"))

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/StatusSummaryView.kt

@@ -2,19 +2,26 @@ package com.mogo.eagle.core.function.hmi.ui.setting
 
 import android.content.Context
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.widget.FrameLayout
 import androidx.recyclerview.widget.LinearLayoutManager
 import androidx.recyclerview.widget.RecyclerView
+import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.IMogoStatusChangedListener
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.module.status.StatusDescriptor
+import com.mogo.commons.storage.SharedPrefsMgr
+import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.status.StatusSummaryEntity
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.telematic.IConnectStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
+import com.mogo.eagle.core.function.call.cloud.CallerCloudCertManager
+import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicStatusListenerManager
 import com.mogo.eagle.core.function.hmi.R
@@ -26,7 +33,7 @@ import com.zhjt.mogo.adas.data.AdasConstants
 /**
  * 状态汇总View控件
  */
-class StatusSummaryView@JvmOverloads constructor(
+class StatusSummaryView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
@@ -35,8 +42,9 @@ class StatusSummaryView@JvmOverloads constructor(
     attrs,
     defStyleAttr
 ), IConnectStatusListener, IMogoStatusChangedListener,
-    IMoGoDevaToolsListener, IMoGoAutopilotStatusListener {
+    IMoGoDevaToolsListener, IMoGoAutopilotStatusListener, IMoGoAutopilotCarConfigListener,
-    companion object{
+    IMoGoCloudListener {
+    companion object {
         private const val TAG = "SummaryStatusView"
     }
 
@@ -50,6 +58,13 @@ class StatusSummaryView@JvmOverloads constructor(
             it.add(StatusSummaryEntity(2))
             it.add(StatusSummaryEntity(3))
             it.add(StatusSummaryEntity(4, "域控未连接", true))
+            it.add(
+                StatusSummaryEntity(
+                    5,
+                    CallerAutopilotCarConfigListenerManager.getCertFileResult(),
+                    CallerCloudCertManager.getRootCrtF().isNullOrEmpty()
+                )
+            )
         }
     }
 
@@ -67,6 +82,8 @@ class StatusSummaryView@JvmOverloads constructor(
         MogoStatusManager.getInstance()
             .registerStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
+        CallerCloudListenerManager.addListener(TAG, this)
     }
 
     private fun initView() {
@@ -81,9 +98,10 @@ class StatusSummaryView@JvmOverloads constructor(
             it.layoutManager = LinearLayoutManager(context, LinearLayoutManager.VERTICAL, false)
             it.addItemDecoration(
                 CommonDividerItemDecoration.Builder()
-                .spanCountTBCare(false)
+                    .spanCountTBCare(false)
-                .horizontalInnerSpace(10.PX)
+                    .horizontalInnerSpace(10.PX)
-                .build())
+                    .build()
+            )
             StatusSummaryAdapter(context, data).apply {
                 adapter = this
                 it.adapter = this
@@ -108,6 +126,8 @@ class StatusSummaryView@JvmOverloads constructor(
         MogoStatusManager.getInstance()
             .unregisterStatusChangedListener(TAG, StatusDescriptor.CLOUD_SOCKET, this)
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerAutopilotCarConfigListenerManager.removeListener(TAG)
+        CallerCloudListenerManager.removeListener(TAG)
     }
 
     /**
@@ -168,30 +188,39 @@ class StatusSummaryView@JvmOverloads constructor(
             AdasConstants.IpcConnectionStatus.DISCONNECTED -> {
                 pair = Pair("域控未连接", true)
             }
+
             AdasConstants.IpcConnectionStatus.CONNECTED -> {
                 pair = Pair("域控已连接", false)
             }
+
             AdasConstants.IpcConnectionStatus.CONNECTING -> {
                 pair = Pair("域控连接中", true)
             }
+
             AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER, AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK -> {
                 pair = Pair("域控重连中", true)
             }
+
             AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION -> {
                 pair = Pair("域控连接异常", true)
             }
+
             AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS -> {
                 pair = Pair("非法域控地址", true)
             }
+
             AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS -> {
                 pair = Pair("正在搜索域控地址", true)
             }
+
             AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS -> {
                 pair = Pair("找不到可用的域控地址", true)
             }
+
             AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT -> {
                 pair = Pair("域控心跳超时", true)
             }
+
             AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED -> {
                 pair = Pair("域控主动断开连接", true)
             }
@@ -203,4 +232,41 @@ class StatusSummaryView@JvmOverloads constructor(
             adapter?.notifyItemChanged(4)
         }
     }
+
+    override fun authCrtFile(device: String, root: String) {
+        super.authCrtFile(device, root)
+        UiThreadHandler.post {
+            if (data.size < 6) return@post
+            data[5].desc = "本机证书已下载"
+            data[5].isException = false
+            adapter?.notifyItemChanged(5)
+        }
+    }
+
+    override fun authCrtError(errorMsg: String) {
+        super.authCrtError(errorMsg)
+        UiThreadHandler.post {
+            if (data.size < 6) return@post
+            data[5].desc = "本机证书下载异常:$errorMsg"
+            data[5].isException = true
+            adapter?.notifyItemChanged(5)
+        }
+    }
+
+    override fun onCertificationResult(msg: String) {
+        super.onCertificationResult(msg)
+        if (!SharedPrefsMgr.getInstance().getBoolean(
+                "${MoGoConfig.AUTOPILOT_CERTIFICATION}-${DebugConfig.getNetMode()}",
+                MoGoConfig.AUTOPILOT_CERTIFICATION_DEFAULT_VALUE
+            )
+        ) {
+            return
+        }
+        UiThreadHandler.post {
+            if (data.size < 6) return@post
+            data[5].desc = msg
+            data[5].isException = !msg.contains("成功校验")
+            adapter?.notifyItemChanged(5)
+        }
+    }
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt

@@ -119,7 +119,6 @@ class StatusBarView @JvmOverloads constructor(
 
     private fun setTextColor(color: Int) {
         viewTextClock.setTextColor(color)
-        viewStatusBarTag.setTextColor(color)
     }
 
     override fun onDetachedFromWindow() {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/WifiStateView.kt

@@ -8,19 +8,27 @@ import android.net.wifi.WifiManager
 import android.os.Handler
 import android.os.Message
 import android.util.AttributeSet
-import androidx.appcompat.widget.AppCompatImageView
+import android.util.Log
+import android.util.TypedValue
+import android.view.LayoutInflater
+import android.widget.ImageView
+import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import kotlinx.android.synthetic.main.view_wifi_state.view.viewStatusBarTag
+import kotlinx.android.synthetic.main.view_wifi_state.view.viewWifiStateBg
+import me.jessyan.autosize.utils.AutoSizeUtils
 import java.lang.ref.WeakReference
+import kotlin.properties.Delegates
 
 
 class WifiStateView @JvmOverloads constructor(
-    context: Context,
+    context: Context, attrs: AttributeSet? = null,defStyleAttr: Int = 0
-    attrs: AttributeSet? = null,
+) : ConstraintLayout(context, attrs), IMoGoSkinModeChangeListener {
-    defStyleAttr: Int = 0
-) : AppCompatImageView(context, attrs, defStyleAttr), IMoGoSkinModeChangeListener {
 
     companion object {
         const val TAG = "WifiStateView"
@@ -37,20 +45,46 @@ class WifiStateView @JvmOverloads constructor(
             override fun handleMessage(msg: Message) {
                 super.handleMessage(msg)
                 val view = stateViewWeakReference?.get()
-                view?.updateView(msg.what) {
+                view?.updateLevel(msg.what)
-                    view.setImageResource(it)
+            }
+        }
+    }
+    private var wifiManager: WifiManager? = null
+    private var wifiHandler: WifiHandler? = null
+
+    private var level: Int by Delegates.observable(0) { _, o, n ->
+        if (o != n) {
+            UiThreadHandler.post {
+                updateView(n){
+                    viewWifiStateBg.setImageResource(it)
                 }
             }
         }
     }
 
-    private var wifiManager: WifiManager? = null
+    private var wifiName: String by Delegates.observable("") { _, o, n ->
-    private var wifiHandler: WifiHandler? = null
+        if (o != n) {
+            UiThreadHandler.post {
+                if(n.contains("unknow")){
+                    viewStatusBarTag.text = ""
+                }else{
+                    viewStatusBarTag.text = n
+                }
+            }
+        }
+    }
 
-    @Volatile
+    private val txtSize: Float
-    private var level: Int = 0
 
     init {
+        LayoutInflater.from(context).inflate(R.layout.view_wifi_state, this, true)
+        val a = context.obtainStyledAttributes(attrs, R.styleable.WifiStateView, defStyleAttr, 0)
+        txtSize = a.getDimension(
+            R.styleable.WifiStateView_wifi_size,
+            resources.getDimension(R.dimen.dp_35)
+        )
+        a.recycle()
+        viewStatusBarTag.setTextSize(TypedValue.COMPLEX_UNIT_PX,AutoSizeUtils.dp2px(context,txtSize).toFloat())
         wifiManager =
             context.applicationContext.getSystemService(Context.WIFI_SERVICE) as WifiManager?
         wifiHandler = WifiHandler(this)
@@ -67,6 +101,8 @@ class WifiStateView @JvmOverloads constructor(
                         return
                     }
                     val wifiInfo = wifiManager!!.connectionInfo
+                    wifiName = wifiInfo.ssid.replace("\"","")
+                    Log.i("emArrow", "wifiName: $wifiName")
                     level = WifiManager.calculateSignalLevel(wifiInfo.rssi, 5)
                     wifiHandler?.sendEmptyMessage(level)
                 }
@@ -95,9 +131,25 @@ class WifiStateView @JvmOverloads constructor(
 
     override fun onSkinModeChange(skinMode: Int) {
         wifiHandler?.sendEmptyMessage(level)
+        UiThreadHandler.post  {
+            when (skinMode) {
+                0 -> setStatusBarDarkOrLight(false)
+                1 -> setStatusBarDarkOrLight(true)
+            }
+        }
     }
 
-    fun updateView(wifiState: Int, resId: ((Int) -> Unit)) {
+   private fun setStatusBarDarkOrLight(light: Boolean) = if (light) {
+       viewStatusBarTag.setTextColor(resources.getColor(R.color.color_2C2E30))
+    } else {
+       viewStatusBarTag.setTextColor(resources.getColor(R.color.color_FFFFFF))
+    }
+
+    fun updateLevel(wifiState: Int){
+        level = wifiState
+    }
+
+    private fun updateView(wifiState: Int, resId: ((Int) -> Unit)) {
         when (FunctionBuildConfig.skinMode) {
             0 -> {
                 when (wifiState) {
@@ -109,6 +161,7 @@ class WifiStateView @JvmOverloads constructor(
                     4 -> resId.invoke(R.drawable.wifi_light_state_five)
                 }
             }
+
             1 -> {
                 when (wifiState) {
                     -1 -> resId.invoke(R.drawable.wifi_dark_state_one)

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml

@@ -18,20 +18,9 @@
         android:textSize="@dimen/dp_45"
         android:textStyle="bold" />
 
-    <TextView
-        android:id="@+id/viewStatusBarTag"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_gravity="center"
-        android:layout_marginStart="@dimen/dp_27"
-        android:gravity="center"
-        android:text="@string/status_bar_tag"
-        android:textColor="@color/color_2C2E30"
-        android:textSize="@dimen/dp_35" />
-
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
-        android:layout_width="@dimen/dp_54"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_54"
         android:layout_gravity="center"
         android:layout_marginStart="@dimen/dp_18" />

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_wifi_state.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <TextView
+        android:id="@+id/viewStatusBarTag"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_27"
+        android:gravity="center_vertical"
+        android:maxLength="15"
+        android:textColor="@color/color_2C2E30"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <ImageView
+        android:id="@+id/viewWifiStateBg"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@+id/viewStatusBarTag"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:ignore="MissingConstraints" />
+</androidx.constraintlayout.widget.ConstraintLayout>

core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml

@@ -89,6 +89,10 @@
         <attr name="pnc_txt_style" format="reference"/>
     </declare-styleable>
 
+    <declare-styleable name="WifiStateView">
+        <attr name="wifi_size" format="dimension"/>
+    </declare-styleable>
+
     <style name="AudioFileInfoOverlayText">
         <item name="android:shadowColor">#80000000</item>
         <item name="android:shadowRadius">11</item>

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java

@@ -8,6 +8,7 @@ import androidx.annotation.RequiresApi;
 
 import com.google.common.collect.BiMap;
 import com.google.common.collect.HashBiMap;
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
@@ -103,7 +104,7 @@ public class TrackManager {
                             MessagePad.TrackedObject cache = cacheTrack.getCache();
                             if (cache != null) {
                                 //相对静止物体 感知融合同位置物体，使用缓存数据做覆盖
-                                if (cacheTrack.relativeStatic()) {
+                                if (cacheTrack.relativeStatic() && data.getType() != TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.getType()) {
                                     if (data.getColor() != null && !data.getColor().isEmpty()) {
                                         cache = cache.toBuilder().setColor(data.getColor()).build();
                                     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt

@@ -13,7 +13,7 @@ object TrackerSourceFilterHelper {
     @SuppressLint("NewApi")
     fun filterData(data: TrackedObject): Boolean {
         if (!FunctionBuildConfig.isDrawUnknownIdentifyData && (data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
-                    || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_501.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_502.type)
+                    || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GU.type)
         ) {
             return true
         }
@@ -55,6 +55,10 @@ object TrackerSourceFilterHelper {
             return ""
         }
 
+        if(data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.type){
+            return ""
+        }
+
         if(FunctionBuildConfig.isFusionColor){
             if(isFusion(data)){
                 color = "#982FFFFF"

core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/secret/CertFileManager.kt

@@ -30,6 +30,9 @@ class CertFileManager : IMoGoCertProvider {
     @Volatile
     private var rootCrtFile: String? = null
 
+    @Volatile
+    private var crtFileErrorMsg: String? = null
+
     companion object {
         private const val TAG = "CertFileManager"
     }
@@ -72,6 +75,7 @@ class CertFileManager : IMoGoCertProvider {
                                         "onSuccess securityKey:$securityKey , thread:${Thread.currentThread().name}"
                                     )
                                     certStatus.set(false)
+                                    crtFileErrorMsg = null
                                     deviceCrtFile = securityKey
                                     rootCrtFile = rootKey
                                     SharedPrefsMgr.getInstance().putString(securityKeyTAG, securityKey)
@@ -92,6 +96,8 @@ class CertFileManager : IMoGoCertProvider {
                                 override fun onFailed(errorCode: Int, errorMsg: String) {
                                     CallerLogger.d("${SceneConstant.M_D_C}$TAG", "onFailed code:$errorCode, msg:$errorMsg")
                                     certStatus.set(false)
+                                    crtFileErrorMsg = "$errorCode - $errorMsg"
+                                    CallerCloudListenerManager.invokeCloudCrtError(errorMsg)
                                     onError?.invoke("证书下载失败, code:$errorCode, msg:$errorMsg")
                                 }
                             })
@@ -112,4 +118,8 @@ class CertFileManager : IMoGoCertProvider {
     override fun getRootCrtF(): String? {
        return rootCrtFile?:SharedPrefsMgr.getInstance().getString(securityRootTAG, null)
     }
+
+    override fun getCrtFileErrorMsg(): String? {
+        return crtFileErrorMsg
+    }
 }

core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/secret/PassPortSecret.java

@@ -32,10 +32,9 @@ public class PassPortSecret {
     private IPassportSecret secretCB;
 
     public void init(String deviceId, String path, IPassportSecret secretCB) {
-        if (this.secretCB != null) {
+        if (this.secretCB == null) {
-            return;
+            this.secretCB = secretCB;
         }
-        this.secretCB = secretCB;
         PassportService passportService = new PassportService();
         passportService.setEnableLog(DebugConfig.isDebug());
         domain.R<Passport> r = initLow(passportService, deviceId, path);

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -308,7 +308,7 @@ object FunctionBuildConfig {
      */
     @Volatile
     @JvmField
-    var unableLaunchAutopilotGear: Set<Chassis.GearPosition>? = null
+    var launchAutopilotGear: Set<Chassis.GearPosition>? = null
 
     /**
      * 当前应用是否支持patch升级

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt

@@ -8,7 +8,8 @@ enum class DataSourceType(name: String) {
     MAP("HDMAP"),
     TELEMATIC("TELEMATIC"),
     AICLOUD("AI云"),
-    SUMMARY("汇总");// V2X事件汇总
+    SUMMARY("汇总"),// V2X事件汇总
+    WORKORDER("工单建议");
 
 
     companion object{
@@ -19,6 +20,7 @@ enum class DataSourceType(name: String) {
                 TELEMATIC -> "TELEMATIC"
                 AICLOUD -> "AI云"
                 SUMMARY -> "汇总"
+                WORKORDER -> "工单建议"
                 else -> "defalut"
             }
         }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt

@@ -17,21 +17,6 @@ enum class TrafficTypeEnum(
     var traffic3DIconId: Int,
     var traffic3DNightIconId: Int
 ) {
-
-    TYPE_TRAFFIC_ID_501(
-        501,
-        "未知数据",
-        R.raw.traffic_xiankuang,
-        R.raw.traffic_xiankuang,
-        R.raw.traffic_xiankuang
-    ),
-    TYPE_TRAFFIC_ID_502(
-        502,
-        "未知数据",
-        R.raw.traffic_xiankuang,
-        R.raw.traffic_xiankuang,
-        R.raw.traffic_xiankuang
-    ),
     TYPE_TRAFFIC_ID_WEI_ZHI(
         100,
         "未知数据",
@@ -95,12 +80,12 @@ enum class TrafficTypeEnum(
         R.raw.special_vehicle,
         R.raw.special_vehicle
     ),
-    TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG(
+    TYPE_TRAFFIC_ID_CONE(
         12,
-        "道路施工",
+        "三角锥",
-        R.raw.v2x_shigong_warning,
+        R.raw.sanjiaozhui,
-        R.raw.v2x_shigong_warning,
+        R.raw.sanjiaozhui,
-        R.raw.v2x_shigong_warning
+        R.raw.sanjiaozhui
     ),
     TYPE_TRAFFIC_ID_LUCE_TA_CHE(
         103,
@@ -122,6 +107,20 @@ enum class TrafficTypeEnum(
         R.raw.lucedaba,
         R.raw.lucedaba,
         R.raw.lucedaba
+    ),
+    TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG(
+        501,
+        "道路施工",
+        R.raw.v2x_shigong_warning,
+        R.raw.v2x_shigong_warning,
+        R.raw.v2x_shigong_warning
+    ),
+    TYPE_TRAFFIC_ID_DAO_LU_SHI_GU(
+        502,
+        "道路事故",
+        R.raw.v2x_shigu_sanjiaopai,
+        R.raw.v2x_shigu_sanjiaopai,
+        R.raw.v2x_shigu_sanjiaopai
     );
 
     companion object {
@@ -134,6 +133,7 @@ enum class TrafficTypeEnum(
                 TYPE_TRAFFIC_ID_TA_CHE.type -> TYPE_TRAFFIC_ID_TA_CHE
                 TYPE_TRAFFIC_ID_MOTO.type -> TYPE_TRAFFIC_ID_MOTO
                 TYPE_TRAFFIC_ID_BUS.type -> TYPE_TRAFFIC_ID_BUS
+                TYPE_TRAFFIC_ID_CONE.type -> TYPE_TRAFFIC_ID_CONE
                 TYPE_TRAFFIC_ID_TRUCK.type -> TYPE_TRAFFIC_ID_TRUCK
                 TYPE_TRAFFIC_ID_CAMERA.type -> TYPE_TRAFFIC_ID_CAMERA
                 TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> TYPE_TRAFFIC_ID_SPECIAL_VEHICLE
@@ -153,6 +153,7 @@ enum class TrafficTypeEnum(
                     TYPE_TRAFFIC_ID_TA_CHE.type ->  R.raw.taxi_traffic_tachexiaoche
                     TYPE_TRAFFIC_ID_MOTO.type -> R.raw.taxi_traffic_motuoche
                     TYPE_TRAFFIC_ID_BUS.type -> R.raw.taxi_traffic_daba
+                    TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
                     TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.taxi_traffic_daba
                     TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
                     TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle
@@ -170,6 +171,7 @@ enum class TrafficTypeEnum(
                    TYPE_TRAFFIC_ID_TA_CHE.type ->  R.raw.traffic_tachexiaoche_day
                    TYPE_TRAFFIC_ID_MOTO.type -> R.raw.traffic_motuoche_day
                    TYPE_TRAFFIC_ID_BUS.type -> R.raw.traffic_daba_day
+                   TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
                    TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.traffic_daba_day
                    TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
                    TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle
@@ -190,6 +192,7 @@ enum class TrafficTypeEnum(
                     TYPE_TRAFFIC_ID_TA_CHE.type ->  R.raw.taxi_traffic_tachexiaoche
                     TYPE_TRAFFIC_ID_MOTO.type -> R.raw.taxi_traffic_motuoche
                     TYPE_TRAFFIC_ID_BUS.type -> R.raw.taxi_traffic_daba
+                    TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
                     TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.taxi_traffic_daba
                     TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
                     TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle
@@ -207,6 +210,7 @@ enum class TrafficTypeEnum(
                     TYPE_TRAFFIC_ID_TA_CHE.type ->  R.raw.traffic_tachexiaoche
                     TYPE_TRAFFIC_ID_MOTO.type -> R.raw.traffic_motuoche
                     TYPE_TRAFFIC_ID_BUS.type -> R.raw.traffic_daba
+                    TYPE_TRAFFIC_ID_CONE.type -> R.raw.sanjiaozhui
                     TYPE_TRAFFIC_ID_TRUCK.type -> R.raw.traffic_daba
                     TYPE_TRAFFIC_ID_CAMERA.type -> R.raw.shexiangtou
                     TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> R.raw.special_vehicle

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/FMInfoMsg.kt

@@ -19,5 +19,6 @@ data class FMInfoMsg(
 data class FMFilterInfoMsg(
     var fmInfoList: List<FmInfo.FaultInfo>?,
     var policyCode: String?,
-    var cacheFilterList: MutableList<String>?
+    var cacheFilterList: MutableList<String>?,
+    var receiveTime: Long
 )

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/msgbox/MsgFmData.kt

@@ -15,19 +15,19 @@ class MsgFmData{
         val faultLevel: Int//故障处理级别
     ){
         //请求平行驾驶接管
-        FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER("恢复策略","请求平行驾驶接管","FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER","如planing出站时，规划失败",5),
+        FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER("恢复策略","请求平行驾驶接管","FM_ACT_NEED_PARALLEL_DERVING_TAKEOVER","如planing出站时，规划失败",3),
         //请求人工驾驶接管
-        FM_ACT_NEED_MANNUAL_DERVING("恢复策略","请求人工驾驶接管","FM_ACT_NEED_MANNUAL_DERVING","如planing规划失败，且存在弱网判断",6),
+        FM_ACT_NEED_MANNUAL_DERVING("恢复策略","请求人工驾驶接管","FM_ACT_NEED_MANNUAL_DERVING","如planing规划失败，且存在弱网判断",0),
         //系统重启
-        FM_ACT_NEED_RESTART_SYSTEM("恢复策略","系统重启","FM_ACT_NEED_RESTART_SYSTEM","如检测到出现多个节点奔溃",4),
+        FM_ACT_NEED_RESTART_SYSTEM("恢复策略","系统重启","FM_ACT_NEED_RESTART_SYSTEM","如检测到出现多个节点奔溃",2),
         //整车下电重启
-        FM_ACT_MUST_VEHICLE_POWER_RESET("恢复策略","整车下电重启","FM_ACT_MUST_VEHICLE_POWER_RESET","如底盘无数据，需要下电重启",7),
+        FM_ACT_MUST_VEHICLE_POWER_RESET("恢复策略","整车下电重启","FM_ACT_MUST_VEHICLE_POWER_RESET","如底盘无数据，需要下电重启",1),
         //请联系硬件工程师
-        FM_ACT_CONTACT_HARDWARE_ENGINEER("人工处理","请联系硬件工程师","FM_ACT_CONTACT_HARDWARE_ENGINEER","硬件接线，域控启动等故障",3),
+        FM_ACT_CONTACT_HARDWARE_ENGINEER("人工处理","请联系硬件工程师","FM_ACT_CONTACT_HARDWARE_ENGINEER","硬件接线，域控启动等故障",4),
         //请联系运维工程师
-        FM_ACT_CONTACT_OPERATIONS_ENGINEER("人工处理","请联系运维工程师","FM_ACT_CONTACT_OPERATIONS_ENGINEER","系统配置不对，网络等故障",2),
+        FM_ACT_CONTACT_OPERATIONS_ENGINEER("人工处理","请联系运维工程师","FM_ACT_CONTACT_OPERATIONS_ENGINEER","系统配置不对，网络等故障",4),
         //请联系软件工程师
-        FM_ACT_CONTACT_SOFTWARE_ENGINEER("人工处理","请联系软件工程师","FM_ACT_CONTACT_SOFTWARE_ENGINEER","节点挂掉，无法启动等故障",1);
+        FM_ACT_CONTACT_SOFTWARE_ENGINEER("人工处理","请联系软件工程师","FM_ACT_CONTACT_SOFTWARE_ENGINEER","节点挂掉，无法启动等故障",4);
 
         companion object{
 

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotCarConfigListener.kt

@@ -12,6 +12,11 @@ interface IMoGoAutopilotCarConfigListener {
      *
      * @param carConfigResp 包括docker版本，macAddress等基础信息，详见proto
      */
-    fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp)
+    fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp){}
+
+    /**
+     * 与工控证书验证结果
+     */
+    fun onCertificationResult(msg: String){}
 
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCertProvider.kt

@@ -8,4 +8,6 @@ interface IMoGoCertProvider:IProvider {
     fun getDeviceCrtF():String?
 
     fun getRootCrtF(): String?
+
+    fun getCrtFileErrorMsg(): String?
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/cloud/IMoGoCloudListener.kt

@@ -6,6 +6,11 @@ interface IMoGoCloudListener{
     //单独线程
     fun authCrtFile(device:String, root:String){}
 
+    /**
+     * 下载证书文件异常
+     */
+    fun authCrtError(errorMsg: String){}
+
     fun tokenGot(token: String, sn: String){}
 
     /**

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/msgbox/IMsgBoxProvider.kt

@@ -26,6 +26,8 @@ interface IMsgBoxProvider: IMoGoFunctionServerProvider {
      */
     fun getCachedRecordBagData(): List<MsgBoxBean>
 
+    fun queryFMInfoList(context: Context, startTime: Long, endTime: Long): List<MsgBoxBean>
+
     fun removeRecordInfo(context: Context, msgBoxBean: MsgBoxBean, key: String)
 
     fun getDismissTime(): Long

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/logcat/IMoGoLogRecordProvider.kt

@@ -13,7 +13,7 @@ interface IMoGoLogRecordProvider {
 
     fun export(): File?
 
-    fun upload()
+    fun upload(startTime: Long, endTime: Long)
 
     fun testJavaCrash(runOnNewThread: Boolean)
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotCarConfigListenerManager.kt

@@ -11,11 +11,16 @@ object CallerAutopilotCarConfigListenerManager : CallerBase<IMoGoAutopilotCarCon
 
     private var mCarConfigResp: MessagePad.CarConfigResp? = null
 
+    @Volatile
+    private var certFileMsg = "未开启认证"
+
     override fun doSomeAfterAddListener(tag: String, listener: IMoGoAutopilotCarConfigListener) {
         mCarConfigResp?.let {
             listener.onAutopilotCarConfig(it)
         }
+        listener.onCertificationResult(certFileMsg)
     }
+
     /**
      * 工控机基础信息回调
      * @param carConfigResp
@@ -33,5 +38,17 @@ object CallerAutopilotCarConfigListenerManager : CallerBase<IMoGoAutopilotCarCon
         }
     }
 
+    @Synchronized
+    fun invokeAutopilotCertFileResult(msg: String) {
+        certFileMsg = msg
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onCertificationResult(msg)
+        }
+    }
+
+    fun getCertFileResult(): String {
+        return certFileMsg
+    }
 
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLamplightListenerManager.kt

@@ -17,10 +17,10 @@ object CallerChassisLamplightListenerManager : CallerBase<IMoGoChassisLamplightL
      * @param lightSwitch
      */
     fun invokeAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch) {
-        val switch = getTurnLightState(lightSwitch)
+//        val switch = getTurnLightState(lightSwitch)
         M_LISTENERS.forEach {
             val listener = it.value
-            listener.onAutopilotLightSwitchData(switch)
+            listener.onAutopilotLightSwitchData(lightSwitch)
         }
     }
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFaultManagementStateListenerManager.kt

@@ -4,6 +4,7 @@ import com.mogo.eagle.core.data.msgbox.FMFilterInfoMsg
 import com.mogo.eagle.core.data.msgbox.FMInfoMsg
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
+import com.mogo.eagle.core.data.msgbox.MsgFmData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoFaultManagementStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -39,7 +40,11 @@ object CallerFaultManagementStateListenerManager : CallerBase<IMoGoFaultManageme
                 //判断两个集合重复 true:return
                 var sameResult = false
                 list.forEach {
-                    sameResult = fmFilterInfoMsg.cacheFilterList?.contains(it.faultId) == true
+                    if(fmFilterInfoMsg.cacheFilterList?.contains(it.faultId) == true){
+                        if(System.currentTimeMillis()-fmFilterInfoMsg.receiveTime < 10*60*1000){
+                            sameResult = true
+                        }
+                    }
                 }
                 if (sameResult) {
                     return
@@ -52,6 +57,7 @@ object CallerFaultManagementStateListenerManager : CallerBase<IMoGoFaultManageme
             fmFilterInfoMsg.cacheFilterList?.clear()
             fmFilterInfoMsg.cacheFilterList = cacheFaultList
             fmFilterInfoMsg.fmInfoList = list
+            fmFilterInfoMsg.receiveTime = System.currentTimeMillis()
             cachePolicyMap[policyCode] = fmFilterInfoMsg
             CallerTrace.write("FaultMsg",fmInfo)
             CallerMsgBoxManager.saveMsgBoxHasPB(
@@ -66,7 +72,7 @@ object CallerFaultManagementStateListenerManager : CallerBase<IMoGoFaultManageme
             list.forEach {
                 cacheFaultList.add(it.faultId)
             }
-            cachePolicyMap[policyCode] = FMFilterInfoMsg(list, policyCode, cacheFaultList)
+            cachePolicyMap[policyCode] = FMFilterInfoMsg(list, policyCode, cacheFaultList,System.currentTimeMillis())
             CallerTrace.write("FaultMsg",fmInfo)
             CallerMsgBoxManager.saveMsgBoxHasPB(
                 MsgBoxBean(

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudCertManager.kt

@@ -27,6 +27,14 @@ object CallerCloudCertManager {
     }
 
     fun getDeviceCrtF(): String? {
+        return certProviderApi.getDeviceCrtF()
+    }
+
+    fun getRootCrtF(): String? {
+        return certProviderApi.getRootCrtF()
+    }
+
+    fun getDeviceCrtFDecode(): String? {
         var crt = certProviderApi.getDeviceCrtF()
         if (!crt.isNullOrEmpty()) {
             crt = String(Base64.decode(crt, Base64.NO_WRAP), StandardCharsets.UTF_8)
@@ -34,11 +42,15 @@ object CallerCloudCertManager {
         return crt
     }
 
-    fun getRootCrtF(): String? {
+    fun getRootCrtFDecode(): String? {
         var crt = certProviderApi.getRootCrtF()
         if (!crt.isNullOrEmpty()) {
             crt = String(Base64.decode(crt, Base64.NO_WRAP), StandardCharsets.UTF_8)
         }
         return crt
     }
+
+    fun getCrtFileErrorMsg(): String? {
+        return certProviderApi.getCrtFileErrorMsg()
+    }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/cloud/CallerCloudListenerManager.kt

@@ -17,6 +17,12 @@ object CallerCloudListenerManager : CallerBase<IMoGoCloudListener>() {
         if (!token.isNullOrEmpty() && !sn.isNullOrEmpty()) {
             listener.tokenGot(token!!, sn!!)
         }
+        if(CallerCloudCertManager.getDeviceCrtF()!= null && CallerCloudCertManager.getRootCrtF()!= null){
+            listener.authCrtFile(CallerCloudCertManager.getDeviceCrtF()!!, CallerCloudCertManager.getRootCrtF()!!)
+        }
+        if(CallerCloudCertManager.getCrtFileErrorMsg()!= null){
+            listener.authCrtError(CallerCloudCertManager.getCrtFileErrorMsg()!!)
+        }
     }
 
     fun invokeCloudCrtFile(deviceCrtFile: String, rootCrtFile: String) {
@@ -26,6 +32,13 @@ object CallerCloudListenerManager : CallerBase<IMoGoCloudListener>() {
         }
     }
 
+    fun invokeCloudCrtError(errorMsg: String){
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.authCrtError(errorMsg)
+        }
+    }
+
     /**
      * 分发获取到的设备sn
      */

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxManager.kt

@@ -64,6 +64,13 @@ object CallerMsgBoxManager {
         return providerApi?.getCachedRecordBagData()
     }
 
+    /**
+     * 查询一段时间范围内的FM数据集合
+     */
+    fun queryFMInfoList(context: Context, startTime: Long, endTime: Long): List<MsgBoxBean>? {
+        return providerApi?.queryFMInfoList(context, startTime, endTime)
+    }
+
     /**
      * 用户已处理的Bag包需要删除(上传或取消都包含)
      * key: Bag包的唯一标识key, msgBoxBean: UI展示的那个对象而不是重新new的

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/download/DownloadUtils.kt

@@ -84,4 +84,13 @@ object DownloadUtils {
             }
             .launchIn(scope)
     }
+
+    fun getAllDownloadRecords(): List<Pair<String, String>> {
+        if (Downloader.hasInit()) {
+            return runBlocking {
+                Downloader.getAllDownloadRecords() ?: emptyList()
+            }
+        }
+        return emptyList()
+    }
 }

gradle/bytex/bytex_lancetx.gradle

@@ -1,6 +1,6 @@
 apply plugin: 'LancetX'
 LancetX {
-    enable true
+    enable false
     enableInDebug true
     blackList = [
             "com.mogo.launcher.lancet.jank",

gradle/bytex/bytex_matrix.gradle

@@ -2,7 +2,7 @@ if (!rootProject.isReleaseBuild()) {
     apply plugin: 'bytex.matrix'
     matrix {
         trace {
-            enable = true    //if you don't want to use trace canary, set false
+            enable = false    //if you don't want to use trace canary, set false
             baseMethodMapFile = "${project.buildDir}/matrix_output/customMethodMapping.txt"
             blackListFile = "${project.projectDir}/matrixTrace/blackMethodList.txt"
         }

gradle/bytex/bytex_thread_opt.gradle

@@ -1,6 +1,6 @@
 apply plugin: 'bytex.threadOpt'
 thread_opt {
-    enable true
+    enable false
     enableInDebug true
     logLevel "DEBUG"
     trace_enable !rootProject.isReleaseBuild()

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportInfo.java

@@ -1,7 +1,9 @@
 package com.zhjt.mogo.adas.data.bean;
 
-public class ReportCodeInfo {
+import android.text.TextUtils;
-    public final String code;
+
+public class ReportInfo {
+    public final String name;
     /**
      * 开始支持的版本（包含）
      */
@@ -12,17 +14,14 @@ public class ReportCodeInfo {
      */
     public final String deprecatedVersion;
 
-    public ReportCodeInfo(String code, String sinceVersion, String deprecatedVersion) {
+    public ReportInfo(String name, String sinceVersion, String deprecatedVersion) {
-        this.code = code;
+        this.name = name;
         this.sinceVersion = sinceVersion;
         this.deprecatedVersion = deprecatedVersion;
     }
 
     @Override
     public String toString() {
-        return code +
+        return name + " 开始支持版本（包含）=" + sinceVersion + (TextUtils.isEmpty(deprecatedVersion) ? "" : ", 弃用版本（不包含）='" + deprecatedVersion);
-                " sinceVersion='" + sinceVersion + '\'' +
-                ", deprecatedVersion='" + deprecatedVersion + '\'' +
-                '}';
     }
 }

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReportState.java

@@ -7,13 +7,13 @@ import java.lang.annotation.Target;
 
 /**
  * MAP系统消息报告版本管理
- * 主要用于标记新增Code的版本，以及标记弃用的的Code
+ * 主要用于标记新增Result、Action、Code的版本，以及标记弃用的Result、Action、Code
  */
 
 @Retention(RetentionPolicy.RUNTIME)
 @Target(ElementType.FIELD)
-public @interface CodeInfo {
+public @interface ReportState {
-    String value();//Code新增版本
+    String value();//新增版本
 
-    String deprecated() default "";//Code弃用版本
+    String deprecated() default "";//弃用版本
 }

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java

@@ -29,7 +29,6 @@ public class UnableLaunchReason {
         CHASSIS_THROTTLE,//油门
         CHASSIS_STEERING,//方向盘
         CHASSIS_HAZARD_LIGHTS,//危险报警灯
-        PARKING_BRAKE,//制动系统，手刹，电子驻车制动系统
         SSM_OFFER,//SSM提供的原因
         FSM_OFFER,//FSM提供的原因
         SSM_TIMEOUT//SSM超时

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -207,7 +207,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             this.adasOptions = options;
         }
         ReceiveTimeoutManager.getInstance().setEnable(adasOptions.isEnableTimeoutDetection(), getIpcConnectionStatus());
-        setUnableLaunchAutopilotGear(adasOptions.getUnableLaunchAutopilotGear());
+        setLaunchAutopilotGear(adasOptions.getLaunchAutopilotGear());
     }
 
     /**
@@ -850,6 +850,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 ipcConnectedIp = (String) args[0];
                 ipcConnectedPort = (int) args[1];
             }
+            myMessageFactory.initTurnLightState();
             seqSpecialVehicle = 0;
             AutopilotAbilityManager.getInstance().start();
             ParallelDrivingManager.getInstance().start();
@@ -1119,9 +1120,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         adasOptionsBuild(adasOptionsToBuilder().setAutoConnect(enable));
     }
 
+    /**
+     * 设置可以启动自动驾驶的档位
+     *
+     * @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
+     */
     @Override
-    public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
+    public void setLaunchAutopilotGear(@Nullable Set<Chassis.GearPosition> launchAutopilotGear) {
-        AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
+        AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear);
     }
 
     /**

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -4,6 +4,7 @@ import android.content.Context;
 import android.text.TextUtils;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 
 import com.google.protobuf.ByteString;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
@@ -1794,13 +1795,13 @@ public class AdasManager implements IAdasNetCommApi {
     }
 
     /**
-     * 设置不能启动自动驾驶的档位
+     * 设置可以启动自动驾驶的档位
      *
-     * @param unableLaunchAutopilotGear 不能起自驾档位
+     * @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
      */
     @Override
-    public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
+    public void setLaunchAutopilotGear(@Nullable Set<Chassis.GearPosition> launchAutopilotGear) {
-        AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
+        AutopilotAbilityManager.getInstance().setLaunchAutopilotGear(launchAutopilotGear);
     }
 
     /**

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java

@@ -51,7 +51,7 @@ public class AdasOptions {
     private final String deviceCrt;
     private final boolean isAutoConnect;
     private final Set<SubscribeInterfaceOption> subscribeInterfaceOptions;
-    private final Set<Chassis.GearPosition> unableLaunchAutopilotGear;
+    private final Set<Chassis.GearPosition> launchAutopilotGear;
 
 
     private AdasOptions(Builder builder) {
@@ -66,7 +66,7 @@ public class AdasOptions {
         this.deviceCrt = builder.deviceCrt;
         this.isAutoConnect = builder.isAutoConnect;
         this.subscribeInterfaceOptions = builder.subscribeInterfaceOptions;
-        this.unableLaunchAutopilotGear = builder.unableLaunchAutopilotGear;
+        this.launchAutopilotGear = builder.launchAutopilotGear;
     }
 
     public boolean isPassenger() {
@@ -113,8 +113,8 @@ public class AdasOptions {
         return subscribeInterfaceOptions;
     }
 
-    public Set<Chassis.GearPosition> getUnableLaunchAutopilotGear() {
+    public Set<Chassis.GearPosition> getLaunchAutopilotGear() {
-        return unableLaunchAutopilotGear;
+        return launchAutopilotGear;
     }
 
     public static Builder newBuilder() {
@@ -141,7 +141,7 @@ public class AdasOptions {
         private String deviceCrt;
         private boolean isAutoConnect = DEFAULT.IS_AUTO_CONNECT;
         private Set<SubscribeInterfaceOption> subscribeInterfaceOptions;
-        private Set<Chassis.GearPosition> unableLaunchAutopilotGear;
+        private Set<Chassis.GearPosition> launchAutopilotGear;
 
 
         private Builder() {
@@ -159,7 +159,7 @@ public class AdasOptions {
             this.deviceCrt = options.deviceCrt;
             this.isAutoConnect = options.isAutoConnect;
             this.subscribeInterfaceOptions = options.subscribeInterfaceOptions;
-            this.unableLaunchAutopilotGear = options.unableLaunchAutopilotGear;
+            this.launchAutopilotGear = options.launchAutopilotGear;
         }
 
 
@@ -276,8 +276,8 @@ public class AdasOptions {
         /**
          * 设备证书
          * 启用认证后如果不传递，必须在调用以下方法时传递
-         * {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, String)}
+         * {@link AdasManager#sendBasicInfoResp(String, int, int, String)}
-         * {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, int, String, String)}
+         * {@link AdasManager#sendBasicInfoResp(String, int, int, int, String, String)}
          *
          * @param deviceCrt root证书
          * @return Builder
@@ -325,13 +325,13 @@ public class AdasOptions {
         }
 
         /**
-         * 不能启动自驾的档位
+         * 能启动自驾的档位
          *
-         * @param unableLaunchAutopilotGear 档位
+         * @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
          * @return Builder
          */
-        public Builder setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
+        public Builder setLaunchAutopilotGear(Set<Chassis.GearPosition> launchAutopilotGear) {
-            this.unableLaunchAutopilotGear = unableLaunchAutopilotGear;
+            this.launchAutopilotGear = launchAutopilotGear;
             return this;
         }
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java

@@ -1,6 +1,7 @@
 package com.zhidao.support.adas.high;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants;
@@ -145,11 +146,11 @@ public interface IAdasNetCommApi {
     void setAutoConnect(boolean enable);
 
     /**
-     * 设置不能启动自动驾驶的档位
+     * 设置可以启动自动驾驶的档位
      *
-     * @param unableLaunchAutopilotGear 不能起自驾档位
+     * @param launchAutopilotGear 能起自驾档位 null表示所有档位都可启动
      */
-    void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear);
+    void setLaunchAutopilotGear(@Nullable Set<Chassis.GearPosition> launchAutopilotGear);
 
     /**
      * 自动驾驶设备基础信息应答

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -26,6 +26,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
 import java.util.ArrayList;
 
 import bag_manager.BagManagerOuterClass;
+import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import fault_management.FmInfo;
@@ -98,6 +99,16 @@ public interface OnAdasListener {
      */
     void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates);
 
+    /**
+     * 底盘车灯状态 转换过的可以直接使用
+     * 例如：
+     * 原始右转数据： 0 2 0 2 0 2。。。
+     * 转换之后数据： 2 2 2 2 2 2。。。
+     *
+     * @param light 车灯 目前域控发送车灯有 左传{@link Chassis.LightSwitch#LIGHT_LEFT} 右转{@link Chassis.LightSwitch#LIGHT_RIGHT} 危险报警灯{@link Chassis.LightSwitch#LIGHT_FLASH}
+     */
+    void onLightSwitch(@NonNull Chassis.LightSwitch light);
+
     /**
      * 自动驾驶状态
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/TurnLightState.java

@@ -0,0 +1,34 @@
+package com.zhidao.support.adas.high.common;
+
+public class TurnLightState {
+    private boolean m_state;
+    private double m_lastOnTime;
+
+    public TurnLightState() {
+        init();
+    }
+
+    public void init() {
+        this.m_state = false;
+        this.m_lastOnTime = 0.0;
+    }
+
+    public boolean update(boolean state) {
+        long t = System.currentTimeMillis();
+        if (state) {
+            // on!
+            m_state = true;
+            m_lastOnTime = t;
+        } else {
+            // off?
+            if (m_state && (t - m_lastOnTime > 500)) {
+                m_state = false;
+            }
+        }
+        return m_state;
+    }
+
+    public boolean getState() {
+        return m_state;
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java

@@ -1,5 +1,7 @@
 package com.zhidao.support.adas.high.common.autopilot.ability;
 
+import androidx.annotation.NonNull;
+
 import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
@@ -7,9 +9,6 @@ import java.util.ArrayList;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import chassis.Chassis;
-import chassis.ChassisStatesOuterClass;
-
 /**
  * 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类
  * 目前监控了底盘的一些状态和查询节点状态应答的数据
@@ -17,58 +16,27 @@ import chassis.ChassisStatesOuterClass;
  * <p>
  * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
  */
-public class AutopilotAbility230 {
+public class AutopilotAbility230 extends BaseAutopilotAbilityChassis {
-    private static final String TAG = AutopilotAbility230.class.getSimpleName();
     private volatile Timer timer;
-    private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private OnAutopilotAbilityListener listener;
 
-    protected AutopilotAbility230() {
+    public AutopilotAbility230(@NonNull AutopilotAbilityManager manager) {
-    }
+        super(manager);
-
-
-    protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
-        this.chassisStates = chassisStates;
     }
 
 
     private void onCallback() {
-        boolean isAutopilotAbility = true;//是否能启动自动驾驶
+
         ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
-        //检测底盘相关
+        unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
-        if (chassisStates != null) {
-            if (chassisStates.hasBrakeSystemStates()) {
-                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
-                if (brake > 0) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
-                }
-            }
-            if (chassisStates.hasGearSystemStates()) {
-                Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
-                if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
-                }
-            }
-            //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
-
-//                //电子驻车制动系统
-//                if (chassisStates.hasEpbSystemStates()) {
-//                    ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
-//                    if (epb.hasEpbEnableState()){
-//                        epb.getEpbWorkState();
-//                    }
-//                }
-
-        }
         if (listener != null) {
+            boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
             listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, null, null), unableAutopilotReasons);
         }
     }
 
-    protected synchronized void start(OnAutopilotAbilityListener listener) {
+    @Override
-        this.listener = listener;
+    public synchronized void start(OnAutopilotAbilityListener listener) {
+        super.start(listener);
         if (timer == null) {
             timer = new Timer();
             timer.schedule(new TimerTask() {
@@ -80,12 +48,13 @@ public class AutopilotAbility230 {
         }
     }
 
+
+    @Override
     protected synchronized void stop() {
         if (timer != null) {
             timer.cancel();
             timer = null;
         }
-        this.chassisStates = null;
+        super.stop();
-        this.listener = null;
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java

@@ -1,5 +1,7 @@
 package com.zhidao.support.adas.high.common.autopilot.ability;
 
+import androidx.annotation.NonNull;
+
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -10,9 +12,6 @@ import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import chassis.Chassis;
-import chassis.ChassisStatesOuterClass;
-import chassis.VehicleStateOuterClass;
 import system_master.SystemStatusInfo;
 
 /**
@@ -22,24 +21,13 @@ import system_master.SystemStatusInfo;
  * <p>
  * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
  */
-public class AutopilotAbility250 {
+public class AutopilotAbility250 extends BaseAutopilotAbilityChassis {
-    private static final String TAG = AutopilotAbility250.class.getSimpleName();
     private volatile Timer timer;
-    private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private VehicleStateOuterClass.VehicleState vehicleState;
-    private int mapVersion = -1;//MAP版本
     private int masterVersion = -1;//Master版本
-    private boolean isHQ = false;//是否是HQ
-    private boolean isDF = false;//是否是DF
-    private boolean isM1 = false;//是否是M1
-    private OnAutopilotAbilityListener listener;
 
-    protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
+
-        this.mapVersion = mapVersion;
+    public AutopilotAbility250(@NonNull AutopilotAbilityManager manager) {
-        this.isHQ = isHQ;
+        super(manager);
-        this.isDF = isDF;
-        this.isM1 = isM1;
-        this.masterVersion = -1;
     }
 
 
@@ -47,16 +35,8 @@ public class AutopilotAbility250 {
         onCallback(statusInfo);
     }
 
-    protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
-        this.chassisStates = chassisStates;
-    }
-
-    protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
-        this.vehicleState = vehicleState;
-    }
 
     private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
-        boolean isAutopilotAbility = true;//是否能启动自动驾驶
         ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
@@ -67,13 +47,11 @@ public class AutopilotAbility250 {
             CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
             //SSM 3版本兼容
             if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
-                isAutopilotAbility = statusInfo.getAutoPilotReady();
+                if (!statusInfo.getAutoPilotReady()) {
-                if (!isAutopilotAbility) {
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
-                isAutopilotAbility = statusInfo.getAutoPilotReady();
+                if (!statusInfo.getAutoPilotReady()) {
-                if (!isAutopilotAbility) {
                     SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
                     if (nodeFaultList.getSum() > 0) {
                         List<SystemStatusInfo.NodeInfo> list = nodeFaultList.getNodeList();
@@ -81,20 +59,20 @@ public class AutopilotAbility250 {
                             String nodeName = info.getNodeName();
                             int state = info.getState();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
                 SystemStatusInfo.SystemState systemState = statusInfo.getSysState();
                 // 目前已知可以下发启动自驾命令的状态： SystemState.SYS_RUNNING、SystemState.PILOT_READY、SystemState.AUTO_PILOT_STARTING、SystemState.AUTO_PILOT_RUNNING
                 if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) {
-                    isAutopilotAbility = false;
+                    boolean isAutopilotAbility = false;
                     String unableAutopilotReason = null;
                     if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) {
                         unableAutopilotReason = "系统正在启动";
@@ -118,51 +96,24 @@ public class AutopilotAbility250 {
                         unableAutopilotReason = "未知系统状态";
                     }
                     if (!isAutopilotAbility) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                     }
                 }
             }
         } else {
-            isAutopilotAbility = false;//是否能启动自动驾驶
+            unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
         }
         //检测底盘相关
-        if (chassisStates != null) {
+        unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
-            if (chassisStates.hasBrakeSystemStates()) {
-                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
-                if (brake > 0) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
-                }
-            }
-            if (chassisStates.hasGearSystemStates()) {
-                Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
-                if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
-                }
-            }
-        }
-        if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
-            if (vehicleState != null) {
-                //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
-                //电子驻车制动系统
-                if (vehicleState.hasParkingBrake()) {
-                    boolean isBrake = vehicleState.getParkingBrake();
-                    if (isBrake) {
-                        isAutopilotAbility = false;
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_PARKING_BRAKE);
-                    }
-                }
-            }
-        }
         if (listener != null) {
+            boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
             listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), statusInfo, null, null), unableAutopilotReasons);
         }
     }
 
-    protected synchronized void start(OnAutopilotAbilityListener listener) {
+    @Override
-        this.listener = listener;
+    public synchronized void start(OnAutopilotAbilityListener listener) {
+        super.start(listener);
         if (timer == null) {
             timer = new Timer();
             timer.schedule(new TimerTask() {
@@ -174,17 +125,17 @@ public class AutopilotAbility250 {
         }
     }
 
+
+    @Override
     protected synchronized void stop() {
         if (timer != null) {
             timer.cancel();
             timer = null;
         }
-        this.chassisStates = null;
+        masterVersion = -1;
-        this.masterVersion = -1;
+        super.stop();
-        this.listener = null;
     }
 
-
     protected void onCallTimeout() {
         onCallback(null);
     }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java

@@ -2,6 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
 
 import android.text.TextUtils;
 
+import androidx.annotation.NonNull;
+
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -25,6 +27,8 @@ import system_master.SystemStatusInfo;
  */
 public class AutopilotAbility330 {
     private static final String TAG = AutopilotAbility330.class.getSimpleName();
+    @NonNull
+    private final AutopilotAbilityManager manager;
     private volatile Timer timer;
 
     private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
@@ -32,7 +36,8 @@ public class AutopilotAbility330 {
     private int masterVersion = -1;//Master版本
     private OnAutopilotAbilityListener listener;
 
-    protected AutopilotAbility330(int mapVersion) {
+    protected AutopilotAbility330(@NonNull AutopilotAbilityManager manager, int mapVersion) {
+        this.manager = manager;
         this.mapVersion = mapVersion;
         this.masterVersion = -1;
     }
@@ -60,7 +65,7 @@ public class AutopilotAbility330 {
             if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -72,13 +77,13 @@ public class AutopilotAbility330 {
                             String nodeName = info.getNodeName();
                             int state = info.getState();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
@@ -109,13 +114,13 @@ public class AutopilotAbility330 {
                         unableAutopilotReason = "未知系统状态";
                     }
                     if (!isAutopilotAbility) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                     }
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
+            unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM查询超时无响应");
         }
         if (fsmStatusReasonRespond != null) {
             int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -124,11 +129,11 @@ public class AutopilotAbility330 {
                 for (int i = 0; i < count; i++) {
                     String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
                     if (!TextUtils.isEmpty(respond)) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
                     }
                 }
                 if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
                 }
             }
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java

@@ -1,5 +1,7 @@
 package com.zhidao.support.adas.high.common.autopilot.ability;
 
+import androidx.annotation.NonNull;
+
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -7,9 +9,6 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 
-import chassis.Chassis;
-import chassis.ChassisStatesOuterClass;
-import chassis.VehicleStateOuterClass;
 import system_master.SsmInfo;
 
 /**
@@ -18,42 +17,21 @@ import system_master.SsmInfo;
  * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
  * <p>
  */
-public class AutopilotAbility350And360 {
+public class AutopilotAbility350And360 extends BaseAutopilotAbilityChassis {
-    private static final String TAG = AutopilotAbility250.class.getSimpleName();
+
-    private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private VehicleStateOuterClass.VehicleState vehicleState;
-    private int mapVersion = -1;//MAP版本
     private int masterVersion = -1;//Master版本
-    private boolean isHQ = false;//是否是HQ
-    private boolean isDF = false;//是否是DF
-    private boolean isM1 = false;//是否是M1
-    private OnAutopilotAbilityListener listener;
 
-
+    public AutopilotAbility350And360(@NonNull AutopilotAbilityManager manager) {
-    protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
+        super(manager);
-        this.mapVersion = mapVersion;
-        this.isHQ = isHQ;
-        this.isDF = isDF;
-        this.isM1 = isM1;
-        this.masterVersion = -1;
     }
 
 
     protected void setStatusInfo(SsmInfo.SsmStatusInf statusInfo) {
-
         onCallback(statusInfo);
     }
 
-    protected void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
-        this.chassisStates = chassisStates;
-    }
-
-    protected void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
-        this.vehicleState = vehicleState;
-    }
 
     private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
-        boolean isAutopilotAbility = true;//是否能启动自动驾驶
         ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
@@ -64,13 +42,11 @@ public class AutopilotAbility350And360 {
             CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
             //SSM 3版本兼容
             if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
-                isAutopilotAbility = statusInfo.getAutoPilotReady();
+                if (!statusInfo.getAutoPilotReady()) {
-                if (!isAutopilotAbility) {
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
-                isAutopilotAbility = statusInfo.getAutoPilotReady();
+                if (!statusInfo.getAutoPilotReady()) {
-                if (!isAutopilotAbility) {
                     int count = statusInfo.getAutoPilotUnreadyListCount();
                     if (count > 0) {
                         for (int i = 0; i < count; i++) {
@@ -78,19 +54,18 @@ public class AutopilotAbility350And360 {
                             String nodeName = info.getNodeName();
                             int state = info.getState().getNumber();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
                 SsmInfo.ModeState modeState = statusInfo.getModeState();
                 if (modeState != SsmInfo.ModeState.MODE_RUN_UNREADY && modeState != SsmInfo.ModeState.MODE_RUN_READY) {
-                    isAutopilotAbility = false;
                     String unableAutopilotReason = null;
                     if (modeState == SsmInfo.ModeState.MODE_STOP_UNREADY) {
                         unableAutopilotReason = "系统处于停止模式（未就绪）";
@@ -103,56 +78,29 @@ public class AutopilotAbility350And360 {
                     } else {
                         unableAutopilotReason = "未知系统模式";
                     }
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                 }
             }
         } else {
-            isAutopilotAbility = false;//是否能启动自动驾驶
+            unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
         }
         //检测底盘相关
-        if (chassisStates != null) {
+        unableAutopilotReasons = onCallbackChassis(unableAutopilotReasons);
-            if (chassisStates.hasBrakeSystemStates()) {
-                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
-                if (brake > 0) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
-                }
-            }
-            if (chassisStates.hasGearSystemStates()) {
-                Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
-                if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
-                }
-            }
-        }
-        if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
-            if (vehicleState != null) {
-                //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
-                //电子驻车制动系统
-                if (vehicleState.hasParkingBrake()) {
-                    boolean isBrake = vehicleState.getParkingBrake();
-                    if (isBrake) {
-                        isAutopilotAbility = false;
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_PARKING_BRAKE);
-                    }
-                }
-            }
-        }
         if (listener != null) {
+            boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
             listener.onAutopilotAbility(isAutopilotAbility, new UnableLaunchData(this.getClass().getSimpleName(), null, statusInfo, null), unableAutopilotReasons);
         }
     }
 
-    protected void start(OnAutopilotAbilityListener listener) {
+    @Override
-        this.listener = listener;
+    public synchronized void start(OnAutopilotAbilityListener listener) {
+        super.start(listener);
     }
 
-    protected void stop() {
+    @Override
-        this.chassisStates = null;
+    protected synchronized void stop() {
-        this.masterVersion = -1;
+        masterVersion = -1;
-        this.listener = null;
+        super.stop();
     }
 
     protected void onCallTimeout() {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java

@@ -2,6 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
 
 import android.text.TextUtils;
 
+import androidx.annotation.NonNull;
+
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
@@ -20,12 +22,15 @@ import system_master.SsmInfo;
  */
 public class AutopilotAbility360 {
     private static final String TAG = AutopilotAbility360.class.getSimpleName();
+    @NonNull
+    private final AutopilotAbilityManager manager;
 
     private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
     private int masterVersion = -1;//Master版本
     private OnAutopilotAbilityListener listener;
 
-    protected AutopilotAbility360() {
+    protected AutopilotAbility360(@NonNull AutopilotAbilityManager manager) {
+        this.manager = manager;
         this.masterVersion = -1;
     }
 
@@ -52,7 +57,7 @@ public class AutopilotAbility360 {
             if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -64,13 +69,13 @@ public class AutopilotAbility360 {
                             String nodeName = info.getNodeName();
                             int state = info.getState().getNumber();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
+                                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
@@ -89,12 +94,12 @@ public class AutopilotAbility360 {
                     } else {
                         unableAutopilotReason = "未知系统模式";
                     }
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
+            unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_TIMEOUT, "SSM超时无响应");
         }
         if (fsmStatusReasonRespond != null) {
             int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -103,11 +108,11 @@ public class AutopilotAbility360 {
                 for (int i = 0; i < count; i++) {
                     String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
                     if (!TextUtils.isEmpty(respond)) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
+                        unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
                     }
                 }
                 if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
                 }
             }
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java

@@ -11,7 +11,6 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchData;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
-import java.util.HashSet;
 import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;
@@ -19,7 +18,6 @@ import java.util.concurrent.atomic.AtomicBoolean;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
-import chassis.VehicleStateOuterClass;
 import function_state_management.FSMStatusReasonQueryOuterClass;
 import mogo.telematics.pad.MessagePad;
 import system_master.SsmInfo;
@@ -38,17 +36,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
     protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期
     protected static final String[] NODE_INFO_STATE = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "人为启动状态", "人为关闭状态"};
     protected static final String[] NODE_INFO_STATE_FIXED_FREQUENCY = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "非自动启动状态", "非自动关闭状态"};
-    protected static final String REASON_CHASSIS_BRAKE = "请检查刹车踏板";
+
-    protected static final String REASON_CHASSIS_GEAR = "当前档位无法启动";
-    protected static final String REASON_CHASSIS_PARKING_BRAKE = "请检查手刹";
     private static volatile AutopilotAbilityManager INSTANCE;
     private OnAdasListener listener;
     private int mapVersion = -1;//工控机版本
     private boolean isFutianSweeper = false;//是否是福田清扫车
     private boolean isJinlvM1 = false;//是否是M1
     private boolean isHQ = false;//是否是HQ
-    private boolean isDF = false;//是否是DF
-    private boolean isM1 = false;//是否是M1
     private AutopilotAbility230 autopilotAbility230;
     private AutopilotAbility250 autopilotAbility250;
     private AutopilotAbility330 autopilotAbility330;
@@ -61,9 +55,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
     private final AtomicBoolean isOldSsmTimeout = new AtomicBoolean(false);//SSM是否超时 老状态
     private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化
     /**
-     * 不能启动自动驾驶的档位
+     * 能启动自动驾驶的档位
      */
-    private Set<Chassis.GearPosition> unableLaunchAutopilotGear;
+    private Set<Chassis.GearPosition> launchAutopilotGear;
 
 
     private AutopilotAbilityManager() {
@@ -80,27 +74,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         return INSTANCE;
     }
 
-    public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
+    public void setLaunchAutopilotGear(Set<Chassis.GearPosition> launchAutopilotGear) {
-        if (unableLaunchAutopilotGear != null) {
+        this.launchAutopilotGear = launchAutopilotGear;
-            this.unableLaunchAutopilotGear = new HashSet<>(unableLaunchAutopilotGear);
+        if (autopilotAbility230 != null) {
-            taxiUnmanned();
+            autopilotAbility230.setLaunchAutopilotGear(launchAutopilotGear);
+        } else if (autopilotAbility250 != null) {
+            autopilotAbility250.setLaunchAutopilotGear(launchAutopilotGear);
+        } else if (autopilotAbility350And360 != null) {
+            autopilotAbility350And360.setLaunchAutopilotGear(launchAutopilotGear);
         }
     }
 
-    /**
-     * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动
-     * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位
-     *
-     * @param currentGear 当前档位
-     * @return 是否能启动自驾
-     */
-    public boolean isLaunchAutopilot(Chassis.GearPosition currentGear) {
-        if (unableLaunchAutopilotGear != null && !unableLaunchAutopilotGear.isEmpty()) {
-            return !unableLaunchAutopilotGear.contains(currentGear);
-        }
-        return true;
-    }
-
     /**
      * 添加不能启动自驾的原因
      *
@@ -117,16 +101,6 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         return unableAutopilotReasons;
     }
 
-    /**
-     * Taxi无人化相关，从MAP360开始去掉P档限制和手刹限制
-     */
-    private void taxiUnmanned() {
-        if ((isHQ || isDF) && mapVersion >= 30600) {
-            if (unableLaunchAutopilotGear != null) {
-                unableLaunchAutopilotGear.remove(Chassis.GearPosition.GEAR_P);
-            }
-        }
-    }
 
     public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) {
         if (!isInitCarConfig.get()) {
@@ -137,10 +111,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
                 isFutianSweeper = carConfig.getIsFutianSweeper();
                 isJinlvM1 = carConfig.getIsJinlvM1();
                 isHQ = carConfig.getIsHQ();
-                isDF = carConfig.getIsDF();
-                isM1 = carConfig.getIsJinlvM1();
-                taxiUnmanned();
                 initAutopilotAbility();
+                if (autopilotAbility230 != null) {
+                    autopilotAbility230.setCarConfig(carConfig);
+                    autopilotAbility230.setLaunchAutopilotGear(launchAutopilotGear);
+                } else if (autopilotAbility250 != null) {
+                    autopilotAbility250.setCarConfig(carConfig);
+                    autopilotAbility250.setLaunchAutopilotGear(launchAutopilotGear);
+                } else if (autopilotAbility350And360 != null) {
+                    autopilotAbility350And360.setCarConfig(carConfig);
+                    autopilotAbility350And360.setLaunchAutopilotGear(launchAutopilotGear);
+                }
             }
         }
     }
@@ -189,29 +170,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
      *
      * @param chassisStates 底盘
      */
-    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates, Chassis.LightSwitch light) {
         if (autopilotAbility230 != null) {
-            autopilotAbility230.setChassisStates(chassisStates);
+            autopilotAbility230.setChassisStates(chassisStates, light);
-        }
+        } else if (autopilotAbility250 != null) {
-        if (autopilotAbility250 != null) {
+            autopilotAbility250.setChassisStates(chassisStates, light);
-            autopilotAbility250.setChassisStates(chassisStates);
+        } else if (autopilotAbility350And360 != null) {
-        }
+            autopilotAbility350And360.setChassisStates(chassisStates, light);
-        if (autopilotAbility350And360 != null) {
-            autopilotAbility350And360.setChassisStates(chassisStates);
-        }
-    }
-
-    /**
-     * 老底盘中手刹状态更新（新底盘PB中没有所以单独传递）
-     *
-     * @param vehicleState 底盘
-     */
-    public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
-        if (autopilotAbility250 != null) {
-            autopilotAbility250.setVehicleState(vehicleState);
-        }
-        if (autopilotAbility350And360 != null) {
-            autopilotAbility350And360.setVehicleState(vehicleState);
         }
     }
 
@@ -235,33 +200,33 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         if (mapVersion >= 30600 && isFutianSweeper) {
             CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：360清扫车专用");
             if (autopilotAbility360 == null) {
-                autopilotAbility360 = new AutopilotAbility360();
+                autopilotAbility360 = new AutopilotAbility360(this);
                 autopilotAbility360.start(this);
             }
 
         } else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) {
             CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用");
             if (autopilotAbility350And360 == null) {
-                autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF, isM1);
+                autopilotAbility350And360 = new AutopilotAbility350And360(this);
                 autopilotAbility350And360.start(this);
             }
 
         } else if (mapVersion >= 30300 && isFutianSweeper) {//目前只有MAP330的清扫车用的新的FSM状态原因查询
             CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：330清扫车专用");
             if (autopilotAbility330 == null) {
-                autopilotAbility330 = new AutopilotAbility330(mapVersion);
+                autopilotAbility330 = new AutopilotAbility330(this, mapVersion);
                 autopilotAbility330.start(this);
             }
         } else if (mapVersion >= 20500) {
             CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：250");
             if (autopilotAbility250 == null) {
-                autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF, isM1);
+                autopilotAbility250 = new AutopilotAbility250(this);
                 autopilotAbility250.start(this);
             }
         } else {
             CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：230");
             if (autopilotAbility230 == null) {
-                autopilotAbility230 = new AutopilotAbility230();
+                autopilotAbility230 = new AutopilotAbility230(this);
                 autopilotAbility230.start(this);
             }
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/BaseAutopilotAbilityChassis.java

@@ -0,0 +1,175 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import androidx.annotation.NonNull;
+
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
+
+import java.util.ArrayList;
+import java.util.Set;
+import java.util.concurrent.atomic.AtomicReference;
+
+import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * 所有需要使用底盘检测数据的版本父类
+ */
+public abstract class BaseAutopilotAbilityChassis {
+    protected final String TAG = this.getClass().getSimpleName();
+    private static final String REASON_CHASSIS_BRAKE = "刹车踏板";
+    private static final String REASON_CHASSIS_THROTTLE = "油门踏板";
+    private static final String REASON_CHASSIS_GEAR = "档位";
+    private static final String REASON_CHASSIS_HAZARD_LIGHTS = "危险报警灯";
+    private static final String REASON_CHASSIS_STEERING = "方向盘";
+    @NonNull
+    protected final AutopilotAbilityManager manager;
+    private ChassisStatesOuterClass.ChassisStates chassisStates;
+    protected OnAutopilotAbilityListener listener;
+    protected int mapVersion = -1;//工控机版本
+    protected boolean isJinlv = false;//是否是金旅小巴
+    protected boolean isJinlvM1 = false;//是否是M1
+    protected boolean isJinlvM2 = false;//是否是M2
+    protected boolean isHQ = false;//是否是HQ
+    protected boolean isDF = false;//是否是DF
+
+    private final AtomicReference<Chassis.LightSwitch> currentLight = new AtomicReference<>(Chassis.LightSwitch.LIGHT_NONE);
+    /**
+     * 能启动自动驾驶的档位
+     */
+    private Set<Chassis.GearPosition> launchAutopilotGear;
+
+    private float oldThrottle = Float.MAX_VALUE;//方向盘转角
+
+    public BaseAutopilotAbilityChassis(@NonNull AutopilotAbilityManager manager) {
+        this.manager = manager;
+    }
+
+    public void setCarConfig(@NonNull MessagePad.CarConfigResp carConfig) {
+        mapVersion = carConfig.getMapVersion();
+        isJinlv = carConfig.getIsJinlv();
+        isJinlvM1 = carConfig.getIsJinlvM1();
+        isJinlvM2 = carConfig.getIsJinlvM2();
+        isHQ = carConfig.getIsHQ();
+        isDF = carConfig.getIsDF();
+        taxiUnmanned();
+    }
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates, Chassis.LightSwitch light) {
+        this.chassisStates = chassisStates;
+        currentLight.set(light);
+    }
+
+
+    public void setLaunchAutopilotGear(Set<Chassis.GearPosition> launchAutopilotGear) {
+        this.launchAutopilotGear = launchAutopilotGear;
+        taxiUnmanned();
+    }
+
+    /**
+     * Taxi无人化相关，从MAP360开始去掉P档限制和手刹限制
+     */
+    private void taxiUnmanned() {
+        if ((isHQ || isDF) && mapVersion < 30600) {
+            if (launchAutopilotGear != null) {
+                launchAutopilotGear.remove(Chassis.GearPosition.GEAR_P);
+            }
+        }
+    }
+
+
+    /**
+     * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动
+     * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位
+     *
+     * @param currentGear 当前档位
+     * @return 是否能启动自驾
+     */
+    private boolean isLaunchAutopilotGear(Chassis.GearPosition currentGear) {
+        if (launchAutopilotGear != null && !launchAutopilotGear.isEmpty()) {
+            return launchAutopilotGear.contains(currentGear);
+        }
+        return true;
+    }
+
+    /**
+     * 获取当前是否开启危险报警灯
+     * 双闪处于打开状态（taxi可以进自驾，金旅bus不可以）
+     *
+     * @return 是否能启动自驾
+     */
+    public boolean isLaunchAutopilotLight() {
+        if (isJinlv || isJinlvM1 || isJinlvM2) {
+            return currentLight.get() != Chassis.LightSwitch.LIGHT_FLASH;
+        }
+        return true;
+    }
+
+
+    protected ArrayList<UnableLaunchReason> onCallbackChassis(ArrayList<UnableLaunchReason> unableAutopilotReasons) {
+        //检测底盘相关
+        if (chassisStates != null) {
+            //制动踏板
+            if (chassisStates.hasBrakeSystemStates()) {
+                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                if (brake > 0) {
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, REASON_CHASSIS_BRAKE);
+                }
+            }
+            //油门踏板
+            if (chassisStates.hasDrivingSystemStates()) {
+                float throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition();
+                if (throttle > 0) {
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_THROTTLE, REASON_CHASSIS_THROTTLE);
+                }
+            }
+            //档位
+            if (chassisStates.hasGearSystemStates()) {
+                Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                if (!isLaunchAutopilotGear(gear)) {
+                    unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, REASON_CHASSIS_GEAR);
+                }
+            }
+            //危险报警灯
+            if (!isLaunchAutopilotLight()) {
+                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_HAZARD_LIGHTS, REASON_CHASSIS_HAZARD_LIGHTS);
+            }
+            //方向盘
+            if (chassisStates.hasSteerSystemStates()) {
+                ChassisStatesOuterClass.SteerSystemStates steerSystemStates = chassisStates.getSteerSystemStates();
+                if (steerSystemStates.hasSteeringWheelAngle()) {
+                    float throttle = steerSystemStates.getSteeringWheelAngle();
+                    if (oldThrottle == Float.MAX_VALUE) {
+                        oldThrottle = throttle;
+                    } else {
+                        CupidLogUtils.log(TAG, "方向盘当前角度=" + oldThrottle + " 方向盘1秒前角度=" + throttle);
+                        boolean isTurning = Math.abs(throttle - oldThrottle) > 2.0F;
+                        oldThrottle = throttle;
+                        CupidLogUtils.log(TAG, "方向盘是否转动=" + isTurning);
+                        if (isTurning) {
+                            unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_STEERING, REASON_CHASSIS_STEERING);
+                        }
+                    }
+                }
+            }
+        }
+        return unableAutopilotReasons;
+    }
+
+    public synchronized void start(OnAutopilotAbilityListener listener) {
+        this.listener = listener;
+
+    }
+
+    protected synchronized void stop() {
+        this.chassisStates = null;
+        this.listener = null;
+        mapVersion = -1;
+        isHQ = false;
+        isJinlv = false;
+        isJinlvM1 = false;
+        isJinlvM2 = false;
+    }
+
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java

@@ -3,24 +3,56 @@ package com.zhidao.support.adas.high.msg;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.ParallelDrivingManager;
+import com.zhidao.support.adas.high.common.TurnLightState;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
+import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 
 /**
  * 重构后的底盘状态
  */
 public class ChassisStatesMessage extends MyAbstractMessageHandler {
+    private final TurnLightState lightLeft;
+    private final TurnLightState lightRight;
+
+    public ChassisStatesMessage(TurnLightState lightLeft, TurnLightState lightRight) {
+        this.lightLeft = lightLeft;
+        this.lightRight = lightRight;
+    }
 
     @Override
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
-        AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
+        Chassis.LightSwitch light = updateLight(chassisStates, adasListener);
+        AutopilotAbilityManager.getInstance().setChassisStates(chassisStates, light);
         ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
         if (adasListener != null) {
             adasListener.onChassisStates(raw.getHeader(), chassisStates);
+            adasListener.onLightSwitch(light);
         }
     }
 
+    private Chassis.LightSwitch updateLight(ChassisStatesOuterClass.ChassisStates chassisStates, OnAdasListener adasListener) {
+        Chassis.LightSwitch light = Chassis.LightSwitch.LIGHT_NONE;
+        if (chassisStates.hasBcmSystemStates()) {
+            ChassisStatesOuterClass.BCMSystemStates bcm = chassisStates.getBcmSystemStates();
+            light = bcm.getTurnLightState();
+        }
+        boolean isTurnLightLeft = lightLeft.update((light.getNumber() & Chassis.LightSwitch.LIGHT_LEFT.getNumber()) != 0);
+        boolean isTurnLightRight = lightRight.update((light.getNumber() & Chassis.LightSwitch.LIGHT_RIGHT.getNumber()) != 0);
+        if (isTurnLightLeft && isTurnLightRight) {
+            //双闪
+            light = Chassis.LightSwitch.LIGHT_FLASH;
+        } else if (isTurnLightLeft) {
+            //左传
+            light = Chassis.LightSwitch.LIGHT_LEFT;
+        } else if (isTurnLightRight) {
+            //右转
+            light = Chassis.LightSwitch.LIGHT_RIGHT;
+        }
+        return light;
+    }
+
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java

@@ -1,6 +1,7 @@
 package com.zhidao.support.adas.high.msg;
 
 import com.zhidao.support.adas.high.common.AutopilotReview;
+import com.zhidao.support.adas.high.common.TurnLightState;
 import com.zhjt.mogo.adas.common.MessageType;
 
 import mogo.telematics.pad.MessagePad;
@@ -47,11 +48,18 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg fSMStatusReasonRespondMessage;//FSM状态原因查询
 
     private final AutopilotReview autopilotReview;
+    private final TurnLightState lightLeft = new TurnLightState();
+    private final TurnLightState lightRight = new TurnLightState();
 
     public MyMessageFactory(AutopilotReview autopilotReview) {
         this.autopilotReview = autopilotReview;
     }
 
+    public void initTurnLightState() {
+        lightLeft.init();
+        lightRight.init();
+    }
+
     @Override
     public IMsg createMessage(MessagePad.MessageType messageType) {
         if (messageType == MessageType.TYPE_RECEIVE_TRAJECTORY.typeCode) {
@@ -75,13 +83,13 @@ public class MyMessageFactory implements IMyMessageFactory {
         } else if (messageType == MessageType.TYPE_RECEIVE_VEHICLE_STATE.typeCode) {
             //底盘信息, 透传底盘状态，pb参考底盘
             if (vehicleStateMessage == null) {
-                vehicleStateMessage = new VehicleStateMessage();
+                vehicleStateMessage = new VehicleStateMessage(lightLeft, lightRight);
             }
             return vehicleStateMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_CHASSIS_STATES.typeCode) {
             //重构后的底盘状态
             if (chassisStatesMessage == null) {
-                chassisStatesMessage = new ChassisStatesMessage();
+                chassisStatesMessage = new ChassisStatesMessage(lightLeft, lightRight);
             }
             return chassisStatesMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode) {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java

@@ -5,9 +5,10 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.ParallelDrivingManager;
-import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
+import com.zhidao.support.adas.high.common.TurnLightState;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
 import chassis.Chassis;
@@ -19,6 +20,13 @@ import common.HeaderOuterClass;
  * 底盘信息, 透传底盘状态，pb参考底盘
  */
 public class VehicleStateMessage extends MyAbstractMessageHandler {
+    private final TurnLightState lightLeft;
+    private final TurnLightState lightRight;
+
+    public VehicleStateMessage(TurnLightState lightLeft, TurnLightState lightRight) {
+        this.lightLeft = lightLeft;
+        this.lightRight = lightRight;
+    }
 
     @Override
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
@@ -27,18 +35,40 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
-        AutopilotAbilityManager.getInstance().setVehicleState(vehicleState);
         ParallelDrivingManager.getInstance().setVehicleState(vehicleState);
-        ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState);
+        Chassis.LightSwitch light = updateLight(vehicleState, adasListener);
+        ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(vehicleState, light);
         if (adasListener != null) {
             //TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState
             //adasListener.onChassisStates(raw.getHeader(), chassisStates);
             adasListener.onVehicleState(raw.getHeader(), vehicleState);
+            adasListener.onLightSwitch(light);
         }
         AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
 //        CupidLogUtils.e("底盘信息--->" + vehicleState.toString());
     }
 
+    private Chassis.LightSwitch updateLight(VehicleStateOuterClass.VehicleState vehicleState, OnAdasListener adasListener) {
+        Chassis.LightSwitch light = Chassis.LightSwitch.LIGHT_NONE;
+        if (vehicleState.hasLight()) {
+            light = vehicleState.getLight();
+        }
+        boolean isTurnLightLeft = lightLeft.update((light.getNumber() & Chassis.LightSwitch.LIGHT_LEFT.getNumber()) != 0);
+        boolean isTurnLightRight = lightRight.update((light.getNumber() & Chassis.LightSwitch.LIGHT_RIGHT.getNumber()) != 0);
+        if (isTurnLightLeft && isTurnLightRight) {
+            //双闪
+            light = Chassis.LightSwitch.LIGHT_FLASH;
+        } else if (isTurnLightLeft) {
+            //左传
+            light = Chassis.LightSwitch.LIGHT_LEFT;
+        } else if (isTurnLightRight) {
+            //右转
+            light = Chassis.LightSwitch.LIGHT_RIGHT;
+        }
+        return light;
+    }
+
+
     /**
      * 将老地盘数据转换成新地盘数据
      * 字段注释中 鹰眼已用 的 已和底盘相关开发 确认过，其他字段均为确认对应关系
@@ -49,7 +79,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
      * fuel_value   robo_taxi_state     robo_bus_state
      * robo_bus_jinlv_m1_state
      */
-    private ChassisStatesOuterClass.ChassisStates compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
+    private ChassisStatesOuterClass.ChassisStates compatibility(VehicleStateOuterClass.VehicleState vehicleState, Chassis.LightSwitch light) throws InvalidProtocolBufferException {
         /**************老地盘转换成新地盘PB***************/
         ChassisStatesOuterClass.ChassisStates.Builder builder = ChassisStatesOuterClass.ChassisStates.newBuilder();
         //工控机所用Header
@@ -114,7 +144,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
                     .setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
         }
         ChassisStatesOuterClass.ChassisStates chassisStates = builder.build();
-        AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
+        AutopilotAbilityManager.getInstance().setChassisStates(chassisStates, light);
         ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
         return chassisStates;
     }

libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt

@@ -750,6 +750,10 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
                 TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS,
                 "添加感知模型到地图中……preVehicleStrBus="
             )
+            addPreVehicleModelWeiZhi(
+                TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE,
+                "添加感知模型到地图中……preVehicleStrCone="
+            )
             addPreVehicleModelWeiZhi(
                 TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK,
                 "添加感知模型到地图中……preVehicleStrTruck="