Merge branch 'dev_robotaxi-d_231129_6.2.2_routing_verify' into dev_robotaxi-d_231201_6.2.2

# Conflicts:
#	core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/provider/LoginServiceImpl.kt

@@ -60,6 +60,7 @@ class LoginServiceImpl : LoginService,ILoginViewCallback {
         if(uiModel) {
             fragment?.let {
                 CallerHmiManager.hideToolsView()
+                CallerHmiManager.hideSOPSettingView()
                 val parentFragmentManager = it.childFragmentManager
                 val fragmentByTag: Fragment? = parentFragmentManager.findFragmentByTag(TAG)
                 if (fragmentByTag is DialogFragment) {

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/map/AmapNaviToDestinationModel.java

@@ -78,7 +78,7 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
     public void setVoiceIsMute(boolean isPlay) {
         ThreadUtils.getSinglePool().execute(() -> {
             if (mAMapNavi == null) return;
-            CallerLogger.i(TAG, "setVoiceIsMute()--"+isPlay);
+            CallerLogger.i(TAG, "setVoiceIsMute()--" + isPlay);
             this.isPlay = isPlay;
             if (isPlay) {
                 mAMapNavi.startSpeak();
@@ -108,6 +108,7 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
     }
 
     public void setTaxiNaviChangedCallback(ICommonNaviChangedCallback callback) {
+        CallerLogger.i(TAG, "setTaxiNaviChangedCallback()");
         this.mNaviChangedCallback = callback;
     }
 

OCH/taxi/unmanned-driver/src/main/AndroidManifest.xml

@@ -1,5 +1,9 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="com.mogo.och.taxi">
-
-    /
+    <application>
+        <activity android:name=".ui.routing.TaxiRoutingChooseLineActivity"
+            android:theme="@style/RoutingChooseLineDialogStyle"
+            android:launchMode="singleTask"
+            android:screenOrientation="landscape" />
+    </application>
 </manifest>

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverTaskWithOrderBean.kt

@@ -100,6 +100,7 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
             if (startSite != other.startSite) return false
             if (endSite != other.endSite) return false
             if (order != other.order) return false
+            if (writeVersion != other.writeVersion) return false
 
             return true
         }

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt

@@ -0,0 +1,61 @@
+package com.mogo.och.taxi.bean
+
+import com.mogo.eagle.core.data.BaseData
+
+data class GrayLineBean(
+    var lineId: Long?, //线路id
+    var lineName: String?, //线路名称
+    var contrailId: Long?, //轨迹id
+    var carVerificationCount: Int?, //本次今日已验证次数
+    var lineSuccessCount: Int?, //线路累计反馈可用次数
+    var lineFailCount: Int?, //线路累计反馈不可用次数
+    var isChoosed: Boolean = false, //当前是否选中
+    var startSite: RoutingSite?,
+    var endSite: RoutingSite?
+)
+
+data class RoutingSite(
+    var siteId: Long,
+    var siteName: String,
+    var gcjLat: Double,
+    var gcjLon: Double,
+    var wgs84Lon: Double,
+    var wgs84Lat: Double
+)
+
+data class ContrailBean(
+    var lineId: Long = -1L,
+    var lineName: String = "",
+    var contrailId: Long = -1L,
+    var csvFileUrl: String = "",
+    var csvFileMd5: String = "",
+    var txtFileUrl: String = "",
+    var txtFileMd5: String = "",
+    var contrailSaveTime: Long = -1L,
+    var csvFileUrlDPQP: String = "",
+    var csvFileMd5DPQP: String = "",
+    var txtFileUrlDPQP: String = "",
+    var txtFileMd5DPQP: String = "",
+    var contrailSaveTimeDPQP: Long = -1L,
+    var version: Long = -1L
+)
+
+data class QueryGrayContrailListRsp(var data: MutableList<GrayLineBean>?) : BaseData()
+data class StartGrayContrailTaskReq(var sn: String, var contrailId: Long)
+data class StartGrayContrailTaskRsp(var data: Long?) : BaseData()
+data class QueryRoutingContrailByIdRsp(var data: ContrailBean?) : BaseData()
+data class SubmitGrayLineIssueLocationReq(var grayId: Long, var gcjLon: Double, var gcjLat: Double)
+data class EndGrayContrailTaskReq(var grayId: Long, var feedback: Int) //feedback 1:成功 2:失败
+data class StartGrayAndQueryContrailRsp(
+    var taskId: Long?,
+    var contrail: ContrailBean?,
+    var grayLineBean: GrayLineBean
+) : BaseData()
+
+enum class EndGrayTaskFeedbackType(var type: Int) {
+    USABLE_YES(1),
+    USABLE_NO(2)
+}
+
+
+

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt

@@ -0,0 +1,17 @@
+package com.mogo.och.taxi.callback
+
+import com.mogo.och.taxi.bean.GrayLineBean
+import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp
+
+interface ITaxiRoutingCallback {
+    fun onQueryRoutingGrayLineListSuccess(data: MutableList<GrayLineBean>)
+    fun onQueryRoutingGrayLineListFailed(errorStr: String)
+    fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp)
+    fun onStartGrayTaskAndQueryContrailFailed(errorStr: String)
+    fun onSubmitGrayLineIssueLocationSuccess()
+    fun onSubmitGrayLineIssueLocationFailed(errorStr: String)
+    fun onSubmitEndTaskSuccess()
+    fun onSubmitEndTaskFailed(errorStr: String)
+    fun onAutoPilotArriveAtEndStation(grayId: Long?)
+    fun onGDMapArriveAtEndStation(grayId: Long?)
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiDriverEventConst.java

@@ -13,4 +13,8 @@ public interface TaxiDriverEventConst {
         String EVENT_TYPE_SHOW_RED_POINT = "event_type_tab_fragment_show_red_point";
         String EVENT_TYPE_TASK_WITH_ORDER_CHANGED = "event_type_tab_fragment_task_with_order_changed";
     }
+
+    interface RoutingActivityEvent {
+        String EVENT_TYPE_GET_CHOSEN_LINE_TASK = "event_type_get_chosen_line_task";
+    }
 }

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt

@@ -42,6 +42,12 @@ class TaxiUnmannedConst {
         //终点UUID
         const val TAXI_END_MAP_MAKER = "taxi_end_map_maker"
 
+        //算路起点UUID
+        const val TAXI_ROUTING_VERIFY_START_SITE = "taxi_routing_verify_start_site"
+
+        //算路终点UUID
+        const val TAXI_ROUTING_VERIFY_END_SITE = "taxi_routing_verify_end_site"
+
         //演示：V  测试：内测
         const val DEMO_USER = "V"
         const val TEST_USER = "内测"
@@ -78,6 +84,8 @@ class TaxiUnmannedConst {
          */
         const val TYPE_MARKER_TAXI_ORDER = "TYPE_MARKER_TAXI_ORDER"
 
+        const val TYPE_MARKER_ROUTING_VERIFY = "TYPE_MARKER_TAXI_ROUTING_VERIFY"
+
         const val TIMER_START_AUTOPILOT_INTERVAL = 20 * 1000L
 
         const val TIMER_PREPARE_VIRTUAL_TASK_INTERVAL = 45 * 1000L //45s再次获取任务

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceApi.kt

@@ -0,0 +1,75 @@
+package com.mogo.och.taxi.network
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.data.BaseData
+import com.mogo.och.taxi.bean.EndGrayContrailTaskReq
+import com.mogo.och.taxi.bean.QueryGrayContrailListRsp
+import com.mogo.och.taxi.bean.QueryRoutingContrailByIdRsp
+import com.mogo.och.taxi.bean.StartGrayContrailTaskReq
+import com.mogo.och.taxi.bean.StartGrayContrailTaskRsp
+import com.mogo.och.taxi.bean.SubmitGrayLineIssueLocationReq
+import io.reactivex.Observable
+import retrofit2.http.Body
+import retrofit2.http.GET
+import retrofit2.http.Header
+import retrofit2.http.Headers
+import retrofit2.http.POST
+import retrofit2.http.Query
+
+interface TaxiRoutingServiceApi {
+
+    /**
+     * 查询灰度线路列表
+     */
+    @Headers("Content-type:application/json;charset=UTF-8")
+    @GET("/och-taxi-cabin/api/business/v1/queryGrayContrailList")
+    fun queryRoutingGrayLineList(
+        @Header("appId") appId: String = MoGoAiCloudClientConfig.getInstance().serviceAppId,
+        @Header("ticket") ticket: String = MoGoAiCloudClientConfig.getInstance().token,
+        @Query("sn") sn: String?
+    ): Observable<QueryGrayContrailListRsp>
+
+    /**
+     * 开始一个路线的灰度任务
+     */
+    @Headers("Content-type:application/json;charset=UTF-8")
+    @POST("/och-taxi-cabin/api/business/v1/startGray")
+    fun startGrayTask(
+        @Header("appId") appId: String = MoGoAiCloudClientConfig.getInstance().serviceAppId,
+        @Header("ticket") ticket: String = MoGoAiCloudClientConfig.getInstance().token,
+        @Body data: StartGrayContrailTaskReq
+    ): Observable<StartGrayContrailTaskRsp>
+
+    /**
+     * 根据id查询灰度轨迹详情
+     */
+    @Headers("Content-type:application/json;charset=UTF-8")
+    @GET("/och-taxi-cabin/api/business/v1/gray/contrail")
+    fun queryRoutingContrailById(
+        @Header("appId") appId: String = MoGoAiCloudClientConfig.getInstance().serviceAppId,
+        @Header("ticket") ticket: String = MoGoAiCloudClientConfig.getInstance().token,
+        @Query("id") contrailId: Long
+    ): Observable<QueryRoutingContrailByIdRsp>
+
+    /**
+     * 上报路线打点
+     */
+    @Headers("Content-type:application/json;charset=UTF-8")
+    @POST("/och-taxi-cabin/api/business/v1/saveDotDetail")
+    fun submitGrayLineIssueLocation(
+        @Header("appId") appId: String = MoGoAiCloudClientConfig.getInstance().serviceAppId,
+        @Header("ticket") ticket: String = MoGoAiCloudClientConfig.getInstance().token,
+        @Body data: SubmitGrayLineIssueLocationReq
+    ): Observable<BaseData>
+
+    /**
+     * 结束一个路线的灰度任务
+     */
+    @Headers("Content-type:application/json;charset=UTF-8")
+    @POST("/och-taxi-cabin/api/business/v1/endGray")
+    fun endGrayTask(
+        @Header("appId") appId: String = MoGoAiCloudClientConfig.getInstance().serviceAppId,
+        @Header("ticket") ticket: String = MoGoAiCloudClientConfig.getInstance().token,
+        @Body data: EndGrayContrailTaskReq
+    ): Observable<BaseData>
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceManager.kt

@@ -0,0 +1,134 @@
+package com.mogo.och.taxi.network
+
+import android.content.Context
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.network.MoGoRetrofitFactory
+import com.mogo.och.common.module.biz.constant.OchCommonConst
+import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
+import com.mogo.och.common.module.biz.network.OchCommonSubscribeImpl
+import com.mogo.och.common.module.biz.network.interceptor.transformTry
+import com.mogo.och.taxi.bean.EndGrayContrailTaskReq
+import com.mogo.och.taxi.bean.GrayLineBean
+import com.mogo.och.taxi.bean.QueryGrayContrailListRsp
+import com.mogo.och.taxi.bean.QueryRoutingContrailByIdRsp
+import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp
+import com.mogo.och.taxi.bean.StartGrayContrailTaskReq
+import com.mogo.och.taxi.bean.StartGrayContrailTaskRsp
+import com.mogo.och.taxi.bean.SubmitGrayLineIssueLocationReq
+import io.reactivex.Observable
+
+object TaxiRoutingServiceManager {
+
+    private var mRoutingServiceApi: TaxiRoutingServiceApi =
+        MoGoRetrofitFactory.getInstance(OchCommonConst.getBaseUrl()).create(
+            TaxiRoutingServiceApi::class.java
+        )
+
+    /**
+     * 查询灰度路线列表
+     */
+    fun queryRoutingGrayLineList(
+        context: Context,
+        callback: OchCommonServiceCallback<QueryGrayContrailListRsp>
+    ) {
+        mRoutingServiceApi.queryRoutingGrayLineList(
+            sn = MoGoAiCloudClientConfig.getInstance().sn
+        )
+            .transformTry()
+            .subscribe(OchCommonSubscribeImpl(context, callback, "queryRoutingGrayLineList"))
+    }
+
+    /**
+     * 开始一个灰度任务
+     */
+    fun startGrayTask(
+        context: Context,
+        data: StartGrayContrailTaskReq,
+        callback: OchCommonServiceCallback<StartGrayContrailTaskRsp>
+    ) {
+        mRoutingServiceApi.startGrayTask(data = data).transformTry()
+            .subscribe(OchCommonSubscribeImpl(context, callback, "startGrayTask"))
+    }
+
+    /**
+     * 通过id查询轨迹详情
+     */
+    fun queryRoutingContrailById(
+        context: Context,
+        contrailId: Long,
+        callback: OchCommonServiceCallback<QueryRoutingContrailByIdRsp>
+    ) {
+        mRoutingServiceApi.queryRoutingContrailById(contrailId = contrailId).transformTry()
+            .subscribe(OchCommonSubscribeImpl(context, callback, "queryRoutingContrailById"))
+    }
+
+    /**
+     * 上报线路打点
+     */
+    fun submitGrayLineIssueLocation(
+        context: Context,
+        data: SubmitGrayLineIssueLocationReq,
+        callback: OchCommonServiceCallback<BaseData>
+    ) {
+        mRoutingServiceApi.submitGrayLineIssueLocation(data = data).transformTry()
+            .subscribe(OchCommonSubscribeImpl(context, callback, "submitGrayLineIssueLocation"))
+    }
+
+    /**
+     * 结束一个灰度任务
+     */
+    fun endGrayTask(
+        context: Context,
+        data: EndGrayContrailTaskReq,
+        callback: OchCommonServiceCallback<BaseData>
+    ) {
+        mRoutingServiceApi.endGrayTask(data = data).transformTry()
+            .subscribe(OchCommonSubscribeImpl(context, callback, "endGrayTask"))
+    }
+
+    fun startGrayTaskAndQueryRoutingContrail(
+        context: Context,
+        sn: String,
+        contrailId: Long,
+        grayLineBean: GrayLineBean,
+        callback: OchCommonServiceCallback<StartGrayAndQueryContrailRsp>
+    ) {
+        val data = StartGrayContrailTaskReq(sn = sn, contrailId = contrailId)
+        var taskId: Long
+        mRoutingServiceApi.startGrayTask(data = data)
+            .flatMap { startGrayRsp ->
+                if (startGrayRsp.data == null) {
+                    taskId = -1L
+                    val result = StartGrayAndQueryContrailRsp(
+                        taskId = taskId,
+                        contrail = null,
+                        grayLineBean = grayLineBean
+                    )
+                    result.code = startGrayRsp.code
+                    result.msg = startGrayRsp.msg
+                    return@flatMap Observable.just(result)
+                }
+                taskId = startGrayRsp.data!!
+                return@flatMap mRoutingServiceApi.queryRoutingContrailById(contrailId = contrailId)
+                    .map { queryRoutingContrailRsp ->
+                        val result = StartGrayAndQueryContrailRsp(
+                            taskId = taskId,
+                            contrail = queryRoutingContrailRsp.data,
+                            grayLineBean = grayLineBean
+                        )
+                        result.code = queryRoutingContrailRsp.code
+                        result.msg = queryRoutingContrailRsp.msg
+                        result
+                    }
+            }
+            .transformTry()
+            .subscribe(
+                OchCommonSubscribeImpl(
+                    context,
+                    callback,
+                    "startGrayTaskAndQueryRoutingContrail"
+                )
+            )
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt

@@ -11,6 +11,7 @@ import android.view.animation.LinearInterpolator
 import androidx.fragment.app.FragmentTransaction
 import androidx.localbroadcastmanager.content.LocalBroadcastManager
 import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.mvp.IView
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.mvp.Presenter
@@ -26,6 +27,7 @@ import com.mogo.eagle.core.function.hmi.ui.widget.ParallelDriveView
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.map.listener.IMogoMapListener
 import com.mogo.map.uicontroller.VisualAngleMode
@@ -197,6 +199,10 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
 
         module_mogo_och_operation_status.setOnClickListener(object : OnPreventFastClickListener() {
             override fun onClickImpl(v: View?) {
+                if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode) {
+                    ToastUtils.showLong("退出验证模式后再接单吧")
+                    return
+                }
                 onChangeOperationStatus()
             }
         })

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt

@@ -8,11 +8,13 @@ import android.view.ViewGroup
 import androidx.fragment.app.FragmentTransaction
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.commons.module.status.MogoStatusManager
+import com.mogo.commons.module.status.StatusDescriptor
 import com.mogo.eagle.core.data.temp.EventLogout
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.biz.constant.OchCommonConst
 import com.mogo.och.common.module.biz.provider.LoginService
 import com.mogo.och.common.module.utils.FlowBus
@@ -21,6 +23,7 @@ import com.mogo.och.taxi.constant.TaxiDriverEventConst
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.network.TaxiDriverLoginImpl
 import com.mogo.och.taxi.ui.operational.TaxiOperationalDialogFragment
+import com.mogo.och.taxi.ui.routing.TaxiRoutingFragment
 import com.mogo.och.taxi.ui.task.TaxiTaskModel
 import com.mogo.och.taxi.ui.task.TaxiTaskTabFragment
 import com.mogo.och.taxi.utils.TPRouteDataTestUtils
@@ -45,6 +48,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
 
     private var taskTabFragment: WeakReference<TaxiTaskTabFragment>? = null
     private var personalDialogFragment: WeakReference<TaxiOperationalDialogFragment>? = null
+    private var routingVerifyFragment: WeakReference<TaxiRoutingFragment>? = null
     private var loginService: LoginService? = null
 
     @Subscribe(threadMode = ThreadMode.MAIN)
@@ -151,15 +155,56 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
     }
 
     private fun initFragment() {
-        taskTabFragment = WeakReference(TaxiTaskTabFragment.newInstance())
+        showTaskFragment()
+        MogoStatusManager.getInstance()
+            .registerStatusChangedListener(
+                TAG, StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE
+            ) { descriptor, isTrue ->
+                if (StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE == descriptor) {
+                    UiThreadHandler.post {
+                        if (isTrue) {
+                            showRoutingFragment()
+                        } else {
+                            showTaskFragment()
+                        }
+                        updateOperationBtnStatusOnModeChange(isTrue)
+                    }
+                }
+            }
+    }
+
+    private fun showTaskFragment() {
         val transaction: FragmentTransaction = childFragmentManager.beginTransaction()
-        //默认显示OCHTaxiServerOrdersFragment
-        taskTabFragment?.get()?.let {
-            transaction.add(R.id.fragment_container, it).show(
-                it
-            )
+        if (routingVerifyFragment?.get()?.isVisible == true) {
+            routingVerifyFragment?.get()?.also {
+                transaction.remove(it)
+                routingVerifyFragment = null
+            }
+        }
+        if (taskTabFragment?.get() == null) {
+            taskTabFragment = WeakReference(TaxiTaskTabFragment.newInstance())
+        }
+        taskTabFragment?.get()?.also {
+            transaction.replace(R.id.fragment_container, it).show(it)
+            transaction.commitAllowingStateLoss()
+        }
+    }
+
+    private fun showRoutingFragment() {
+        val transaction: FragmentTransaction = childFragmentManager.beginTransaction()
+        if (taskTabFragment?.get()?.isVisible == true) {
+            taskTabFragment?.get()?.also {
+                transaction.remove(it)
+                taskTabFragment = null
+            }
+        }
+        if (routingVerifyFragment?.get() == null) {
+            routingVerifyFragment = WeakReference(TaxiRoutingFragment.newInstance())
+        }
+        routingVerifyFragment?.get()?.also {
+            transaction.replace(R.id.fragment_container, it).show(it)
+            transaction.commitAllowingStateLoss()
         }
-        transaction.commitAllowingStateLoss()
     }
 
     override fun createPresenter(): TaxiPresenter {
@@ -220,6 +265,31 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
                 null
             )
         }
+        updateOperationBtnStatusOnModeChange(MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode)
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverTakingOrders(TAG, inOperation)
+    }
+
+    private fun updateOperationBtnStatusOnModeChange(isRoutingVerifyMode: Boolean) {
+        if (MogoStatusManager.getInstance().isTaxiUnmanedDriverTakingOrders) {
+            return
+        }
+        module_mogo_och_operation_status.isChecked = !isRoutingVerifyMode
+        val isBtnEnable = module_mogo_och_operation_status.isChecked
+        if (isBtnEnable) {
+            module_mogo_och_operation_status.setCompoundDrawablesWithIntrinsicBounds(
+                resources.getDrawable(R.drawable.shape_size_operation_out),
+                null,
+                null,
+                null
+            )
+        } else {
+            module_mogo_och_operation_status.setCompoundDrawablesWithIntrinsicBounds(
+                resources.getDrawable(R.drawable.shape_size_operation_out_disable),
+                null,
+                null,
+                null
+            )
+        }
     }
 
     override fun onMapLoaded() {}
@@ -230,8 +300,12 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
 
     fun onNaviToEnd(isAmap: Boolean, isShow: Boolean) {
         if (isAmap) {
-            if (null == taskTabFragment || taskTabFragment!!.get() == null) return
-            taskTabFragment!!.get()!!.onNaviToEndStationByAMap(isShow)
+            if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode) {
+                showAmapNaviToStationFragment(isShow)
+            } else {
+                if (null == taskTabFragment || taskTabFragment!!.get() == null) return
+                taskTabFragment!!.get()!!.onNaviToEndStationByAMap(isShow)
+            }
         } else if (isShow) { //使用routing数据
             showRoutingToStationFragment(true)
         } else {
@@ -262,8 +336,8 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
                     if (it.order != null && it.order!!.orderStatus >= TaxiOrderStatusEnum.ArriveAtStart.code)
                         it.order!!.orderLine
                     else
-                        it.lineId
-                ,true)
+                        it.lineId, true
+                )
             }
         }
 

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java

@@ -6,6 +6,7 @@ import androidx.annotation.NonNull;
 import androidx.lifecycle.LifecycleOwner;
 
 import com.mogo.commons.AbsMogoApplication;
+import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
@@ -20,6 +21,7 @@ import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback;
 import com.mogo.och.taxi.constant.TaxiCarServingStatusManager;
 import com.mogo.och.taxi.constant.TaxiDriverRoleEnum;
 import com.mogo.och.taxi.constant.TaxiUnmannedConst;
+import com.mogo.och.taxi.ui.routing.TaxiRoutingModel;
 import com.mogo.och.taxi.ui.task.TaxiTaskModel;
 
 /**
@@ -51,6 +53,8 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
         TaxiTaskModel.INSTANCE.setADASStatusCallback(this);
         TaxiTaskModel.INSTANCE.setControllerStatusCallback(this);
         TaxiTaskModel.INSTANCE.setOrderStatusCallback(this);
+        TaxiRoutingModel.INSTANCE.setControllerStatusCallback(this);
+        TaxiRoutingModel.INSTANCE.setOrderStatusCallback(this);
     }
 
     private void releaseListeners() {
@@ -76,7 +80,11 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
      * 开启自动驾驶 自驾模式
      */
     public void startAutoPilot() {
-        TaxiTaskModel.INSTANCE.startAutopilotByClick();
+        if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode()) {
+            TaxiRoutingModel.INSTANCE.startAutoPilotByClick();
+        } else {
+            TaxiTaskModel.INSTANCE.startAutopilotByClick();
+        }
     }
 
     // 登出

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt

@@ -16,10 +16,14 @@ import android.widget.TextView
 import androidx.lifecycle.ProcessLifecycleOwner
 import androidx.lifecycle.lifecycleScope
 import androidx.localbroadcastmanager.content.LocalBroadcastManager
+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.utils.MogoAnalyticUtils
 import com.mogo.eagle.core.function.main.MainMoGoApplication
 import com.mogo.eagle.core.network.utils.GsonUtil
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.taxi.R
@@ -30,6 +34,8 @@ import com.mogo.och.taxi.constant.TaskStatusEnum
 import com.mogo.och.taxi.constant.TaskTypeEnum
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.ui.task.TaxiTaskModel
+import kotlinx.android.synthetic.main.taxi_debug_order.view.btnContainer
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentBusinessModeTextView
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentCarStatus
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentDataTimestamps
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentLineId
@@ -39,6 +45,7 @@ import kotlinx.android.synthetic.main.taxi_debug_order.view.currentOrderTrajecto
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentStatus
 import kotlinx.android.synthetic.main.taxi_debug_order.view.currentTaskType
 import kotlinx.android.synthetic.main.taxi_debug_order.view.debugLogHistoryTextView
+import kotlinx.android.synthetic.main.taxi_debug_order.view.debugLogTitleTextView
 import kotlinx.android.synthetic.main.taxi_debug_order.view.orderEndSiteInfo
 import kotlinx.android.synthetic.main.taxi_debug_order.view.orderNo
 import kotlinx.android.synthetic.main.taxi_debug_order.view.orderPreLoadLines
@@ -46,13 +53,15 @@ import kotlinx.android.synthetic.main.taxi_debug_order.view.orderStartSiteInfo
 import kotlinx.android.synthetic.main.taxi_debug_order.view.orderStatus
 import kotlinx.android.synthetic.main.taxi_debug_order.view.taskEndSite
 import kotlinx.android.synthetic.main.taxi_debug_order.view.taskStartSite
+import kotlinx.android.synthetic.main.taxi_debug_order.view.unmanedTaskOrderContainer
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 
 
 public class DebugView @JvmOverloads constructor(
     context: Context, attrs: AttributeSet? = null, defStyleAttr: Int = 0, defStyleRes: Int = 0
-) : LinearLayout(context, attrs, defStyleAttr, defStyleRes), ITaxiTaskWithOrderCallback {
+) : LinearLayout(context, attrs, defStyleAttr, defStyleRes), ITaxiTaskWithOrderCallback,
+    IMogoStatusChangedListener {
     companion object {
         const val TAG = "DebugView"
         private const val ANALYTICS_EVENT_TYPE_DRIVER_UNMANNED_OPERATION_PROCESS_KEY_NODE_LOG =
@@ -104,7 +113,10 @@ public class DebugView @JvmOverloads constructor(
                 val map: MutableMap<String, Any> = HashMap()
                 map["level"] = level
                 map["msg"] = msg
-                MogoAnalyticUtils.track(ANALYTICS_EVENT_TYPE_DRIVER_UNMANNED_OPERATION_PROCESS_KEY_NODE_LOG, map)
+                MogoAnalyticUtils.track(
+                    ANALYTICS_EVENT_TYPE_DRIVER_UNMANNED_OPERATION_PROCESS_KEY_NODE_LOG,
+                    map
+                )
             }
         }
 
@@ -128,9 +140,11 @@ public class DebugView @JvmOverloads constructor(
     init {
         initBroadcastReceiver()
         LayoutInflater.from(context).inflate(R.layout.taxi_debug_order, this, true)
-        debugLogHistoryTextView.setMovementMethod(ScrollingMovementMethod.getInstance())
+        debugLogHistoryTextView.movementMethod = ScrollingMovementMethod.getInstance()
         visibility = GONE
         logHistoryTextView = debugLogHistoryTextView
+
+        initView()
     }
 
     private fun initBroadcastReceiver() {
@@ -142,8 +156,7 @@ public class DebugView @JvmOverloads constructor(
     fun toggleOrderDebugView() {
         visibility = if (visibility == View.VISIBLE) View.GONE
         else View.VISIBLE
-        val data = TaxiTaskModel.getCurrentTaskWithOrder()
-        initViewByData(data)
+        initView()
     }
 
     private fun initTaskWithOrderDataListener() {
@@ -154,17 +167,49 @@ public class DebugView @JvmOverloads constructor(
         TaxiTaskModel.removeTaskWithOrderListener(TAG)
     }
 
+    private fun initCurrentBusinessModeListener() {
+        MogoStatusManager.getInstance()
+            .registerStatusChangedListener(
+                TAG, StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE, this
+            )
+    }
+
+    private fun removeCurrentBusinessModeListener() {
+        MogoStatusManager.getInstance().unregisterStatusChangedListener(
+            TAG,
+            StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE,
+            this
+        )
+    }
+
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         initTaskWithOrderDataListener()
+        initCurrentBusinessModeListener()
     }
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
         removeTaskWithOrderDataListener()
+        removeCurrentBusinessModeListener()
     }
 
-    private fun initViewByData(data: QueryCurrentTaskRespBean.Result?) {
+    private fun initView() {
+        initCurrentBusinessMode()
+        initViewByTaskData(TaxiTaskModel.getCurrentTaskWithOrder())
+        initDebugLogTextViewTitle()
+    }
+
+    private fun initCurrentBusinessMode() {
+        val isRoutingVerifyMode =
+            MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode
+        currentBusinessModeTextView.text =
+            "当前业务模式：${if (isRoutingVerifyMode) "自主算路验证模式" else "无人化运营流程模式"}"
+    }
+
+    private fun initViewByTaskData(data: QueryCurrentTaskRespBean.Result?) {
+        //release包下隐藏Mock按钮，避免司机误操作
+        btnContainer.visibility = if (AppUtils.isAppDebug()) View.VISIBLE else View.INVISIBLE
         val curContrail = TaxiTaskModel.getCurrentTaskTrajectory()
         currentDataTimestamps.text = "【当前数据返回时间】${currentDateTimeString()}"
         currentCarStatus.text =
@@ -194,9 +239,16 @@ public class DebugView @JvmOverloads constructor(
             "【当前任务Stop信息】StopMd5=${curContrail?.txtFileMd5}, StopDPQPMd5=${curContrail?.txtFileMd5DPQP}"
     }
 
+    private fun initDebugLogTextViewTitle() {
+        val isRoutingVerifyMode =
+            MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode
+        debugLogTitleTextView.text =
+            if (isRoutingVerifyMode) "自主算路验证模式关键节点日志(司机端)" else "无人化运营流程关键节点日志(司机端)"
+    }
+
     override fun onTaskWithOrderDataChanged(taskWithOrder: QueryCurrentTaskRespBean.Result?) {
         d(TAG, "onTaskWithOrderDataChanged")
-        initViewByData(taskWithOrder)
+        initViewByTaskData(taskWithOrder)
     }
 
     override fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result?) {
@@ -234,4 +286,16 @@ public class DebugView @JvmOverloads constructor(
 
     override fun onTaskTripInfoLocalCalculateChanged(meters: Long, timeInSecond: Long) {
     }
+
+    override fun onStatusChanged(descriptor: StatusDescriptor?, isTrue: Boolean) {
+        if (StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE == descriptor) {
+            UiThreadHandler.post {
+                initCurrentBusinessMode()
+                initDebugLogTextViewTitle()
+                unmanedTaskOrderContainer.visibility = if (isTrue) View.GONE else View.VISIBLE
+                debugLogHistoryTextView.maxLines = if (isTrue) 30 else 15
+            }
+            printInfoMsg("[当前业务模式变化] afterValue=${if (isTrue) "自主算路验证模式" else "无人化运营流程模式"}")
+        }
+    }
 }

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt

@@ -0,0 +1,170 @@
+package com.mogo.och.taxi.ui.routing
+
+import android.graphics.Point
+import android.os.Bundle
+import android.view.Gravity
+import android.view.View
+import android.view.ViewGroup
+import android.view.WindowManager
+import androidx.appcompat.app.AppCompatActivity
+import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
+import androidx.recyclerview.widget.LinearLayoutManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.view.SpacesItemDecoration
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.utils.FlowBus
+import com.mogo.och.taxi.R
+import com.mogo.och.taxi.bean.GrayLineBean
+import com.mogo.och.taxi.constant.TaxiDriverEventConst
+import com.mogo.och.taxi.ui.debug.DebugView
+import kotlinx.android.synthetic.main.routing_choose_task_activity.btnChooseLineSubmit
+import kotlinx.android.synthetic.main.routing_choose_task_activity.btnClose
+import kotlinx.android.synthetic.main.routing_choose_task_activity.chooseLineListView
+import kotlinx.android.synthetic.main.routing_no_data_common_view.noDataContainer
+import kotlinx.coroutines.flow.map
+
+class TaxiRoutingChooseLineActivity : AppCompatActivity() {
+
+    companion object {
+        const val TAG = "TaxiRoutingChooseLineActivity"
+    }
+
+    private val mViewModel: TaxiRoutingChooseLineViewModel by lazy {
+        ViewModelProvider(
+            this,
+            ViewModelProvider.NewInstanceFactory()
+        )[TaxiRoutingChooseLineViewModel::class.java]
+    }
+
+    private val mLoadingDialog: TaxiRoutingLoadingDialog by lazy {
+        TaxiRoutingLoadingDialog(
+            this
+        )
+    }
+    private lateinit var mChooseLineListAdapter: TaxiRoutingChooseLineAdapter
+    private lateinit var mLinearLayoutManager: LinearLayoutManager
+    private val mRoutingLineList: MutableList<GrayLineBean> = ArrayList()
+    private var mCurrentChosenPosition: Int = -1
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        setContentView(R.layout.routing_choose_task_activity)
+        initWindowParams()
+        initView()
+        initViewListener()
+        initViewModelObserver()
+        loadData()
+    }
+
+    private fun initWindowParams() {
+        val window = window
+        val params = window.attributes
+        val windowManager = getSystemService(WINDOW_SERVICE) as WindowManager
+        val point = Point()
+        windowManager.defaultDisplay.getSize(point) //用于获取屏幕高度
+        params.width = (point.x * 0.375).toInt()
+        params.height = ViewGroup.LayoutParams.MATCH_PARENT
+        window.attributes = params
+        window.setGravity(Gravity.START or Gravity.BOTTOM)
+    }
+
+    private fun initView() {
+        mLinearLayoutManager = LinearLayoutManager(this)
+        chooseLineListView.layoutManager = mLinearLayoutManager
+        chooseLineListView.itemAnimator =
+            TaxiRoutingChooseLineItemOpenAnimator()
+        mChooseLineListAdapter = TaxiRoutingChooseLineAdapter(applicationContext, mRoutingLineList)
+        chooseLineListView.addItemDecoration(SpacesItemDecoration(4))
+        chooseLineListView.adapter = mChooseLineListAdapter
+        //设置item 点击事件
+        mChooseLineListAdapter.setOnLineItemClickListener(object :
+            TaxiRoutingChooseLineAdapter.OnChooseLineItemClickListener {
+            override fun onItemClick(position: Int, close: Boolean) {
+                mCurrentChosenPosition = position
+            }
+        })
+    }
+
+    private fun initViewListener() {
+        btnClose.setOnClickListener {
+            finish()
+        }
+        btnChooseLineSubmit.setOnClickListener {
+            if (mCurrentChosenPosition == -1) {
+                ToastUtils.showLong("请先选择任务")
+                return@setOnClickListener
+            }
+            DebugView.printInfoMsg("[选择灰度任务] 当前选择 mCurrentChosenPosition=$mCurrentChosenPosition, ")
+            mLoadingDialog.showLoading()
+            val chosenItem = mRoutingLineList[mCurrentChosenPosition]
+            mViewModel.sendUiIntent(
+                TaxiRoutingUiIntent.StartTaskAndQueryContrail(chosenItem)
+            )
+        }
+    }
+
+    private fun initViewModelObserver() {
+        lifecycleScope.launchWhenStarted {
+            mViewModel.uiStateFlow.map { it.routingUiState }.collect { routingUiState ->
+                CallerLogger.d(
+                    TAG,
+                    "uiStateFlow-initViewModelObserver: $routingUiState"
+                )
+                when (routingUiState) {
+                    is RoutingUIState.Init -> {
+                        showEmptyView()
+                    }
+
+                    is RoutingUIState.ShowGrayLineList -> {
+                        onRoutingGrayLineListChanged(routingUiState.data)
+                    }
+
+                    is RoutingUIState.HideChooseLineLoading -> {
+                        mLoadingDialog.hideLoading()
+                        if (routingUiState.isCosePage) {
+                            mChooseLineListAdapter.setOnLineItemClickListener(null)
+                            finish()
+                        }
+                    }
+
+                    is RoutingUIState.PostRoutingTaskResult -> {
+                        FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK)
+                            .post(this, RoutingUIState.RoutingTask(
+                                grayLineBean = routingUiState.grayLineBean,
+                                contrailBean = routingUiState.contrailBean,
+                                grayId = routingUiState.grayId
+                            ))
+                    }
+                }
+            }
+        }
+    }
+
+    private fun showEmptyView() {
+        chooseLineListView.visibility = View.GONE
+        btnChooseLineSubmit.visibility = View.GONE
+        noDataContainer.visibility = View.VISIBLE
+    }
+
+    private fun showRecyclerView() {
+        chooseLineListView.visibility = View.VISIBLE
+        btnChooseLineSubmit.visibility = View.VISIBLE
+        noDataContainer.visibility = View.GONE
+    }
+
+    private fun loadData() {
+        mViewModel.sendUiIntent(TaxiRoutingUiIntent.QueryRoutingGrayLineList(System.currentTimeMillis()))
+    }
+
+    private fun onRoutingGrayLineListChanged(data: MutableList<GrayLineBean>) {
+        if (data.isNotEmpty()) {
+            showRecyclerView()
+            mRoutingLineList.clear()
+            mRoutingLineList.addAll(data)
+            mChooseLineListAdapter.notifyDataSetChanged()
+        } else {
+            showEmptyView()
+        }
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt

@@ -0,0 +1,87 @@
+package com.mogo.och.taxi.ui.routing
+
+import android.content.Context
+import android.graphics.Color
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import androidx.appcompat.widget.AppCompatTextView
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.och.taxi.R
+import com.mogo.och.taxi.bean.GrayLineBean
+
+class TaxiRoutingChooseLineAdapter(
+    private val mContext: Context,
+    private val mData: List<GrayLineBean>
+) : RecyclerView.Adapter<TaxiRoutingChooseLineAdapter.SwitchLineViewHolder>() {
+
+    companion object {
+        const val TAG = "TaxiRoutingChooseLineAdapter"
+    }
+
+    private var mItemClickListener: OnChooseLineItemClickListener? = null
+    private var mLastChoosedLineIndex = -1
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): SwitchLineViewHolder {
+        val view = LayoutInflater.from(mContext).inflate(
+            R.layout.routing_choose_line_list_item, parent, false
+        )
+        return SwitchLineViewHolder(view)
+    }
+
+    override fun onBindViewHolder(holder: SwitchLineViewHolder, position: Int) {
+        val currentPosition = holder.bindingAdapterPosition
+        val data = mData[currentPosition]
+        holder.lineNameTextView.text = data.lineName
+        holder.todayVerifyNumTextView.text = "本车今日已验证：${data.carVerificationCount}次"
+        holder.historyVerifyNumTextView.text =
+            "路线累计反馈${data.lineSuccessCount}可用，${data.lineFailCount}不可用"
+        if (data.isChoosed) {
+            holder.itemView.setBackgroundResource(R.drawable.routing_choose_line_shape_select_line_item_bg_selected)
+        } else {
+            holder.itemView.setBackgroundColor(Color.parseColor("#162761"))
+        }
+
+        //设置item点击事件
+        holder.itemView.setOnClickListener {
+            mData.forEachIndexed { index, result ->
+                if (result.isChoosed && index != currentPosition) {
+                    result.isChoosed = false
+                    notifyItemChanged(index)
+                }
+            }
+            val isCurrentItemSelected = !mData[currentPosition].isChoosed
+            mData[currentPosition].isChoosed = isCurrentItemSelected
+            notifyItemChanged(currentPosition)
+            mItemClickListener?.onItemClick(
+                currentPosition,
+                isCurrentItemSelected
+            )
+            mLastChoosedLineIndex = currentPosition
+        }
+    }
+
+    override fun getItemCount(): Int {
+        return mData.size
+    }
+
+    fun setOnLineItemClickListener(itemClickListener: OnChooseLineItemClickListener?) {
+        mItemClickListener = itemClickListener
+    }
+
+    interface OnChooseLineItemClickListener {
+        fun onItemClick(position: Int, isChoosed: Boolean)
+    }
+
+    class SwitchLineViewHolder(itemView: View) : RecyclerView.ViewHolder(itemView) {
+        val lineNameTextView: AppCompatTextView//线路名称
+        val todayVerifyNumTextView: AppCompatTextView //本车今天验证次数
+        val historyVerifyNumTextView: AppCompatTextView //路线累计验证次数
+
+        init {
+            lineNameTextView = itemView.findViewById(R.id.switchLineNameTextView)
+            todayVerifyNumTextView = itemView.findViewById(R.id.todayVerifyNumTextView)
+            historyVerifyNumTextView = itemView.findViewById(R.id.historyVerifyNumTextView)
+        }
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineItemOpenAnimator.java

@@ -0,0 +1,641 @@
+package com.mogo.och.taxi.ui.routing;
+
+import android.animation.Animator;
+import android.animation.AnimatorListenerAdapter;
+import android.animation.TimeInterpolator;
+import android.animation.ValueAnimator;
+import android.view.View;
+import android.view.ViewPropertyAnimator;
+
+import androidx.annotation.NonNull;
+import androidx.core.view.ViewCompat;
+import androidx.recyclerview.widget.DefaultItemAnimator;
+import androidx.recyclerview.widget.RecyclerView;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * This implementation of {@link RecyclerView.ItemAnimator} provides basic
+ * animations on remove, add, and move events that happen to the items in
+ * a RecyclerView. RecyclerView uses a DefaultItemAnimator by default.
+ *
+ * @see RecyclerView#setItemAnimator(RecyclerView.ItemAnimator)
+ */
+public class TaxiRoutingChooseLineItemOpenAnimator extends DefaultItemAnimator {
+    private static final boolean DEBUG = false;
+    private static TimeInterpolator sDefaultInterpolator;
+    private final ArrayList<RecyclerView.ViewHolder> mPendingRemovals = new ArrayList<>();
+    private final ArrayList<RecyclerView.ViewHolder> mPendingAdditions = new ArrayList<>();
+    private final ArrayList<MoveInfo> mPendingMoves = new ArrayList<>();
+    private final ArrayList<ChangeInfo> mPendingChanges = new ArrayList<>();
+    private final ArrayList<ArrayList<RecyclerView.ViewHolder>> mAdditionsList = new ArrayList<>();
+    private final ArrayList<ArrayList<MoveInfo>> mMovesList = new ArrayList<>();
+    private final ArrayList<ArrayList<ChangeInfo>> mChangesList = new ArrayList<>();
+    private final ArrayList<RecyclerView.ViewHolder> mAddAnimations = new ArrayList<>();
+    private final ArrayList<RecyclerView.ViewHolder> mMoveAnimations = new ArrayList<>();
+    private final ArrayList<RecyclerView.ViewHolder> mRemoveAnimations = new ArrayList<>();
+    private final ArrayList<RecyclerView.ViewHolder> mChangeAnimations = new ArrayList<>();
+
+    private static class MoveInfo {
+        public RecyclerView.ViewHolder holder;
+        public int fromX, fromY, toX, toY;
+
+        MoveInfo(RecyclerView.ViewHolder holder, int fromX, int fromY, int toX, int toY) {
+            this.holder = holder;
+            this.fromX = fromX;
+            this.fromY = fromY;
+            this.toX = toX;
+            this.toY = toY;
+        }
+    }
+
+    private static class ChangeInfo {
+        public RecyclerView.ViewHolder oldHolder, newHolder;
+        public int fromX, fromY, toX, toY;
+
+        private ChangeInfo(RecyclerView.ViewHolder oldHolder, RecyclerView.ViewHolder newHolder) {
+            this.oldHolder = oldHolder;
+            this.newHolder = newHolder;
+        }
+
+        ChangeInfo(RecyclerView.ViewHolder oldHolder, RecyclerView.ViewHolder newHolder,
+                   int fromX, int fromY, int toX, int toY) {
+            this(oldHolder, newHolder);
+            this.fromX = fromX;
+            this.fromY = fromY;
+            this.toX = toX;
+            this.toY = toY;
+        }
+
+        @Override
+        public String toString() {
+            return "ChangeInfo{"
+                    + "oldHolder=" + oldHolder
+                    + ", newHolder=" + newHolder
+                    + ", fromX=" + fromX
+                    + ", fromY=" + fromY
+                    + ", toX=" + toX
+                    + ", toY=" + toY
+                    + '}';
+        }
+    }
+
+    @Override
+    public void runPendingAnimations() {
+        boolean removalsPending = !mPendingRemovals.isEmpty();
+        boolean movesPending = !mPendingMoves.isEmpty();
+        boolean changesPending = !mPendingChanges.isEmpty();
+        boolean additionsPending = !mPendingAdditions.isEmpty();
+        if (!removalsPending && !movesPending && !additionsPending && !changesPending) {
+            // nothing to animate
+            return;
+        }
+        // First, remove stuff
+        for (RecyclerView.ViewHolder holder : mPendingRemovals) {
+            animateRemoveImpl(holder);
+        }
+        mPendingRemovals.clear();
+        // Next, move stuff
+        if (movesPending) {
+            final ArrayList<MoveInfo> moves = new ArrayList<>(mPendingMoves);
+            mMovesList.add(moves);
+            mPendingMoves.clear();
+            Runnable mover = () -> {
+                for (MoveInfo moveInfo : moves) {
+                    animateMoveImpl(moveInfo.holder, moveInfo.fromX, moveInfo.fromY,
+                            moveInfo.toX, moveInfo.toY);
+                }
+                moves.clear();
+                mMovesList.remove(moves);
+            };
+            if (removalsPending) {
+                View view = moves.get(0).holder.itemView;
+                ViewCompat.postOnAnimationDelayed(view, mover, getRemoveDuration());
+            } else {
+                mover.run();
+            }
+        }
+        // Next, change stuff, to run in parallel with move animations
+        if (changesPending) {
+            final ArrayList<ChangeInfo> changes = new ArrayList<>(mPendingChanges);
+            mChangesList.add(changes);
+            mPendingChanges.clear();
+            Runnable changer = () -> {
+                for (ChangeInfo change : changes) {
+                    animateChangeImpl(change);
+                }
+                changes.clear();
+                mChangesList.remove(changes);
+            };
+            if (removalsPending) {
+                RecyclerView.ViewHolder holder = changes.get(0).oldHolder;
+                ViewCompat.postOnAnimationDelayed(holder.itemView, changer, getRemoveDuration());
+            } else {
+                changer.run();
+            }
+        }
+        // Next, add stuff
+        if (additionsPending) {
+            final ArrayList<RecyclerView.ViewHolder> additions = new ArrayList<>(mPendingAdditions);
+            mAdditionsList.add(additions);
+            mPendingAdditions.clear();
+            Runnable adder = () -> {
+                for (RecyclerView.ViewHolder holder : additions) {
+                    animateAddImpl(holder);
+                }
+                additions.clear();
+                mAdditionsList.remove(additions);
+            };
+            if (removalsPending || movesPending || changesPending) {
+                long removeDuration = removalsPending ? getRemoveDuration() : 0;
+                long moveDuration = movesPending ? getMoveDuration() : 0;
+                long changeDuration = changesPending ? getChangeDuration() : 0;
+                long totalDelay = removeDuration + Math.max(moveDuration, changeDuration);
+                View view = additions.get(0).itemView;
+                ViewCompat.postOnAnimationDelayed(view, adder, totalDelay);
+            } else {
+                adder.run();
+            }
+        }
+    }
+
+    @Override
+    public boolean animateRemove(final RecyclerView.ViewHolder holder) {
+        resetAnimation(holder);
+        mPendingRemovals.add(holder);
+        return true;
+    }
+
+    private void animateRemoveImpl(final RecyclerView.ViewHolder holder) {
+        final View view = holder.itemView;
+        final ViewPropertyAnimator animation = view.animate();
+        mRemoveAnimations.add(holder);
+        animation.setDuration(getRemoveDuration()).alpha(0).setListener(
+                new AnimatorListenerAdapter() {
+                    @Override
+                    public void onAnimationStart(Animator animator) {
+                        dispatchRemoveStarting(holder);
+                    }
+
+                    @Override
+                    public void onAnimationEnd(Animator animator) {
+                        animation.setListener(null);
+                        view.setAlpha(1);
+                        dispatchRemoveFinished(holder);
+                        mRemoveAnimations.remove(holder);
+                        dispatchFinishedWhenDone();
+                    }
+                }).start();
+    }
+
+    @Override
+    public boolean animateAdd(final RecyclerView.ViewHolder holder) {
+        resetAnimation(holder);
+        holder.itemView.setAlpha(0);
+        mPendingAdditions.add(holder);
+        return true;
+    }
+
+    void animateAddImpl(final RecyclerView.ViewHolder holder) {
+        final View view = holder.itemView;
+        final ViewPropertyAnimator animation = view.animate();
+        mAddAnimations.add(holder);
+        animation.alpha(1).setDuration(getAddDuration())
+                .setListener(new AnimatorListenerAdapter() {
+                    @Override
+                    public void onAnimationStart(Animator animator) {
+                        dispatchAddStarting(holder);
+                    }
+
+                    @Override
+                    public void onAnimationCancel(Animator animator) {
+                        view.setAlpha(1);
+                    }
+
+                    @Override
+                    public void onAnimationEnd(Animator animator) {
+                        animation.setListener(null);
+                        dispatchAddFinished(holder);
+                        mAddAnimations.remove(holder);
+                        dispatchFinishedWhenDone();
+                    }
+                }).start();
+    }
+
+    @Override
+    public boolean animateMove(final RecyclerView.ViewHolder holder, int fromX, int fromY,
+                               int toX, int toY) {
+        final View view = holder.itemView;
+        fromX += (int) holder.itemView.getTranslationX();
+        fromY += (int) holder.itemView.getTranslationY();
+        resetAnimation(holder);
+        int deltaX = toX - fromX;
+        int deltaY = toY - fromY;
+        if (deltaX == 0 && deltaY == 0) {
+            dispatchMoveFinished(holder);
+            return false;
+        }
+        if (deltaX != 0) {
+            view.setTranslationX(-deltaX);
+        }
+        if (deltaY != 0) {
+            view.setTranslationY(-deltaY);
+        }
+        mPendingMoves.add(new MoveInfo(holder, fromX, fromY, toX, toY));
+        return true;
+    }
+
+    void animateMoveImpl(final RecyclerView.ViewHolder holder, int fromX, int fromY, int toX, int toY) {
+        final View view = holder.itemView;
+        final int deltaX = toX - fromX;
+        final int deltaY = toY - fromY;
+        if (deltaX != 0) {
+            view.animate().translationX(0);
+        }
+        if (deltaY != 0) {
+            view.animate().translationY(0);
+        }
+        // TODO: make EndActions end listeners instead, since end actions aren't called when
+        // vpas are canceled (and can't end them. why?)
+        // need listener functionality in VPACompat for this. Ick.
+        final ViewPropertyAnimator animation = view.animate();
+        mMoveAnimations.add(holder);
+        animation.setDuration(getMoveDuration()).setListener(new AnimatorListenerAdapter() {
+            @Override
+            public void onAnimationStart(Animator animator) {
+                dispatchMoveStarting(holder);
+            }
+
+            @Override
+            public void onAnimationCancel(Animator animator) {
+                if (deltaX != 0) {
+                    view.setTranslationX(0);
+                }
+                if (deltaY != 0) {
+                    view.setTranslationY(0);
+                }
+            }
+
+            @Override
+            public void onAnimationEnd(Animator animator) {
+                animation.setListener(null);
+                dispatchMoveFinished(holder);
+                mMoveAnimations.remove(holder);
+                dispatchFinishedWhenDone();
+            }
+        }).start();
+    }
+
+    @Override
+    public boolean animateChange(RecyclerView.ViewHolder oldHolder, RecyclerView.ViewHolder newHolder,
+                                 int fromX, int fromY, int toX, int toY) {
+        if (oldHolder == newHolder) {
+            // Don't know how to run change animations when the same view holder is re-used.
+            // run a move animation to handle position changes.
+            return animateMove(oldHolder, fromX, fromY, toX, toY);
+        }
+        final float prevTranslationX = oldHolder.itemView.getTranslationX();
+        final float prevTranslationY = oldHolder.itemView.getTranslationY();
+        final float prevAlpha = oldHolder.itemView.getAlpha();
+        resetAnimation(oldHolder);
+        int deltaX = (int) (toX - fromX - prevTranslationX);
+        int deltaY = (int) (toY - fromY - prevTranslationY);
+        // recover prev translation state after ending animation
+        oldHolder.itemView.setTranslationX(prevTranslationX);
+        oldHolder.itemView.setTranslationY(prevTranslationY);
+        oldHolder.itemView.setAlpha(prevAlpha);
+        if (newHolder != null) {
+            // carry over translation values
+            resetAnimation(newHolder);
+            newHolder.itemView.setTranslationX(-deltaX);
+            newHolder.itemView.setTranslationY(-deltaY);
+            newHolder.itemView.setAlpha(0);
+        }
+        mPendingChanges.add(new ChangeInfo(oldHolder, newHolder, fromX, fromY, toX, toY));
+        return true;
+    }
+
+    void animateChangeImpl(final ChangeInfo changeInfo) {
+        final RecyclerView.ViewHolder holder = changeInfo.oldHolder;
+        final View view = holder == null ? null : holder.itemView;
+        final RecyclerView.ViewHolder newHolder = changeInfo.newHolder;
+        final View newView = newHolder != null ? newHolder.itemView : null;
+        if (view != null) {
+            final ViewPropertyAnimator oldViewAnim = view.animate().setDuration(
+                    getChangeDuration());
+            mChangeAnimations.add(changeInfo.oldHolder);
+            oldViewAnim.translationX((float) (changeInfo.toX - changeInfo.fromX));
+            oldViewAnim.translationY((float) (changeInfo.toY - changeInfo.fromY));
+            oldViewAnim.alpha(0).setListener(new AnimatorListenerAdapter() {
+                @Override
+                public void onAnimationStart(Animator animator) {
+                    dispatchChangeStarting(changeInfo.oldHolder, true);
+                }
+
+                @Override
+                public void onAnimationEnd(Animator animator) {
+                    oldViewAnim.setListener(null);
+                    view.setAlpha(1);
+                    view.setTranslationX(0);
+                    view.setTranslationY(0);
+                    dispatchChangeFinished(changeInfo.oldHolder, true);
+                    mChangeAnimations.remove(changeInfo.oldHolder);
+                    dispatchFinishedWhenDone();
+                }
+            }).start();
+        }
+        if (newView != null) {
+            final ViewPropertyAnimator newViewAnimation = newView.animate();
+            mChangeAnimations.add(changeInfo.newHolder);
+            newViewAnimation.translationX(0).translationY(0).setDuration(getChangeDuration())
+                    .alpha(1).setListener(new AnimatorListenerAdapter() {
+                        @Override
+                        public void onAnimationStart(Animator animator) {
+                            dispatchChangeStarting(changeInfo.newHolder, false);
+                        }
+
+                        @Override
+                        public void onAnimationEnd(Animator animator) {
+                            newViewAnimation.setListener(null);
+                            newView.setAlpha(1);
+                            newView.setTranslationX(0);
+                            newView.setTranslationY(0);
+                            dispatchChangeFinished(changeInfo.newHolder, false);
+                            mChangeAnimations.remove(changeInfo.newHolder);
+                            dispatchFinishedWhenDone();
+                        }
+                    }).start();
+        }
+    }
+
+    private void endChangeAnimation(List<ChangeInfo> infoList, RecyclerView.ViewHolder item) {
+        for (int i = infoList.size() - 1; i >= 0; i--) {
+            ChangeInfo changeInfo = infoList.get(i);
+            if (endChangeAnimationIfNecessary(changeInfo, item)) {
+                if (changeInfo.oldHolder == null && changeInfo.newHolder == null) {
+                    infoList.remove(changeInfo);
+                }
+            }
+        }
+    }
+
+    private void endChangeAnimationIfNecessary(ChangeInfo changeInfo) {
+        if (changeInfo.oldHolder != null) {
+            endChangeAnimationIfNecessary(changeInfo, changeInfo.oldHolder);
+        }
+        if (changeInfo.newHolder != null) {
+            endChangeAnimationIfNecessary(changeInfo, changeInfo.newHolder);
+        }
+    }
+
+    private boolean endChangeAnimationIfNecessary(ChangeInfo changeInfo, RecyclerView.ViewHolder item) {
+        boolean oldItem = false;
+        if (changeInfo.newHolder == item) {
+            changeInfo.newHolder = null;
+        } else if (changeInfo.oldHolder == item) {
+            changeInfo.oldHolder = null;
+            oldItem = true;
+        } else {
+            return false;
+        }
+        item.itemView.setAlpha(1);
+        item.itemView.setTranslationX(0);
+        item.itemView.setTranslationY(0);
+        dispatchChangeFinished(item, oldItem);
+        return true;
+    }
+
+    @Override
+    public void endAnimation(RecyclerView.ViewHolder item) {
+        final View view = item.itemView;
+        // this will trigger end callback which should set properties to their target values.
+        view.animate().cancel();
+        // TODO if some other animations are chained to end, how do we cancel them as well?
+        for (int i = mPendingMoves.size() - 1; i >= 0; i--) {
+            MoveInfo moveInfo = mPendingMoves.get(i);
+            if (moveInfo.holder == item) {
+                view.setTranslationY(0);
+                view.setTranslationX(0);
+                dispatchMoveFinished(item);
+                mPendingMoves.remove(i);
+            }
+        }
+        endChangeAnimation(mPendingChanges, item);
+        if (mPendingRemovals.remove(item)) {
+            view.setAlpha(1);
+            dispatchRemoveFinished(item);
+        }
+        if (mPendingAdditions.remove(item)) {
+            view.setAlpha(1);
+            dispatchAddFinished(item);
+        }
+
+        for (int i = mChangesList.size() - 1; i >= 0; i--) {
+            ArrayList<ChangeInfo> changes = mChangesList.get(i);
+            endChangeAnimation(changes, item);
+            if (changes.isEmpty()) {
+                mChangesList.remove(i);
+            }
+        }
+        for (int i = mMovesList.size() - 1; i >= 0; i--) {
+            ArrayList<MoveInfo> moves = mMovesList.get(i);
+            for (int j = moves.size() - 1; j >= 0; j--) {
+                MoveInfo moveInfo = moves.get(j);
+                if (moveInfo.holder == item) {
+                    view.setTranslationY(0);
+                    view.setTranslationX(0);
+                    dispatchMoveFinished(item);
+                    moves.remove(j);
+                    if (moves.isEmpty()) {
+                        mMovesList.remove(i);
+                    }
+                    break;
+                }
+            }
+        }
+        for (int i = mAdditionsList.size() - 1; i >= 0; i--) {
+            ArrayList<RecyclerView.ViewHolder> additions = mAdditionsList.get(i);
+            if (additions.remove(item)) {
+                view.setAlpha(1);
+                dispatchAddFinished(item);
+                if (additions.isEmpty()) {
+                    mAdditionsList.remove(i);
+                }
+            }
+        }
+
+        // animations should be ended by the cancel above.
+        //noinspection Pointless BooleanExpression,ConstantConditions
+        if (mRemoveAnimations.remove(item) && DEBUG) {
+            throw new IllegalStateException("after animation is cancelled, item should not be in "
+                    + "mRemoveAnimations list");
+        }
+
+        //noinspection Pointless BooleanExpression,ConstantConditions
+        if (mAddAnimations.remove(item) && DEBUG) {
+            throw new IllegalStateException("after animation is cancelled, item should not be in "
+                    + "mAddAnimations list");
+        }
+
+        //noinspection Pointless BooleanExpression,ConstantConditions
+        if (mChangeAnimations.remove(item) && DEBUG) {
+            throw new IllegalStateException("after animation is cancelled, item should not be in "
+                    + "mChangeAnimations list");
+        }
+
+        //noinspection Pointless BooleanExpression,ConstantConditions
+        if (mMoveAnimations.remove(item) && DEBUG) {
+            throw new IllegalStateException("after animation is cancelled, item should not be in "
+                    + "mMoveAnimations list");
+        }
+        dispatchFinishedWhenDone();
+    }
+
+    private void resetAnimation(RecyclerView.ViewHolder holder) {
+        if (sDefaultInterpolator == null) {
+            sDefaultInterpolator = new ValueAnimator().getInterpolator();
+        }
+        holder.itemView.animate().setInterpolator(sDefaultInterpolator);
+        endAnimation(holder);
+    }
+
+    @Override
+    public boolean isRunning() {
+        return (!mPendingAdditions.isEmpty()
+                || !mPendingChanges.isEmpty()
+                || !mPendingMoves.isEmpty()
+                || !mPendingRemovals.isEmpty()
+                || !mMoveAnimations.isEmpty()
+                || !mRemoveAnimations.isEmpty()
+                || !mAddAnimations.isEmpty()
+                || !mChangeAnimations.isEmpty()
+                || !mMovesList.isEmpty()
+                || !mAdditionsList.isEmpty()
+                || !mChangesList.isEmpty());
+    }
+
+    /**
+     * Check the state of currently pending and running animations. If there are none
+     * pending/running, call {@link #dispatchAnimationsFinished()} to notify any
+     * listeners.
+     */
+    void dispatchFinishedWhenDone() {
+        if (!isRunning()) {
+            dispatchAnimationsFinished();
+        }
+    }
+
+    @Override
+    public void endAnimations() {
+        int count = mPendingMoves.size();
+        for (int i = count - 1; i >= 0; i--) {
+            MoveInfo item = mPendingMoves.get(i);
+            View view = item.holder.itemView;
+            view.setTranslationY(0);
+            view.setTranslationX(0);
+            dispatchMoveFinished(item.holder);
+            mPendingMoves.remove(i);
+        }
+        count = mPendingRemovals.size();
+        for (int i = count - 1; i >= 0; i--) {
+            RecyclerView.ViewHolder item = mPendingRemovals.get(i);
+            dispatchRemoveFinished(item);
+            mPendingRemovals.remove(i);
+        }
+        count = mPendingAdditions.size();
+        for (int i = count - 1; i >= 0; i--) {
+            RecyclerView.ViewHolder item = mPendingAdditions.get(i);
+            item.itemView.setAlpha(1);
+            dispatchAddFinished(item);
+            mPendingAdditions.remove(i);
+        }
+        count = mPendingChanges.size();
+        for (int i = count - 1; i >= 0; i--) {
+            endChangeAnimationIfNecessary(mPendingChanges.get(i));
+        }
+        mPendingChanges.clear();
+        if (!isRunning()) {
+            return;
+        }
+
+        int listCount = mMovesList.size();
+        for (int i = listCount - 1; i >= 0; i--) {
+            ArrayList<MoveInfo> moves = mMovesList.get(i);
+            count = moves.size();
+            for (int j = count - 1; j >= 0; j--) {
+                MoveInfo moveInfo = moves.get(j);
+                RecyclerView.ViewHolder item = moveInfo.holder;
+                View view = item.itemView;
+                view.setTranslationY(0);
+                view.setTranslationX(0);
+                dispatchMoveFinished(moveInfo.holder);
+                moves.remove(j);
+                if (moves.isEmpty()) {
+                    mMovesList.remove(moves);
+                }
+            }
+        }
+        listCount = mAdditionsList.size();
+        for (int i = listCount - 1; i >= 0; i--) {
+            ArrayList<RecyclerView.ViewHolder> additions = mAdditionsList.get(i);
+            count = additions.size();
+            for (int j = count - 1; j >= 0; j--) {
+                RecyclerView.ViewHolder item = additions.get(j);
+                View view = item.itemView;
+                view.setAlpha(1);
+                dispatchAddFinished(item);
+                additions.remove(j);
+                if (additions.isEmpty()) {
+                    mAdditionsList.remove(additions);
+                }
+            }
+        }
+        listCount = mChangesList.size();
+        for (int i = listCount - 1; i >= 0; i--) {
+            ArrayList<ChangeInfo> changes = mChangesList.get(i);
+            count = changes.size();
+            for (int j = count - 1; j >= 0; j--) {
+                endChangeAnimationIfNecessary(changes.get(j));
+                if (changes.isEmpty()) {
+                    mChangesList.remove(changes);
+                }
+            }
+        }
+
+        cancelAll(mRemoveAnimations);
+        cancelAll(mMoveAnimations);
+        cancelAll(mAddAnimations);
+        cancelAll(mChangeAnimations);
+
+        dispatchAnimationsFinished();
+    }
+
+    void cancelAll(List<RecyclerView.ViewHolder> viewHolders) {
+        for (int i = viewHolders.size() - 1; i >= 0; i--) {
+            viewHolders.get(i).itemView.animate().cancel();
+        }
+    }
+
+    /**
+     * {@inheritDoc}
+     * <p>
+     * If the payload list is not empty, DefaultItemAnimator returns <code>true</code>.
+     * When this is the case:
+     * <ul>
+     * <li>If you override {@link #animateChange(RecyclerView.ViewHolder, RecyclerView.ViewHolder, int, int, int, int)}, both
+     * ViewHolder arguments will be the same instance.
+     * </li>
+     * <li>
+     * If you are not overriding {@link #animateChange(RecyclerView.ViewHolder, RecyclerView.ViewHolder, int, int, int, int)},
+     * then DefaultItemAnimator will call {@link #animateMove(RecyclerView.ViewHolder, int, int, int, int)} and
+     * run a move animation instead.
+     * </li>
+     * </ul>
+     */
+    @Override
+    public boolean canReuseUpdatedViewHolder(@NonNull RecyclerView.ViewHolder viewHolder,
+                                             @NonNull List<Object> payloads) {
+        return !payloads.isEmpty() || super.canReuseUpdatedViewHolder(viewHolder, payloads);
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt

@@ -0,0 +1,117 @@
+package com.mogo.och.taxi.ui.routing
+
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.taxi.base.BaseViewModel
+import com.mogo.och.taxi.base.IUiIntent
+import com.mogo.och.taxi.bean.GrayLineBean
+import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp
+import com.mogo.och.taxi.callback.ITaxiRoutingCallback
+import com.mogo.och.taxi.ui.debug.DebugView
+
+class TaxiRoutingChooseLineViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRoutingUiIntent>(),
+    ITaxiRoutingCallback {
+
+    private val TAG = SceneConstant.M_TAXI + "TaxiRoutingChooseLineViewModel"
+
+    init {
+        TaxiRoutingModel.addTaxiRoutingListener(TAG, this)
+    }
+
+    override fun initUiState(): TaxiRoutingUiState {
+        return TaxiRoutingUiState(RoutingUIState.Init)
+    }
+
+    override fun handleIntent(intent: IUiIntent) {
+        when (intent) {
+            is TaxiRoutingUiIntent.QueryRoutingGrayLineList -> {
+                TaxiRoutingModel.queryRoutingGrayLineList()
+            }
+
+            is TaxiRoutingUiIntent.StartTaskAndQueryContrail -> {
+                val contrailId = intent.grayLineBean.contrailId
+                TaxiRoutingModel.startGrayTaskAndQueryRoutingContrail(
+                    contrailId ?: -1L,
+                    intent.grayLineBean
+                )
+            }
+        }
+    }
+
+    override fun onQueryRoutingGrayLineListSuccess(data: MutableList<GrayLineBean>) {
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.ShowGrayLineList(data)
+            )
+        }
+    }
+
+    override fun onQueryRoutingGrayLineListFailed(errorStr: String) {
+        ToastUtils.showShort(errorStr)
+        DebugView.printErrorMsg("[查询灰度任务] 失败, error=$errorStr")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.Init
+            )
+        }
+    }
+
+    override fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) {
+        if (data.taskId == -1L) {
+            onStartGrayTaskAndQueryContrailFailed("开始任务失败, 请稍后重试")
+            DebugView.printErrorMsg("[开始灰度任务] 开始任务失败, 请稍后重试")
+            return
+        }
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.PostRoutingTaskResult(
+                    grayLineBean = data.grayLineBean,
+                    contrailBean = data.contrail,
+                    grayId = data.taskId
+                )
+            )
+        }
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.HideChooseLineLoading(
+                    isCosePage = true
+                )
+            )
+        }
+    }
+
+    override fun onStartGrayTaskAndQueryContrailFailed(errorStr: String) {
+        ToastUtils.showShort(errorStr)
+        DebugView.printErrorMsg("[开始灰度任务&查询轨迹详情] 操作失败, 请稍后重试")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.HideChooseLineLoading(
+                    isCosePage = false
+                )
+            )
+        }
+    }
+
+    override fun onSubmitGrayLineIssueLocationSuccess() {
+    }
+
+    override fun onSubmitGrayLineIssueLocationFailed(errorStr: String) {
+    }
+
+    override fun onSubmitEndTaskSuccess() {
+    }
+
+    override fun onSubmitEndTaskFailed(errorStr: String) {
+    }
+
+    override fun onAutoPilotArriveAtEndStation(grayId: Long?) {
+    }
+
+    override fun onGDMapArriveAtEndStation(grayId: Long?) {
+    }
+
+    override fun onCleared() {
+        super.onCleared()
+        TaxiRoutingModel.removeTaxiRoutingListener(TAG)
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFeedbackDialog.kt

@@ -0,0 +1,98 @@
+package com.mogo.och.taxi.ui.routing
+
+import android.content.Context
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+import com.mogo.och.taxi.R
+
+class TaxiRoutingFeedbackDialog : BaseFloatDialog, LifecycleObserver {
+
+    private var commonConfirm: TextView? = null
+    private var commonCancel: TextView? = null
+    private var commonTips: TextView? = null
+    private var commonCloseIcon: ImageView? = null
+    private var clickListener: TaxiRoutingFeedBackDialogClickListener? = null
+
+    constructor(builder: Builder, context: Context) : super(context) {
+        commonTips?.text = builder.tipsStr
+        commonCancel?.text = builder.cancelStr
+        commonConfirm?.text = builder.confirmStr
+        clickListener = builder.clickListener
+    }
+
+    init {
+        setContentView(R.layout.dialog_routing_feedback_result)
+
+        setCanceledOnTouchOutside(true)
+
+        commonConfirm = findViewById(R.id.routing_common_confirm)
+        commonCancel = findViewById(R.id.routing_common_cancel)
+        commonTips = findViewById(R.id.routing_common_tips)
+        commonCloseIcon = findViewById(R.id.closeDialogIcon)
+
+        commonCloseIcon?.setOnClickListener {
+            dismiss()
+        }
+
+        commonConfirm?.setOnClickListener {
+            clickListener?.confirm()
+            dismiss()
+        }
+
+        commonCancel?.setOnClickListener {
+            clickListener?.cancel()
+            dismiss()
+        }
+    }
+
+    fun showDialog() {
+        if (isShowing) {
+            return
+        }
+        show()
+    }
+
+    fun hideDialog() {
+        if (isShowing) {
+            dismiss()
+        }
+    }
+
+    interface TaxiRoutingFeedBackDialogClickListener {
+        fun confirm()
+        fun cancel()
+    }
+
+    class Builder {
+        var tipsStr: String = ""
+        var confirmStr: String = ""
+        var cancelStr: String = ""
+        var clickListener: TaxiRoutingFeedBackDialogClickListener? = null
+
+        fun tips(tips: String): Builder {
+            this.tipsStr = tips
+            return this
+        }
+
+        fun confirmStr(commit: String): Builder {
+            this.confirmStr = commit
+            return this
+        }
+
+        fun cancelStr(cancel: String): Builder {
+            this.cancelStr = cancel
+            return this
+        }
+
+        fun clickListener(listener: TaxiRoutingFeedBackDialogClickListener): Builder {
+            this.clickListener = listener
+            return this
+        }
+
+        fun build(context: Context): TaxiRoutingFeedbackDialog? {
+            return TaxiRoutingFeedbackDialog(this, context)
+        }
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragment.kt

@@ -0,0 +1,384 @@
+package com.mogo.och.taxi.ui.routing
+
+import android.os.Bundle
+import android.view.View
+import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
+import com.amap.api.navi.model.NaviLatLng
+import com.mogo.commons.mvp.BaseFragment
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.function.main.MainMoGoApplication
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.och.common.module.map.AmapNaviToDestinationModel
+import com.mogo.och.common.module.map.ICommonNaviChangedCallback
+import com.mogo.och.common.module.utils.FlowBus
+import com.mogo.och.taxi.R
+import com.mogo.och.taxi.bean.EndGrayTaskFeedbackType
+import com.mogo.och.taxi.constant.TaxiDriverEventConst
+import com.mogo.och.taxi.constant.TaxiUnmannedConst
+import com.mogo.och.taxi.utils.MapMakerManager
+import com.mogo.och.taxi.utils.TaskUtils
+import kotlinx.android.synthetic.main.routing_fragment.btnChooseTask
+import kotlinx.android.synthetic.main.routing_fragment.btnFinishTask
+import kotlinx.android.synthetic.main.routing_fragment.btnStartTask
+import kotlinx.android.synthetic.main.routing_fragment.btnSummitIssue
+import kotlinx.android.synthetic.main.routing_fragment.endPoint
+import kotlinx.android.synthetic.main.routing_fragment.endStationName
+import kotlinx.android.synthetic.main.routing_fragment.finishSubmitIssueGroup
+import kotlinx.android.synthetic.main.routing_fragment.headerTitleContainer
+import kotlinx.android.synthetic.main.routing_fragment.mCurrentTaskLayout
+import kotlinx.android.synthetic.main.routing_fragment.naviToEnd
+import kotlinx.android.synthetic.main.routing_fragment.naviToStart
+import kotlinx.android.synthetic.main.routing_fragment.noDataContainer
+import kotlinx.android.synthetic.main.routing_fragment.startPoint
+import kotlinx.android.synthetic.main.routing_fragment.startStationName
+import kotlinx.android.synthetic.main.routing_fragment.taskTitleTv
+import kotlinx.android.synthetic.main.routing_fragment.taskTripInfo
+import kotlinx.coroutines.flow.map
+
+class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {
+
+    companion object {
+        const val TAG = SceneConstant.M_TAXI + "TaxiRoutingFragment"
+
+        fun newInstance(): TaxiRoutingFragment {
+            val args = Bundle()
+            val fragment = TaxiRoutingFragment()
+            fragment.arguments = args
+            return fragment
+        }
+    }
+
+    private var mFeedbackDialog: TaxiRoutingFeedbackDialog? = null
+
+    private val mViewModel: TaxiRoutingFragmentViewModel by lazy {
+        ViewModelProvider(
+            this,
+            ViewModelProvider.NewInstanceFactory()
+        )[TaxiRoutingFragmentViewModel::class.java]
+    }
+
+    override fun getLayoutId(): Int {
+        return R.layout.routing_fragment
+    }
+
+    override fun getTagName(): String {
+        return "TaxiRoutingFragment"
+    }
+
+    override fun initViews() {
+        initEventBus()
+        initViewListener()
+        initViewModelObserver()
+    }
+
+    private fun initEventBus() {
+        FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK)
+            .register(this) { task ->
+                mViewModel.sendUiIntent(TaxiRoutingUiIntent.ShowRoutingTask(task))
+            }
+    }
+
+    private fun initViewListener() {
+        btnChooseTask.setOnClickListener {
+            mViewModel.sendUiIntent(TaxiRoutingUiIntent.StartChooseLineAction(System.currentTimeMillis()))
+        }
+    }
+
+    private fun initViewModelObserver() {
+        lifecycleScope.launchWhenStarted {
+            mViewModel.uiStateFlow.map { it.routingUiState }.collect { routingUiState ->
+                CallerLogger.d(
+                    TAG,
+                    "uiStateFlow-initViewModelObserver: $routingUiState"
+                )
+                when (routingUiState) {
+                    is RoutingUIState.Init -> {
+                        showChooseTaskView()
+                    }
+
+                    is RoutingUIState.RoutingTask -> {
+                        showCurrentLineTaskContentView(routingUiState)
+                    }
+
+                    is RoutingUIState.ShowFinishTaskButton -> {
+                        showFinishTaskView(routingUiState.routingTask)
+                    }
+
+                    is RoutingUIState.ShowFeedbackDialog -> {
+                        showFeedbackDialog(routingUiState.grayId)
+                    }
+
+                    is RoutingUIState.DismissFeedbackDialog -> {
+                        hideFeedbackDialog()
+                    }
+                }
+            }
+        }
+    }
+
+    private fun showChooseTaskView() {
+        noDataContainer.visibility = View.VISIBLE
+        mCurrentTaskLayout.visibility = View.GONE
+        headerTitleContainer.visibility = View.GONE
+
+        btnChooseTask.visibility = View.VISIBLE
+        btnStartTask.visibility = View.GONE
+        finishSubmitIssueGroup.visibility = View.GONE
+
+        removeAllMapMarker()
+    }
+
+    private fun showCurrentLineTaskContentView(data: RoutingUIState.RoutingTask) {
+        noDataContainer.visibility = View.GONE
+        mCurrentTaskLayout.visibility = View.VISIBLE
+
+        headerTitleContainer.visibility = View.VISIBLE
+        taskTitleTv.text = data.grayLineBean?.lineName
+
+        btnChooseTask.visibility = View.GONE
+        btnStartTask.visibility = View.VISIBLE
+        btnStartTask.setOnClickListener {
+            mViewModel.sendUiIntent(TaxiRoutingUiIntent.StartTaskAction(data))
+        }
+        finishSubmitIssueGroup.visibility = View.GONE
+
+        naviToStart.visibility = View.VISIBLE
+        naviToEnd.visibility = View.INVISIBLE
+        updateStartAndEndStationPointByStatus(false)
+        updateCurrentTaskTripInfo(0, 0)
+
+        data.grayLineBean?.startSite?.also {
+            initStartNaviToStationParam(
+                false,
+                it.gcjLat,
+                it.gcjLon
+            )
+            naviToStart.setOnClickListener {
+                showNaviToEndStationFragment(true)
+            }
+            setOrRemoveMapMaker(
+                true,
+                TaxiUnmannedConst.TAXI_ROUTING_VERIFY_START_SITE,
+                it.wgs84Lat,
+                it.wgs84Lon,
+                R.raw.star_marker
+            )
+        }
+
+        data.grayLineBean?.endSite?.also {
+            setOrRemoveMapMaker(
+                false,
+                TaxiUnmannedConst.TAXI_ROUTING_VERIFY_END_SITE,
+                it.wgs84Lat,
+                it.wgs84Lon,
+                R.raw.end_marker
+            )
+        }
+
+        startStationName.text = data.grayLineBean?.startSite?.siteName
+        endStationName.text = data.grayLineBean?.endSite?.siteName
+    }
+
+    private fun showFinishTaskView(routingTask: RoutingUIState.RoutingTask) {
+        btnChooseTask.visibility = View.GONE
+        btnStartTask.visibility = View.GONE
+        finishSubmitIssueGroup.visibility = View.VISIBLE
+        btnFinishTask.setOnClickListener {
+            mViewModel.sendUiIntent(
+                TaxiRoutingUiIntent.ShowFeedbackDialog(
+                    routingTask.grayId ?: -1
+                )
+            )
+        }
+        btnSummitIssue.setOnClickListener {
+            mViewModel.sendUiIntent(
+                TaxiRoutingUiIntent.SubmitGrayLineIssueLocation(
+                    routingTask.grayId ?: -1L
+                )
+            )
+        }
+
+        naviToStart.visibility = View.INVISIBLE
+        naviToEnd.visibility = View.VISIBLE
+        updateStartAndEndStationPointByStatus(true)
+        updateCurrentTaskTripInfo(0, 0)
+
+        routingTask.grayLineBean?.endSite?.also {
+            initStartNaviToStationParam(
+                false,
+                it.gcjLat,
+                it.gcjLon
+            )
+            naviToEnd.setOnClickListener {
+                showNaviToEndStationFragment(true)
+            }
+            setOrRemoveMapMaker(
+                true,
+                TaxiUnmannedConst.TAXI_ROUTING_VERIFY_END_SITE,
+                it.wgs84Lat,
+                it.wgs84Lon,
+                R.raw.end_marker
+            )
+        }
+
+        routingTask.grayLineBean?.startSite?.also {
+            setOrRemoveMapMaker(
+                false,
+                TaxiUnmannedConst.TAXI_ROUTING_VERIFY_START_SITE,
+                it.wgs84Lat,
+                it.wgs84Lon,
+                R.raw.star_marker
+            )
+        }
+    }
+
+    private fun updateStartAndEndStationPointByStatus(isGoingToStation: Boolean) {
+        if (isGoingToStation) {// 即将到达的站点
+            startPoint.setImageResource(R.drawable.taxi_driver_circle_blue_big)
+            endPoint.setImageResource(R.drawable.taxi_driver_circle_green_big)
+        } else {// 到达站点 或 已经经过的站点
+            startPoint.setImageResource(R.drawable.taxi_driver_circle_green_big)
+            endPoint.setImageResource(R.drawable.taxi_driver_circle_blue_big)
+        }
+    }
+
+    private fun showFeedbackDialog(grayId: Long) {
+        val builder: TaxiRoutingFeedbackDialog.Builder = TaxiRoutingFeedbackDialog.Builder()
+        builder.cancelStr(
+            MainMoGoApplication.getApp()
+                .getString(R.string.routing_feedback_result_btn_not_sure)
+        ).confirmStr(
+            MainMoGoApplication.getApp()
+                .getString(R.string.routing_feedback_result_btn_sure)
+        ).tips(MainMoGoApplication.getApp().getString(R.string.routing_feedback_result_hint))
+            .clickListener(object :
+                TaxiRoutingFeedbackDialog.TaxiRoutingFeedBackDialogClickListener {
+                override fun confirm() {
+                    mViewModel.sendUiIntent(
+                        TaxiRoutingUiIntent.SubmitEndTask(
+                            grayId,
+                            EndGrayTaskFeedbackType.USABLE_YES
+                        )
+                    )
+                }
+
+                override fun cancel() {
+                    mViewModel.sendUiIntent(
+                        TaxiRoutingUiIntent.SubmitEndTask(
+                            grayId,
+                            EndGrayTaskFeedbackType.USABLE_NO
+                        )
+                    )
+                }
+            })
+        activity?.also {
+            mFeedbackDialog = builder.build(it)
+            mFeedbackDialog?.showDialog()
+        }
+    }
+
+    private fun hideFeedbackDialog() {
+        mFeedbackDialog?.hideDialog()
+    }
+
+    /**
+     * 显示/隐藏 前往任务目的地的导航
+     *
+     * @param isShow
+     */
+    private fun showNaviToEndStationFragment(isShow: Boolean) {
+//        FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_START_NAVI_TO_END_STATION)
+//            .post(this.lifecycleScope, isShow)
+        TaxiRoutingModel.startNaviToEndStationByAMap(isShow)
+    }
+
+    private fun initStartNaviToStationParam(
+        isVoicePlay: Boolean,
+        stationLat: Double,
+        stationLng: Double
+    ) {
+        AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
+        val mCurLatitude =
+            CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().latitude
+        val mCurLongitude =
+            CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().longitude
+        CallerLogger.d(
+            TAG,
+            "currentLocation, lat=$mCurLatitude, lon=$mCurLongitude"
+        )
+        val startNaviLatLng = NaviLatLng(mCurLatitude, mCurLongitude)
+        val endNaviLatLng = NaviLatLng(stationLat, stationLng)
+        AmapNaviToDestinationModel.getInstance(context).initAMapNavi(startNaviLatLng, endNaviLatLng)
+        AmapNaviToDestinationModel.getInstance(context).setVoiceIsMute(isVoicePlay)
+        // 怀疑在线程池执行的destroyAmaNavi会比 主线程执行的setTaxiNaviChangedCallback慢，导致setTaxiNaviChangedCallback(this)会被冲掉
+        ThreadUtils.getSinglePool().execute {
+            AmapNaviToDestinationModel.getInstance(context).setTaxiNaviChangedCallback(this)
+        }
+    }
+
+    override fun onCurrentNaviDistAndTimeChanged(meters: Int, timeInSecond: Long) {
+        updateCurrentTaskTripInfo(meters.toLong(), timeInSecond)
+    }
+
+    override fun reInitNaviAmap(isPlay: Boolean, isRestart: Boolean) {
+        CallerLogger.d(TAG, "isPlay = $isPlay, isRestart=$isRestart")
+        if (!isRestart) {
+//            FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT)
+//                .post(this.lifecycleScope, false)
+            TaxiRoutingModel.startNaviToEndStationByAMap(false)
+            return
+        }
+    }
+
+    /**
+     * 剩余里程和剩余时间
+     * @param meters 米
+     * @param timeInSecond 秒
+     */
+    private fun updateCurrentTaskTripInfo(meters: Long, timeInSecond: Long) {
+        UiThreadHandler.post {
+            CallerLogger.d(
+                TAG,
+                "updateCurrentTaskTripInfo, taskUtil, ${
+                    TaskUtils.getCurrentTaskTripHtml(
+                        meters,
+                        timeInSecond
+                    )
+                }"
+            )
+            taskTripInfo.text = TaskUtils.getCurrentTaskTripHtml(meters, timeInSecond)
+        }
+    }
+
+    /**
+     * 绘制地图起点终点
+     * @param isAdd
+     * @param uuid
+     */
+    private fun setOrRemoveMapMaker(
+        isAdd: Boolean,
+        uuid: String,
+        lat: Double,
+        lon: Double,
+        resourceId: Int
+    ) {
+        if (isAdd) {
+            MapMakerManager.addMapMaker(TaxiUnmannedConst.TYPE_MARKER_ROUTING_VERIFY, uuid, lat, lon, resourceId)
+        } else {
+            MapMakerManager.removeMapMaker(uuid, lat, lon)
+        }
+    }
+
+    private fun removeAllMapMarker() {
+        MapMakerManager.removeAllMapMarkerByOwner(TaxiUnmannedConst.TYPE_MARKER_ROUTING_VERIFY)
+    }
+
+    override fun onDestroyView() {
+        AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
+        super.onDestroyView()
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt

@@ -0,0 +1,204 @@
+package com.mogo.och.taxi.ui.routing
+
+import android.content.Context
+import android.content.Intent
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.module.status.MogoStatusManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.map.AmapNaviToDestinationModel
+import com.mogo.och.taxi.base.BaseViewModel
+import com.mogo.och.taxi.base.IUiIntent
+import com.mogo.och.taxi.bean.GrayLineBean
+import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp
+import com.mogo.och.taxi.callback.ITaxiRoutingCallback
+import com.mogo.och.taxi.ui.debug.DebugView
+
+class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRoutingUiIntent>(),
+    ITaxiRoutingCallback {
+
+    companion object {
+        const val TAG = SceneConstant.M_TAXI + "TaxiRoutingFragmentViewModel"
+    }
+
+    init {
+        TaxiRoutingModel.addTaxiRoutingListener(TAG, this)
+    }
+
+    private val mContext: Context
+        get() = AbsMogoApplication.getApp().applicationContext
+
+    override fun initUiState(): TaxiRoutingUiState {
+        return TaxiRoutingUiState(RoutingUIState.Init)
+    }
+
+    override fun handleIntent(intent: IUiIntent) {
+        when (intent) {
+            is TaxiRoutingUiIntent.StartChooseLineAction -> {
+                DebugView.printInfoMsg("[选择任务] 跳转到选择任务列表")
+                val intent = Intent(mContext, TaxiRoutingChooseLineActivity::class.java)
+                mContext?.startActivity(intent)
+            }
+
+            is TaxiRoutingUiIntent.ShowRoutingTask -> {
+                DebugView.printInfoMsg("[选择任务] 展示当前选择任务，刷新UI")
+                val task = intent.routingTask
+                sendUiState {
+                    copy(
+                        routingUiState = RoutingUIState.RoutingTask(
+                            task.grayLineBean,
+                            task.contrailBean,
+                            task.grayId
+                        )
+                    )
+                }
+                // 设置灰度路线任务执行状态，切换模式时判断使用
+                MogoStatusManager.getInstance()
+                    .setTaxiUnmanedDriverLineRoutingPerformTask(TAG, true)
+            }
+
+            is TaxiRoutingUiIntent.StartTaskAction -> {
+                DebugView.printInfoMsg("[开始任务] 准备开始任务")
+                val grayLineBean = intent.routingTask.grayLineBean
+                val contrailBean = intent.routingTask.contrailBean
+                val grayId = intent.routingTask.grayId
+                if (grayLineBean == null || contrailBean == null) {
+                    ToastUtils.showShort("灰度线路或轨迹信息异常，请稍后再试")
+                    DebugView.printErrorMsg("[开始任务] 灰度线路或轨迹信息异常，请稍后再试")
+                    return
+                }
+                DebugView.printInfoMsg("[启自驾] 准备启动自驾")
+                TaxiRoutingModel.updateCurrentGrayLineAndContrail(
+                    grayLineBean,
+                    contrailBean,
+                    grayId
+                )
+                TaxiRoutingModel.startAutoPilot(grayLineBean!!, contrailBean!!)
+                //添加到站监听
+                TaxiRoutingModel.addAutoPilotStatusListener()
+                TaxiRoutingModel.addGDMapCurrentLocationListener()
+                sendUiState {
+                    copy(
+                        routingUiState = RoutingUIState.ShowFinishTaskButton(intent.routingTask)
+                    )
+                }
+            }
+
+            is TaxiRoutingUiIntent.SubmitGrayLineIssueLocation -> {
+                DebugView.printInfoMsg("[上报打点] 准备上报打点")
+                val grayId = intent.grayId
+                val currentLocation =
+                    CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+                TaxiRoutingModel.submitGrayLineIssueLocation(
+                    grayId,
+                    currentLocation.longitude,
+                    currentLocation.latitude
+                )
+            }
+
+            is TaxiRoutingUiIntent.ShowFeedbackDialog -> {
+                DebugView.printInfoMsg("[结束任务] 展示结束任务弹框")
+                sendUiState {
+                    copy(
+                        routingUiState = RoutingUIState.ShowFeedbackDialog(
+                            intent.grayId,
+                            System.currentTimeMillis()
+                        )
+                    )
+                }
+            }
+
+            is TaxiRoutingUiIntent.SubmitEndTask -> {
+                DebugView.printInfoMsg("[结束任务] 准备结束任务，grayId=${intent.grayId}, type=${intent.type.name}")
+                TaxiRoutingModel.endGrayTask(intent.grayId, intent.type)
+            }
+        }
+    }
+
+    override fun onQueryRoutingGrayLineListSuccess(data: MutableList<GrayLineBean>) {
+    }
+
+    override fun onQueryRoutingGrayLineListFailed(errorStr: String) {
+    }
+
+    override fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) {
+    }
+
+    override fun onStartGrayTaskAndQueryContrailFailed(errorStr: String) {
+    }
+
+    override fun onSubmitGrayLineIssueLocationSuccess() {
+        ToastUtils.showShort("问题记录成功")
+    }
+
+    override fun onSubmitGrayLineIssueLocationFailed(errorStr: String) {
+        ToastUtils.showShort("问题记录失败：$errorStr")
+    }
+
+    override fun onSubmitEndTaskSuccess() {
+        ToastUtils.showLong("结束任务成功")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.Init
+            )
+        }
+        TaxiRoutingModel.updateCurrentGrayLineAndContrail(null, null, -1L)
+        // 设置灰度路线任务执行状态，切换模式时判断使用
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingPerformTask(TAG, false)
+        TaxiRoutingModel.startNaviToEndStationByAMap(false)
+        // 移除到站监听
+        TaxiRoutingModel.removeAutoPilotStatusListener()
+        TaxiRoutingModel.removeGDMapCurrentLocationListener()
+        // 移除高德导航计算距离
+        AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
+    }
+
+    override fun onSubmitEndTaskFailed(errorStr: String) {
+        ToastUtils.showLong("结束任务失败")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.DismissFeedbackDialog
+            )
+        }
+    }
+
+    override fun onAutoPilotArriveAtEndStation(grayId: Long?) {
+        TaxiRoutingModel.removeAutoPilotStatusListener()
+        TaxiRoutingModel.removeGDMapCurrentLocationListener()
+
+        TaxiRoutingModel.cancelAutopilot()
+
+        DebugView.printInfoMsg("[结束任务] 到终点站，自动展示结束任务弹框")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.ShowFeedbackDialog(
+                    grayId ?: -1L,
+                    System.currentTimeMillis()
+                )
+            )
+        }
+    }
+
+    override fun onGDMapArriveAtEndStation(grayId: Long?) {
+        TaxiRoutingModel.removeAutoPilotStatusListener()
+        TaxiRoutingModel.removeGDMapCurrentLocationListener()
+
+        TaxiRoutingModel.cancelAutopilot()
+
+        DebugView.printInfoMsg("[结束任务] 到终点站，自动展示结束任务弹框")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.ShowFeedbackDialog(
+                    grayId ?: -1L,
+                    System.currentTimeMillis()
+                )
+            )
+        }
+    }
+
+    override fun onCleared() {
+        TaxiRoutingModel.removeTaxiRoutingListener(TAG)
+        super.onCleared()
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingLoadingDialog.kt

@@ -0,0 +1,73 @@
+package com.mogo.och.taxi.ui.routing
+
+import android.animation.ObjectAnimator
+import android.content.Context
+import android.view.animation.LinearInterpolator
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.taxi.R
+import kotlinx.android.synthetic.main.dialog_routing_loading.dialog_loading_text
+import kotlinx.android.synthetic.main.dialog_routing_loading.dialog_loading_view
+
+/**
+ * loading
+ */
+class TaxiRoutingLoadingDialog : BaseFloatDialog, LifecycleObserver {
+    private var objectAnimator: ObjectAnimator? = null
+    private val mLoadingView by lazy { dialog_loading_view }
+    private val mLoadingText by lazy { dialog_loading_text }
+    private var mRunnable:Runnable= Runnable {
+        ToastUtils.showLong("超时未响应，请求失败")
+        hideLoading()
+    }
+
+    constructor(context: Context) : super(context)
+
+    init {
+        setContentView(R.layout.dialog_routing_loading)
+        setCanceledOnTouchOutside(false)
+    }
+
+    /**
+     * 开始旋转
+     */
+    private fun startRotation() {
+        objectAnimator = ObjectAnimator.ofFloat(mLoadingView, "rotation", -720f, 0f)
+        objectAnimator?.let {
+            it.duration = 3000
+            it.repeatCount = -1
+            it.interpolator = LinearInterpolator()
+            it.start()
+        }
+    }
+
+    /**
+     * 停止旋转
+     */
+    private fun stopRotation() {
+        objectAnimator?.let {
+            if (it.isRunning) {
+                it.end()
+                objectAnimator = null
+            }
+        }
+    }
+
+    /**
+     * 显示dialog
+     */
+    fun showLoading() {
+        mLoadingText.text = "请求中，请稍后..."
+        startRotation()
+        show()
+    }
+
+    /**
+     * 隐藏dialog
+     */
+    fun hideLoading() {
+        stopRotation()
+        dismiss()
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt

@@ -0,0 +1,565 @@
+package com.mogo.och.taxi.ui.routing
+
+import android.content.Context
+import android.text.TextUtils
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+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.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.network.utils.GsonUtil
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
+import com.mogo.eagle.core.utilcode.util.GsonUtils
+import com.mogo.eagle.core.utilcode.util.NetworkUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
+import com.mogo.och.taxi.bean.ContrailBean
+import com.mogo.och.taxi.bean.EndGrayContrailTaskReq
+import com.mogo.och.taxi.bean.EndGrayTaskFeedbackType
+import com.mogo.och.taxi.bean.GrayLineBean
+import com.mogo.och.taxi.bean.QueryGrayContrailListRsp
+import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp
+import com.mogo.och.taxi.bean.SubmitGrayLineIssueLocationReq
+import com.mogo.och.taxi.callback.ITaxiControllerStatusCallback
+import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback
+import com.mogo.och.taxi.callback.ITaxiRoutingCallback
+import com.mogo.och.taxi.constant.TaxiUnmannedConst
+import com.mogo.och.taxi.network.TaxiRoutingServiceManager
+import com.mogo.och.taxi.ui.debug.DebugView
+import mogo.telematics.pad.MessagePad
+import mogo_msg.MogoReportMsg
+import java.util.concurrent.ConcurrentHashMap
+
+object TaxiRoutingModel {
+    private val TAG = SceneConstant.M_TAXI + TaxiRoutingModel::class.java.simpleName
+
+    private val mContext: Context
+        get() = AbsMogoApplication.getApp().applicationContext
+
+    private var currentGrayLineBean: GrayLineBean? = null
+    private var currentContrailBean: ContrailBean? = null
+    private var currentGrayId: Long? = null
+
+    private val mTaxiRoutingCallbackMap: ConcurrentHashMap<String, ITaxiRoutingCallback> =
+        ConcurrentHashMap()
+
+    fun addTaxiRoutingListener(tag: String, listener: ITaxiRoutingCallback) {
+        if (mTaxiRoutingCallbackMap.containsKey(tag)) {
+            return
+        }
+        mTaxiRoutingCallbackMap[tag] = listener
+    }
+
+    fun removeTaxiRoutingListener(tag: String) {
+        if (!mTaxiRoutingCallbackMap.containsKey(tag)) {
+            return
+        }
+        mTaxiRoutingCallbackMap.remove(tag)
+    }
+
+    private var mControllerStatusCallback: ITaxiControllerStatusCallback? = null
+
+    fun setControllerStatusCallback(callback: ITaxiControllerStatusCallback?) {
+        mControllerStatusCallback = callback
+    }
+
+    private var mOrderStatusCallback: ITaxiOrderStatusCallback? = null
+
+    fun setOrderStatusCallback(callback: ITaxiOrderStatusCallback?) {
+        mOrderStatusCallback = callback
+    }
+
+    fun addAutoPilotStatusListener() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
+    }
+
+    fun removeAutoPilotStatusListener() {
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+    //MAP到站监听
+    private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener =
+        object : IMoGoAutopilotStatusListener {
+            override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
+            }
+
+            override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
+            }
+
+            override fun onAutopilotStatusResponse(state: Int) {
+            }
+
+            override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+                CallerLogger.i(
+                    TAG,
+                    "onAutopilotArriveAtStation = ${arrivalNotification.toString()}"
+                )
+                DebugView.printInfoMsg("[MAP到站通知] 上报到站，location=${arrivalNotification?.endLocation}")
+
+                val endSiteLat: Double? = currentGrayLineBean?.endSite?.gcjLat
+                val endSiteLon: Double? = currentGrayLineBean?.endSite?.gcjLon
+                val mapEndSiteLatWgs: Double? = arrivalNotification?.endLocation?.latitude
+                val mapEndSiteLonWgs: Double? = arrivalNotification?.endLocation?.longitude
+                if (endSiteLon != null && endSiteLat != null && mapEndSiteLonWgs != null && mapEndSiteLatWgs != null) {
+                    val latLngs =
+                        CoordinateUtils.transformWgsToGcj(mapEndSiteLatWgs, mapEndSiteLonWgs)
+                    val distance = CoordinateUtils.calculateLineDistance(
+                        endSiteLon, endSiteLat,
+                        latLngs[0], latLngs[1]
+                    ).toDouble()
+                    if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) {// 两坐标小于15米
+                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点15米内, 请求到站")
+                        mTaxiRoutingCallbackMap.forEach {
+                            val listener = it.value
+                            listener.onAutoPilotArriveAtEndStation(currentGrayId)
+                        }
+                    } else {
+                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点不一致, 不请求到站")
+                    }
+                } else {
+                    DebugView.printErrorMsg(
+                        "[MAP到站通知] 上报到站，数据异常，endSiteLat = $endSiteLat, endSiteLon = $endSiteLon, " +
+                                "mapEndSiteLat = $mapEndSiteLatWgs, mapEndSiteLon = $mapEndSiteLonWgs"
+                    )
+                }
+            }
+        }
+
+    // 自车定位监听
+    private val mMapLocationListener: IMoGoChassisLocationGCJ02Listener =
+        object : IMoGoChassisLocationGCJ02Listener {
+            override fun onChassisLocationGCJ02(currentLocation: MogoLocation?) {
+                //位置变化时，通过围栏判断是否到达x点
+                if (null == currentLocation) return
+                val endSite = currentGrayLineBean?.endSite ?: return
+
+                val endLon = endSite.gcjLon
+                val endLat = endSite.gcjLat
+
+                val distance = CoordinateUtils.calculateLineDistance(
+                    endLon,
+                    endLat,
+                    currentLocation.longitude,
+                    currentLocation.latitude
+                ).toDouble()
+                CallerLogger.i(TAG, "judgeEndStation() distance = $distance")
+                //1、当前位置和站点围栏15m内
+                if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) {
+                    //2、开始计算当前位置和站点的向量角度 < 90度 未经过 >90度 经过
+                    val stationAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
+                        currentLocation.longitude,
+                        currentLocation.latitude,
+                        endLon,
+                        endLat,
+                        currentLocation.heading.toInt()
+                    ).toDouble()
+                    CallerLogger.i(TAG, "judgeEndStation() stationAngle = $stationAngle")
+
+                    //3、刚过站且过站距离在15m内， 提交到站
+                    if (stationAngle > 90) {
+                        CallerLogger.i(TAG, "judgeEndStation() = 刚过站且在15m内")
+                        DebugView.printInfoMsg(
+                            "[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
+                        )
+                        mTaxiRoutingCallbackMap.forEach {
+                            val listener = it.value
+                            listener.onGDMapArriveAtEndStation(currentGrayId)
+                        }
+                    } else {
+                        // 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
+                        if (currentLocation.gnssSpeed < 0.3) {
+                            CallerLogger.i(
+                                TAG,
+                                "judgeEndStation() = 没有过站、速度基本为零且在15m内"
+                            )
+                            DebugView.printInfoMsg(
+                                "[自车定位围栏] 触发围栏, endSiteId=${currentGrayLineBean?.endSite?.siteId}, endSiteName=${currentGrayLineBean?.endSite?.siteName}, lineId=${currentGrayLineBean?.lineId}，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
+                            )
+                            mTaxiRoutingCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onGDMapArriveAtEndStation(currentGrayId)
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+    fun addGDMapCurrentLocationListener() {
+        //定位监听， 传false是高德坐标系 10 -> 100ms一次
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 10, mMapLocationListener)
+    }
+
+    fun removeGDMapCurrentLocationListener() {
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+    }
+
+    fun queryRoutingGrayLineList() {
+        DebugView.printInfoMsg("[查询灰度路线] 准备发送请求，sn=${MoGoAiCloudClientConfig.getInstance().sn}")
+        TaxiRoutingServiceManager.queryRoutingGrayLineList(mContext,
+            object : OchCommonServiceCallback<QueryGrayContrailListRsp> {
+                override fun onSuccess(data: QueryGrayContrailListRsp) {
+                    CallerLogger.d(
+                        TAG,
+                        "queryRoutingGrayLineList onSuccess:  data=${GsonUtils.toJson(data)}"
+                    )
+                    DebugView.printInfoMsg("[查询灰度路线] 请求success，dataSize=${data?.data?.size}")
+                    val result = mutableListOf<GrayLineBean>()
+                    data.data?.also {
+                        result.addAll(it)
+                    }
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onQueryRoutingGrayLineListSuccess(result)
+                    }
+                }
+
+                override fun onFail(code: Int, msg: String?) {
+                    CallerLogger.d(
+                        TAG,
+                        "queryRoutingGrayLineList onFail: code=$code, msg=$msg"
+                    )
+                    DebugView.printErrorMsg("[查询灰度路线] 请求fail, code=$code, msg=$msg, sn=${MoGoAiCloudClientConfig.getInstance().sn}")
+                    ToastUtils.showShort("查询灰度线路列表异常, 请稍后重试, code=$code")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onQueryRoutingGrayLineListFailed(
+                            msg ?: "查询灰度线路列表异常, 请稍后重试"
+                        )
+                    }
+                }
+
+                override fun onError() {
+                    super.onError()
+                    var hintStr = ""
+                    if (!NetworkUtils.isConnected(mContext)) {
+                        hintStr = "网络出现异常,请稍后重试"
+                    } else {
+                        hintStr = "查询灰度线路列表异常, 请稍后重试"
+                    }
+                    CallerLogger.d(
+                        TAG,
+                        "queryRoutingGrayLineList onError, msg=$hintStr, sn=${MoGoAiCloudClientConfig.getInstance().sn}"
+                    )
+                    DebugView.printErrorMsg("[查询灰度路线] 请求error, msg=$hintStr")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onQueryRoutingGrayLineListFailed(hintStr)
+                    }
+                }
+            })
+    }
+
+    fun startGrayTaskAndQueryRoutingContrail(contrailId: Long, grayLineBean: GrayLineBean) {
+        DebugView.printInfoMsg("[开始灰度任务&查询轨迹详情] 准备发送请求，contrailId=${contrailId}, lineId=${grayLineBean.lineId}")
+        TaxiRoutingServiceManager.startGrayTaskAndQueryRoutingContrail(
+            mContext,
+            sn = MoGoAiCloudClientConfig.getInstance().sn,
+            contrailId = contrailId,
+            grayLineBean = grayLineBean,
+            object : OchCommonServiceCallback<StartGrayAndQueryContrailRsp> {
+                override fun onSuccess(data: StartGrayAndQueryContrailRsp) {
+                    CallerLogger.d(
+                        TAG,
+                        "startGrayTaskAndQueryRoutingContrail onSuccess:  data=${
+                            GsonUtils.toJson(
+                                data
+                            )
+                        }"
+                    )
+                    DebugView.printInfoMsg("[开始灰度任务&查询轨迹详情] 请求success，taskId=${data.taskId}, contrailId=${contrailId}, lineId=${grayLineBean.lineId}")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onStartGrayTaskAndQueryContrailSuccess(data)
+                    }
+                }
+
+                override fun onFail(code: Int, msg: String?) {
+                    CallerLogger.d(
+                        TAG,
+                        "startGrayTaskAndQueryRoutingContrail onFail: code=$code, msg=$msg"
+                    )
+                    DebugView.printErrorMsg("[开始灰度任务&查询轨迹详情] 请求fail, code=$code, msg=$msg, contrailId=${contrailId}, lineId=${grayLineBean.lineId}")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onStartGrayTaskAndQueryContrailFailed(
+                            msg ?: "startGrayTaskAndQueryRoutingContrail onFail"
+                        )
+                    }
+                }
+
+                override fun onError() {
+                    super.onError()
+                    var hintStr = ""
+                    if (!NetworkUtils.isConnected(mContext)) {
+                        hintStr = "网络出现异常,请稍后重试"
+                    } else {
+                        hintStr = "开始任务并查询轨迹详情异常, 请稍后重试"
+                    }
+                    CallerLogger.d(
+                        TAG,
+                        "startGrayTaskAndQueryRoutingContrail onError, msg=$hintStr, contrailId=${contrailId}, lineId=${grayLineBean.lineId}"
+                    )
+                    DebugView.printErrorMsg("[开始灰度任务&查询轨迹详情] 请求error, msg=$hintStr")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onStartGrayTaskAndQueryContrailFailed(hintStr)
+                    }
+                }
+            }
+        )
+    }
+
+    fun submitGrayLineIssueLocation(grayId: Long, gcjLon: Double, gcjLat: Double) {
+        DebugView.printInfoMsg("[上报打点] 准备发送请求，grayId=$grayId, gcjLon=$gcjLon, gcjLat=$gcjLat")
+        val submit = SubmitGrayLineIssueLocationReq(grayId, gcjLon, gcjLat)
+        TaxiRoutingServiceManager.submitGrayLineIssueLocation(
+            mContext,
+            submit,
+            object : OchCommonServiceCallback<BaseData> {
+                override fun onSuccess(data: BaseData?) {
+                    CallerLogger.d(
+                        TAG,
+                        "submitGrayLineIssueLocation onSuccess:  data=${
+                            GsonUtils.toJson(
+                                data
+                            )
+                        }"
+                    )
+                    DebugView.printInfoMsg("[上报打点] 准备success，grayId=$grayId, gcjLon=$gcjLon, gcjLat=$gcjLat")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitGrayLineIssueLocationSuccess()
+                    }
+                }
+
+                override fun onFail(code: Int, msg: String?) {
+                    CallerLogger.d(
+                        TAG,
+                        "submitGrayLineIssueLocation onFail: code=$code, msg=$msg"
+                    )
+                    DebugView.printErrorMsg("[上报打点] 请求fail, code=$code, msg=$msg, grayId=$grayId")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitGrayLineIssueLocationFailed(
+                            msg ?: "submitGrayLineIssueLocation onFail"
+                        )
+                    }
+                }
+
+                override fun onError() {
+                    super.onError()
+                    var hintStr = ""
+                    if (!NetworkUtils.isConnected(mContext)) {
+                        hintStr = "网络出现异常,请稍后重试"
+                    } else {
+                        hintStr = "上报问题打点异常, 请稍后重试"
+                    }
+                    CallerLogger.d(
+                        TAG,
+                        "submitGrayLineIssueLocation onError, msg=$hintStr"
+                    )
+                    DebugView.printErrorMsg("[上报打点] 请求error, msg=$hintStr, grayId=$grayId")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitGrayLineIssueLocationFailed(hintStr)
+                    }
+                }
+            }
+        )
+    }
+
+    fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType) {
+        DebugView.printInfoMsg("[结束灰度任务] 准备发送请求，grayId=$grayId， type=${type.type}, typeName=${type.name}")
+        val submit = EndGrayContrailTaskReq(grayId, type.type)
+        TaxiRoutingServiceManager.endGrayTask(
+            mContext,
+            submit,
+            object : OchCommonServiceCallback<BaseData> {
+                override fun onSuccess(data: BaseData?) {
+                    CallerLogger.d(
+                        TAG,
+                        "endGrayTask onSuccess:  data=${
+                            GsonUtils.toJson(
+                                data
+                            )
+                        }"
+                    )
+                    DebugView.printInfoMsg("[结束灰度任务] 请求success，grayId=$grayId， type=${type.type}, typeName=${type.name}")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitEndTaskSuccess()
+                    }
+                }
+
+                override fun onFail(code: Int, msg: String?) {
+                    CallerLogger.d(
+                        TAG,
+                        "endGrayTask onFail: code=$code, msg=$msg"
+                    )
+                    DebugView.printErrorMsg("[结束灰度任务] 请求fail, code=$code, msg=$msg, grayId=$grayId， type=${type.type}, typeName=${type.name}")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitEndTaskFailed(
+                            msg ?: "endGrayTask onFail"
+                        )
+                    }
+                }
+
+                override fun onError() {
+                    super.onError()
+                    var hintStr = ""
+                    if (!NetworkUtils.isConnected(mContext)) {
+                        hintStr = "网络出现异常,请稍后重试"
+                    } else {
+                        hintStr = "上报结束任务异常, 请稍后重试"
+                    }
+                    CallerLogger.d(
+                        TAG,
+                        "endGrayTask onError, msg=$hintStr"
+                    )
+                    DebugView.printErrorMsg("[结束灰度任务] 请求error, msg=$hintStr, grayId=$grayId， type=${type.type}, typeName=${type.name}")
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitEndTaskFailed(hintStr)
+                    }
+                }
+            })
+    }
+
+    fun updateCurrentGrayLineAndContrail(
+        grayLineBean: GrayLineBean?,
+        contrailBean: ContrailBean?,
+        grayId: Long?
+    ) {
+        currentGrayLineBean = grayLineBean
+        currentContrailBean = contrailBean
+        currentGrayId = grayId
+    }
+
+    fun startAutoPilotByClick() {
+        if (currentGrayLineBean == null || currentContrailBean == null) {
+            CallerLogger.e(
+                TAG,
+                "startAutoPilotByClick 异常，currentGrayLineBean == null || currentContrailBean == null"
+            )
+            DebugView.printErrorMsg("[启自驾] startAutoPilotByClick 异常，currentGrayLineBean == null || currentContrailBean == null")
+            return
+        }
+        startAutoPilot(currentGrayLineBean!!, currentContrailBean!!)
+    }
+
+    fun startAutoPilot(grayLineBean: GrayLineBean, contrailBean: ContrailBean) {
+        if (grayLineBean.startSite == null || grayLineBean.endSite == null) {
+            CallerLogger.e(TAG, "start site or end site is null")
+            DebugView.printErrorMsg("[启自驾] 当前订单不存在或异常！")
+            ToastUtils.showShort("当前订单不存在或异常！")
+            return
+        }
+        //根据开关和后台是否发布轨迹启动自驾
+        if (FunctionBuildConfig.isPassStartAutopilotCommand && TextUtils.isEmpty(
+                contrailBean.csvFileUrl
+            )
+        ) {
+            ToastUtils.showLong("无发布轨迹, 请发布后重试")
+            DebugView.printErrorMsg("[启自驾] 无发布轨迹, 请发布后重试")
+            CallerLogger.e(
+                TAG, "isPassStartAutopilotCommand = " +
+                        FunctionBuildConfig.isPassStartAutopilotCommand
+                        + "busRoutesResult.csvFileUrl = " + contrailBean.csvFileUrl
+            )
+            return
+        }
+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+            DebugView.printErrorMsg("[启自驾] ${OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason}")
+            ToastUtils.showLong(
+                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
+                        ", 请稍候重试"
+            )
+            return
+        }
+
+        val parameters = initAutopilotControlParameters(grayLineBean, contrailBean)
+        if (null == parameters) {
+            CallerLogger.e(TAG, "AutopilotControlParameters is empty.")
+            return
+        }
+
+        CallerAutoPilotControlManager.startAutoPilot(parameters)
+        DebugView.printInfoMsg("[启自驾] 调用成功")
+        CallerLogger.d(
+            TAG, "start autopilot with parameter: %s",
+            GsonUtil.jsonFromObject(parameters)
+        )
+        mControllerStatusCallback?.startOpenAutopilot()
+    }
+
+    private fun initAutopilotControlParameters(
+        grayLineBean: GrayLineBean,
+        contrailBean: ContrailBean
+    ): AutopilotControlParameters? {
+        val parameters = AutopilotControlParameters()
+        val startWgsLon = grayLineBean.startSite!!.wgs84Lon
+        val startWgsLat = grayLineBean.startSite!!.wgs84Lat
+        val endWgsLon = grayLineBean.endSite!!.wgs84Lon
+        val endWgsLat = grayLineBean.endSite!!.wgs84Lat
+        parameters.vehicleType = TaxiUnmannedConst.BUSINESSTYPE
+        parameters.startName =
+            grayLineBean.startSite!!.siteName // 8.10 拼音首字母大写 改为直接传中文
+        parameters.endName =
+            grayLineBean.endSite!!.siteName // 8.10 拼音首字母大写 改为直接传中文
+        parameters.startLatLon =
+            AutopilotControlParameters.AutoPilotLonLat(startWgsLat, startWgsLon)
+        parameters.endLatLon = AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon)
+        if (parameters.autoPilotLine == null) {
+            parameters.autoPilotLine = AutopilotControlParameters.AutoPilotLine(
+                contrailBean.lineId,
+                contrailBean.lineName,
+                contrailBean.csvFileUrl,
+                contrailBean.csvFileMd5,
+                contrailBean.txtFileUrl,
+                contrailBean.txtFileMd5,
+                contrailBean.contrailSaveTime,
+                TaxiUnmannedConst.BUSINESSTYPE.toString(),
+                contrailBean.csvFileUrlDPQP,
+                contrailBean.csvFileMd5DPQP,
+                contrailBean.txtFileUrlDPQP,
+                contrailBean.txtFileMd5DPQP,
+                contrailBean.contrailSaveTimeDPQP
+            )
+        }
+        return parameters
+    }
+
+    /**
+     * 结束自动驾驶
+     * */
+    fun cancelAutopilot() {
+        try {
+            CallerAutoPilotControlManager.cancelAutoPilot()
+            DebugView.printInfoMsg("[取消自驾] 调用成功")
+            CallerLogger.d(TAG, "结束自动驾驶")
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    /**
+     * 显示/隐藏 前往任务目的地的导航
+     *
+     * @param isShow
+     */
+    fun startNaviToEndStationByAMap(isShow: Boolean) {
+        mOrderStatusCallback?.onNaviToEnd(true, isShow)
+    }
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiIntent.kt

@@ -0,0 +1,34 @@
+package com.mogo.och.taxi.ui.routing
+
+import com.mogo.och.taxi.base.IUiIntent
+import com.mogo.och.taxi.bean.EndGrayTaskFeedbackType
+import com.mogo.och.taxi.bean.GrayLineBean
+
+sealed class TaxiRoutingUiIntent : IUiIntent {
+
+    //打开选择路线页面
+    data class StartChooseLineAction(val currentTimestamp: Long) : TaxiRoutingUiIntent()
+
+    //查询灰度线路列表
+    data class QueryRoutingGrayLineList(val currentTimestamp: Long) : TaxiRoutingUiIntent()
+
+    //开始一个任务并查询此任务对应的轨迹详情
+    data class StartTaskAndQueryContrail(val grayLineBean: GrayLineBean) : TaxiRoutingUiIntent()
+
+    //展示Routing任务信息
+    data class ShowRoutingTask(val routingTask: RoutingUIState.RoutingTask) :
+        TaxiRoutingUiIntent()
+
+    //开始任务
+    data class StartTaskAction(val routingTask: RoutingUIState.RoutingTask) : TaxiRoutingUiIntent()
+
+    //问题打点
+    data class SubmitGrayLineIssueLocation(val grayId: Long) : TaxiRoutingUiIntent()
+
+    //展示结束任务反馈弹框
+    data class ShowFeedbackDialog(val grayId: Long) : TaxiRoutingUiIntent()
+
+    //结束任务
+    data class SubmitEndTask(val grayId: Long, val type: EndGrayTaskFeedbackType) :
+        TaxiRoutingUiIntent()
+}

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiState.kt

@@ -0,0 +1,33 @@
+package com.mogo.och.taxi.ui.routing
+
+import com.mogo.och.taxi.base.IUiState
+import com.mogo.och.taxi.bean.ContrailBean
+import com.mogo.och.taxi.bean.GrayLineBean
+
+data class TaxiRoutingUiState(val routingUiState: RoutingUIState) : IUiState
+
+sealed class RoutingUIState {
+    object Init : RoutingUIState()
+
+    data class ShowGrayLineList(var data: MutableList<GrayLineBean>) : RoutingUIState()
+
+    data class HideChooseLineLoading(var isCosePage: Boolean) : RoutingUIState()
+
+    data class PostRoutingTaskResult(
+        val grayLineBean: GrayLineBean?,
+        val contrailBean: ContrailBean?,
+        val grayId: Long?
+    ) : RoutingUIState()
+
+    data class RoutingTask(
+        val grayLineBean: GrayLineBean?,
+        val contrailBean: ContrailBean?,
+        val grayId: Long?
+    ) : RoutingUIState()
+
+    data class ShowFinishTaskButton(val routingTask: RoutingTask) : RoutingUIState()
+    data class ShowFeedbackDialog(val grayId: Long, val currentTimestamp: Long) : RoutingUIState()
+    object DismissFeedbackDialog : RoutingUIState()
+}
+
+

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt

@@ -17,7 +17,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
 import com.mogo.eagle.core.function.main.MainMoGoApplication
 import com.mogo.eagle.core.network.utils.GsonUtil
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI
 import com.mogo.eagle.core.utilcode.util.ClickUtils
@@ -68,7 +67,12 @@ import kotlinx.coroutines.flow.map
 class TaxiCurrentTaskFragment : BaseFragment(),
     View.OnClickListener, ICommonNaviChangedCallback {
 
-    private lateinit var mViewModel: TaxiCurrentTaskViewModel
+    private val mViewModel: TaxiCurrentTaskViewModel by lazy {
+        ViewModelProvider(
+            this,
+            ViewModelProvider.NewInstanceFactory()
+        )[TaxiCurrentTaskViewModel::class.java]
+    }
 
     private var mPrepareTasCountDownTimer: CountDownTimer? = null
 
@@ -91,14 +95,6 @@ class TaxiCurrentTaskFragment : BaseFragment(),
         return this.javaClass.simpleName
     }
 
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        mViewModel = ViewModelProvider(
-            this,
-            ViewModelProvider.NewInstanceFactory()
-        )[TaxiCurrentTaskViewModel::class.java]
-    }
-
     override fun initViews() {
         initOnClickListener()
         initContainerView(false)
@@ -311,11 +307,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
     }
 
     fun onCarTakeOrderStatusChanged() {
-        if (this::mViewModel.isInitialized) {
-            mViewModel.sendUiIntent(TaskUiIntent.StartOrEndTakeOrder)
-        } else {
-            e(TAG, "onCarTakeOrderStatusChanged: mViewModel is not Initialized")
-        }
+        mViewModel.sendUiIntent(TaskUiIntent.StartOrEndTakeOrder)
     }
 
     /**

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt

@@ -1,6 +1,7 @@
 package com.mogo.och.taxi.ui.task
 
 import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.BaseData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -49,6 +50,12 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         TaxiTaskModel.setCarServiceCallback(this)
     }
 
+    override fun onCleared() {
+        TaxiTaskModel.removeTaskWithOrderListener(TAG)
+        TaxiTaskModel.removeCarServiceCallback()
+        super.onCleared()
+    }
+
     override fun initUiState(): UnmannedState {
         return UnmannedState(TaskWithOrderUIState.Init)
     }
@@ -229,6 +236,12 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         d(TAG, "onTaskWithOrderChanged = result = " + GsonUtil.jsonFromObject(result))
         DebugView.printInfoMsg("[查询TaskWithOrder信息] 更新数据, 刷新UI")
         updateTaskAndOrderUi(result)
+        // 设置task执行相关状态，切换模式时判断使用
+        if (result == null || result.taskType == TaskTypeEnum.None.code) {
+            MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
+        } else {
+            MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, true)
+        }
     }
 
     override fun onTaskStarted(result: QueryCurrentTaskRespBean.Result?) {
@@ -318,6 +331,8 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         VoiceNotice.showNotice("已取消行程")
         //取消自驾,D档位会溜车 map3.6.0 修改
         TaxiTaskModel.cancelAutopilot()
+        // 设置task执行相关状态，切换模式时判断使用
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
     }
 
     override fun onOrderArriveAtEnd(orderNo: String) {
@@ -339,6 +354,8 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
             TaxiTaskModel.startPrepareTaskDelay(CallerUnmannedListenerManager.getVirtualTaskPullTaskInterval() * 1000L,
                 it.siteId)
         }
+        // 设置task执行相关状态，切换模式时判断使用
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
     }
 
     override fun onStartAutopilot(postDelayTime: Long) {

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt

@@ -33,7 +33,11 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
+import com.mogo.eagle.core.utilcode.util.NetworkUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager
 import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage
 import com.mogo.och.common.module.biz.constant.LoginStatusManager
@@ -50,9 +54,22 @@ import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceM
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjLocations
 import com.mogo.och.common.module.voice.VoiceNotice
-import com.mogo.och.taxi.bean.*
-import com.mogo.och.taxi.callback.*
-import com.mogo.och.taxi.constant.*
+import com.mogo.och.taxi.bean.PrepareTaskRespBean
+import com.mogo.och.taxi.bean.QueryCarOrderByNoRespBean
+import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
+import com.mogo.och.taxi.bean.StartServiceRespBean
+import com.mogo.och.taxi.bean.TrajectoryListRespBean
+import com.mogo.och.taxi.callback.IOCHTaxiAutopilotPlanningCallback
+import com.mogo.och.taxi.callback.ITaxiADASStatusCallback
+import com.mogo.och.taxi.callback.ITaxiCarServiceCallback
+import com.mogo.och.taxi.callback.ITaxiControllerStatusCallback
+import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback
+import com.mogo.och.taxi.callback.ITaxiTaskWithOrderCallback
+import com.mogo.och.taxi.constant.TaskStatusEnum
+import com.mogo.och.taxi.constant.TaskTypeEnum
+import com.mogo.och.taxi.constant.TaxiCarServingStatusManager
+import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
+import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.BUSINESSTYPE
 import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager
 import com.mogo.och.taxi.ui.debug.DebugView
@@ -160,6 +177,10 @@ object TaxiTaskModel {
         mTaxiCarServiceCallback = callback
     }
 
+    fun removeCarServiceCallback() {
+        mTaxiCarServiceCallback = null
+    }
+
     private fun getCurTaskStatus(): Int? {
         if (mCurrentTaskWithOrder == null) TaskStatusEnum.None
         return mCurrentTaskWithOrder?.currentStatus
@@ -431,7 +452,7 @@ object TaxiTaskModel {
                                 )
                             )
                             // MAP返回route时关闭高德相关的
-                            AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
+                            destroyAmapNavi()
                             mOrderStatusCallback?.onNaviToEnd(false, false)
                         }
                     }
@@ -683,6 +704,8 @@ object TaxiTaskModel {
             mQueryTaskWithOrderDisposable?.dispose()
             mQueryTaskWithOrderDisposable = null
         }
+        mCurrentTaskWithOrder = null
+        mDriveToNearestStationTask = null
     }
 
     /**
@@ -708,16 +731,16 @@ object TaxiTaskModel {
                         return
                     }
                     val result: QueryCurrentTaskRespBean.Result? = data.data
-                    d(
-                        TAG,
-                        "queryCurrentTaskOnce onSuccess：result=${GsonUtil.jsonFromObject(result)}"
-                    )
                     d(
                         TAG,
                         "queryCurrentTaskOnce onSuccess：mCurrentTaskWithOrder=${
                             GsonUtil.jsonFromObject(mCurrentTaskWithOrder)
                         }"
                     )
+                    d(
+                        TAG,
+                        "queryCurrentTaskOnce onSuccess：result=${GsonUtil.jsonFromObject(result)}"
+                    )
 
                     //本地根据订单 orderNo 去查询下(乘客取消订单)
                     if (mCurrentTaskWithOrder != null
@@ -788,7 +811,7 @@ object TaxiTaskModel {
 
                             //订单到站结束轨迹剩余里程就算和高德计算, 防止到站查询订单全程的显示被覆盖
                             setStationPoint(null, null, -1L)
-                            AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
+                            destroyAmapNavi()
 
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
@@ -859,7 +882,7 @@ object TaxiTaskModel {
     fun clearLocalCalculateStation(){
         d(TAG, "updateLocalCalculateStation stop")
         if (mDriveToNearestStationTask == null){
-            AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
+            destroyAmapNavi()
         }
         setStationPoint(null, null, -1L)
     }
@@ -1424,6 +1447,10 @@ object TaxiTaskModel {
         mCurrentTaskWithOrder = null
         mDriveToNearestStationTask = null
         DebugView.printInfoMsg("[登出] 退出登陆")
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverTakingOrders(TAG, false)
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingPerformTask(TAG, false)
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingVerifyMode(TAG, false)
     }
 
     //导航去订单终点目的地
@@ -1509,4 +1536,13 @@ object TaxiTaskModel {
             }
         }
     }
+
+    private fun destroyAmapNavi() {
+        if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode) {
+            i(TAG, "destroyAmapNavi() 跳过，因为isTaxiUnmanedDriverLineRoutingVerifyMode=true")
+            return
+        }
+        i(TAG, "destroyAmapNavi()")
+        AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
+    }
 }

OCH/taxi/unmanned-driver/src/main/res/color/taxi_autopilot_text_color_selector.xml

@@ -1,4 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-    <item android:color="@color/taxi_autopilot_text_color_normal"/>
+    <item android:color="@color/taxi_autopilot_text_color_normal" android:state_checked="true"/>
+    <item android:color="@color/taxi_autopilot_text_color_disable" android:state_checked="false"/>
 </selector>

OCH/taxi/unmanned-driver/src/main/res/drawable/bg_shape_dialog_no_title.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<gradient android:startColor="#2A537F" android:endColor="#263A5B" android:angle="135"/>
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/bg_shape_left_bottom_round.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <solid android:color="#2A4A7A" />
+    <corners android:bottomLeftRadius="@dimen/dp_45" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/bg_shape_left_right_bottom_round.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+<gradient  android:startColor="#20AAFF" android:endColor="#2F6EFF" android:angle="315"/>
+<corners android:bottomLeftRadius="@dimen/dp_45" android:bottomRightRadius="@dimen/dp_45"/>
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/bg_shape_right_bottom_round.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <gradient
+        android:angle="180"
+        android:endColor="#2F6EFF"
+        android:startColor="#20AAFF" />
+    <corners android:bottomRightRadius="@dimen/dp_45" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_btn_bg_finish_task.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/routing_btn_left_pressed" android:state_pressed="true" /> <!-- pressed -->
+    <item android:drawable="@drawable/routing_btn_left_default" /> <!-- default -->
+</selector>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_btn_bg_submit_issue.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/routing_btn_right_pressed" android:state_pressed="true" /> <!-- pressed -->
+    <item android:drawable="@drawable/routing_btn_right_default" /> <!-- default -->
+</selector>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_choose_line_btn_submit_bg.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/routing_choose_line_btn_submit_bg_pressed" android:state_pressed="true" /> <!-- pressed -->
+    <item android:drawable="@drawable/routing_choose_line_btn_submit_bg_default" /> <!-- default -->
+</selector>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_choose_line_btn_submit_bg_default.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <corners android:radius="24dp" />
+    <gradient
+        android:angle="0"
+        android:endColor="#0056FF"
+        android:startColor="#029DFF"
+        android:type="linear" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_choose_line_btn_submit_bg_pressed.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <corners android:radius="24dp" />
+    <gradient
+        android:angle="0"
+        android:endColor="#800056FF"
+        android:startColor="#80029DFF"
+        android:type="linear" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_choose_line_shape_select_line_item_bg_normal.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <gradient
+        android:endColor="#660043FF"
+        android:startColor="#0028345E" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_choose_line_shape_select_line_item_bg_selected.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <gradient
+        android:endColor="#CC0043FF"
+        android:startColor="#0028345E" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_click_btn_bg.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/routing_click_btn_bg_pressed" android:state_pressed="true" /> <!-- pressed -->
+    <item android:drawable="@drawable/routing_click_btn_bg_default" /> <!-- default -->
+</selector>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_click_btn_bg_default.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid
+        android:color="@color/routing_verify_click_btn_color" />
+    <corners
+        android:bottomLeftRadius="42dp"
+        android:bottomRightRadius="42dp"
+        android:topLeftRadius="0dp"
+        android:topRightRadius="0dp" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/routing_click_btn_bg_pressed.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid
+        android:color="@color/routing_verify_click_btn_pressed_color" />
+    <corners
+        android:bottomLeftRadius="42dp"
+        android:bottomRightRadius="42dp"
+        android:topLeftRadius="0dp"
+        android:topRightRadius="0dp" />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/shape_size_operation_out_disable.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android" >
+    <item
+        android:drawable="@drawable/taxi_out_btn_disable"
+        android:width="@dimen/dp_50"
+        android:height="@dimen/dp_50"/>
+</layer-list >

OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_operation_status_bg_disabled.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+        <corners android:radius="54dp" />
+    <gradient
+        android:startColor="#80323C6F"
+        android:endColor="#80323C6F"
+        android:angle="315"
+        />
+</shape>

OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_operation_status_bg_selector_new.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/taxi_operation_status_bg_disabled" android:state_checked="false" />
+    <item android:drawable="@drawable/taxi_operation_status_bg" android:state_checked="true"/>
+</selector>

OCH/taxi/unmanned-driver/src/main/res/drawable/taxi_routing_bg.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <item>
+        <shape android:shape="rectangle">
+
+            <corners android:radius="42dp"/>
+
+            <gradient
+                android:angle="315"
+                android:type="linear"
+                android:startColor="#E6687FDC"
+                android:endColor="#E62C387D" />  <!--    #00344180-->
+
+        </shape>
+    </item>
+
+    <item
+        android:left="4dp"
+        android:top="4dp"
+        android:bottom="4dp"
+        android:right="4dp">
+        <shape android:shape="rectangle">
+
+            <corners android:radius="42dp"/>
+            <gradient
+                android:type="linear"
+                android:startColor="#80435AB2"
+                android:endColor="#802C387D"
+                android:angle="315" />
+
+        </shape>
+    </item>
+
+</layer-list>

OCH/taxi/unmanned-driver/src/main/res/layout/dialog_routing_feedback_result.xml

@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="utf-8"?>
+<com.mogo.och.common.module.wigets.OCHRoundConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="@dimen/dp_800"
+    android:layout_height="@dimen/dp_500"
+    android:background="@drawable/bg_shape_dialog_no_title"
+    app:roundLayoutRadius="@dimen/dp_45">
+
+    <ImageView
+        android:id="@+id/closeDialogIcon"
+        android:layout_width="@dimen/dp_80"
+        android:layout_height="@dimen/dp_80"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginEnd="@dimen/dp_5"
+        android:src="@drawable/taxi_close_navi_icon"
+        android:visibility="visible"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/routing_common_tips"
+        android:layout_width="match_parent"
+        android:layout_height="0dp"
+        android:layout_marginStart="@dimen/dp_80"
+        android:layout_marginEnd="@dimen/dp_80"
+        android:gravity="center"
+        android:text="@string/routing_feedback_result_hint"
+        android:textColor="#FFFFFFFF"
+        android:textSize="@dimen/dp_56"
+        app:layout_constraintBottom_toTopOf="@+id/routing_common_cancel"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/routing_common_cancel"
+        android:layout_width="0dp"
+        android:layout_height="134dp"
+        android:background="@drawable/bg_shape_left_bottom_round"
+        android:gravity="center"
+        android:text="@string/routing_feedback_result_btn_not_sure"
+        android:textColor="#FFFFFFFF"
+        android:textSize="@dimen/dp_50"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintWidth_percent="0.5" />
+
+    <TextView
+        android:id="@+id/routing_common_confirm"
+        android:layout_width="0dp"
+        android:layout_height="134dp"
+        android:background="@drawable/bg_shape_right_bottom_round"
+        android:gravity="center"
+        android:text="@string/routing_feedback_result_btn_sure"
+        android:textColor="#FFFFFFFF"
+        android:textSize="@dimen/dp_50"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintStart_toEndOf="@+id/routing_common_cancel"
+        app:layout_constraintWidth_percent="0.5" />
+</com.mogo.och.common.module.wigets.OCHRoundConstraintLayout>

OCH/taxi/unmanned-driver/src/main/res/layout/dialog_routing_loading.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="@dimen/dp_300"
+    android:layout_height="@dimen/dp_300"
+    android:orientation="vertical"
+    android:gravity="center"
+    android:layout_gravity="center">
+
+    <ImageView
+        android:id="@+id/dialog_loading_view"
+        android:layout_width="@dimen/dp_80"
+        android:layout_height="@dimen/dp_80"
+        android:src="@drawable/routing_loading_nor" />
+
+    <TextView
+        android:id="@+id/dialog_loading_text"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="请求中，请稍后..."
+        android:textColor="#CCFFFFFF"
+        android:layout_marginTop="@dimen/dp_10"/>
+</LinearLayout>

OCH/taxi/unmanned-driver/src/main/res/layout/routing_choose_line_list_item.xml

@@ -0,0 +1,58 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:layout_marginTop="@dimen/dp_12"
+    android:background="@drawable/routing_choose_line_shape_select_line_item_bg_normal"
+    android:orientation="vertical"
+    android:paddingStart="@dimen/dp_78"
+    android:paddingEnd="@dimen/dp_78">
+
+    <androidx.appcompat.widget.AppCompatTextView
+        android:id="@+id/switchLineNameTextView"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_20"
+        android:layout_marginEnd="@dimen/dp_20"
+        android:ellipsize="end"
+        android:gravity="left|center_vertical"
+        android:maxLines="1"
+        android:singleLine="true"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/dp_44"
+        tools:text="线路名称线路名称线路" />
+
+    <RelativeLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_gravity="center_vertical"
+        android:layout_marginTop="@dimen/dp_20"
+        android:layout_marginBottom="@dimen/dp_20">
+
+        <androidx.appcompat.widget.AppCompatTextView
+            android:id="@+id/todayVerifyNumTextView"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentStart="true"
+            android:layout_alignParentBottom="true"
+            android:gravity="left|center_vertical"
+            android:maxLines="1"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_34"
+            tools:text="本车今日已验证：1次" />
+
+        <androidx.appcompat.widget.AppCompatTextView
+            android:id="@+id/historyVerifyNumTextView"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentEnd="true"
+            android:layout_alignParentBottom="true"
+            android:layout_toRightOf="@+id/todayVerifyNumTextView"
+            android:gravity="right|center_vertical"
+            android:maxLines="1"
+            android:textColor="@color/taxi_color_ccb9c3e9"
+            android:textSize="@dimen/dp_30"
+            tools:text="路线累计反馈0可用，1不可用" />
+    </RelativeLayout>
+</LinearLayout>

OCH/taxi/unmanned-driver/src/main/res/layout/routing_choose_task_activity.xml

@@ -0,0 +1,75 @@
+<?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"
+    android:background="@color/routing_verify_choose_line_bg"
+    tools:ignore="MissingDefaultResource">
+
+    <View
+        android:id="@+id/chooseLineHint"
+        android:layout_width="@dimen/dp_14"
+        android:layout_height="@dimen/dp_50"
+        android:layout_marginStart="@dimen/dp_80"
+        android:background="@color/routing_verify_choose_line"
+        app:layout_constraintBottom_toBottomOf="@+id/chooseLineHeaderTitle"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/chooseLineHeaderTitle" />
+
+    <TextView
+        android:id="@+id/chooseLineHeaderTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginLeft="@dimen/dp_113"
+        android:layout_marginTop="@dimen/dp_97"
+        android:text="@string/routing_verify_choose_line_title"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/taxi_routing_choose_line_title"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <ImageView
+        android:id="@+id/btnClose"
+        android:layout_width="@dimen/dp_107"
+        android:layout_height="@dimen/dp_107"
+        android:layout_marginTop="@dimen/dp_67"
+        android:layout_marginRight="@dimen/dp_40"
+        android:src="@drawable/routing_choose_line_close"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <androidx.recyclerview.widget.RecyclerView
+        android:id="@+id/chooseLineListView"
+        android:layout_width="match_parent"
+        android:layout_height="@dimen/dp_0"
+        android:layout_marginTop="@dimen/dp_50"
+        android:layout_marginBottom="@dimen/dp_30"
+        app:layout_constraintBottom_toTopOf="@+id/btnChooseLineSubmit"
+        app:layout_constraintLeft_toLeftOf="@+id/chooseLineHint"
+        app:layout_constraintTop_toBottomOf="@+id/chooseLineHint" />
+
+    <TextView
+        android:id="@+id/btnChooseLineSubmit"
+        android:layout_width="match_parent"
+        android:layout_height="126dp"
+        android:layout_marginStart="@dimen/dp_80"
+        android:layout_marginEnd="@dimen/dp_80"
+        android:layout_marginBottom="@dimen/taxi_choose_line_btn_margin_b"
+        android:background="@drawable/routing_choose_line_btn_submit_bg"
+        android:gravity="center"
+        android:text="@string/routing_verify_choose_line_btn_txt"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/dp_42"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent" />
+
+    <include
+        layout="@layout/routing_no_data_common_view"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+</androidx.constraintlayout.widget.ConstraintLayout>

OCH/taxi/unmanned-driver/src/main/res/layout/routing_fragment.xml

@@ -0,0 +1,277 @@
+<?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="@dimen/module_och_taxi_panel_width"
+    android:layout_height="@dimen/taxi_routing_verify_view_height"
+    android:background="@drawable/taxi_routing_bg"
+    app:layout_constraintLeft_toLeftOf="parent"
+    app:layout_constraintTop_toTopOf="parent">
+
+    <androidx.constraintlayout.widget.ConstraintLayout
+        android:id="@+id/headerTitleContainer"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:visibility="gone"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent">
+
+        <com.mogo.och.common.module.wigets.MarqueeTextView
+            android:id="@+id/taskTitleTv"
+            android:layout_width="@dimen/dp_420"
+            android:layout_height="wrap_content"
+            android:layout_marginTop="@dimen/dp_45"
+            android:ellipsize="marquee"
+            android:marqueeRepeatLimit="marquee_forever"
+            android:singleLine="true"
+            android:text="路线name路线name"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_46"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toRightOf="parent"
+            app:layout_constraintTop_toTopOf="parent" />
+
+        <View
+            android:id="@+id/module_och_taxi_order_status_divider"
+            android:layout_width="match_parent"
+            android:layout_height="4dp"
+            android:layout_marginTop="@dimen/dp_45"
+            android:background="@drawable/taxi_line_bg1"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toRightOf="parent"
+            app:layout_constraintTop_toBottomOf="@+id/taskTitleTv"
+            app:layout_constraintBottom_toBottomOf="parent"/>
+    </androidx.constraintlayout.widget.ConstraintLayout>
+
+    <androidx.constraintlayout.widget.ConstraintLayout
+        android:layout_width="match_parent"
+        android:layout_height="0dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/headerTitleContainer">
+
+        <androidx.constraintlayout.widget.ConstraintLayout
+            android:id="@+id/bottomBtnContainer"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            app:layout_constraintBottom_toBottomOf="parent"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toRightOf="parent">
+
+            <androidx.appcompat.widget.AppCompatTextView
+                android:id="@+id/btnChooseTask"
+                android:layout_width="match_parent"
+                android:layout_height="@dimen/dp_132"
+                android:background="@drawable/routing_click_btn_bg"
+                android:gravity="center"
+                android:text="@string/routing_verify_btn_choose_task"
+                android:textColor="#FFFFFF"
+                android:textSize="@dimen/dp_44"
+                app:layout_constraintBottom_toBottomOf="parent"
+                tools:visibility="gone" />
+
+            <androidx.appcompat.widget.AppCompatTextView
+                android:id="@+id/btnStartTask"
+                android:layout_width="match_parent"
+                android:layout_height="@dimen/dp_132"
+                android:background="@drawable/routing_click_btn_bg"
+                android:gravity="center"
+                android:text="@string/routing_verify_btn_start_task"
+                android:textColor="#FFFFFF"
+                android:textSize="@dimen/dp_44"
+                app:layout_constraintBottom_toBottomOf="parent"
+                tools:visibility="gone" />
+
+            <TextView
+                android:id="@+id/btnFinishTask"
+                android:layout_width="0dp"
+                android:layout_height="@dimen/dp_116"
+                android:layout_weight="1"
+                android:background="@drawable/routing_btn_bg_finish_task"
+                android:gravity="center"
+                android:text="结束任务"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_44"
+                android:visibility="visible"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintWidth_percent="0.55" />
+
+            <TextView
+                android:id="@+id/btnSummitIssue"
+                android:layout_width="0dp"
+                android:layout_height="@dimen/dp_116"
+                android:layout_weight="1"
+                android:background="@drawable/routing_btn_bg_submit_issue"
+                android:gravity="center"
+                android:text="问题打点"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_44"
+                android:visibility="visible"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintEnd_toEndOf="parent"
+                app:layout_constraintWidth_percent="0.55" />
+
+            <androidx.constraintlayout.widget.Group
+                android:id="@+id/finishSubmitIssueGroup"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:visibility="visible"
+                app:constraint_referenced_ids="btnFinishTask,btnSummitIssue"
+                tools:visibility="visible" />
+        </androidx.constraintlayout.widget.ConstraintLayout>
+
+        <androidx.constraintlayout.widget.ConstraintLayout
+            android:id="@+id/mCurrentTaskLayout"
+            android:layout_width="@dimen/module_och_taxi_panel_width"
+            android:layout_height="0dp"
+            android:visibility="gone"
+            app:layout_constraintBottom_toTopOf="@+id/bottomBtnContainer"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toRightOf="parent"
+            app:layout_constraintTop_toTopOf="parent">
+
+            <androidx.appcompat.widget.AppCompatTextView
+                android:id="@+id/taskHintTextView"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="@dimen/dp_40"
+                android:layout_marginTop="@dimen/dp_54"
+                android:text="当前任务"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_34"
+                app:layout_constraintLeft_toLeftOf="parent"
+                app:layout_constraintTop_toTopOf="parent" />
+
+            <androidx.appcompat.widget.AppCompatTextView
+                android:id="@+id/startStationTag"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="@dimen/dp_78"
+                android:layout_marginTop="@dimen/dp_30"
+                android:text="上车:"
+                android:textColor="@color/station_tag_color"
+                android:textSize="@dimen/dp_32"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toBottomOf="@+id/taskHintTextView"
+                app:layout_goneMarginTop="@dimen/dp_68" />
+
+            <com.mogo.och.common.module.wigets.MarqueeTextView
+                android:id="@+id/startStationName"
+                android:layout_width="@dimen/dp_366"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="@dimen/dp_12"
+                android:ellipsize="marquee"
+                android:marqueeRepeatLimit="marquee_forever"
+                android:singleLine="true"
+                android:text="始发站"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_44"
+                app:layout_constraintLeft_toLeftOf="@+id/startStationTag"
+                app:layout_constraintTop_toBottomOf="@+id/startStationTag" />
+
+            <androidx.appcompat.widget.AppCompatImageView
+                android:id="@+id/naviToStart"
+                android:layout_width="@dimen/dp_48"
+                android:layout_height="@dimen/dp_48"
+                android:layout_marginEnd="@dimen/dp_40"
+                android:src="@drawable/taxi_navi_icon"
+                app:layout_constraintBottom_toBottomOf="@id/startStationName"
+                app:layout_constraintRight_toRightOf="parent"
+                app:layout_constraintTop_toTopOf="@+id/startStationName"
+                app:layout_goneMarginEnd="@dimen/dp_40" />
+
+            <androidx.appcompat.widget.AppCompatImageView
+                android:id="@+id/naviToEnd"
+                android:layout_width="@dimen/dp_48"
+                android:layout_height="@dimen/dp_48"
+                android:layout_marginEnd="@dimen/dp_40"
+                android:src="@drawable/taxi_navi_icon"
+                app:layout_constraintBottom_toBottomOf="@id/endStationName"
+                app:layout_constraintRight_toRightOf="parent"
+                app:layout_constraintTop_toTopOf="@+id/endStationName"
+                app:layout_goneMarginEnd="@dimen/dp_40" />
+
+            <androidx.appcompat.widget.AppCompatTextView
+                android:id="@+id/endStationTag"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="@dimen/dp_52"
+                android:text="下车:"
+                android:textColor="@color/station_tag_color"
+                android:textSize="@dimen/dp_32"
+                app:layout_constraintStart_toStartOf="@+id/startStationTag"
+                app:layout_constraintTop_toBottomOf="@+id/startStationName" />
+
+            <com.mogo.och.common.module.wigets.MarqueeTextView
+                android:id="@+id/endStationName"
+                android:layout_width="@dimen/dp_366"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="@dimen/dp_12"
+                android:ellipsize="marquee"
+                android:marqueeRepeatLimit="marquee_forever"
+                android:singleLine="true"
+                android:text="终点站"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_44"
+                app:layout_constraintLeft_toLeftOf="@+id/startStationTag"
+                app:layout_constraintTop_toBottomOf="@+id/endStationTag" />
+
+            <androidx.appcompat.widget.AppCompatImageView
+                android:id="@+id/startPoint"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:src="@drawable/taxi_driver_circle_green_big"
+                app:layout_constraintBottom_toBottomOf="@+id/startStationName"
+                app:layout_constraintLeft_toLeftOf="@+id/taskHintTextView"
+                app:layout_constraintTop_toTopOf="@+id/startStationName" />
+
+            <androidx.appcompat.widget.AppCompatImageView
+                android:id="@+id/taper"
+                android:layout_width="wrap_content"
+                android:layout_height="0dp"
+                android:scaleType="fitXY"
+                android:src="@drawable/taxi_grab_dot_line"
+                app:layout_constraintBottom_toTopOf="@+id/endPoint"
+                app:layout_constraintLeft_toLeftOf="@+id/startPoint"
+                app:layout_constraintRight_toRightOf="@+id/startPoint"
+                app:layout_constraintTop_toBottomOf="@+id/startPoint" />
+
+            <androidx.appcompat.widget.AppCompatImageView
+                android:id="@+id/endPoint"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:src="@drawable/taxi_driver_circle_blue_big"
+                app:layout_constraintBottom_toBottomOf="@+id/endStationName"
+                app:layout_constraintLeft_toLeftOf="@+id/taskHintTextView"
+                app:layout_constraintTop_toTopOf="@+id/endStationName" />
+
+            <androidx.appcompat.widget.AppCompatTextView
+                android:id="@+id/taskTripInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="@dimen/dp_30"
+                android:layout_marginBottom="36dp"
+                android:text="距离 -- 公里, 用时 -- 分钟"
+                android:textColor="@color/station_tag_color"
+                android:textSize="@dimen/dp_30"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintLeft_toLeftOf="@+id/endPoint"
+                app:layout_constraintTop_toBottomOf="@+id/endStationName" />
+        </androidx.constraintlayout.widget.ConstraintLayout>
+
+        <include
+            android:id="@+id/noDataContainer"
+            layout="@layout/routing_no_data_common_view"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:visibility="visible"
+            app:layout_constraintBottom_toTopOf="@+id/bottomBtnContainer"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toRightOf="parent"
+            app:layout_constraintTop_toTopOf="parent" />
+    </androidx.constraintlayout.widget.ConstraintLayout>
+</androidx.constraintlayout.widget.ConstraintLayout>
+

OCH/taxi/unmanned-driver/src/main/res/layout/routing_no_data_common_view.xml

@@ -0,0 +1,33 @@
+<?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"
+    android:id="@+id/noDataContainer"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    app:layout_constraintBottom_toTopOf="@+id/bottomBtnContainer"
+    app:layout_constraintLeft_toLeftOf="parent"
+    app:layout_constraintRight_toRightOf="parent"
+    app:layout_constraintTop_toTopOf="parent">
+
+    <ImageView
+        android:id="@+id/no_routing_data_iv"
+        android:layout_width="@dimen/dp_386"
+        android:layout_height="@dimen/dp_350"
+        android:src="@drawable/no_order_data"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/noRoutingTaskDataTv"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="50dp"
+        android:text="暂无任务"
+        android:textColor="#91A1EA"
+        android:textSize="@dimen/dp_30"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/no_routing_data_iv" />
+</androidx.constraintlayout.widget.ConstraintLayout>

OCH/taxi/unmanned-driver/src/main/res/layout/taxi_base_fragment.xml

@@ -232,7 +232,7 @@
         android:layout_height="102dp"
         android:layout_marginLeft="48dp"
         android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
-        android:background="@drawable/taxi_operation_status_bg"
+        android:background="@drawable/taxi_operation_status_bg_selector_new"
         android:drawableLeft="@drawable/shape_size_operation_out"
         android:drawablePadding="10dp"
         android:elevation="@dimen/dp_10"

OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml

@@ -1,13 +1,23 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:id="@+id/orderDebugContainer"
-    android:layout_width="wrap_content"
+    android:layout_width="match_parent"
     android:layout_height="wrap_content"
     android:orientation="vertical">
 
-    <RelativeLayout
+    <TextView
+        android:id="@+id/currentBusinessModeTextView"
         android:layout_width="wrap_content"
-        android:layout_height="wrap_content">
+        android:layout_height="wrap_content"
+        android:text="当前业务模式："
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/dp_24" />
+
+    <RelativeLayout
+        android:id="@+id/unmanedTaskOrderContainer"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_10">
 
         <LinearLayout
             android:id="@+id/btnContainer"
@@ -77,6 +87,7 @@
         </LinearLayout>
 
         <LinearLayout
+            android:id="@+id/unmanedTaskOrderInfoDetailContainer"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_alignParentStart="true"
@@ -199,6 +210,7 @@
     </RelativeLayout>
 
     <TextView
+        android:id="@+id/debugLogTitleTextView"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_10"

OCH/taxi/unmanned-driver/src/main/res/values/colors.xml

@@ -28,5 +28,10 @@
     <color name="station_tag_color">#CAD6FF</color>
     <color name="go_to_station_color">#00FFF8</color>
     <color name="task_click_btn_color">#1D5EF3</color>
-
+    <color name="routing_verify_click_btn_color">#1D5EF3</color>
+    <color name="routing_verify_click_btn_pressed_color">#801D5EF3</color>
+    <color name="routing_verify_choose_line_bg">#F7151D41</color>
+    <color name="routing_verify_choose_line">#2966EC</color>
+    <color name="taxi_color_ccb9c3e9">#CCB9C3E9</color>
+    <color name="taxi_color_4dffffff">#4Dffffff</color>
 </resources>

OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml

@@ -117,6 +117,9 @@
     <dimen name="taxi_traffic_light_time_size">60dp</dimen>
 
     <dimen name="taxi_passenger_txt_size">34dp</dimen>
-
     <dimen name="taxi_debug_view_width">1000dp</dimen>
+    <dimen name="taxi_routing_verify_view_height">934dp</dimen>
+    <dimen name="taxi_routing_choose_line_title">46dp</dimen>
+    <dimen name="taxi_choose_line_btn_margin_b">50dp</dimen>
+
 </resources>

OCH/taxi/unmanned-driver/src/main/res/values/strings.xml

@@ -60,5 +60,19 @@
 
     <string name="view_data">查看</string>
 
+    <string name="routing_verify_btn_choose_task">选择任务</string>
+    <string name="routing_verify_btn_start_task">开始任务</string>
+    <string name="routing_verify_choose_line_title">任务列表</string>
+    <string name="routing_verify_choose_line_btn_txt">确认</string>
+    <string name="routing_verify_choose_line_no_task">暂无任务</string>
+    <string name="routing_verify_choose_line_select_task">选择时间</string>
+    <string name="routing_verify_choose_line_name">路线: </string>
+    <string name="routing_verify_choose_line_start">起点: </string>
+    <string name="routing_verify_choose_line_end">终点:</string>
+    <string name="routing_verify_line_item_goto_end">往%1$s方向</string>
+    <string name="routing_feedback_result_btn_sure">线路可用</string>
+    <string name="routing_feedback_result_btn_not_sure">线路不可用</string>
+    <string name="routing_feedback_result_hint">路线验证结束啦！点击下方按钮反馈验证结果吧</string>
+
     <!-- endregion   -->
 </resources>

OCH/taxi/unmanned-driver/src/main/res/values/styles.xml

@@ -23,4 +23,25 @@
     <style name="och_speed_style2">
         <item name="android:textSize">32dp</item>
     </style>
+
+    <style name="RoutingChooseLineDialogStyle" parent="Theme.AppCompat.Dialog">
+        <item name="theme">@android:style/Theme.Translucent</item>
+        <!--是否去除标题 -->
+        <item name="windowNoTitle">true</item>
+        <!-- 背景透明 -->
+        <item name="android:background">#00000000</item>
+        <item name="android:windowBackground">#00000000</item>
+        <!-- 没有windowActionBar-->
+        <item name="windowActionBar">false</item>
+        <item name="android:windowContentOverlay">@null</item>
+        <!-- 设置窗体外面允不允许点击-->
+        <item name="android:windowCloseOnTouchOutside">true</item>
+        <item name="android:windowFullscreen">true</item>
+        <item name="android:windowIsFloating">true</item>
+        <item name="android:windowIsTranslucent">true</item>
+        <item name="android:windowNoTitle">true</item>
+        <item name="android:windowFrame">@null</item>
+        <item name="android:windowAnimationStyle">@android:style/Animation.Translucent</item>
+        <item name="android:backgroundDimEnabled">false</item>
+    </style>
 </resources>

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

@@ -2,30 +2,32 @@ package com.mogo.eagle.core.function.hmi.ui
 
 import android.content.Context
 import android.text.TextUtils
-import android.view.*
+import android.view.Gravity
+import android.view.ViewGroup
 import androidx.lifecycle.ProcessLifecycleOwner
 import androidx.lifecycle.lifecycleScope
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.voice.AIAssist
-import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
+import com.mogo.eagle.core.data.biz.dispatch.DispatchAdasAutoPilotLocReceiverBean
+import com.mogo.eagle.core.data.biz.notice.NoticeNormalData
+import com.mogo.eagle.core.data.biz.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_FRAGMENT_HMI
+import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_RTS
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
-import com.mogo.eagle.core.data.biz.dispatch.DispatchAdasAutoPilotLocReceiverBean
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.map.Infrastructure
-import com.mogo.eagle.core.data.biz.notice.NoticeNormalData
-import com.mogo.eagle.core.data.biz.notice.NoticeTrafficStylePushData
-import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.mogo.eagle.core.function.call.hmi.*
+import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTurnLightListenerManager
 import com.mogo.eagle.core.function.hmi.ui.camera.RoadVideoDialog
-import com.mogo.eagle.core.function.hmi.ui.lookaround.*
+import com.mogo.eagle.core.function.hmi.ui.lookaround.M1LookAroundView
 import com.mogo.eagle.core.function.hmi.ui.notice.DispatchDialogManager
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeCheckDialog
 import com.mogo.eagle.core.function.hmi.ui.notice.traffic.NoticeTrafficDialog
@@ -38,15 +40,18 @@ import com.mogo.eagle.core.function.hmi.ui.tools.ToBindingCarDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.UpgradeAppDialog
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog
 import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
-import com.mogo.eagle.core.utilcode.floating.*
+import com.mogo.eagle.core.utilcode.floating.MoGoPopWindow
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
 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.scene.SceneConstant.Companion.M_HMI
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.AppStateManager
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.tts.base.IMogoTTSCallback
 import com.zhjt.service_biz.BizConfig
-import kotlinx.coroutines.*
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
 import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicReference
 
@@ -233,6 +238,10 @@ class MoGoHmiProvider : IMoGoHmiProvider {
         toolsView.dismiss()
     }
 
+    override fun hideSOPSettingView() {
+        toolsView.hideSOPSettingView()
+    }
+
     @BizConfig(V2I, "", BIZ_RTS)
     override fun showVideoDialog(infList: List<Infrastructure>) {
         ThreadUtils.runOnUiThread {
@@ -352,4 +361,24 @@ class MoGoHmiProvider : IMoGoHmiProvider {
         CallerTurnLightListenerManager.invokeHideTurnLightView()
     }
 
+    override fun isTaxiUnmanedDriverPerformTask(): Boolean {
+        return MogoStatusManager.getInstance().isTaxiUnmanedDriverPerformTask
+    }
+
+    override fun isTaxiUnmanedDriverTakingOrders(): Boolean {
+        return MogoStatusManager.getInstance().isTaxiUnmanedDriverTakingOrders
+    }
+
+    override fun isTaxiUnmanedDriverLineRoutingPerformTask(): Boolean {
+        return MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingPerformTask
+    }
+
+    override fun isTaxiUnmanedDriverLineRoutingVerifyMode(): Boolean {
+        return MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode
+    }
+
+    override fun setTaxiUnmanedDriverLineRoutingVerifyMode(isMode: Boolean) {
+        MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingVerifyMode(TAG, isMode)
+    }
+
 }

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

@@ -61,6 +61,7 @@ import kotlinx.android.synthetic.main.view_sop_setting.view.scDrawPointCloudData
 import kotlinx.android.synthetic.main.view_sop_setting.view.scFaultSlowDown
 import kotlinx.android.synthetic.main.view_sop_setting.view.scGreenWaveSop
 import kotlinx.android.synthetic.main.view_sop_setting.view.scIPCReport
+import kotlinx.android.synthetic.main.view_sop_setting.view.scLineRoutingVerify
 import kotlinx.android.synthetic.main.view_sop_setting.view.scMarkingObstacles
 import kotlinx.android.synthetic.main.view_sop_setting.view.scNew360LookAround
 import kotlinx.android.synthetic.main.view_sop_setting.view.scNewV2NData
@@ -602,6 +603,41 @@ internal class SOPSettingView @JvmOverloads constructor(
             }
         }
 
+        // Taxi无人化司机端，自主算路验证模式
+        scLineRoutingVerify?.also {
+            if (AppIdentityModeUtils.isTaxiDriver(FunctionBuildConfig.appIdentityMode)) {
+                it.isEnabled = true
+                it.visibility = View.VISIBLE
+                it.setOnCheckedChangeListener { buttonView, isChecked ->
+                    if(!buttonView.isPressed) return@setOnCheckedChangeListener
+                    if (isChecked) {
+                        if (CallerHmiManager.isTaxiUnmanedDriverPerformTask()) {
+                            ToastUtils.showLong("请先结束当前任务")
+                            buttonView.isChecked = !isChecked
+                            return@setOnCheckedChangeListener
+                        }
+                        if (CallerHmiManager.isTaxiUnmanedDriverTakingOrders()) {
+                            ToastUtils.showLong("请先结束接单状态")
+                            buttonView.isChecked = !isChecked
+                            return@setOnCheckedChangeListener
+                        }
+                        CallerHmiManager.setTaxiUnmanedDriverLineRoutingVerifyMode(true)
+                    } else {
+                        if (CallerHmiManager.isTaxiUnmanedDriverLineRoutingPerformTask()) {
+                            ToastUtils.showLong("请先结束当前任务")
+                            buttonView.isChecked = !isChecked
+                            return@setOnCheckedChangeListener
+                        }
+                        CallerHmiManager.setTaxiUnmanedDriverLineRoutingVerifyMode(false)
+                    }
+                }
+                it.isChecked = CallerHmiManager.isTaxiUnmanedDriverLineRoutingVerifyMode()
+            } else {
+                it.isEnabled = false
+                it.visibility = View.GONE
+            }
+        }
+
         //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 ->

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

@@ -6,11 +6,9 @@ import android.view.Gravity
 import android.view.View
 import android.view.WindowManager
 import android.view.animation.OvershootInterpolator
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.SidePattern
 import com.mogo.eagle.core.function.hmi.notification.WarningFloat
 import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import me.jessyan.autosize.utils.AutoSizeUtils
 
 class SopView private constructor(){
@@ -77,4 +75,12 @@ class SopView private constructor(){
             }
         }
     }
+
+    fun dismiss() {
+        if (mSOPSettingViewFloat != null) {
+            WarningFloat.dismiss(mSOPSettingViewFloat!!.config.floatTag, false)
+            mSOPSettingViewFloat = null
+            mSOPSettingView = null
+        }
+    }
 }

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

@@ -123,4 +123,8 @@ class ToolsView private constructor() {
         dismissToolsFloatView()
     }
 
+    fun hideSOPSettingView() {
+        sopView?.dismiss()
+    }
+
 }

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

@@ -534,6 +534,7 @@
                     app:layout_constraintLeft_toLeftOf="@id/otherGuideLine"
                     app:layout_constraintRight_toRightOf="parent"
                     app:layout_constraintTop_toBottomOf="@id/scSpeedLimit" />
+
                 <!--是否展示被动录包弹窗-->
                 <androidx.appcompat.widget.SwitchCompat
                     android:id="@+id/scShowBagRecordWindow"
@@ -547,6 +548,7 @@
                     app:layout_constraintLeft_toLeftOf="parent"
                     app:layout_constraintRight_toRightOf="@id/otherGuideLine"
                     app:layout_constraintTop_toBottomOf="@id/scIPCReport" />
+
                 <!--清扫和业务模式切换开关（开-云控，关-运营）-->
                 <androidx.appcompat.widget.SwitchCompat
                     android:id="@+id/scSweeperModeSwitch"
@@ -555,12 +557,25 @@
                     app:layout_constraintLeft_toRightOf="@id/otherGuideLine"
                     app:layout_constraintRight_toRightOf="parent"
                     app:layout_constraintTop_toBottomOf="@id/scNew360LookAround"
-                    app:layout_constraintBottom_toBottomOf="parent"
                     android:text="清扫云控业务"
                     android:scaleY="1.2"
                     android:scaleX="1.2"
                     android:layout_marginTop="@dimen/dp_25"
                     android:layout_marginBottom="@dimen/dp_10"/>
+
+                <!--自主算路验证模式-->
+                <androidx.appcompat.widget.SwitchCompat
+                    android:id="@+id/scLineRoutingVerify"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_marginTop="@dimen/dp_25"
+                    android:scaleX="1.2"
+                    android:scaleY="1.2"
+                    android:text="自主算路验证模式"
+                    app:layout_constraintLeft_toRightOf="@id/otherGuideLine"
+                    app:layout_constraintRight_toRightOf="parent"
+                    app:layout_constraintTop_toBottomOf="@id/scNew360LookAround" />
+
                 <TextView
                     android:id="@+id/tvPullTimeTitle"
                     android:layout_width="wrap_content"
@@ -571,9 +586,7 @@
                     android:textColor="@color/black"
                     android:textSize="32dp"
                     app:layout_constraintStart_toStartOf="parent"
-                    app:layout_constraintTop_toBottomOf="@id/scSweeperModeSwitch" />
-                    />
-
+                    app:layout_constraintTop_toBottomOf="@id/scLineRoutingVerify" />
 
                 <RadioGroup
                     android:id="@+id/rgPullTime"

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt

@@ -66,6 +66,11 @@ interface IMoGoHmiProvider :IProvider{
      */
     fun hideToolsView()
 
+    /**
+     * 关闭运营面板
+     */
+    fun hideSOPSettingView()
+
     /**
      * 展示绑定车辆弹框
      */
@@ -169,4 +174,30 @@ interface IMoGoHmiProvider :IProvider{
      * 隐藏转向灯
      */
     fun hideTurnLightView()
+
+    /**
+     * taxi无人化 是否在执行任务中(无人化模式和算路验证模式 都复用此变量)
+     */
+    fun isTaxiUnmanedDriverPerformTask(): Boolean
+
+    /**
+     * taxi无人化司机端 是否在接单中
+     */
+    fun isTaxiUnmanedDriverTakingOrders(): Boolean
+
+    /**
+     * taxi自主算路验证 是否在执行任务中
+     */
+    fun isTaxiUnmanedDriverLineRoutingPerformTask(): Boolean
+
+    /**
+     * taxi无人化司机端 是否自主算路验证模式
+     */
+    fun isTaxiUnmanedDriverLineRoutingVerifyMode(): Boolean
+
+    /**
+     * taxi无人化司机端 设置是否自主算路验证模式
+     */
+    fun setTaxiUnmanedDriverLineRoutingVerifyMode(isMode: Boolean)
+
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt

@@ -3,14 +3,14 @@ package com.mogo.eagle.core.function.call.hmi
 import android.content.Context
 import android.view.ViewGroup
 import com.alibaba.android.arouter.launcher.ARouter
-import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
-import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.biz.dispatch.DispatchAdasAutoPilotLocReceiverBean
-import com.mogo.eagle.core.data.enums.WarningDirectionEnum
-import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.data.biz.notice.NoticeNormalData
 import com.mogo.eagle.core.data.biz.notice.NoticeTrafficStylePushData
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
+import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum.ALERT_WARNING_NON
+import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 
@@ -104,6 +104,13 @@ object CallerHmiManager {
         hmiProviderApi?.hideToolsView()
     }
 
+    /**
+     * 关闭运营面板
+     */
+    fun hideSOPSettingView() {
+        hmiProviderApi?.hideSOPSettingView()
+    }
+
     /**
      * 展示绑定车辆弹框
      */
@@ -252,4 +259,39 @@ object CallerHmiManager {
         hmiProviderApi?.hideTurnLightView()
     }
 
+    /**
+     * taxi无人化司机端 是否在执行任务中(无人化模式和算路验证模式 都复用此变量)
+     */
+    fun isTaxiUnmanedDriverPerformTask() :Boolean {
+        return hmiProviderApi?.isTaxiUnmanedDriverPerformTask() ?: false
+    }
+
+    /**
+     * taxi无人化司机端 是否在接单中
+     */
+    fun isTaxiUnmanedDriverTakingOrders() :Boolean {
+        return hmiProviderApi?.isTaxiUnmanedDriverTakingOrders() ?: false
+    }
+
+    /**
+     * taxi自主算路验证 是否在执行任务中
+     */
+    fun isTaxiUnmanedDriverLineRoutingPerformTask() :Boolean {
+        return hmiProviderApi?.isTaxiUnmanedDriverLineRoutingPerformTask() ?: false
+    }
+
+    /**
+     * taxi无人化司机端 是否自主算路验证模式
+     */
+    fun isTaxiUnmanedDriverLineRoutingVerifyMode() :Boolean {
+        return hmiProviderApi?.isTaxiUnmanedDriverLineRoutingVerifyMode() ?: false
+    }
+
+    /**
+     * taxi无人化司机端 设置是否自主算路验证模式
+     */
+    fun setTaxiUnmanedDriverLineRoutingVerifyMode(isMode: Boolean) {
+         hmiProviderApi?.setTaxiUnmanedDriverLineRoutingVerifyMode(isMode)
+    }
+
 }

foudations/mogo-commons/src/main/java/com/mogo/commons/module/status/IMogoStatusManager.java

@@ -110,6 +110,46 @@ public interface IMogoStatusManager extends IProvider {
      */
     void setSeekHelping( String tag, boolean seekHelping );
 
+    /**
+     * taxi无人化司机端 是否在执行任务中
+     *
+     * @param tag
+     * @param isPerformingTask
+     */
+    void setTaxiUnmanedDriverPerformTask( String tag, boolean isPerformingTask );
+
+    boolean isTaxiUnmanedDriverPerformTask();
+
+    /**
+     * taxi无人化司机端 是否在接单中
+     *
+     * @param tag
+     * @param isTakingOrders
+     */
+    void setTaxiUnmanedDriverTakingOrders( String tag, boolean isTakingOrders );
+
+    boolean isTaxiUnmanedDriverTakingOrders();
+
+    /**
+     * taxi自主算路验证 是否在执行任务中
+     *
+     * @param tag
+     * @param isPerformTask
+     */
+    void setTaxiUnmanedDriverLineRoutingPerformTask( String tag, boolean isPerformTask );
+
+    boolean isTaxiUnmanedDriverLineRoutingPerformTask();
+
+    /**
+     * taxi无人化司机端 是否是在自主算路验证模式
+     *
+     * @param tag
+     * @param isLineRoutingVerifyMode
+     */
+    void setTaxiUnmanedDriverLineRoutingVerifyMode( String tag, boolean isLineRoutingVerifyMode );
+
+    boolean isTaxiUnmanedDriverLineRoutingVerifyMode();
+
     /**
      * 注册监听
      *

foudations/mogo-commons/src/main/java/com/mogo/commons/module/status/MogoStatusManager.java

@@ -117,6 +117,46 @@ public class MogoStatusManager implements IMogoStatusManager {
         doSetStatus(tag, StatusDescriptor.SEEK_HELPING, seekHelping);
     }
 
+    @Override
+    public void setTaxiUnmanedDriverPerformTask(String tag, boolean isPerformingTask) {
+        doSetStatus(tag, StatusDescriptor.TAXI_UNMANED_DRIVER_PERFORM_TASK, isPerformingTask);
+    }
+
+    @Override
+    public boolean isTaxiUnmanedDriverPerformTask() {
+        return get_bool_val(StatusDescriptor.TAXI_UNMANED_DRIVER_PERFORM_TASK);
+    }
+
+    @Override
+    public void setTaxiUnmanedDriverTakingOrders(String tag, boolean isTakingOrders) {
+        doSetStatus(tag, StatusDescriptor.TAXI_UNMANED_DRIVER_TAKING_ORDERS, isTakingOrders);
+    }
+
+    @Override
+    public boolean isTaxiUnmanedDriverTakingOrders() {
+        return get_bool_val(StatusDescriptor.TAXI_UNMANED_DRIVER_TAKING_ORDERS);
+    }
+
+    @Override
+    public void setTaxiUnmanedDriverLineRoutingPerformTask(String tag, boolean isPerformTask) {
+        doSetStatus(tag, StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_PERFORM_TASK, isPerformTask);
+    }
+
+    @Override
+    public boolean isTaxiUnmanedDriverLineRoutingPerformTask() {
+        return get_bool_val(StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_PERFORM_TASK);
+    }
+
+    @Override
+    public void setTaxiUnmanedDriverLineRoutingVerifyMode(String tag, boolean isLineRoutingVerifyMode) {
+        doSetStatus(tag, StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE, isLineRoutingVerifyMode);
+    }
+
+    @Override
+    public boolean isTaxiUnmanedDriverLineRoutingVerifyMode() {
+        return get_bool_val(StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE);
+    }
+
     private void doSetStatus(String tag, StatusDescriptor target, boolean value) {
         mStatus.put(target, value);
         invokeStatusChangedListener(target, value);

foudations/mogo-commons/src/main/java/com/mogo/commons/module/status/StatusDescriptor.java

@@ -46,6 +46,26 @@ public enum StatusDescriptor {
     /**
      * 压屏状态
      */
-    SCREEN_COVER
+    SCREEN_COVER,
+
+    /**
+     * taxi无人化 是否执行任务中
+     */
+    TAXI_UNMANED_DRIVER_PERFORM_TASK,
+
+    /**
+     * taxi无人化 是否接单状态中
+     */
+    TAXI_UNMANED_DRIVER_TAKING_ORDERS,
+
+    /**
+     * taxi自主算路验证 是否执行任务中
+     */
+    TAXI_UNMANED_DRIVER_LINE_ROUTING_PERFORM_TASK,
+
+    /**
+     * taxi无人化 是否在自主算路验证模式
+     */
+    TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE
 
 }

gradle.properties

@@ -90,8 +90,8 @@ WEBSOCKET_VERSION=1.1.7
 applicationId=com.mogo.launcer
 applicationName=IntelligentPilot
 # RoboBus司机端：2.5.1；RoboTaxi司机端：2.5.1；RoboTaxi乘客端：1.0.0
-versionCode=6001000
-versionName=6.1.2
+versionCode=6002002
+versionName=6.2.2
 
 ################# 新架构模块Maven版本管理 #################
 MOGO_CORE_FUNCTION_HMI_VERSION=0.0.58.10
@@ -163,7 +163,7 @@ TAXI_DRIVER_VERSION=6.2.0
 TAXI_PASSENGER_VERSION=5.2.0
 
 # 出租车模式司机端版本号
-TAXIUNMANNED_DRIVER_VERSION=6.2.0
+TAXIUNMANNED_DRIVER_VERSION=6.2.2
 # 出租车模式乘客端端版本号
 TAXIUNMANNED_PASSENGER_VERSION=5.2.0