Merge branch 'dev_arch_opt_3.0' into dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0

# Conflicts:
#	core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
#	libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/obu/V2xObuEventManager.kt

@@ -13,7 +13,6 @@ import com.mogo.eagle.core.function.call.obu.CallerObuSaveMessageListenerManager
  * 处理obu分发出来，在消息盒子展示的消息
  */
 object V2xObuEventManager : IMoGoObuSaveMessageListener {
-
     private const val TAG = "V2xObuEventManager"
 
     fun init(context: Context) {
@@ -33,7 +32,7 @@ object V2xObuEventManager : IMoGoObuSaveMessageListener {
      * @param content 事件内容
      * @param tts 事件语音播报
      */
-    override fun onMoGoObuSaveMessage(type: String, content: String, tts: String) {
+    override fun onMoGoObuSaveMessage(type: String, content: String, tts: String, source: DataSourceType) {
         CallerMsgBoxManager.saveMsgBox(
             MsgBoxBean(
                 MsgBoxType.V2X,
@@ -43,7 +42,7 @@ object V2xObuEventManager : IMoGoObuSaveMessageListener {
                     tts
                 )
             ).apply {
-                sourceType = DataSourceType.OBU
+                sourceType = source
             }
         )
     }

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

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.datacenter.autopilot
 
 import android.Manifest.permission
 import android.content.Context
-import android.util.Log
 import androidx.annotation.RequiresPermission
 import chassis.SpecialVehicleTaskCmdOuterClass
 import com.alibaba.android.arouter.facade.annotation.Route
@@ -737,4 +736,37 @@ class MoGoAutopilotControlProvider :
                 MessageType.TYPE_RECEIVE_POINT_CLOUD)
         }
     }
+
+    override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1AirConditionerCmd(
+        switchCmd: Int,
+        modeCmd: Int,
+        windSpeedCmd: Int,
+        temperatureCmd: Int
+    ): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd)
+    }
+
+    override fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1HeaderCmd(switchCmd, windSpeedCmd)
+    }
+
+    override fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1MainLamp1Cmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1MainLamp2Cmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1SmallLampCmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd)
+    }
 }

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

@@ -173,7 +173,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
             //方向盘转向角数据
             CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
-            //挂挡档位数据
+            //挂档档位数据
             CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
             //加速度
             CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
@@ -237,7 +237,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
             }
             chassisStates.gearSystemStates?.let { gearSystemStates ->
                 gearSystemStates.gearPosition?.let {
-                    //挂挡档位数据
+                    //挂档档位数据
                     CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
                 }
             }

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

@@ -16,19 +16,16 @@ import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningSpatListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
+import com.mogo.eagle.core.function.call.obu.*
-import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
 import com.mogo.support.obu.ObuScene
 import com.mogo.support.obu.constants.MogoObuConstants
 import kotlin.math.roundToInt
 
-
 /**
  *
  * @author lixiaopeng
@@ -78,7 +75,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
         onMogoObuMapMath(mapMatchData)
     }
 
-
     /**
      * RSI预警信息 CvxRtiThreatIndInfo（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
      */
@@ -140,9 +136,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                 //车内标牌
                 MogoObuConstants.RSI_SCENE_TYPE.IVS.toString() -> {
                     when (rsiWarningData.warningMsgList[0].signSerialNum) {
-//                            MogoObuConstants.RTS.RTI_TYPE_INTERSECTION -> { //十字路口
-//                                appId = V2iEventTypeEnum.TYPE_ID_NTERSECTION.poiType
-//                            }
                         MogoObuConstants.RTS.RTI_TYPE_SHAPR_TURNS -> { //急转弯
                             appId = EventTypeEnumNew.TYPE_ID_SHAPR_TURNS.poiType
                         }
@@ -191,10 +184,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                         MogoObuConstants.RTS.RTI_TYPE_SPEED_LIMIT -> { //限速
                             appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_SPEED_LIMIT.poiType
                         }
-//                            MogoObuConstants.RTS.RTI_TYPE_GO_STRAIGHT_TURN_RIGHT -> { //直行或右转
-//                                appId =
-//                                    EventTypeEnumNew.TYPE_USECASE_ID_GO_STRAIGHT_TURN_RIGHT.poiType
-//                            }
                         MogoObuConstants.RTS.RTI_TYPE_BUS_WARNING -> { //公交提醒
                             appId = EventTypeEnumNew.TYPE_USECASE_ID_BUS_WARNING.poiType
                         }
@@ -258,11 +247,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                 MogoObuConstants.STATUS.ADD -> {
                     saveObuToDcData(appId, alertContent, ttsContent)
                     showWarning(appId, alertContent, ttsContent, direction)
-                    // 更新数据，是否需要
-//                    TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)?.let {
-//                        CallerMapUIServiceManager.getMarkerService()
-//                            ?.updateITrafficThreatLevelInfo(it)
-//                    }
                 }
 
                 MogoObuConstants.STATUS.UPDATE -> { // 更新
@@ -272,14 +256,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                 MogoObuConstants.STATUS.DELETE -> {
                     // 关闭警告红边
                     CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_NON)
-                    // 更新数据，删除标牌？
-//                    TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)
-//                        ?.let {
-//                            // 事件结束，还原车辆颜色
-//                            it.threatLevel = 0x01
-//                            CallerMapUIServiceManager.getMarkerService()
-//                                ?.updateITrafficInfo(it)
-//                        }
                 }
             }
         }
@@ -296,25 +272,55 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             )
             // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
             if (rsmWarningData != null && rsmWarningData.participant != null) {
-                var v2xType = ""
+                var v2xType = when (rsmWarningData.participant.ptcType) {
-                if (rsmWarningData.participant.ptcType == 1) { //机动车
+                    1 -> { //机动车
-                    v2xType =
                         EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
-                } else if (rsmWarningData.participant.ptcType == 2) { //非机动车
+                    }
-                    v2xType =
+                    2 -> { //非机动车
                         EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
-                } else if (rsmWarningData.participant.ptcType == 3) { //行人
+                    }
-                    v2xType =
+                    3 -> { //行人
                         EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
-                } else { //未知
+                    }
-                    v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
+                    else -> { //未知
+                        EventTypeEnumNew.TYPE_ERROR.poiType
+                    }
                 }
                 val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
                 val alertContent =
                     EventTypeEnumNew.getWarningContent(v2xType)
                 var level = -1
-                val direction =
+                val direction = getMessageDirection(rsmWarningData.participant.targetPosition)
-                    getMessageDirection(rsmWarningData.participant.targetPosition) //TODO 只有一个
+                //模型的显示
+                when (rsmWarningData.status) {
+                    MogoObuConstants.STATUS.ADD -> { // 添加
+                        // 更新数据，模型变色的时候是不是update,如果不是更新，可能导致模型不变色，（add的时候，是否有level高的） TODO
+                        TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
+                            ?.let {
+                                CallerMapUIServiceManager.getMarkerService()
+                                    ?.updateITrafficThreatLevelInfo(it)
+                            }
+                    }
+
+                    MogoObuConstants.STATUS.UPDATE -> { // 更新
+                    }
+
+                    MogoObuConstants.STATUS.DELETE -> { // 删除
+                        // 更新数据 TODO 删除原来的，改变颜色，删除marker。不影响别的模型添加
+                        TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
+                            ?.let {
+                                // 事件结束，还原交通参与者颜色
+                                it.threatLevel = 0x01
+                                CallerMapUIServiceManager.getMarkerService()
+                                    ?.updateITrafficThreatLevelInfo(it)
+                            }
+
+                        //删除弱势交通元素
+                        CallerMapUIServiceManager.getMarkerService()
+                            ?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
+                    }
+                }
+
                 if (rsmWarningData.warningMsg != null && rsmWarningData.warningMsg.warningDataList != null && rsmWarningData.warningMsg.warningDataList.size > 0) {
                     level = rsmWarningData.warningMsg.warningDataList[0].warningLevel
                     CallerLogger.d(
@@ -323,45 +329,36 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                             rsmWarningData.warningMsg.warningDataList[0].status
                         } --v2xType--- $v2xType ---alertContent = $alertContent ---ttsContent= $ttsContent"
                     )
-
                     when (rsmWarningData.warningMsg.warningDataList[0].status) {
                         MogoObuConstants.STATUS.ADD -> { // 添加
+                            //更新模型的颜色
+                            TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
+                                ?.let {
+                                    CallerMapUIServiceManager.getMarkerService()
+                                        ?.updateITrafficThreatLevelInfo(it)
+                                }
+
+                            if (alertContent.isEmpty() || ttsContent.isEmpty()) {
+                                return
+                            }
                             saveObuToDcData(v2xType, alertContent, ttsContent)
                             showWarning(v2xType, alertContent, ttsContent, direction)
-
-                            // 更新数据 TODO
-//                            TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
-////                                    TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
-//                                CallerMapUIServiceManager.getMarkerService()
-//                                    ?.updateITrafficThreatLevelInfo(it)
-//                                }
                         }
 
                         MogoObuConstants.STATUS.UPDATE -> {// 更新
                         }
 
-                        // 删除
+                        MogoObuConstants.STATUS.DELETE -> { // 删除
-                        MogoObuConstants.STATUS.DELETE -> {
                             // 关闭警告红边
                             CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
-                            // 更新数据 TODO 由于obu通过域控需要转换单位，这里临时转换，后面3.0不需要转换
-//                            TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
-//                                    // 事件结束，还原交通参与者颜色
-//                                    it.threatLevel = 0x01
-////                                TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
-//                                CallerMapUIServiceManager.getMarkerService()
-//                                    ?.updateITrafficThreatLevelInfo(it)
-//                                }
                             //删除弱势交通元素
                             CallerMapUIServiceManager.getMarkerService()
                                 ?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
-//                            TrafficMarkerDrawer.removeCvxRvInfoIndInfo(rsmWarningData.participantOfOne.ptcID.toString())
                         }
                     }
                 }
             }
         }
-
     }
 
     /**
@@ -383,10 +380,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
      * 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
      */
     fun onMogoObuMapMath(data: ObuScene.MapMatchData?) {
-        CallerLogger.d(
-            "${M_OBU}${TAG}",
-            "MogoObuDcCombineManager  onMogoObuMapMath HmiBuildConfig.isShowObuLimitSpeedView = " + HmiBuildConfig.isShowObuLimitSpeedView
-        )
         if (HmiBuildConfig.isShowObuLimitSpeedView) {
             if (data != null) {
                 CallerLogger.d(
@@ -398,7 +391,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                     } --- data.speedMaxLimit = ${data.speedMaxLimit}"
                 )
                 when (data.status) {
-                    MogoObuConstants.STATUS.ADD -> { // 添加 TODO
+                    MogoObuConstants.STATUS.ADD -> { // 添加
                         CallerLimitingVelocityListenerManager.invokeUnion(
                             (data.speedMaxLimit * 0.02 * 3.6).roundToInt().toInt(),
                             DataSourceType.OBU
@@ -469,6 +462,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             MogoObuConstants.STATUS.DELETE -> {
                 // 移除顶部弹窗，当收不到信号的时候触发一次
                 CallerTrafficLightListenerManager.disableTrafficLight()
+                CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
                 isShowGreenWave = false
                 isShowRunRedLight = false
             }
@@ -598,18 +592,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
      * 保存obu通过工控机传输的数据到消息盒子
      */
     private fun saveObuToDcData(type: String, content: String, tts: String) {
-        CallerMsgBoxManager.saveMsgBox(
+        CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts, DataSourceType.TELEMATIC)
-            MsgBoxBean(
-                MsgBoxType.V2X,
-                V2XMsg(
-                    type,
-                    content,
-                    tts
-                )
-            ).apply {
-                sourceType = DataSourceType.TELEMATIC
-            }
-        )
     }
 
     /**

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

@@ -107,7 +107,7 @@ class MogoPrivateObuNewManager private constructor() {
 
     fun setObuLog(isChecked: Boolean) {
         ObuManager.getInstance().setEnableLog(isChecked)
-        val builder: com.mogo.support.obu.option.MogoObuLog.Builder =
+        val builder: MogoObuLog.Builder =
             MogoObuLog.newBuilder().setEnableStdio(isChecked)
         if (isChecked) {
             builder.setStdioLevel(MogoObuLogLevel.DBG)
@@ -437,27 +437,24 @@ class MogoPrivateObuNewManager private constructor() {
                 if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
                     // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
                     if (data != null && data.participant != null) {
-                        var v2xType = ""
+                        var v2xType = when (data.participant.ptcType) {
-                        if (data.participant.ptcType == 1) { //机动车
+                            1 -> { //机动车
-                            v2xType =
                                 EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
-                        } else if (data.participant.ptcType == 2) { //非机动车
+                            }
-                            v2xType =
+                            2 -> { //非机动车
                                 EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
-                        } else if (data.participant.ptcType == 3) { //行人
+                            }
-                            v2xType =
+                            3 -> { //行人
                                 EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
-                        } else { //未知
+                            }
-                            v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
+                            else -> { //未知
+                                EventTypeEnumNew.TYPE_ERROR.poiType
+                            }
                         }
-
                         val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
-                        val alertContent =
+                        val alertContent = EventTypeEnumNew.getWarningContent(v2xType)
-                            EventTypeEnumNew.getWarningContent(v2xType)
                         var level = -1
                         val direction = getMessageDirection(data.participant.targetPosition)
-
-                        //物体数据绘制
                         CallerLogger.d(
                             "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
                             "onMogoObuRsmWarning ---- data.status = ${data.status} ---data.participant.ptcId = ${data.participant.ptcId} ---data.participant.ptcType = ${data.participant.ptcType} ---data.warningMsg = ${data.warningMsg} -----data = ${data.toString()}"
@@ -745,11 +742,6 @@ class MogoPrivateObuNewManager private constructor() {
                 v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
             }
 
-            // 这里处理固定的提示信息,包括了<紧急车辆提醒>
-            else -> {
-                //                ttsContent = EventTypeEnumNew.getWarningTts(appId.toString())
-                //                alertContent = EventTypeEnumNew.getWarningContent(appId.toString())
-            }
         }
 
         when (status) {
@@ -830,9 +822,9 @@ class MogoPrivateObuNewManager private constructor() {
             MogoObuConstants.STATUS.DELETE -> {
                 // 移除顶部弹窗
                 CallerTrafficLightListenerManager.disableTrafficLight()
+                CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
                 isShowGreenWave = false
                 isShowRunRedLight = false
-                CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
             }
         }
     }
@@ -969,7 +961,7 @@ class MogoPrivateObuNewManager private constructor() {
      * 保存obu直连数据到消息盒子
      */
     private fun saveObuData(type: String, content: String, tts: String) {
-        CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts)
+        CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts, DataSourceType.OBU)
     }
 
     /**

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

@@ -1931,12 +1931,12 @@ internal class DebugSettingView @JvmOverloads constructor(
     }
 
     /**
-     * 车辆挂挡档位
+     * 车辆挂档档位
      * @param gear 档位
      */
     override fun onAutopilotGearData(gear: Chassis.GearPosition) {
         ThreadUtils.runOnUiThread {
-            tvGearInfo.text = "挂挡档位：${gear}"
+            tvGearInfo.text = "挂档档位：${gear}"
         }
     }
 

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

@@ -60,7 +60,7 @@ class VersionNameView @JvmOverloads constructor(
     @SuppressLint("SetTextI18n")
     private fun showCurrentPadVersion() {
         tvAppVersionName?.let {
-//            it.text = "APP:${AppUtils.getAppVersionName()}"
+            it.text = "APP:${AppUtils.getAppVersionName()}"
         }
     }
 

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

@@ -1009,7 +1009,7 @@
                         style="@style/DebugSettingText"
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content"
-                        android:text="挂挡档位:" />
+                        android:text="挂档档位:" />
 
                     <View
                         android:layout_width="match_parent"

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

@@ -11,15 +11,16 @@ import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.AbsMogoApplication
-import com.mogo.commons.utils.MogoAnalyticUtils
 import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.network.NetConfigUtils
+import com.mogo.commons.utils.MogoAnalyticUtils
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_RECONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -29,29 +30,35 @@ import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 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.mogo.logger.scene.SceneConstant.Companion.M_MAIN
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.*
 import com.rousetime.android_startup.AndroidStartup
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import kotlin.properties.Delegates
 
 class HttpDnsStartUp : AndroidStartup<Boolean>() {
 
-    private val TAG = "MogoApplication"
+    companion object {
+        private const val TAG = "HttpDnsStartUp"
+    }
 
     // 配置云服务API
     private val clientConfig by lazy {
         MoGoAiCloudClientConfig.getInstance()
     }
 
-    // 缓存IP地址
-    private var cacheIp: String? = null
-
     private var context: Context? = null
 
     private var gotToken = false
 
+    private var httpDnsSimpleLocation by Delegates.observable(getDefaultSimpleLocation()) { _, oldValue, newValue ->
+        if (oldValue.cityCode != newValue.cityCode) {
+            reConnectSocket(oldValue.cityCode, newValue.cityCode)
+        }
+    }
+
     override fun callCreateOnMainThread() = true
 
     override fun waitOnMainThread() = false
@@ -90,9 +97,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
         clientConfig.isUseOriginSocket = true
         // 设置是否输出网络日志
         clientConfig.isShowNetDebugLog = false
-        clientConfig.passportUrl = FunctionBuildConfig.urlJson.passportUrl
+//        clientConfig.passportUrl //todo 亚坤
-        clientConfig.socketBaseUrl = FunctionBuildConfig.urlJson.socketBaseUrl
+//        clientConfig.socketBaseUrl
-        clientConfig.socketTechUrl = FunctionBuildConfig.urlJson.socketTechUrl
+//        clientConfig.socketTechUrl
         // 设置是否是直播推流的主播
         clientConfig.isAnchor = true
         when (DebugConfig.getCarMachineType()) {
@@ -121,7 +128,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
             override fun getCurrentLocation(): HttpDnsSimpleLocation {
                 val envConfig = CallerDevaToolsManager.getEnvConfig()
                 if (envConfig != null) {
-                    return HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
+                    // 更新
+                    httpDnsSimpleLocation =
+                        HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
+                    return httpDnsSimpleLocation
                 }
                 var mogoLocation: MogoLocation? = null
                 val locationClient =
@@ -129,49 +139,25 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                 if (locationClient != null) {
                     mogoLocation = locationClient
                 }
-                val httpDnsSimpleLocation =
+                if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0) {
-                    if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0) {
+                    // 更新
-                        if (mogoLocation.cityCode.isNullOrEmpty()
+                    httpDnsSimpleLocation = if (mogoLocation.cityCode.isNullOrEmpty()
-                            && !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
+                        && !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
-                        ) {
+                    ) {
-                            HttpDnsSimpleLocation(
+                        HttpDnsSimpleLocation(
-                                CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
+                            CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
-                                    ?: "010",
+                                ?: "010",
-                                mogoLocation.latitude,
+                            mogoLocation.latitude,
-                                mogoLocation.longitude
+                            mogoLocation.longitude
-                            )
+                        )
-                        } else {
-                            HttpDnsSimpleLocation(
-                                mogoLocation.cityCode,
-                                mogoLocation.latitude,
-                                mogoLocation.longitude
-                            )
-                        }
                     } else {
-                        val ciyCode =
+                        HttpDnsSimpleLocation(
-                            SharedPrefsMgr.getInstance(
+                            mogoLocation.cityCode,
-                                AbsMogoApplication.getApp()
+                            mogoLocation.latitude,
-                            )
+                            mogoLocation.longitude
-                                .getString(SharedPrefsConstants.LOCATION_CITY_CODE)
+                        )
-                        val latitude =
-                            SharedPrefsMgr.getInstance(
-                                AbsMogoApplication.getApp()
-                            )
-                                .getString(SharedPrefsConstants.LOCATION_LATITUDE)
-                        val longitude =
-                            SharedPrefsMgr.getInstance(
-                                AbsMogoApplication.getApp()
-                            )
-                                .getString(SharedPrefsConstants.LOCATION_LONGITUDE)
-                        try {
-                            HttpDnsSimpleLocation(
-                                ciyCode, latitude.toDouble(), longitude.toDouble()
-                            )
-                        } catch (e: NumberFormatException) {
-                            // e.printStackTrace();
-                            HttpDnsSimpleLocation("010", 1.0, 1.0)
-                        }
                     }
+                }
                 return httpDnsSimpleLocation
             }
         }
@@ -186,10 +172,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientConfig.token = token
                     // 由于存在token过期问题，在更新后会回调至此处，增加二次判定
                     if (!gotToken) {
-                        CallerLogger.d(
+                        CallerLogger.d("$M_MAIN$TAG", "onTokenGot token : $token , sn :$sn")
-                            SceneConstant.M_MAIN + TAG,
-                            "onTokenGot token : $token , sn :$sn"
-                        )
                         CallerCloudListenerManager.invokeCloudTokenGot(token, sn)
                         // 异步初始化NetConfig
                         asyncInit()
@@ -202,7 +185,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
 
                 override fun onError(code: Int, msg: String) {
                     CallerLogger.d(
-                        SceneConstant.M_MAIN + TAG,
+                        "$M_MAIN$TAG",
                         "初始化MogoAiCloudSdk failed ,reason : $msg , 未能开启长链服务和初始化Modules服务"
                     )
                 }
@@ -250,13 +233,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
     }
 
     private fun startSocketService() {
-        CallerLogger.d(SceneConstant.M_MAIN + TAG, "startSocketService")
+        CallerLogger.d("$M_MAIN$TAG","startSocketService")
         val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
-        // 关闭长链服务
-        MogoAiCloudSocketManager.getInstance(context).destroy()
         MogoAiCloudSocketManager.getInstance(context)
             .registerLifecycleListener(10020, object : IMogoLifecycleListener {
-
                 @ChainLog(
                     linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
                     linkCode = CHAIN_LINK_CLOUD,
@@ -266,7 +246,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onConnectFailure() {
-                    CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectFailure")
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onConnectFailure")
                     MogoStatusManager.getInstance().setCloudSocketMode(TAG, false)
                 }
 
@@ -279,7 +259,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onConnectSuccess() {
-                    CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectSuccess")
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onConnectSuccess")
                     MogoStatusManager.getInstance().setCloudSocketMode(TAG, true)
                 }
 
@@ -292,7 +272,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onConnectLost() {
-                    CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectLost")
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onConnectLost")
                     MogoStatusManager.getInstance().setCloudSocketMode(TAG, false)
                 }
 
@@ -305,10 +285,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onError(code: String, msg: String?) {
-                    CallerLogger.d(
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onError code : $code , msg : $msg")
-                        SceneConstant.M_MAIN + TAG,
-                        "socket-onError code : $code , msg : $msg"
-                    )
                 }
             })
         // 开启Socket长链服务
@@ -319,4 +296,42 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
         MogoAiCloudSocketManager.getInstance(context)
             .init(context, DebugConfig.getSocketAppId(), lat, lon)
     }
+
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = CHAIN_LINK_CLOUD,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_RECONNECT,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    private fun reConnectSocket(oldCityCode: String, newCityCode: String) {
+        CallerLogger.d("$M_MAIN$TAG", "reConnectSocket oldCityCode : $oldCityCode , newCityCode : $newCityCode")
+        MogoAiCloudSocketManager.getInstance(context).reConnect()
+    }
+
+    private fun getDefaultSimpleLocation(): HttpDnsSimpleLocation {
+        val ciyCode =
+            SharedPrefsMgr.getInstance(
+                AbsMogoApplication.getApp()
+            )
+                .getString(SharedPrefsConstants.LOCATION_CITY_CODE)
+        val latitude =
+            SharedPrefsMgr.getInstance(
+                AbsMogoApplication.getApp()
+            )
+                .getString(SharedPrefsConstants.LOCATION_LATITUDE)
+        val longitude =
+            SharedPrefsMgr.getInstance(
+                AbsMogoApplication.getApp()
+            )
+                .getString(SharedPrefsConstants.LOCATION_LONGITUDE)
+        return try {
+            HttpDnsSimpleLocation(
+                ciyCode, latitude.toDouble(), longitude.toDouble()
+            )
+        } catch (e: NumberFormatException) {
+            HttpDnsSimpleLocation("010", 1.0, 1.0)
+        }
+    }
 }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt

@@ -58,6 +58,7 @@ class ChainConstant {
 
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS"
+        const val CHAIN_ALIAS_CODE_CLOUD_RECONNECT = "CHAIN_ALIAS_CODE_CLOUD_RECONNECT"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_ERROR = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_ERROR"
         const val CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED = "CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED"

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

@@ -290,4 +290,26 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      * @param isDrawPointCloud 是否绘制点云
      */
     fun setIsDrawPointCloud(isDrawPointCloud: Boolean)
+
+    fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1AirConditionerCmd(
+        switchCmd: Int,
+        modeCmd: Int,
+        windSpeedCmd: Int,
+        temperatureCmd: Int
+    ): Boolean
+
+    fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean
+
+    /**
+     * 车门控制
+     */
+    fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean
 }

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

@@ -3,12 +3,12 @@ package com.mogo.eagle.core.function.api.autopilot
 import chassis.Chassis
 
 /**
- * 车辆挂挡档位 数据 回调监听
+ * 车辆挂档档位 数据 回调监听
  */
 interface IMoGoChassisGearStateListener {
 
     /**
-     * 车辆挂挡档位
+     * 车辆挂档档位
      * @param gear 档位
      */
     fun onAutopilotGearData(gear: Chassis.GearPosition)

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuSaveMessageListener.kt

@@ -1,5 +1,7 @@
 package com.mogo.eagle.core.function.api.obu
 
+import com.mogo.eagle.core.data.enums.DataSourceType
+
 /**
  * OBU 数据保存
  * @author lixiaopeng
@@ -11,8 +13,8 @@ interface IMoGoObuSaveMessageListener {
      * @param type 事件id，类似与uuid
      * @param content 事件内容
      * @param tts 事件语音播报
-     *
+     * @param sourceType 来源
      */
-    fun onMoGoObuSaveMessage(type: String, content: String, tts: String)
+    fun onMoGoObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType)
 
 }

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

@@ -415,4 +415,39 @@ object CallerAutoPilotControlManager {
         providerApi?.setIsDrawPointCloud(isDrawPointCloud)
     }
 
+    fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1AirConditionerCmd(
+        switchCmd: Int,
+        modeCmd: Int,
+        windSpeedCmd: Int,
+        temperatureCmd: Int
+    ): Boolean {
+        return providerApi?.sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1HeaderCmd(switchCmd, windSpeedCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1MainLamp1Cmd(switchCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1MainLamp2Cmd(switchCmd) ?: false
+    }
+
+    /**
+     * 车门控制
+     */
+    fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1SmallLampCmd(switchCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean {
+        return providerApi?.sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd) ?: false
+    }
 }

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

@@ -4,7 +4,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 
 /**
- * 车辆挂挡档位 回调监听
+ * 车辆刹车 回调监听
  */
 object CallerChassisBrakeStateListenerManager : CallerBase<IMoGoChassisBrakeStateListener>() {
 

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

@@ -5,12 +5,12 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 
 /**
- * 车辆挂挡档位 回调监听
+ * 车辆挂档档位 回调监听
  */
 object CallerChassisGearStateListenerManager : CallerBase<IMoGoChassisGearStateListener>() {
 
     /**
-     * 车辆挂挡档位
+     * 车辆挂档档位
      * @param gear 档位
      */
     fun invokeAutopilotGearData(gear: Chassis.GearPosition) {

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt

@@ -35,8 +35,6 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
         setListenerHz(tag, callBackHz)
     }
 
-    //todo 宏宇 添加HZ的移除操作
-
     fun getChassisLocationGCJ02(): MogoLocation? {
         return mGnssInfo
     }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/base/CallerBase.kt

@@ -70,6 +70,16 @@ open class CallerBase<T : Any> {
             return
         }
         M_LISTENERS.remove(tag)
+
+        if (!M_LISTENERS_HZ.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ.remove(tag)
+
+        if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ_LAST_SEND_TIME.remove(tag)
     }
 
     /**
@@ -83,6 +93,16 @@ open class CallerBase<T : Any> {
         M_LISTENERS.forEach {
             if (it.value == listener) {
                 M_LISTENERS.remove(it.key)
+
+                if (!M_LISTENERS_HZ.containsKey(it.key)) {
+                    return
+                }
+                M_LISTENERS_HZ.remove(it.key)
+
+                if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(it.key)) {
+                    return
+                }
+                M_LISTENERS_HZ_LAST_SEND_TIME.remove(it.key)
             }
         }
     }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuSaveMessageListenerManager.kt

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.obu
 
+import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.function.api.obu.IMoGoObuSaveMessageListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsiListener
 import com.mogo.eagle.core.function.call.base.CallerBase
@@ -11,11 +12,11 @@ import com.mogo.support.obu.ObuScene
  */
 object CallerObuSaveMessageListenerManager : CallerBase<IMoGoObuSaveMessageListener>() {
 
-    fun invokeObuSaveMessage(type: String, content: String, tts: String) {
+    fun invokeObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType) {
         M_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
-            listener.onMoGoObuSaveMessage(type, content, tts)
+            listener.onMoGoObuSaveMessage(type, content, tts, sourceType)
         }
     }
 

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

@@ -31,7 +31,6 @@ object AppIdentityModeUtils {
 
 
 
-
     private fun getInfo(appIdentityMode: String): Array<String> {
         val split = appIdentityMode.split("_")
         if (split.size == 3) {
@@ -40,6 +39,14 @@ object AppIdentityModeUtils {
         return arrayOf("", "", "")
     }
 
+    fun getBuildCarType(appIdentityMode: String): String {
+        val (_, _, carType) = getInfo(appIdentityMode)
+        if(carType.isNotEmpty()){
+            return carType
+        }
+        return ""
+    }
+
     /**
      * 是否是 司机端（这里不细分具体是：小巴、出租车等类型）
      *

foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/IMogoSocketManager.java

@@ -21,6 +21,11 @@ public interface IMogoSocketManager extends IProvider {
      */
     void init( Context context, String appId , double lat, double lon);
 
+    /**
+     * 重新连接
+     */
+    void reConnect();
+
     /**
      * 注册消息监听
      *

foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java

@@ -74,6 +74,11 @@ public class MogoAiCloudSocketManager extends ConnectionLifecycleListener implem
         SocketManager.getInstance().init(context, lat, lon);
     }
 
+    @Override
+    public void reConnect() {
+        SocketManager.getInstance().reConnect();
+    }
+
     @Override
     public void registerOnMessageListener(int msgType, IMogoOnMessageListener listener) {
         if (mListeners.containsKey(msgType)) {

gradle.properties

@@ -66,23 +66,23 @@ SERVICE_BIZ_VERSION=1.2.4
 LOGLIB_VERSION=1.5.10
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.4.4
+MOGO_NETWORK_VERSION=1.4.4.7
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.4.4
+MOGO_PASSPORT_VERSION=1.4.4.7
 # 常链接
-MOGO_SOCKET_VERSION=1.4.4.4
+MOGO_SOCKET_VERSION=1.4.4.7
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.4.4
+MOGO_REALTIME_VERSION=1.4.4.7
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.4.4
+MOGO_TANLU_VERSION=1.4.4.7
 # 直播推流
-MOGO_LIVE_VERSION=1.4.4.4
+MOGO_LIVE_VERSION=1.4.4.7
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.4.4
+MOGO_TRAFFICLIVE_VERSION=1.4.4.7
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.4.4
+MOGO_LOCATION_VERSION=1.4.4.7
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.4.4
+MOGO_TELEMATIC_VERSION=1.4.4.7
 ######## MogoAiCloudSDK Version ########
 # 自研地图
 MAP_SDK_VERSION=2.10.0.2_test_01

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

@@ -23,7 +23,6 @@ import androidx.annotation.Nullable;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.Constants;
@@ -34,6 +33,7 @@ import com.zhidao.support.adas.high.common.MessageType;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 import com.zhidao.support.adas.high.common.RegexUtils;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.msg.IMsg;
 import com.zhidao.support.adas.high.msg.MyMessageFactory;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -129,6 +129,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表
      */
     private SubscribeInterface subscribeInterface;
+    private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现
 
     public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) {
         this.onMultiDeviceListener = onMultiDeviceListener;
@@ -535,7 +536,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 
     @Override
     public void onWebSocketConnectSuccess(String ipAddress, int port) {
-        sendCarConfigReq();
+        startCarConfigReq();
         ipcConnectedIp = ipAddress;
         ipcConnectedPort = port;
         subscribeInterface = new SubscribeInterface(this);
@@ -662,6 +663,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             AdasManager.getInstance().setCarConfig(null);
             stopDispatchHandler();
+            stopCarConfigReq();
         }
         if (adasConnectStatusListener != null) {
             adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
@@ -775,6 +777,40 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         CupidLogUtils.setEnableLog(isEnableLog);
     }
 
+    //车辆基础信息请求
+    private void startCarConfigReq() {
+        if (carConfigReqTimer == null) {
+            carConfigReqTimer = new Timer();
+            carConfigReqTimer.schedule(new TimerTask() {
+                int num = 0;
+
+                @Override
+                public void run() {
+                    if (getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+                        if (AdasManager.getInstance().getCarConfig() == null) {
+                            num++;
+                            if (num > 3) {
+                                CupidLogUtils.i(TAG, "最后一次也未获取到车机基础信息");
+                                stopCarConfigReq();
+                            } else {
+                                CupidLogUtils.i(TAG, "第" + num + "次获取车机基础信息");
+                                sendCarConfigReq();
+                            }
+                        } else {
+                            stopCarConfigReq();
+                        }
+                    }
+                }
+            }, 10, 2000L);
+        }
+    }
+
+    private synchronized void stopCarConfigReq() {
+        if (carConfigReqTimer != null) {
+            carConfigReqTimer.cancel();
+            carConfigReqTimer = null;
+        }
+    }
 
 /**************************************************************************************************************************/
     /**
@@ -1284,6 +1320,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build());
     }
 
+    /**
+     * 金旅M1顶灯1控制
+     *
+     * @param switchCmd //0: default, 1: 开启顶灯, 2: 关闭顶灯
+     * @return boolean
+     */
     @Override
     public boolean sendRoboBusJinlvM1MainLamp1Cmd(int switchCmd) {
         return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
@@ -1291,6 +1333,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build());
     }
 
+    /**
+     * 金旅M1顶灯2控制
+     *
+     * @param switchCmd //0: default, 1: 开启顶灯, 2: 关闭顶灯
+     * @return boolean
+     */
     @Override
     public boolean sendRoboBusJinlvM1MainLamp2Cmd(int switchCmd) {
         return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
@@ -1298,7 +1346,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build());
     }
 
-
     /**
      * 金旅M1小灯(氛围灯)控制
      *

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

@@ -685,9 +685,9 @@ public class AdasManager implements IAdasNetCommApi {
     }
 
     /**
-     * 金旅M1车门控制
+     * 金旅M1小灯(氛围灯)控制
      *
-     * @param switchCmd //0: default, 1: 开启车门, 2: 关闭车门
+     * @param switchCmd //0: default, 1: 开启小灯(氛围灯), 2: 关闭小灯(氛围灯)
      * @return boolean
      */
     @Override

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

@@ -1,6 +1,6 @@
 package com.zhidao.support.adas.high;
 
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 
 import java.util.HashSet;

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

@@ -0,0 +1,118 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import com.zhidao.support.adas.high.OnAdasListener;
+
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.regex.Pattern;
+
+import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
+
+/**
+ * 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类
+ * 目前监控了底盘的一些状态和查询节点状态应答的数据
+ * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
+ * <p>
+ * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
+ */
+public class AutopilotAbility230 {
+    private static final String TAG = AutopilotAbility230.class.getSimpleName();
+    private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
+    private volatile Timer timer;
+    private ChassisStatesOuterClass.ChassisStates chassisStates;
+
+    public AutopilotAbility230() {
+    }
+
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        this.chassisStates = chassisStates;
+    }
+
+    private void onCallback() {
+        //金旅、开沃小巴乘客端 不能启动自动驾驶
+        if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
+            return;
+        }
+        boolean isAutopilotAbility = true;//是否能启动自动驾驶
+        String unableAutopilotReason = null;//不能启动自动驾驶原因
+        //检测底盘相关
+        if (chassisStates != null) {
+            if (chassisStates.hasBrakeSystemStates()) {
+                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                if (brake > 0) {
+                    isAutopilotAbility = false;
+                    unableAutopilotReason = "制动踏板被踩下";
+                }
+            }
+            if (isAutopilotAbility) {
+                /**
+                 * 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
+                 * TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
+                 */
+                //开沃任何档位都能启动自驾
+                if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
+                    if (chassisStates.hasGearSystemStates()) {
+                        Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                        //金旅Bus和清扫车 档位不正常
+                        if (AutopilotAbilityManager.getInstance().isBusDriver()) {
+                            if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
+                            if (gear == Chassis.GearPosition.GEAR_N) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        } else {
+                            //东风Taxi和红旗 司机端和乘客端 档位不正常
+                            if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        }
+                    }
+                }
+            }
+
+            //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
+//            if (isAutopilotAbility) {
+//                //电子驻车制动系统
+//                if (chassisStates.hasEpbSystemStates()) {
+//                    ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
+//                    if (epb.hasEpbEnableState()){
+//                        epb.getEpbWorkState();
+//                    }
+//                }
+//            }
+        }
+        if (AutopilotAbilityManager.getInstance().getListener() != null) {
+            AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
+        }
+    }
+
+    public synchronized void start() {
+        if (timer == null) {
+            timer = new Timer();
+            timer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    onCallback();
+                }
+            }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
+        }
+    }
+
+    public synchronized void stop() {
+        if (timer != null) {
+            timer.cancel();
+            timer = null;
+        }
+        this.chassisStates = null;
+    }
+
+
+
+}

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

@@ -1,106 +1,41 @@
-package com.zhidao.support.adas.high.common;
+package com.zhidao.support.adas.high.common.autopilot.ability;
 
-import android.os.Handler;
 import android.os.Message;
-import android.text.TextUtils;
 
 import com.zhidao.support.adas.high.AdasManager;
-import com.zhidao.support.adas.high.OnAdasListener;
 
 import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import system_master.SystemStatusInfo;
 
 /**
- * 是否可以启动自动驾驶能力检测
+ * 是否可以启动自动驾驶能力检测 工控机版本>=250使用此类
  * 目前监控了底盘的一些状态和查询节点状态应答的数据
  * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
  * <p>
  * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
  */
-public class AutopilotAbilityManager {
+public class AutopilotAbility250 {
-    private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
+    private static final String TAG = AutopilotAbility250.class.getSimpleName();
     private static final int WHAT_TIMEOUT = 0;
     private static final int DEFAULT_TIMEOUT = 1500;
     private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
     private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
-    private static volatile AutopilotAbilityManager INSTANCE;
-    private OnAdasListener listener;
     private volatile Timer timer;
-    private final Pattern pattern = Pattern.compile("\\d+.\\d+.\\d+");
     private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private Handler handler;
-    private OnAutopilotAbilityListener onAutopilotAbilityListener;
-    /**
-     * 身份/车型
-     */
-    private String identityMode;
 
-    public interface OnAutopilotAbilityListener {
+    public AutopilotAbility250() {
-        void onStatusQuery();//查询是被调用
     }
 
-    /**
-     * 身份规则定义根据app/productFlavors/README.md
-     * *    taxi司机屏  Taxi_Driver_Base      （东风、红旗司机端）
-     * *    taxi乘客屏  Taxi_Passenger_Base   （东风、红旗乘客端）
-     * *    bus司机屏   Bus_Driver_Base       （金旅小巴司机端）
-     * *               Bus_Driver_Van        （开沃小巴司机端）
-     * *    bus乘客屏   Bus_Passenger_Base    （金旅、开沃小巴乘客端）
-     * *               Bus_Passenger_M1      （M1小巴乘客端）
-     * *               Bus_Passenger_M2      （M2小巴乘客端）
-     * *    清扫车      Sweeper_Driver_FT     （福田清扫车司机端）
-     * <p>
-     * 此定义不区分角色，只区分业务线和车型
-     */
-    private interface IDENTITY_MODE {
-        String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
-        String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
-        String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
-        String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
-        String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
-        String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
-        String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
-        String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
-    }
-
-
-    public void setIdentityMode(String identityMode) {
-        this.identityMode = identityMode;
-    }
-
-    public void setOnAdasListener(OnAdasListener listener) {
-        this.listener = listener;
-    }
-
-    public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
-        this.onAutopilotAbilityListener = onAutopilotAbilityListener;
-    }
-
-    private AutopilotAbilityManager() {
-    }
-
-    public static AutopilotAbilityManager getInstance() {
-        if (INSTANCE == null) {
-            synchronized (AutopilotAbilityManager.class) {
-                if (INSTANCE == null) {
-                    INSTANCE = new AutopilotAbilityManager();
-                }
-            }
-        }
-        return INSTANCE;
-    }
 
     public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
-        if (handler != null) {
+        if (AutopilotAbilityManager.getInstance().getHandler() != null) {
-            if (handler.hasMessages(WHAT_TIMEOUT))
+            if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
-                handler.removeMessages(WHAT_TIMEOUT);
+                AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
         }
         onCallback(statusInfo);
     }
@@ -111,7 +46,7 @@ public class AutopilotAbilityManager {
 
     private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
         //金旅、开沃小巴乘客端 不能启动自动驾驶
-        if (IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode)) {
+        if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
             return;
         }
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
@@ -122,20 +57,7 @@ public class AutopilotAbilityManager {
             if (statusInfo.hasMasterVersion()) {
                 //截取Master Version
                 String masterVersion = statusInfo.getMasterVersion();
-                if (!TextUtils.isEmpty(masterVersion)) {
+                version = AutopilotAbilityManager.getInstance().parseVersion(false, masterVersion);
-                    try {
-                        Matcher matcher = pattern.matcher(masterVersion);
-                        if (matcher.find()) {
-                            String group = matcher.group();
-                            if (!TextUtils.isEmpty(group)) {
-                                String v = group.split("\\.")[0];
-                                version = Integer.parseInt(v);
-                            }
-                        }
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                }
             }
             //如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
             if (version > 1 && statusInfo.hasAutoPilotReady()) {
@@ -204,24 +126,26 @@ public class AutopilotAbilityManager {
                  * 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
                  * TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
                  */
-                if (chassisStates.hasGearSystemStates()) {
+                //开沃任何档位都能启动自驾
-                    Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
-                    if (TextUtils.isEmpty(identityMode)) {
+                    if (chassisStates.hasGearSystemStates()) {
-                        identityMode = "";
+                        Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
-                    }
-                    //开沃任何档位都能启动自驾
-                    if (!IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode)) {
                         //金旅Bus和清扫车 档位不正常
-                        if (IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode) || IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode)) {
+                        if (AutopilotAbilityManager.getInstance().isBusDriver()) {
                             if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
                                 isAutopilotAbility = false;
-                                unableAutopilotReason = "挡位不正常";
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
+                            if (gear == Chassis.GearPosition.GEAR_N) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
                             }
                         } else {
                             //东风Taxi和红旗 司机端和乘客端 档位不正常
                             if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
                                 isAutopilotAbility = false;
-                                unableAutopilotReason = "挡位不正常";
+                                unableAutopilotReason = "档位不正常";
                             }
                         }
                     }
@@ -239,8 +163,8 @@ public class AutopilotAbilityManager {
 //                }
 //            }
         }
-        if (listener != null) {
+        if (AutopilotAbilityManager.getInstance().getListener() != null) {
-            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
+            AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
         }
     }
 
@@ -250,14 +174,14 @@ public class AutopilotAbilityManager {
             timer.schedule(new TimerTask() {
                 @Override
                 public void run() {
-                    if (onAutopilotAbilityListener != null) {
+                    if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) {
-                        onAutopilotAbilityListener.onStatusQuery();
+                        AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery();
                     }
                     AdasManager.getInstance().sendStatusQueryReq();
-                    if (handler != null) {
+                    if (AutopilotAbilityManager.getInstance().getHandler() != null) {
-                        if (handler.hasMessages(WHAT_TIMEOUT))
+                        if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
-                            handler.removeMessages(WHAT_TIMEOUT);
+                            AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
-                        handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
+                        AutopilotAbilityManager.getInstance().getHandler().sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
                     }
                 }
             }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
@@ -269,18 +193,15 @@ public class AutopilotAbilityManager {
             timer.cancel();
             timer = null;
         }
-        handler = null;
         this.chassisStates = null;
     }
 
-    public void setHandler(Handler handler) {
-        this.handler = handler;
-    }
-
 
     public void onHandleMessage(Message msg) {
         if (msg.what == WHAT_TIMEOUT) {
             onCallback(null);
         }
     }
+
+
 }

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

@@ -0,0 +1,274 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import android.os.Handler;
+import android.os.Message;
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import chassis.ChassisStatesOuterClass;
+import mogo.telematics.pad.MessagePad;
+import system_master.SystemStatusInfo;
+
+/**
+ * 是否可以启动自动驾驶能力检测
+ * 目前监控了底盘的一些状态和查询节点状态应答的数据
+ * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
+ * <p>
+ * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
+ */
+public class AutopilotAbilityManager {
+    private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
+    private static volatile AutopilotAbilityManager INSTANCE;
+    private OnAdasListener listener;
+    private final Pattern pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+");
+    private Handler handler;
+    private OnAutopilotAbilityListener onAutopilotAbilityListener;
+    private int dockerVersion = -1;//工控机版本
+    private AutopilotAbility230 autopilotAbility230;
+    private AutopilotAbility250 autopilotAbility250;
+    private Timer startTimer;
+    /**
+     * 身份/车型
+     */
+    private String identityMode;
+
+    public interface OnAutopilotAbilityListener {
+        void onStatusQuery();//查询是被调用
+    }
+
+    /**
+     * 身份规则定义根据app/productFlavors/README.md
+     * *    taxi司机屏  Taxi_Driver_Base      （东风、红旗司机端）
+     * *    taxi乘客屏  Taxi_Passenger_Base   （东风、红旗乘客端）
+     * *    bus司机屏   Bus_Driver_Base       （金旅小巴司机端）
+     * *               Bus_Driver_Van        （开沃小巴司机端）
+     * *    bus乘客屏   Bus_Passenger_Base    （金旅、开沃小巴乘客端）
+     * *               Bus_Passenger_M1      （M1小巴乘客端）
+     * *               Bus_Passenger_M2      （M2小巴乘客端）
+     * *    清扫车      Sweeper_Driver_FT     （福田清扫车司机端）
+     * <p>
+     * 此定义不区分角色，只区分业务线和车型
+     */
+    private interface IDENTITY_MODE {
+        String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
+        String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
+        String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
+        String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
+        String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
+        String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
+        String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
+        String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
+    }
+
+    private AutopilotAbilityManager() {
+    }
+
+    public static AutopilotAbilityManager getInstance() {
+        if (INSTANCE == null) {
+            synchronized (AutopilotAbilityManager.class) {
+                if (INSTANCE == null) {
+                    INSTANCE = new AutopilotAbilityManager();
+                }
+            }
+        }
+        return INSTANCE;
+    }
+
+    public void setIdentityMode(String identityMode) {
+        this.identityMode = identityMode;
+    }
+
+    public void setCarConfig(MessagePad.CarConfigResp carConfig) {
+        if (dockerVersion == -1) {
+            String v = carConfig.getDockVersion();
+            int version = parseVersion(true, v);
+            if (version != -1) {
+                stopTimer();
+                dockerVersion = version;
+                Log.i("dddd", "工控机版本=" + dockerVersion);
+                initAutopilotAbility();
+            }
+        }
+    }
+
+    public void setOnAdasListener(OnAdasListener listener) {
+        this.listener = listener;
+    }
+
+    public OnAdasListener getListener() {
+        return listener;
+    }
+
+    public void setHandler(Handler handler) {
+        this.handler = handler;
+    }
+
+    public Handler getHandler() {
+        return handler;
+    }
+
+    public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
+        this.onAutopilotAbilityListener = onAutopilotAbilityListener;
+    }
+
+    public OnAutopilotAbilityListener getOnAutopilotAbilityListener() {
+        return onAutopilotAbilityListener;
+    }
+
+
+    public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.setStatusInfo(statusInfo);
+        }
+    }
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        if (autopilotAbility230 != null) {
+            autopilotAbility230.setChassisStates(chassisStates);
+        }
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.setChassisStates(chassisStates);
+        }
+    }
+
+    public void onHandleMessage(Message msg) {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.onHandleMessage(msg);
+        }
+    }
+
+    private void initAutopilotAbility() {
+        if (dockerVersion >= 250) {
+            stop230();
+            if (autopilotAbility250 == null) {
+                autopilotAbility250 = new AutopilotAbility250();
+                autopilotAbility250.start();
+            }
+        } else {
+            stop250();
+            if (autopilotAbility230 == null) {
+                autopilotAbility230 = new AutopilotAbility230();
+                autopilotAbility230.start();
+            }
+
+        }
+    }
+
+    private void stop230() {
+        if (autopilotAbility230 != null) {
+            autopilotAbility230.stop();
+            autopilotAbility230 = null;
+        }
+    }
+
+    private void stop250() {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.stop();
+            autopilotAbility250 = null;
+        }
+    }
+
+    private void stopTimer() {
+        if (startTimer != null) {
+            startTimer.cancel();
+            startTimer = null;
+        }
+    }
+
+    /**
+     * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测
+     * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑
+     */
+    public synchronized void start() {
+        if (startTimer == null) {
+            startTimer = new Timer();
+            startTimer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    if (dockerVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+                        dockerVersion = 230;
+                        initAutopilotAbility();
+                    }
+                }
+            }, 8000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
+        }
+
+    }
+
+    public synchronized void stop() {
+        stopTimer();
+        stop230();
+        stop250();
+        handler = null;
+        dockerVersion = -1;
+    }
+
+
+    /**
+     * 解析版本 格式 xxx.xxx.xxx(x的数量不固定)
+     *
+     * @param isUserAll 是否使用全部截取数据 true：表示 12.34.56 截取之后 123456     false：表示12.34.56 截取之后 12
+     * @param ver       版本字符串
+     * @return -1表示解析失败
+     */
+    public int parseVersion(boolean isUserAll, String ver) {
+        int version = -1;
+        if (!TextUtils.isEmpty(ver)) {
+            try {
+                Matcher matcher = pattern.matcher(ver);
+                if (matcher.find()) {
+                    String group = matcher.group();
+                    if (!TextUtils.isEmpty(group)) {
+                        if (isUserAll) {
+                            group = group.replace(".", "");
+                        } else {
+                            group = group.split("\\.")[0];
+                        }
+                        version = Integer.parseInt(group);
+                    }
+                }
+            } catch (Exception e) {
+                CupidLogUtils.e(TAG, "版本解析失败=" + ver, e);
+            }
+        }
+        return version;
+    }
+
+    /**
+     * 金旅、开沃小巴乘客端
+     */
+    public boolean isBusPassenger() {
+        return IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode);
+    }
+
+    /**
+     * 开沃小巴司机端
+     */
+    public boolean isBusDriverVan() {
+        return IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode);
+    }
+
+    /**
+     * 金旅小巴司机端
+     */
+    public boolean isBusDriver() {
+        return IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode);
+    }
+
+    /**
+     * 福田清扫车司机端
+     */
+    public boolean isSweeperDriverFutian() {
+        return IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode);
+    }
+}

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

@@ -7,6 +7,7 @@ import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
 import mogo.telematics.pad.MessagePad;
@@ -20,6 +21,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler {
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
         AdasChannel.calculateTimeConsumingOnDispatchRaw("车机基础信息应答", raw.receiveTime);
+        AutopilotAbilityManager.getInstance().setCarConfig(carConfigResp);
         AdasManager.getInstance().setCarConfig(carConfigResp);
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())

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

@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.msg;
 
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
 import chassis.ChassisStatesOuterClass;

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

@@ -5,7 +5,7 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
 

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

@@ -5,7 +5,7 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
 
@@ -141,7 +141,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null;
         if (vehicleState.hasGear()) {
             gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
-            //挂挡档位数据
+            //档位数据
             gearSystemStates.setGearPosition(vehicleState.getGear());//鹰眼已用
         }
         if (vehicleState.hasGearSwitchInference()) {

test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java

@@ -13,6 +13,8 @@ import com.bytedance.apm.insight.ApmInsightInitConfig;
 import com.mogo.commons.constants.SharedPrefsConstants;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.bindingcar.CarInfo;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.CommonUtils;
@@ -96,6 +98,7 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
         crash.addTags("CITYCODE", mCityCode);
         crash.addTags("LATITUDE", mLat);
         crash.addTags("LONGITUTE", mLogt);
+        crash.addTags("CAR_TYPE", AppIdentityModeUtils.INSTANCE.getBuildCarType(FunctionBuildConfig.appIdentityMode));
 
 //        crash.setReportUrl("www.xxx.com"); // 私有化部署：私有化部署才配置上报地址
 //        crash.addTags("key", "value"); // 自定义筛选tag, 按需添加、可多次覆盖