[3.4.0-map-sdk] merge 6.1.0

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt

@@ -117,7 +117,7 @@ class FuncBizProvider : IMoGoFuncBizProvider {
     }
 
     override fun queryV2XEvents() {
-        if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && !FunctionBuildConfig.isNewV2NData)
+        if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && (!FunctionBuildConfig.v2nMainSwitch || !FunctionBuildConfig.isNewV2NData))
                 || AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
             v2xPoiLoader.queryWholeRoadEvents()
         }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt

@@ -107,7 +107,7 @@ object OverViewDataManager {
             .observeOn(AndroidSchedulers.mainThread())
             .subscribe {
                 it?.apply {
-                    if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && !FunctionBuildConfig.isNewV2NData)
+                    if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && (!FunctionBuildConfig.v2nMainSwitch || !FunctionBuildConfig.isNewV2NData))
                             || AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
                         CallerFuncBizListenerManager.invokeV2XEvents(this)
                     }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt

@@ -169,7 +169,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                 handleRoadMarkerEvent(event.data.toRoadMarker())
             }
             is V2XEvent.RoadEventX -> {
-                if (!AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !FunctionBuildConfig.isNewV2NData) {
+                if (!AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !FunctionBuildConfig.v2nMainSwitch  || !FunctionBuildConfig.isNewV2NData) {
                     handleRoadMarkerEvent(event.data.toRoadMarker())
                 }
             }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt

@@ -239,21 +239,21 @@ internal object V2NIdentifyDrawer {
     }
 
     private fun drawShiGong(events: List<TrackedObject>) {
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.isNewV2NData) {
+        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.v2nMainSwitch  && FunctionBuildConfig.isNewV2NData) {
             handler.removeMessages(MSG_WHAT_DRAW_SHIGONE)
             handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_SHIGONE, events))
         }
     }
 
     private fun drawShiGu(events: List<TrackedObject>) {
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.isNewV2NData) {
+        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
             handler.removeMessages(MSG_WHAT_DRAW_SHIGU)
             handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_SHIGU, events))
         }
     }
 
     private fun drawYongDu(events: List<MogoV2X.RTEData_PB>) {
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.isNewV2NData) {
+        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && FunctionBuildConfig.v2nMainSwitch && FunctionBuildConfig.isNewV2NData) {
             handler.removeMessages(MSG_WHAT_DRAW_YONGDU)
             handler.sendMessage(Message.obtain(handler, MSG_WHAT_DRAW_YONGDU, events))
         }

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

@@ -70,6 +70,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.service.chain.ChainLog
 import io.netty.channel.Channel
 import mogo.telematics.pad.MessagePad
+import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
 import java.util.*
 import java.util.concurrent.TimeUnit
 
@@ -1093,6 +1094,13 @@ class MoGoAutopilotControlProvider :
         return AdasManager.getInstance().sendSweeperCloudSuspendResumeTaskResp(reqNo, bigTaskActionResp)
     }
 
+    override fun sendParallelDrivingReq(
+        reqNo: String,
+        parallelRequest: ParallelDrivingRequest.ParallelRequest
+    ): Boolean {
+        return AdasManager.getInstance().sendParallelDrivingReq(reqNo, parallelRequest)
+    }
+
     override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
         if (isDrawPointCloud) {
             AdasManager.getInstance().subscribeInterface(

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

@@ -49,28 +49,32 @@ import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
+import com.mogo.eagle.core.function.call.v2x.*
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
+import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
-import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
-import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
+import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
+import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
+import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.service.chain.ChainLog
+import fault_management.FmInfo
 import function_state_management.FunctionStates
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.v2x.MogoV2X
 import mogo.v2x.RoadOverviewEvents
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
@@ -444,6 +448,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
         invokeSystemStatus(statusInf)
     }
 
+    override fun onFaultManagementState(header: MessagePad.Header?, fmInfo: FmInfo.FaultResultMsg) {
+        CallerFaultManagementStateListenerManager.invokeFaultManagementState(fmInfo)
+    }
+
     /**
      * 数据采集配置应答
      */
@@ -574,7 +582,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onSweeperFutianCloudTask(
         header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         reqNo: String?,
         sysTime: Long,
         taskInfo: SweeperTask.TaskInfo?
@@ -598,7 +606,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onSweeperFutianCloudTaskConfirm(
         header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         reqNo: String?,
         sysTime: Long,
         taskConfirm: SweeperTaskConfirm.TaskConfirm?
@@ -622,7 +630,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onSweeperFutianCloudTaskStatus(
         header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         reqNo: String?,
         sysTime: Long,
         taskStatusPush: SweeperTaskStatus.TaskStatusPush?
@@ -646,7 +654,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onSweeperFutianCloudTaskStop(
         header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         reqNo: String?,
         sysTime: Long,
         stopTaskReq: SweeperTaskStop.StopTaskReq?
@@ -671,7 +679,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onSweeperFutianCloudTaskSuspendResume(
         header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         reqNo: String?,
         sysTime: Long,
         suspendResumeTaskResp: SweeperTaskSuspendResume.SuspendResumeTaskResp?
@@ -695,7 +703,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onSweeperFutianCloudBootable(
         header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         reqNo: String?,
         sysTime: Long,
         isBootableResp: SweeperBootable.IsBootableResp?
@@ -719,7 +727,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onSweeperFutianCloudBigTaskStatus(
         header: MessagePad.Header,
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         reqNo: String?,
         sysTime: Long,
         bigTaskStatusPush: SweeperBigTaskStatus.BigTaskStatusPush?
@@ -732,13 +740,46 @@ class MoGoAdasListenerImpl : OnAdasListener {
         )
     }
 
+    /**
+     * 10、云端下发任务暂停/恢复指令到pad（type: 100010）-> sweeper_task_cloud_suspend_resume.proto
+     *
+     * @param header            头
+     * @param messageType       消息类型
+     * @param reqNo             请求编号
+     * @param sysTime           当前时间戳
+     * @param bigTaskActionPush 数据
+     */
+    override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
+        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
+    }
+
+    /**
+     * 无人化场景
+     * 平行驾驶请求相关状态反馈
+     *
+     * @param header                    头
+     * @param messageType               消息类型
+     * @param reqNo                     请求编号
+     * @param sysTime                   当前时间戳
+     * @param parallelTaskProcessNotice 数据
+     */
+    override fun onParallelDrivingResp(
+        header: MessagePad.Header,
+        messageType: AiCloudTask.MessageType,
+        reqNo: String?,
+        sysTime: Long,
+        parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?
+    ) {
+        CallerParallelDrivingListenerManager.invokeParallelDrivingListener(parallelTaskProcessNotice)
+    }
+
     /**
      * 清扫车云端任务未知类型
      *
      * @param header 头
      * @param bytes  原始数据
      */
-    override fun onSweeperFutianCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
+    override fun onAiCloudTaskUnknown(header: MessagePad.Header, bytes: ByteArray) {
         CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskUnknown(bytes)
     }
 
@@ -844,7 +885,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onAutopilotAbility(
         isAutopilotAbility: Boolean,
-        unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
+        unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
         if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
             autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString())
@@ -852,6 +893,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
         invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
     }
 
+    override fun onParallelDrivingAbility(
+        isParallelDrivingAbility: Boolean,
+        unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
+    ) {
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
+            isParallelDrivingAbility,
+            unableParallelDrivingReasons
+        )
+    }
+
     @ChainLog(
         linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
         linkCode = CHAIN_SOURCE_ADAS,

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

@@ -9,6 +9,7 @@ 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.CallerParallelDrivingActionsListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -39,10 +40,12 @@ class MoGoAdasMsgConnectStatusListenerImpl :
     init {
         CallerCloudListenerManager.addListener(TAG, this)
         CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
     }
 
     override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
         CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
         AppConfigInfo.connectStatusDescribe = reason
         when (ipcConnectionStatus) {
             Constants.IPC_CONNECTION_STATUS.CONNECTED -> {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt

@@ -561,32 +561,34 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
 
             }
             1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if (HmiBuildConfig.isShowRunRedLightView) {
-                    if (!isShowRunRedLight) {
-                        isShowRunRedLight = true
-                        ttsContent =
-                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        alertContent =
-                            EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        CallerLogger.d(
-                            "${M_OBU}${TAG}",
-                            "MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent "
-                        )
-                        if (alertContent.isEmpty() || ttsContent.isEmpty()) {
-                            return
+                if(HmiBuildConfig.isShowObuV2iView){
+                    if (HmiBuildConfig.isShowRunRedLightView) {
+                        if (!isShowRunRedLight) {
+                            isShowRunRedLight = true
+                            ttsContent =
+                                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            alertContent =
+                                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            CallerLogger.d(
+                                "${M_OBU}${TAG}",
+                                "MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent "
+                            )
+                            if (alertContent.isEmpty() || ttsContent.isEmpty()) {
+                                return
+                            }
+                            saveObuToDcData(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                CommunicationType.V2I
+                            )
+                            showWarning(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                WarningDirectionEnum.ALERT_WARNING_NON
+                            )
                         }
-                        saveObuToDcData(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            CommunicationType.V2I
-                        )
-                        showWarning(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            WarningDirectionEnum.ALERT_WARNING_NON
-                        )
                     }
                 }
             }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt

@@ -299,7 +299,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
          * v2v预警信息 CvxRvInfoIndInfo  CvxV2vThreatIndInfo 他车
          */
         override fun onObuRvWarning(data: ObuScene.RvWarningData) {
-            if (HmiBuildConfig.isShowObuV2vView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2vView) {
                 if (data.warningMsg != null) {
                     // 更新数据，远车数据，之前要匹配uuid
                     data.vehBasicsMsg?.let {
@@ -1042,25 +1042,27 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
 
             }
             1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if (HmiBuildConfig.isShowRunRedLightView) {
-                    if (!isShowRunRedLight) {
-                        isShowRunRedLight = true
-                        ttsContent =
-                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        alertContent =
-                            EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                        saveObuData(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            CommunicationType.V2I
-                        )
-                        showWarning(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent,
-                            WarningDirectionEnum.ALERT_WARNING_NON
-                        )
+                if(HmiBuildConfig.isShowObuV2iView){
+                    if (HmiBuildConfig.isShowRunRedLightView) {
+                        if (!isShowRunRedLight) {
+                            isShowRunRedLight = true
+                            ttsContent =
+                                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            alertContent =
+                                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                            saveObuData(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                CommunicationType.V2I
+                            )
+                            showWarning(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                                alertContent,
+                                ttsContent,
+                                WarningDirectionEnum.ALERT_WARNING_NON
+                            )
+                        }
                     }
                 }
             }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt

@@ -51,7 +51,6 @@ object BindingCarManager : IMoGoAutopilotCarConfigListener {
         SharedPrefsMgr.getInstance(mContext!!).putLong("typePassenger", 0)
         CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
         ipcUpgradeManager.init(context)
-        UiThreadHandler.postDelayed({ queryAppUpgrade() }, 10_000)
     }
 
     fun onDestroy() {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/report/IPCReportManager.kt

@@ -2,14 +2,12 @@ package com.zhjt.mogo_core_function_devatools.report
 
 import android.app.Activity
 import android.content.Context
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.deva.report.ReportEntity
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import mogo_msg.MogoReportMsg
 
@@ -47,11 +45,8 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
     private val reportList = arrayListOf<ReportEntity>()
 
     fun initServer(){
-        //乘客屏不显示监控信息弹窗,只在司机端提示
-        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
-            // 添加 ADAS状态 监听
-            CallerAutoPilotStatusListenerManager.addListener(TAG, this)
-        }
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
     fun showReportListWindow(context: Context, isShow: Boolean){
@@ -149,11 +144,8 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
     }
 
     fun destroy(){
-        //乘客屏不显示监控信息弹窗,只在司机端提示
-        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
-            // 移除 ADAS状态 监听
-            CallerAutoPilotStatusListenerManager.removeListener(TAG)
-        }
+        // 移除 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
 }

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

@@ -2,9 +2,10 @@ 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.view.View
-import android.widget.*
+import android.widget.Toast
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
@@ -21,18 +22,18 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
 import com.mogo.eagle.core.function.call.devatools.*
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
-import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiAction
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import kotlinx.android.synthetic.main.view_sop_setting.view.*
-import kotlinx.android.synthetic.main.view_sop_setting.view.tbRouteDynamicEffect
 import mogo.telematics.pad.MessagePad
 
 /**
@@ -50,6 +51,11 @@ internal class SOPSettingView @JvmOverloads constructor(
         const val TAG = "SOPSettingView"
     }
 
+    /**
+     * OBU连接状态
+     */
+    private var obuConnectStatus = false
+
     init {
         LayoutInflater.from(context).inflate(R.layout.view_sop_setting, this, true)
         initView()
@@ -57,103 +63,200 @@ internal class SOPSettingView @JvmOverloads constructor(
 
     private fun initView() {
         sopLayout.setOnClickListener {  }
-        tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
-        tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 绕障类功能开关",isChecked)
-            CallerAutoPilotControlManager.sendDetouring(isChecked)
-            FunctionBuildConfig.isDetouring = isChecked
+        //V2X消息设置
+        v2xSetting()
+        //地图效果类设置
+        mapSetting()
+        //与车相关类设置
+        vehicleSetting()
+        //其他类别开关设置
+        otherSetting()
+    }
+
+    /**
+     * V2X消息设置
+     */
+    private fun v2xSetting(){
+        //V2X总开关
+        scV2XSwitch.isChecked = FunctionBuildConfig.v2xMainSwitch
+        scV2XSwitch.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.v2xMainSwitch = isChecked
+            hmiAction("SOP V2X总开关, ",isChecked)
+            Log.i(TAG,"SOP V2X总开关,$isChecked")
+            if(isChecked){
+                //V2N总开关
+                scV2NSwitch.isChecked = FunctionBuildConfig.v2nMainSwitch
+                hmiAction("SOP V2N总开关, ",FunctionBuildConfig.v2nMainSwitch)
+                Log.i(TAG,"SOP V2N总开关, ${FunctionBuildConfig.v2nMainSwitch}")
+                //V2I总开关
+                scV2ISwitch.isChecked = HmiBuildConfig.isShowObuV2iView
+                hmiAction("SOP V2I总开关, ",HmiBuildConfig.isShowObuV2iView)
+                Log.i(TAG,"SOP V2I总开关, ${HmiBuildConfig.isShowObuV2iView}")
+                //V2V总开关
+                scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
+                hmiAction("SOP V2V总开关, ",HmiBuildConfig.isShowObuV2vView)
+                Log.i(TAG,"SOP V2V总开关, ${HmiBuildConfig.isShowObuV2vView}")
+                //obu总开关
+                scObu.isChecked = obuConnectStatus
+                hmiAction("SOP obu总开关, ",obuConnectStatus)
+                Log.i(TAG,"SOP obu总开关, $obuConnectStatus")
+                if(obuConnectStatus){
+                    CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
+                }
+            }else{
+                //V2N总开关
+                scV2NSwitch.isChecked = false
+                hmiAction("SOP V2N总开关, ",false)
+                Log.i(TAG,"SOP V2N总开关, false")
+                //V2I总开关
+                scV2ISwitch.isChecked = false
+                hmiAction("SOP V2I总开关, ",false)
+                Log.i(TAG,"SOP V2I总开关, false")
+                //V2V总开关
+                scObuV2vView.isChecked = false
+                hmiAction("SOP V2V总开关, ",false)
+                Log.i(TAG,"SOP V2V总开关, false")
+                //obu总开关
+                scObu.isChecked = false
+                hmiAction("SOP OBU控制总开关, ",false)
+                Log.i(TAG,"SOP OBU控制总开关, false")
+                //断开链接
+                CallerObuApiManager.disConnectObu()
+            }
+            scV2NSwitch.isEnabled = isChecked
+            scV2ISwitch.isEnabled = isChecked
+            scObuV2vView.isEnabled = isChecked
+            scObu.isEnabled = isChecked
         }
 
-        tbMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
-        tbMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 危险障碍物颜色标记开关",isChecked)
-            FunctionBuildConfig.isPNCWarning = isChecked
+        //V2N总开关
+        scV2NSwitch.isChecked = FunctionBuildConfig.v2nMainSwitch
+        //根据V2N状态设置子开关是否可以点击
+        //V2N新链路
+        scNewV2NData.isEnabled = FunctionBuildConfig.v2nMainSwitch
+        //V2N场景进PNC
+        scV2nPnc.isEnabled = FunctionBuildConfig.v2nMainSwitch
+        //绿波通行(默认关闭)
+        scGreenWaveSop.isEnabled = FunctionBuildConfig.v2nMainSwitch
+        scV2NSwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(isChecked){
+                //V2N新链路
+                scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
+                hmiAction("SOP 是否是V2N新链路(云->工控机->App)",FunctionBuildConfig.isNewV2NData)
+                Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), ${FunctionBuildConfig.isNewV2NData}")
+                //V2N场景进PNC
+                scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
+                hmiAction("SOP V2N场景进PNC, ",FunctionBuildConfig.isV2NPnc)
+                Log.i(TAG,"SOP V2N场景进PNC, ${FunctionBuildConfig.isV2NPnc}")
+                CallerAutoPilotControlManager.sendV2nToPncCmd(FunctionBuildConfig.isV2NPnc)
+                //绿波通行
+                scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
+                hmiAction("SOP obu绿波通行, ",HmiBuildConfig.isShowGreenWaveView)
+                Log.i(TAG,"SOP obu绿波通行, ${HmiBuildConfig.isShowGreenWaveView}")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
+            }else{
+                //V2N新链路
+                scNewV2NData.isChecked = false
+                hmiAction("SOP 是否是V2N新链路(云->工控机->App)",false)
+                Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), false")
+                //V2N场景进PNC
+                scV2nPnc.isChecked = false
+                hmiAction("SOP V2N场景进PNC, ",false)
+                Log.i(TAG,"SOP V2N场景进PNC, false")
+                CallerAutoPilotControlManager.sendV2nToPncCmd(false)
+                //绿波通行
+                scGreenWaveSop.isChecked = false
+                hmiAction("SOP obu绿波通行, ",false)
+                Log.i(TAG,"SOP obu绿波通行, false")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "0".toByteArray())
+            }
+            scNewV2NData.isEnabled = isChecked
+            scV2nPnc.isEnabled = isChecked
+            scGreenWaveSop.isEnabled = isChecked
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            FunctionBuildConfig.v2nMainSwitch = isChecked
         }
 
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
-            tbMarkingObstacles.visibility = View.GONE
+        //V2I总开关
+        scV2ISwitch.isChecked = HmiBuildConfig.isShowObuV2iView //是否展示obu的v2i
+        //根据V2I状态设置子开关是否可以点击
+        scV2iPnc.isEnabled = HmiBuildConfig.isShowObuV2iView
+        scRunRedLightSop.isEnabled = HmiBuildConfig.isShowObuV2iView
+        scObuWeaknessTrafficSop.isEnabled = HmiBuildConfig.isShowObuV2iView
+        scV2ISwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(isChecked){
+                //V2I场景进PNC
+                scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
+                hmiAction("SOP V2I场景进PNC, ",FunctionBuildConfig.isV2IPnc)
+                Log.i(TAG,"SOP V2I场景进PNC,${FunctionBuildConfig.isV2IPnc}")
+                CallerAutoPilotControlManager.sendV2iToPncCmd(FunctionBuildConfig.isV2IPnc)
+                //闯红灯预警
+                scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
+                hmiAction("SOP obu闯红灯预警, ",HmiBuildConfig.isShowRunRedLightView)
+                Log.i(TAG,"SOP obu闯红灯预警, ${HmiBuildConfig.isShowRunRedLightView}")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
+                //路侧弱势交通参与者
+                scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
+                hmiAction("SOP obu弱势交通控制, ",HmiBuildConfig.isShowObuWeaknessTrafficView)
+                Log.i(TAG,"SOP obu弱势交通控制, ${HmiBuildConfig.isShowObuWeaknessTrafficView}")
+            }else{
+                //V2I场景进PNC
+                scV2iPnc.isChecked = false
+                CallerAutoPilotControlManager.sendV2iToPncCmd(false)
+                hmiAction("SOP V2I场景进PNC, ",false)
+                Log.i(TAG,"SOP V2I场景进PNC, false")
+                //闯红灯预警
+                scRunRedLightSop.isChecked = false
+                hmiAction("SOP obu闯红灯预警, ",false)
+                Log.i(TAG,"SOP obu闯红灯预警, false")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
+                //路侧弱势交通参与者
+                scObuWeaknessTrafficSop.isChecked = false
+                hmiAction("SOP obu弱势交通控制, ",false)
+                Log.i(TAG,"SOP obu弱势交通控制, false")
+            }
+            scV2iPnc.isEnabled = isChecked
+            scRunRedLightSop.isEnabled = isChecked
+            scObuWeaknessTrafficSop.isEnabled = isChecked
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            HmiBuildConfig.isShowObuV2iView = isChecked
         }
 
-        tbRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
-        tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 引导线动态效果",isChecked)
-            HmiBuildConfig.isShowRouteStrategy = isChecked
+        //V2N新链路
+        scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
+        scNewV2NData.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
+            Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App) ${isChecked}")
+            FunctionBuildConfig.isNewV2NData = isChecked
         }
 
-        //默认开启
-        tbObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
-        tbObuWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obu弱势交通控制, ",isChecked)
-            HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbCloudWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowCloudWeaknessTrafficView
-        tbCloudWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 云端弱势交通控制, ",isChecked)
-            HmiBuildConfig.isShowCloudWeaknessTrafficView = isChecked
-        }
-
-        tbV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
-        tbV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        //V2N场景进PNC
+        scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
+        scV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
             hmiAction("SOP V2N场景进PNC, ",isChecked)
+            Log.i(TAG,"SOP V2N场景进PNC, $isChecked")
             CallerAutoPilotControlManager.sendV2nToPncCmd(isChecked)
             FunctionBuildConfig.isV2NPnc = isChecked
         }
 
-        tbV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
-        tbV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        //绿波通行(默认关闭)
+        scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
+        scGreenWaveSop.setOnCheckedChangeListener { compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
-            hmiAction("SOP V2I场景进PNC, ",isChecked)
-            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
-            FunctionBuildConfig.isV2IPnc = isChecked
-        }
-
-        /**
-         * 默认打开
-         */
-        tbObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
-        tbObuV2vView.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obuV2V开关, ",isChecked)
-            HmiBuildConfig.isShowObuV2vView = isChecked
-        }
-
-        /**
-         * 默认打开
-         */
-        tbObuV2iView.isChecked = HmiBuildConfig.isShowObuV2iView
-        tbObuV2iView.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obuV2i开关, ",isChecked)
-            HmiBuildConfig.isShowObuV2iView = isChecked
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
-        tbRunRedLightSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obu闯红灯预警, ",isChecked)
-            HmiBuildConfig.isShowRunRedLightView = isChecked
-            if (HmiBuildConfig.isShowRunRedLightView) {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
-            } else {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
-            }
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
-        tbGreenWaveSop.setOnCheckedChangeListener { _, isChecked ->
             hmiAction("SOP obu绿波通行, ",isChecked)
+            Log.i(TAG,"SOP obu绿波通行, $isChecked")
             HmiBuildConfig.isShowGreenWaveView = isChecked
             if (HmiBuildConfig.isShowGreenWaveView) {
                 CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
@@ -162,34 +265,141 @@ internal class SOPSettingView @JvmOverloads constructor(
             }
         }
 
-        tbTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
-        tbTrafficLight.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 红绿灯标识开关, ",isChecked)
-            if (isChecked) {
-                CallerHmiManager.showTrafficLightView()
+        //V2I场景进PNC
+        scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
+        scV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP V2I场景进PNC, ",isChecked)
+            Log.i(TAG,"SOP V2I场景进PNC, $isChecked")
+            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
+            FunctionBuildConfig.isV2IPnc = isChecked
+        }
+
+        //闯红灯预警(默认关闭)
+        scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
+        scRunRedLightSop.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP obu闯红灯预警, ",isChecked)
+            Log.i(TAG,"SOP obu闯红灯预警, $isChecked")
+            HmiBuildConfig.isShowRunRedLightView = isChecked
+            if (HmiBuildConfig.isShowRunRedLightView) {
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
             } else {
-                CallerHmiManager.hideTrafficLightView()
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
             }
         }
 
-        tbSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
-        tbSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 限速标识开关, ",isChecked)
-            if (isChecked) {
-                HmiBuildConfig.isShowLimitingVelocityView = true
-            } else {
-                HmiBuildConfig.isShowLimitingVelocityView = false
-                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
+        //路侧弱势交通参与者(默认开启)
+        scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
+        scObuWeaknessTrafficSop.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
             }
+            hmiAction("SOP obu弱势交通控制, ",isChecked)
+            Log.i(TAG,"SOP obu弱势交通控制, $isChecked")
+            HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
+        }
+
+        //V2V总开关(默认关闭)
+        scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
+        scObuV2vView.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP obuV2V开关, ",isChecked)
+            Log.i(TAG,"SOP obuV2V开关, $isChecked")
+            HmiBuildConfig.isShowObuV2vView = isChecked
+        }
+
+        //obu总开关
+        obuConnectStatus = CallerObuApiManager.isConnected()
+        scObu.isChecked = obuConnectStatus
+        scObu.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP OBU控制总开关, ",isChecked)
+            Log.i(TAG,"SOP OBU控制总开关, $isChecked")
+            if (isChecked) {
+                CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
+            } else {
+                //断开链接
+                CallerObuApiManager.disConnectObu()
+            }
+        }
+
+    }
+
+    /**
+     * 地图效果类设置
+     */
+    private fun mapSetting(){
+        //危险障碍物颜色标记开关
+        scMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
+        scMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 危险障碍物颜色标记开关, ",isChecked)
+            Log.i(TAG,"SOP 危险障碍物颜色标记开关, $isChecked")
+            FunctionBuildConfig.isPNCWarning = isChecked
+        }
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+            scMarkingObstacles.isEnabled = false
+        }
+
+        //引导线动态效果
+        scRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
+        scRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 引导线动态效果, ",isChecked)
+            Log.i(TAG,"SOP 引导线动态效果, $isChecked")
+            HmiBuildConfig.isShowRouteStrategy = isChecked
+        }
+
+        //点云效果
+        //初始化点云数据渲染情况
+        scDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
+        //是否渲染点云数据
+        scDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
+            CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
+            FunctionBuildConfig.isDrawPointCloudData = isChecked
+            CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
+            hmiAction("SOP 是否渲染点云数据, ",isChecked)
+            Log.i(TAG,"SOP 是否渲染点云数据, $isChecked")
+        }
+
+        //自车光圈
+        scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        scCarAperture.setOnCheckedChangeListener { _, isChecked ->
+            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            FunctionBuildConfig.isDisplayAnimEnable = isChecked
+            hmiAction("SOP 是否展示自车光圈，",isChecked)
+            Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
+        }
+    }
+
+    /**
+     * 与车相关类设置
+     */
+    private fun vehicleSetting(){
+        //绕障类功能
+        scObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
+        scObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 绕障类功能开关, ",isChecked)
+            Log.i(TAG,"SOP 绕障类功能开关, $isChecked")
+            CallerAutoPilotControlManager.sendDetouring(isChecked)
+            FunctionBuildConfig.isDetouring = isChecked
         }
 
         // 演示模式,上一次勾选的数据
-        tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
-        tbDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
+        scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
+        scDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
             hmiAction("SOP 演示模式开关, ",!FunctionBuildConfig.isDemoMode)
+            Log.i(TAG,"SOP 演示模式开关, ${!FunctionBuildConfig.isDemoMode}")
             FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
             CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_DEMO, FunctionBuildConfig.isDemoMode)
@@ -200,87 +410,42 @@ internal class SOPSettingView @JvmOverloads constructor(
         }
         //只在司机端设置美化模式开关功能
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            tbDemoMode.visibility = View.GONE
+            scDemoMode.isEnabled = false
         }
 
         // 雨天模式，上一次勾选的数据
-        tbRainMode.isChecked = FunctionBuildConfig.isRainMode
-        tbRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
+        scRainMode.isChecked = FunctionBuildConfig.isRainMode
+        scRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
             hmiAction("SOP 雨天模式开关, ",isChecked)
+            Log.i(TAG,"SOP 雨天模式开关, $isChecked")
             FunctionBuildConfig.isRainMode = isChecked
             CallerAutoPilotControlManager.setRainMode(isChecked)
             CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_RAIN, isChecked)
         }
         //雨天模式按钮只在司机屏生效，乘客屏不显示
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            tbRainMode.visibility = View.GONE
-        }
-
-        tbObu.isChecked = CallerObuApiManager.isConnected()
-        tbObu.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP OBU控制总开关, ",isChecked)
-            if (isChecked) {
-                CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
-            } else {
-                //断开链接
-                CallerObuApiManager.disConnectObu()
-            }
-        }
-
-
-        tbIPCReport.isChecked = FunctionBuildConfig.isReportWarning
-        tbIPCReport.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 是否开启异常上报, ",isChecked)
-            FunctionBuildConfig.isReportWarning = isChecked
-        }
-
-        tbNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
-        tbNewV2NData.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
-            FunctionBuildConfig.isNewV2NData = isChecked
-        }
-
-        // M1 360度环视
-        tbNew360LookAround?.also {
-            if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
-                it.isEnabled = false
-            } else {
-                it.isEnabled = true
-                it.setOnCheckedChangeListener { _, isChecked ->
-                    if (isChecked) {
-                        CallerHmiManager.showM1360LookAround()
-                    } else {
-                        CallerHmiManager.hidM1360LookAround()
-                    }
-                }
-                it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
-            }
+            scRainMode.isEnabled = false
         }
 
         //弱网减速停车
-        tbWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
-        tbWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
+        scWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
             FunctionBuildConfig.isWeakNetSlowDown = isChecked
             CallerAutoPilotControlManager.sendWeakNetSlowDown(isChecked)
             hmiAction("SOP 弱网减速停车, ",isChecked)
+            Log.i(TAG,"SOP 弱网减速停车, $isChecked")
         }
 
         //故障减速停车
-        tbFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
-        tbFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
+        scFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
             FunctionBuildConfig.isFaultSlowDown = isChecked
             CallerAutoPilotControlManager.sendBreakdownSlowDown(isChecked)
             hmiAction("SOP 故障减速停车, ",isChecked)
-        }
-
-        //是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
-        tbShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
-        tbShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
-            FunctionBuildConfig.isShowBagRecordWindow = isChecked
-            hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
+            Log.i(TAG,"SOP 故障减速停车, $isChecked")
         }
         //融合模式
         rgFusionMode.setOnCheckedChangeListener { _, p1 ->
@@ -306,9 +471,74 @@ internal class SOPSettingView @JvmOverloads constructor(
                     FunctionBuildConfig.fusionMode = 5
                 }
             }
+            hmiAction("SOP 融合模式, ",FunctionBuildConfig.fusionMode)
+            Log.i(TAG,"SOP 融合模式, ${FunctionBuildConfig.fusionMode}")
             CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
         }
+    }
 
+    /**
+     * 其他类别开关设置
+     */
+    private fun otherSetting(){
+        //红绿灯标识开关
+        scTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
+        scTrafficLight.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 红绿灯标识开关, ",isChecked)
+            Log.i(TAG,"SOP 红绿灯标识开关, $isChecked")
+            if (isChecked) {
+                CallerHmiManager.showTrafficLightView()
+            } else {
+                CallerHmiManager.hideTrafficLightView()
+            }
+        }
+
+        //限速标识
+        scSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
+        scSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 限速标识开关, ",isChecked)
+            Log.i(TAG,"SOP 限速标识开关, $isChecked")
+            if (isChecked) {
+                HmiBuildConfig.isShowLimitingVelocityView = true
+                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.VISIBLE)
+            } else {
+                HmiBuildConfig.isShowLimitingVelocityView = false
+                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
+            }
+        }
+
+        //异常上报提示
+        scIPCReport.isChecked = FunctionBuildConfig.isReportWarning
+        scIPCReport.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 是否开启异常上报, ",isChecked)
+            Log.i(TAG,"SOP 是否开启异常上报, $isChecked")
+            FunctionBuildConfig.isReportWarning = isChecked
+        }
+
+        // M1 360度环视
+        scNew360LookAround?.also {
+            if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
+                it.isEnabled = false
+            } else {
+                it.isEnabled = true
+                it.setOnCheckedChangeListener { _, isChecked ->
+                    if (isChecked) {
+                        CallerHmiManager.showM1360LookAround()
+                    } else {
+                        CallerHmiManager.hidM1360LookAround()
+                    }
+                }
+                it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
+            }
+        }
+
+        //是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
+        scShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
+        scShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
+            FunctionBuildConfig.isShowBagRecordWindow = isChecked
+            hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
+            Log.i(TAG,"SOP 是否展示被动触发的录包弹窗, $isChecked")
+        }
 
         //变道绕障的目标障碍物速度阈值
         tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
@@ -393,8 +623,11 @@ internal class SOPSettingView @JvmOverloads constructor(
             mfStatusLayout.setClickEnabled(false)
             mfTest.isEnabled = false
         }
+
+
     }
 
+
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         //添加 业务配置监听
@@ -410,10 +643,10 @@ internal class SOPSettingView @JvmOverloads constructor(
     override fun updateFuncMode(tag: String, boolean: Boolean) {
         super.updateFuncMode(tag, boolean)
         if(tag == FUNC_MODE_DEMO){
-            tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
+            scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
         }
         if(tag == FUNC_MODE_RAIN){
-            tbRainMode.isChecked = FunctionBuildConfig.isRainMode
+            scRainMode.isChecked = FunctionBuildConfig.isRainMode
         }
     }
 
@@ -426,40 +659,34 @@ internal class SOPSettingView @JvmOverloads constructor(
         CallerDevaToolsManager.mofang()?.unRegisterMoFangStatusListener(this)
     }
 
-//    private val timerTaskRefresh = object : TimerTask(){
-//        override fun run() {
-//            UiThreadHandler.post{
-//                tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
-//                tbRainMode.isChecked = FunctionBuildConfig.isRainMode
-//            }
-//        }
-//
-//    }
 
     override fun updateBizView(type: String, lock: Boolean) {
         when (type) {
+            //美化模式
             FuncBizConfig.BIZ_BEAUTY_MODE -> {
-                tbDemoMode.isClickable = !lock
+                scDemoMode.isClickable = !lock
                 if(lock){
-                    tbDemoMode.visibility = View.INVISIBLE
+                    scDemoMode.visibility = View.INVISIBLE
                 }else{
-                    tbDemoMode.visibility = View.VISIBLE
+                    scDemoMode.visibility = View.VISIBLE
                 }
             }
+            //雨天模式
             FuncBizConfig.BIZ_RAIN_MODE -> {
-                tbRainMode.isClickable = !lock
+                scRainMode.isClickable = !lock
                 if (lock) {
-                    tbRainMode.visibility = View.INVISIBLE
+                    scRainMode.visibility = View.INVISIBLE
                 } else {
-                    tbRainMode.visibility = View.VISIBLE
+                    scRainMode.visibility = View.VISIBLE
                 }
             }
+            //危险障碍物颜色标记
             FuncBizConfig.BIZ_PNC_WARNING -> {
-                tbMarkingObstacles.isClickable = !lock
+                scMarkingObstacles.isClickable = !lock
                 if (lock) {
-                    tbMarkingObstacles.visibility = View.INVISIBLE
+                    scMarkingObstacles.visibility = View.INVISIBLE
                 } else {
-                    tbMarkingObstacles.visibility = View.VISIBLE
+                    scMarkingObstacles.visibility = View.VISIBLE
                 }
             }
         }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.hmi.ui.vehicle
 
 import android.content.Context
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -12,20 +11,24 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.zhjt.mogo.adas.data.bean.MogoReport
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
 
 class TakeOverView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener {
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
+    IMoGoParallelDrivingStatusListener {
 
     companion object {
         const val TAG = "TakeOverView"
@@ -41,6 +44,7 @@ class TakeOverView @JvmOverloads constructor(
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerParallelDrivingListenerManager.addListener(TAG,this)
     }
 
     override fun onAutopilotStatusResponse(state: Int) {
@@ -147,5 +151,68 @@ class TakeOverView @JvmOverloads constructor(
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerParallelDrivingListenerManager.removeListener(TAG)
     }
+
+    /**
+     * 平行驾驶状态回调，云端说有状态变化就回调
+     */
+    override fun onParallelDrivingResp(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
+        parallelTaskProcessNotice?.let {
+            if (takeOver) {
+                return@let
+            }
+            when(it.code){
+                //进入同步状态
+                "START_SYNC"->{
+
+                }
+                //同步结束
+                "EXIT_SYNC"->{
+
+                }
+                //无法接管
+                "UNABLE_TAKEOVER"->{
+                    showParallelDrivingWarning("UNABLE_TAKEOVER","远程无法介入，注意随时接管","远程无法介入，注意随时接管")
+                }
+                //同步异常结束
+                "EXCEPTION_EXIT_SYNC"->{
+                    showParallelDrivingWarning("EXCEPTION_EXIT_SYNC","远程介入失败，注意随时接管","远程介入失败，注意随时接管")
+                }
+                //任务已被拒绝
+                "TASK_REJECTED"->{
+
+                }
+                //异常请人工驾驶
+                "PARALLEL_EXCEPTION_MANUAL_DRIVING"->{
+                    showParallelDrivingWarning("PARALLEL_EXCEPTION_MANUAL_DRIVING","即将靠边停车，注意随时接管","即将靠边停车，注意随时接管")
+                }
+                //平行驾驶异常结束
+                "EXCEPTION_EXIT_PARALLEL_DRIVING"->{
+                    showParallelDrivingWarning("EXCEPTION_EXIT_PARALLEL_DRIVING","可能应急停车，注意随时接管","可能应急停车，注意随时接管")
+                }
+            }
+        }
+    }
+
+    private fun showParallelDrivingWarning(poiType: String,content: String,tts: String){
+        CallerHmiManager.warningV2X(poiType, content, tts,
+            object : IMoGoWarningStatusListener {
+                override fun onShow() {
+                    takeOver = true
+                    ThreadUtils.runOnUiThread{
+                        visibility = View.VISIBLE
+                    }
+                }
+
+                override fun onDismiss() {
+                    takeOver = false
+                    ThreadUtils.runOnUiThread{
+                        visibility = View.GONE
+                    }
+                }
+            }
+            ,isFromObu = false)
+    }
+
 }

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

@@ -27,6 +27,9 @@ class LimitingVelocityView constructor(
         private const val TAG = "LimitingVelocityView"
     }
 
+    //限速控件是否展示
+    private var isShow = false
+
     init {
         LayoutInflater.from(context).inflate(R.layout.view_limiting_speed_vr, this, true)
     }
@@ -38,20 +41,22 @@ class LimitingVelocityView constructor(
     }
 
     override fun onLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
-        ThreadUtils.runOnUiThread {
-            if (limitingVelocity > 0) {
-                visibility = View.VISIBLE
-                tvLimitingVelocity.text = "$limitingVelocity"
-                tvLimitingSource?.text = DataSourceType.getName(sourceType)
-            } else {
-                visibility = View.GONE
-                tvLimitingSource?.text = ""
+        if(isShow){
+            ThreadUtils.runOnUiThread {
+                if (limitingVelocity > 0) {
+                    visibility = View.VISIBLE
+                    tvLimitingVelocity.text = "$limitingVelocity"
+                    tvLimitingSource?.text = DataSourceType.getName(sourceType)
+                } else {
+                    visibility = View.GONE
+                    tvLimitingSource?.text = ""
+                }
             }
         }
     }
 
     override fun visible(v: Int) {
-        super.visible(v)
+        isShow = v == View.VISIBLE
         this.visibility = v
     }
 

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

@@ -0,0 +1,352 @@
+package com.mogo.eagle.core.function.hmi.ui.widget
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.graphics.Color
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.voice.AIAssist
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
+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.CallerParallelDrivingActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType
+import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest.ParallelRequest
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
+
+/**
+ * 平行驾驶状态View
+ */
+class ParallelDriveView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
+    IMoGoParallelDrivingActionsListener, IMoGoParallelDrivingStatusListener {
+    companion object {
+        private const val TAG = "ParallelDriveView"
+        private const val APP_REQUESTING = 1
+        private const val AD_REQUESTING = 2
+        private const val SYNCHRONIZING = 3
+        private const val PARALLEL_DRIVING = 4
+        private const val FAILURE = 5
+        private const val ONE_EXCEPTION = 6
+        private const val TWO_EXCEPTION = 7
+        private const val UNAVAILABLE = 8
+    }
+
+    //1:ready, 2:自动驾驶中, 7:平行驾驶中
+    @Volatile
+    private var autopilotState: Int = 1
+
+    // 初始状态为0
+    private var state: Int = 0
+
+    private lateinit var rootLayout: ConstraintLayout
+    private lateinit var statusIcon: ImageView
+    private lateinit var statusTitle: TextView
+    private var listener: ClickEventListener? = null
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_parallel_drive, this, true)
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        initView()
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerParallelDrivingListenerManager.addListener(TAG, this)
+        CallerParallelDrivingActionsListenerManager.addListener(TAG, this)
+    }
+
+    private fun initView() {
+        rootLayout = findViewById(R.id.parDriveLayout)
+        statusIcon = findViewById(R.id.ivStatusIcon)
+        statusTitle = findViewById(R.id.tvAutopilotContent)
+        rootLayout.setOnClickListener {
+            when (state) {
+                0 -> {
+                    state = APP_REQUESTING
+                    updateUI(APP_REQUESTING)
+                    reqParaDrive()
+                    listener?.onReqClick()
+                }
+                APP_REQUESTING -> {
+                    cancelParaDrive()
+                    ToastUtils.showShort("请求已取消！")
+                    checkAvailableAndUpdateUI()
+                }
+                UNAVAILABLE -> {
+                    ToastUtils.showShort("请P档驻车并松开油门刹车后请求")
+                }
+            }
+        }
+        checkAvailableAndUpdateUI()
+    }
+
+    fun setClickEventListener(listener: ClickEventListener?) {
+        this.listener = listener
+    }
+
+    override fun onAutopilotStatusResponse(state: Int) {
+        super.onAutopilotStatusResponse(state)
+        if (state != autopilotState) {
+            synchronized(this) {
+                when (state) {
+                    7 -> {
+                        if (this.autopilotState != 7) {
+                            ThreadUtils.runOnUiThread({
+                                updateUI(PARALLEL_DRIVING)
+                            }, ThreadUtils.MODE.QUEUE)
+                        }
+                    }
+                    else -> {
+                        if (this.autopilotState == 7 && this.autopilotState != state) {
+                            ThreadUtils.runOnUiThread({
+                                checkAvailableAndUpdateUI()
+                            }, ThreadUtils.MODE.QUEUE)
+                        }
+                    }
+                }
+                this.autopilotState = state
+            }
+        }
+    }
+
+    override fun onParallelDrivingAbility(
+        isParallelDrivingAbility: Boolean,
+        unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
+    ) {
+        if (!isParallelDrivingAbility) {
+            ThreadUtils.runOnUiThread({
+                updateUI(UNAVAILABLE)
+            }, ThreadUtils.MODE.QUEUE)
+        }
+    }
+
+    override fun onParallelDrivingResp(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
+        parallelTaskProcessNotice?.let {
+            ThreadUtils.runOnUiThread({
+                when (it.code) {
+                    "START_SYNC" -> {// 同步中
+                        state = SYNCHRONIZING
+                        updateUI(SYNCHRONIZING)
+                    }
+                    "EXCEPTION_EXIT_SYNC" -> {// 同步异常结束
+                        state = ONE_EXCEPTION
+                        updateUI(ONE_EXCEPTION)
+                    }
+                    "TASK_REJECTED" -> {// 任务已被拒绝
+                        state = FAILURE
+                        updateUI(FAILURE)
+                        AIAssist.getInstance(context).speakTTSVoice("请求已被拒绝")
+                    }
+                    "PARALLEL_EXCEPTION_MANUAL_DRIVING" -> {// 异常请人工驾驶
+                        state = TWO_EXCEPTION
+                        updateUI(TWO_EXCEPTION)
+                    }
+                    "EXCEPTION_EXIT_PARALLEL_DRIVING" -> {// 平行驾驶异常结束
+                        state = ONE_EXCEPTION
+                        updateUI(ONE_EXCEPTION)
+                    }
+                    "EXIT_SYNC" -> {// 同步结束
+                        checkAvailableAndUpdateUI()
+                    }
+                    "UNABLE_TAKEOVER" -> {// 无法接管
+                        state = ONE_EXCEPTION
+                        updateUI(ONE_EXCEPTION)
+                    }
+                    "VEHICLE_IN_TROUBLE_PARALLEL_REQUESTED" -> {// 车辆遇困请求平行驾驶
+                        state = AD_REQUESTING
+                        updateUI(AD_REQUESTING)
+                    }
+                }
+            }, ThreadUtils.MODE.QUEUE)
+        }
+    }
+
+    private fun isAvailable(unableAutopilotReasons: ArrayList<UnableLaunchReason>?): Boolean {
+        var unavailable = false
+        unableAutopilotReasons?.forEach {
+            if (it.source.ordinal == SourceType.CHASSIS.ordinal) {
+                unavailable = true
+            }
+        }
+        return !unavailable
+    }
+
+    @SuppressLint("UseCompatLoadingForDrawables")
+    private fun updateUI(state: Int) {
+        when (state) {
+            0 -> {
+                rootLayout.isEnabled = true
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_autopilot_status, null)
+                statusTitle.text = context.getString(R.string.parallel_drive)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            APP_REQUESTING -> {
+                rootLayout.isEnabled = true
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_para_requesting, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusTitle.text = context.getString(R.string.parallel_drive_requesting)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            AD_REQUESTING -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_para_requesting, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusTitle.text = context.getString(R.string.parallel_drive_requesting)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            SYNCHRONIZING -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_para_syn, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusTitle.text = context.getString(R.string.parallel_drive_synchronizing)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            PARALLEL_DRIVING -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_autopilot_status, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                rootLayout.background =
+                    resources.getDrawable(R.drawable.bg_auto_pilot_running, null)
+                statusTitle.text = context.getString(R.string.parallel_drive)
+            }
+
+            FAILURE -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                rootLayout.postDelayed({
+                    checkAvailableAndUpdateUI()
+                }, 1000)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_fail_start, null)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive_failure)
+            }
+
+            ONE_EXCEPTION -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                rootLayout.postDelayed({
+                    checkAvailableAndUpdateUI()
+                }, 1000)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_fail_start, null)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive_exception)
+            }
+
+            TWO_EXCEPTION -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                rootLayout.postDelayed({
+                    checkAvailableAndUpdateUI()
+                }, 2000)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_fail_start, null)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive_exception)
+            }
+
+            UNAVAILABLE -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 0.4f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_autopilot_status, null)
+                statusTitle.setTextColor(Color.parseColor("#66FFFFFF"))
+                statusIcon.alpha = 0.4f
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive)
+            }
+
+            else -> {}
+        }
+    }
+
+    private fun reqParaDrive() {
+        val sn = MoGoAiCloudClientConfig.getInstance().sn
+        val parallelRequest = ParallelRequest.newBuilder()
+            .setSn(sn)
+            .setType(2)// 2:鹰眼请求
+            .setTakeover(1)// 1:请求平行驾驶接管
+            .setCode("PAD_ACTIVE")
+        parallelRequest.reason = "鹰眼请求"
+        CallerAutoPilotControlManager.sendParallelDrivingReq(
+            System.currentTimeMillis().toString(), parallelRequest.build()
+        )
+    }
+
+    private fun cancelParaDrive() {
+        val sn = MoGoAiCloudClientConfig.getInstance().sn
+        val parallelRequest = ParallelRequest.newBuilder()
+            .setSn(sn)
+            .setType(2)// 2:鹰眼请求
+            .setTakeover(2)// 2:取消平行驾驶接管
+            .setCode("PAD_ACTIVE")
+        parallelRequest.reason = "鹰眼请求"
+        CallerAutoPilotControlManager.sendParallelDrivingReq(
+            System.currentTimeMillis().toString(), parallelRequest.build()
+        )
+    }
+
+    private fun checkAvailableAndUpdateUI() {
+        if (CallerParallelDrivingActionsListenerManager.isParallelDrivingAbility()) {
+            state = 0
+            updateUI(0)
+        } else {
+            state = UNAVAILABLE
+            updateUI(UNAVAILABLE)
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerParallelDrivingListenerManager.removeListener(TAG)
+        CallerParallelDrivingActionsListenerManager.removeListener(TAG)
+    }
+
+    interface ClickEventListener {
+        fun onReqClick()
+    }
+}

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

@@ -5,6 +5,7 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.deva.bindingcar.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -26,6 +27,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.MogoData.Companion.mogoMapData
 import kotlinx.android.synthetic.main.view_system_version.view.*
+import system_master.SsmInfo
+import system_master.SystemStatusInfo
 
 
 /**
@@ -63,6 +66,7 @@ class SystemVersionView @JvmOverloads constructor(
     private fun initView() {
         showCurrentPadVersion()
         showCurrentAdVersion()
+        updateAdHdMapVersion()
 
         //鹰眼版本视图点击事件
         ivPadVersion.setOnClickListener {
@@ -366,4 +370,42 @@ class SystemVersionView @JvmOverloads constructor(
     override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         location = gnssInfo
     }
+
+    /**
+     * 状态查询应答
+     * @param status 数据
+     * HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
+     */
+    override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {
+        if(status.hdMapVer!= null && status.hdMapVer.isNotEmpty()){
+            AppConfigInfo.adHdMapVersion = status.hdMapVer
+            updateAdHdMapVersion()
+        }
+
+    }
+
+    /**
+     * 定频SSM接口
+     * 1hz  hq m1 MAP350开始支持，其他车型MAP360开始支持
+     * 定频SSM接入后 onStatusQueryResp 状态查询应答接口将弃用
+     * @param statusInf 数据
+     */
+    override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
+        if(statusInf.hdMapVer!= null && statusInf.hdMapVer.isNotEmpty()){
+            AppConfigInfo.adHdMapVersion = statusInf.hdMapVer
+            updateAdHdMapVersion()
+        }
+    }
+
+    /**
+     * 更新工控机高精地图版本
+     */
+    private fun updateAdHdMapVersion(){
+        if(tvAdHdMapVersionContent.text.isNullOrEmpty() && AppConfigInfo.adHdMapVersion.isNotEmpty() || tvAdHdMapVersionContent.text != AppConfigInfo.adHdMapVersion){
+            ThreadUtils.runOnUiThread {
+                tvAdHdMapVersionContent.text = AppConfigInfo.adHdMapVersion
+            }
+        }
+    }
+
 }

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

@@ -18,7 +18,7 @@
         android:id="@+id/ivBadCaseImage"
         android:layout_width="110dp"
         android:layout_height="110dp"
-        android:src="@drawable/icon_bad_case"
+        android:src="@drawable/icon_msg_bad_case"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"

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

@@ -0,0 +1,34 @@
+<?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:id="@+id/parDriveLayout"
+    android:layout_width="361dp"
+    android:layout_height="180dp"
+    android:background="@drawable/bg_auto_pilot"
+    >
+
+    <ImageView
+        android:id="@+id/ivStatusIcon"
+        android:layout_width="58dp"
+        android:layout_height="58dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginStart="72dp"
+        android:layout_marginTop="56dp"
+        />
+
+    <TextView
+        android:id="@+id/tvAutopilotContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginEnd="72dp"
+        android:layout_marginTop="60dp"
+        android:textColor="#FFFFFF"
+        android:textSize="36dp"
+        tools:text="远程代驾"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>

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

@@ -12,10 +12,10 @@
         android:layout_marginStart="113dp"
         android:src="@drawable/icon_version_pad"
         android:layout_marginTop="40dp"
-        android:clickable="true"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent"
+        android:contentDescription="@string/current_system_version"
         />
 
     <ImageView
@@ -62,6 +62,7 @@
         app:layout_constraintStart_toStartOf="parent"
         android:layout_marginStart="405dp"
         android:src="@drawable/icon_version_ad_normal"
+        android:contentDescription="@string/current_system_version"
         />
 
     <com.mogo.eagle.core.function.hmi.ui.widget.CircularProgressView
@@ -108,10 +109,8 @@
         app:layout_constraintLeft_toLeftOf="@id/tvAdVersionTitle"
         app:layout_constraintRight_toRightOf="@id/tvAdVersionTitle"
         app:layout_constraintTop_toBottomOf="@id/tvAdVersionTitle"
-        app:layout_constraintBottom_toBottomOf="parent"
         android:textColor="#FFA7B6F0"
         android:layout_marginTop="2dp"
-        android:layout_marginBottom="20dp"
         android:textSize="32dp"
         />
 
@@ -124,6 +123,7 @@
         app:layout_constraintStart_toStartOf="parent"
         android:layout_marginStart="680dp"
         android:src="@drawable/icon_version_hd_map"
+        android:contentDescription="@string/current_system_version"
         />
 
     <ImageView
@@ -136,4 +136,44 @@
         app:layout_constraintCircleRadius="90dp"
         tools:ignore="MissingConstraints" />
 
+    <!--工控机HDMap版本-->
+    <ImageView
+        android:id="@+id/ivAdHdMapVersion"
+        android:layout_width="@dimen/dp_150"
+        android:layout_height="@dimen/dp_150"
+        app:layout_constraintLeft_toLeftOf="@id/ivPadVersion"
+        app:layout_constraintRight_toRightOf="@id/ivPadVersion"
+        app:layout_constraintTop_toBottomOf="@id/tvPadVersionContent"
+        android:layout_marginTop="60dp"
+        android:src="@drawable/icon_version_ad_hd_map"
+        android:contentDescription="@string/current_system_version"
+        />
+
+    <TextView
+        android:id="@+id/tvAdHdMapVersionTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="@id/ivAdHdMapVersion"
+        app:layout_constraintRight_toRightOf="@id/ivAdHdMapVersion"
+        app:layout_constraintTop_toBottomOf="@id/ivAdHdMapVersion"
+        android:text="@string/current_system_version"
+        android:textColor="#FFA7B6F0"
+        android:layout_marginTop="10dp"
+        android:textSize="32dp"
+        />
+
+    <TextView
+        android:id="@+id/tvAdHdMapVersionContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="@id/ivAdHdMapVersion"
+        app:layout_constraintRight_toRightOf="@id/ivAdHdMapVersion"
+        app:layout_constraintTop_toBottomOf="@id/tvAdHdMapVersionTitle"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:textColor="#FFA7B6F0"
+        android:layout_marginTop="2dp"
+        android:textSize="32dp"
+        android:layout_marginBottom="20dp"
+        />
+
 </androidx.constraintlayout.widget.ConstraintLayout>

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

@@ -86,4 +86,9 @@
     <string name="light_source_ai_cloud">云端下发</string>
     <string name="light_source_perception">自车感知</string>
     <string name="light_source_obu">\u2000OBU\u2000</string>
+    <string name="parallel_drive">远程代驾</string>
+    <string name="parallel_drive_requesting">请求中...</string>
+    <string name="parallel_drive_synchronizing">同步中...</string>
+    <string name="parallel_drive_failure">请求失败</string>
+    <string name="parallel_drive_exception">异常</string>
 </resources>

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java

@@ -76,7 +76,7 @@ public class MogoRouteOverlayManager implements
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
-        boolean force = FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
+        boolean force = FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
         if (!force && autopilotMode.get() != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;