Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0

# Conflicts: # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java # app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java # app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java # core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
2023-03-01 09:35:07 +08:00
parent 612a875a03 c74fb5aca9
commit 0e75ce4cc8
207 changed files with 4556 additions and 1509 deletions
--- a/core/function-impl/mogo-core-function-datacenter/README.md
+++ b/core/function-impl/mogo-core-function-datacenter/README.md
@@ -44,7 +44,7 @@ MogoObuManager.getInstance().init(Context context);
 ```
 ## 连接
 ```java
-//默认192.168.1.199
+//默认
 MogoObuManager.getInstance().connect();
 //自定义 IP
 MogoObuManager.getInstance().connect(String ip);
--- a/core/function-impl/mogo-core-function-datacenter/build.gradle
+++ b/core/function-impl/mogo-core-function-datacenter/build.gradle
@@ -45,28 +45,30 @@ android {

 dependencies {
    implementation fileTree(dir: 'libs', include: ['*.jar'])
-    implementation rootProject.ext.dependencies.androidxccorektx
-    implementation rootProject.ext.dependencies.androidxappcompat
-    implementation rootProject.ext.dependencies.arouter
-    implementation rootProject.ext.dependencies.rxandroid
-    kapt rootProject.ext.dependencies.aroutercompiler
-    implementation rootProject.ext.dependencies.androidxroomruntime
-    kapt rootProject.ext.dependencies.androidxroomcompiler
-    implementation rootProject.ext.dependencies.androidxroomktx
-
-    implementation rootProject.ext.dependencies.mogoaicloudtelematic
-    implementation project(':libraries:mogo-obu')
-    implementation project(':libraries:mogo-adas')

    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        implementation rootProject.ext.dependencies.mogo_core_utils
-        implementation rootProject.ext.dependencies.mogo_core_function_call
-        implementation rootProject.ext.dependencies.mogocommons
+        implementation rootProject.ext.dependencies.androidxccorektx
+        implementation rootProject.ext.dependencies.androidxappcompat
+        implementation project(':libraries:mogo-obu')
+        implementation project(':libraries:mogo-adas')
+        implementation project(":foudations:mogo-aicloud-services-sdk")
+        implementation project(':core:mogo-core-data')
    } else {
-        implementation project(':core:mogo-core-utils')
+        implementation rootProject.ext.dependencies.androidxccorektx
+        implementation rootProject.ext.dependencies.androidxappcompat
+        implementation rootProject.ext.dependencies.arouter
+        implementation rootProject.ext.dependencies.rxandroid
+        kapt rootProject.ext.dependencies.aroutercompiler
+        implementation rootProject.ext.dependencies.androidxroomruntime
+        kapt rootProject.ext.dependencies.androidxroomcompiler
+        implementation rootProject.ext.dependencies.androidxroomktx
+
+        implementation project(':libraries:mogo-obu')
+        implementation project(':libraries:mogo-adas')
+        implementation rootProject.ext.dependencies.mogoaicloudtelematic
        implementation project(':core:mogo-core-function-call')
-        implementation project(':foudations:mogo-commons')
+        implementation project(":foudations:mogo-commons")
    }
 }

-apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
+//apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/aicloud/AiCloudSocketBizProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/aicloud/AiCloudSocketBizProvider.kt
@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.datacenter.aicloud
 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.socket.SocketManager
-import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider

@@ -13,13 +12,15 @@ class AiCloudSocketBizProvider : IMoGoFunctionServerProvider {
        get() = "AiCloudSocketBizProvider"

    override fun init(context: Context?) {
-        SocketManager.getInstance().init(AbsMogoApplication.getApp(), 0.0, 0.0)
-        SocketManager.getInstance().registerOnMessageListener(401012, V2XMessageListener401012())
-        SocketManager.getInstance().registerOnMessageListener(401018, V2XMessageListener401018())
-        SocketManager.getInstance().registerOnMessageListener(402000, V2XMessageListener402000())
-        SocketManager.getInstance().registerOnMessageListener(404000, V2XMessageListener404000())
-        //SocketManager.getInstance().registerOnMessageListener(503000, V2XMessageListener503000())
-        SocketManager.getInstance().registerOnMessageListener(70001, V2XMessageListener70001())
+        context?.let {
+            SocketManager.getInstance().init(it, 0.0, 0.0)
+            SocketManager.getInstance().registerOnMessageListener(401012, V2XMessageListener401012())
+            SocketManager.getInstance().registerOnMessageListener(401018, V2XMessageListener401018())
+            SocketManager.getInstance().registerOnMessageListener(402000, V2XMessageListener402000())
+            SocketManager.getInstance().registerOnMessageListener(404000, V2XMessageListener404000())
+            //SocketManager.getInstance().registerOnMessageListener(503000, V2XMessageListener503000())
+            SocketManager.getInstance().registerOnMessageListener(70001, V2XMessageListener70001())
+        }
    }

    override fun onDestroy() {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -3,12 +3,14 @@ package com.mogo.eagle.core.function.datacenter.autopilot
 import android.Manifest.permission
 import android.content.Context
 import androidx.annotation.RequiresPermission
+import bag_manager.BagManagerOuterClass
 import chassis.SpecialVehicleTaskCmdOuterClass
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
+import com.mogo.eagle.core.data.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -52,7 +54,7 @@ import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import com.zhidao.support.adas.high.common.MessageType
-import com.zhidao.support.adas.high.common.MogoReport
+import com.zhjt.mogo.adas.data.bean.MogoReport
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
 import io.netty.channel.Channel
@@ -105,7 +107,7 @@ class MoGoAutopilotControlProvider :
                .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
                .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                .setClient(false)
-                .setIdentityMode(FunctionBuildConfig.appIdentityMode)
+                .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
 //                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
                .build()

@@ -196,7 +198,7 @@ class MoGoAutopilotControlProvider :
                                val options = AdasOptions
                                    .Builder()
                                    .setClient(true)
-                                    .setIdentityMode(FunctionBuildConfig.appIdentityMode)
+                                    .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
                                    .build()
                                AdasManager.getInstance()
                                    .create(options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -224,7 +226,7 @@ class MoGoAutopilotControlProvider :
            .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
            .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
            .setClient(false)// 乘客端直连工控机改为false
-            .setIdentityMode(FunctionBuildConfig.appIdentityMode)
+            .setUnableLaunchAutopilotGear(FunctionBuildConfig.unableLaunchAutopilotGear)
            .build()
        AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
        //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
@@ -546,6 +548,108 @@ class MoGoAutopilotControlProvider :
       return AdasManager.getInstance().sendRecordDataConfigReq(reqType, recordType, topicsNeedToCache)
    }

+    /**
+     * 获取数据采集录制模式配置列表
+     * @param reqType           0: all,  1:获取当前所有topic列表, 2:配置需要预加载的topic组合
+     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
+     * @param topicsNeedToCache
+     * @return boolean
+     */
+    override fun sendBagManagerCmd(bagManagerEntity: BagManagerEntity): Boolean {
+        val bagManager = BagManagerOuterClass.BagManager
+            .newBuilder()
+            .setReqType(bagManagerEntity.reqType)
+            .setKeyReq(bagManagerEntity.keyReq)
+
+        // 更新包附加信息,发送请求且reqType=5时有效
+        val descReq = BagManagerOuterClass.BagDescription
+            .newBuilder()
+        bagManagerEntity.descReq?.let {
+            descReq.description = it.description
+            descReq.hasAudio = it.hasAudio
+            descReq.audioUrl = it.audioUrl
+            descReq.setReportBI(it.reportBI)
+        }
+        bagManager.descReq = descReq.build()
+
+        // 空间使用信息,获取响应且reqType=1时有效
+        for(diskSpaceInfoEntity in bagManagerEntity.spaceInfoResp){
+            val spaceInfoResp = BagManagerOuterClass.BagSpaceInfo
+                .newBuilder()
+            val diskSpaceInfo = BagManagerOuterClass.SpaceInfo
+                .newBuilder()
+                .setDirectory(diskSpaceInfoEntity.diskSpaceInfo.directory)
+                .setTotal(diskSpaceInfoEntity.diskSpaceInfo.total)
+                .setFree(diskSpaceInfoEntity.diskSpaceInfo.free)
+                .setUsed(diskSpaceInfoEntity.diskSpaceInfo.used)
+                .build()
+            spaceInfoResp
+                .setHost(diskSpaceInfoEntity.host).diskSpaceInfo = diskSpaceInfo
+            for(entity in diskSpaceInfoEntity.BagDirsSpaceInfo){
+                val bagDirsSpaceInfo = BagManagerOuterClass.SpaceInfo
+                    .newBuilder()
+                    .setDirectory(entity.directory)
+                    .setTotal(entity.total)
+                    .setFree(entity.free)
+                    .setUsed(entity.used)
+                    .build()
+                spaceInfoResp.addBagDirsSpaceInfo(bagDirsSpaceInfo)
+            }
+            bagManager.addSpaceInfoResp(spaceInfoResp.build())
+        }
+
+        // 包信息列表,获取响应且reqType=2时有效
+        for(bagsInfoRespEntity in bagManagerEntity.bagsInfoResp){
+            if(bagsInfoRespEntity.itemType == 0){
+                // 包描述信息
+                val bagDescription = BagManagerOuterClass.BagDescription
+                    .newBuilder()
+                bagsInfoRespEntity.description?.let {
+                    bagDescription.description = it.description
+                    bagDescription.hasAudio = it.hasAudio
+                    bagDescription.audioUrl = it.audioUrl
+                    bagDescription.setReportBI(it.reportBI)
+                }
+
+                val bagsInfoResp = BagManagerOuterClass.BagInfo
+                    .newBuilder()
+                    .setKey(bagsInfoRespEntity.key)
+                    .setTotalSize(bagsInfoRespEntity.totalSize)
+                    .setTimestamp(bagsInfoRespEntity.timestamp)
+                    .setBagPath(bagsInfoRespEntity.bagPath)
+                    .setMergeStat(bagsInfoRespEntity.mergeStat)
+                    .setUploadStat(bagsInfoRespEntity.uploadStat)
+                    .setDescription(bagDescription.build())
+
+                // 子包信息
+                for(subBagEntity in bagsInfoRespEntity.subBags){
+                    val subBag = BagManagerOuterClass.SubBag
+                        .newBuilder()
+                        .setKey(subBagEntity.key)
+                        .setHost(subBagEntity.host)
+                        .setSize(subBagEntity.size)
+                        .build()
+                    bagsInfoResp.addSubBags(subBag)
+                }
+                bagManager.addBagsInfoResp(bagsInfoResp)
+            }
+        }
+
+        //反馈上传cos桶结果,获取响应且reqType=3时有效
+        val uploadCosResp = BagManagerOuterClass.UploadCosStat
+            .newBuilder()
+
+        bagManagerEntity.uploadCosResp?.let {
+            uploadCosResp.key = it.key
+            uploadCosResp.stat = it.stat
+            uploadCosResp.message = it.message
+            bagManager.uploadCosResp = uploadCosResp.build()
+        }
+
+
+        return AdasManager.getInstance().sendBagManagerCmd(bagManager.build())
+    }
+
    /**
     * 向左变道
     */
@@ -644,27 +748,29 @@ class MoGoAutopilotControlProvider :
    }

    override fun connectSpecifiedServer(ip: String) {
-        NSDNettyManager.getInstance().connectSpecifiedServer(
-            ip,
-            NettyTcpServer.SERVER_PORT,
-            MoGoAiCloudClientConfig.getInstance().sn,
-            object : NettyClientListener<MogoProtocolMsg> {
-                override fun onMessageResponseClient(
-                    msg: MogoProtocolMsg?,
-                    sign: String?,
-                    channel: Channel
-                ) {
-                    msgHandler.handleMsgFromServer(msg, channel)
-                }
+        ThreadUtils.getIoPool().submit {
+            NSDNettyManager.getInstance().connectSpecifiedServer(
+                ip,
+                NettyTcpServer.SERVER_PORT,
+                MoGoAiCloudClientConfig.getInstance().sn,
+                object : NettyClientListener<MogoProtocolMsg> {
+                    override fun onMessageResponseClient(
+                        msg: MogoProtocolMsg?,
+                        sign: String?,
+                        channel: Channel
+                    ) {
+                        msgHandler.handleMsgFromServer(msg, channel)
+                    }

-                override fun onClientStatusConnectChanged(
-                    statusCode: Int,
-                    sign: String?,
-                    channel: Channel
-                ) {
-                    msgHandler.handleClientConnStatus(statusCode, sign, channel)
-                }
-            })
+                    override fun onClientStatusConnectChanged(
+                        statusCode: Int,
+                        sign: String?,
+                        channel: Channel
+                    ) {
+                        msgHandler.handleClientConnStatus(statusCode, sign, channel)
+                    }
+                })
+        }
    }

    /**
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter

-import android.content.Context
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.datacenter.location

-import com.mogo.commons.AbsMogoApplication
-import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -13,7 +11,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerGaoDeMapLocationListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.MultiDisplayUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import mogo.telematics.pad.MessagePad
@@ -119,25 +116,6 @@ object MoGoLocationDispatcher :
            }
        }

-        // 本地SP缓存城市Code
-        val cityCode = mogoLocation.cityCode
-        if (cityCode != null && cityCode.isNotEmpty()) {
-            mCityCode = mogoLocation.cityCode
-            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
-                .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
-
-            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
-                .putString(
-                    SharedPrefsConstants.LOCATION_LATITUDE,
-                    mogoLocation.latitude.toString()
-                )
-            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
-                .putString(
-                    SharedPrefsConstants.LOCATION_LONGITUDE,
-                    mogoLocation.longitude.toString()
-                )
-        }
-
    }

    /**
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
@@ -4,6 +4,7 @@ import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.function.api.obu.IMoGoObuProvider
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
@@ -18,7 +19,6 @@ import com.mogo.eagle.core.utilcode.util.CommonUtils
 class MoGoObuProvider : IMoGoObuProvider {
    private val TAG = "MoGoObuProvider"
    private var mContext: Context? = null
-    private val taxiObuIp = "192.168.1.199" //obu的taxi和bus的ip已经全部统一成1网段ip

    override val functionName: String
        get() = TAG
@@ -36,7 +36,7 @@ class MoGoObuProvider : IMoGoObuProvider {
        mContext = context
        mContext?.let {
            val ipAddress =
-                SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
+                SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, MogoObuConst.OBU_DEFAULT_IP)
            //mogo obu
            MogoPrivateObuNewManager.INSTANCE.connectObu(
                it,
@@ -44,6 +44,9 @@ class MoGoObuProvider : IMoGoObuProvider {
                CommonUtils.getIpAddressString()
            )
        }
+
+        //监听obu版本数据
+        MogoPrivateObuNewManager.INSTANCE.readSystemConfig()
    }

    /**
@@ -74,4 +77,12 @@ class MoGoObuProvider : IMoGoObuProvider {
    override fun setObuLog(isChecked: Boolean) {
        MogoPrivateObuNewManager.INSTANCE.setObuLog(isChecked)
    }
+
+    override fun uploadObuPack(filePathArray: Array<String>) {
+        MogoPrivateObuNewManager.INSTANCE.uploadObuPack(filePathArray)
+    }
+
+    override fun deleteObuFile() {
+        MogoPrivateObuNewManager.INSTANCE.deleteObuFile()
+    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuConst.java
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuConst.java
@@ -1,33 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.obu;
-
-/**
- * author : lxiiaopeng
- * date   : 2021-08-4
- * desc   : 常量
- */
-public class MogoObuConst {
-
-    /**
-     * 自研obu的tag
-     */
-    public static final String TAG_MOGO_OBU = "MogoObu";
-
-    public static final String TAG_MOGO_NEW_OBU = "MogoNewObu";
-
-    // OBU 场景测试
-    // 场景类型
-    public static String BROADCAST_OBU_TYPE_EXTRA_KEY = "obuType";
-    // 场景操作状态，ObuConstants.STATUS
-    public static String BROADCAST_OBU_STATES_EXTRA_KEY = "obuStates";
-    // 场景预警等级，2-弹窗，3-弹窗+tts+地图绘制
-    public static String BROADCAST_OBU_LEVEL_EXTRA_KEY = "obuLevel";
-    //红绿灯标识 0:不可用，1：红灯，2：绿灯，3：黄灯
-    public static String BROADCAST_LIGHT_LEVEL_EXTRA_KEY = "lightLevel";
-    //弱势交通 0：未知，1：非机动车，2：行人
-    public static String BROADCAST_PTC_INFO_EXTRA_KEY = "ptcInfo";
-    //道路交通信息类型 0x0--0x17
-    public static String BROADCAST_RTI_TYPE_EXTRA_KEY = "rtiType";
-    //道路交通信息触发方向 0x11--0x47
-    public static String BROADCAST_OBU_EVENT_DIRECTION_EXTRA_KEY = "obuEventDirection";
-
-}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
@@ -229,6 +229,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener

                //限速预警, ADD处理一次
                MogoObuConstants.RSI_SCENE_TYPE.SLW.toString() -> {
+                    appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_SPEED_LIMIT.poiType
                    alertContent = EventTypeEnumNew.getWarningContent(appId)
                    ttsContent = EventTypeEnumNew.getWarningTts(appId)
                }
@@ -241,6 +242,9 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
            when (status) {
                // 添加
                MogoObuConstants.STATUS.ADD -> {
+                    if (alertContent.isEmpty() || ttsContent.isEmpty()) {
+                        return
+                    }
                    saveObuToDcData(appId, alertContent, ttsContent)
                    showWarning(appId, alertContent, ttsContent, direction)
                }
@@ -501,6 +505,9 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                        "${M_OBU}${TAG}",
                        "MogoObuDcCombineManager changeTrafficLightStatus 闯红灯 --------> ttsContent = $ttsContent ---alertContent = $alertContent "
                    )
+                    if (alertContent.isEmpty() || ttsContent.isEmpty()) {
+                        return
+                    }
                    saveObuToDcData(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent)
                    showWarning(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent, WarningDirectionEnum.ALERT_WARNING_NON)
                }
@@ -538,6 +545,9 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                        )
                    val maxSpeed = currentLight.suggestMaxSpeed * 3.6
                    if (maxSpeed > 0) {
+                        if (alertContent.isEmpty() || ttsContent.isEmpty()) {
+                            return
+                        }
                        saveObuToDcData(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, alertContent, ttsContent)
                        showWarning(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, alertContent, ttsContent, WarningDirectionEnum.ALERT_WARNING_NON)
                    }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -4,10 +4,12 @@ import android.content.Context
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.enums.*
+import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.api.map.angle.Default
 import com.mogo.eagle.core.function.api.map.angle.TooClose
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
@@ -18,8 +20,10 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 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.breakpoint.Config
 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.eagle.core.utilcode.util.FileUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.support.obu.ObuBase
 import com.mogo.support.obu.ObuScene
@@ -31,6 +35,8 @@ import com.mogo.support.obu.model.*
 import com.mogo.support.obu.option.MogoObuCom
 import com.mogo.support.obu.option.MogoObuLog
 import com.mogo.support.obu.option.MogoObuOptions
+import com.mogo.support.obu.upgrade.ObuSoftwareUpgradeStatus
+import com.mogo.support.obu.upgrade.OnUpgradeListener
 import com.zhidao.support.obu.ObuManager
 import com.zhidao.support.obu.OnObuListener
 import mogo.telematics.pad.MessagePad
@@ -42,7 +48,7 @@ import kotlin.math.roundToInt
 * @since  2021/8/23
 * @description 自研OBU 管理
 */
-class MogoPrivateObuNewManager private constructor() {
+class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
    companion object {
        val INSTANCE: MogoPrivateObuNewManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
            MogoPrivateObuNewManager()
@@ -50,9 +56,12 @@ class MogoPrivateObuNewManager private constructor() {
    }

    private var mObuStatusInfo = CallerObuConnectListenerManager.getObuStatusInfo()
+    private var mContext: Context? = null
+    var mVersionName: String? = null

    fun connectObu(context: Context, obuIpAddress: String, padIpAddress: String) {
        ObuManager.getInstance().registerObuListener(mogoObuListener)
+        mContext = context
        val com = MogoObuCom.newBuilder()
            .setLocalIp(padIpAddress)
            .setComType(MogoObuComType.UDP)
@@ -82,6 +91,65 @@ class MogoPrivateObuNewManager private constructor() {
        ObuManager.getInstance().connect(options)
    }

+    /**
+     * 上传obu文件的状态, 升级成功，需要删除obu的文件和解压文件夹
+     */
+    override fun onUpgradeStatus(status: ObuSoftwareUpgradeStatus?, t: Throwable?) {
+        CallerLogger.d("$M_OBU${MogoObuConst.TAG_UPGRADE_OBU}", "onUpgradeStatus status = $status ")
+        //上传完成就相当于成功了，立即升级，比上电升级，只是多了一个重启
+        if (status == ObuSoftwareUpgradeStatus.UPLOAD_FINISH|| status == ObuSoftwareUpgradeStatus.EXEC_UPGRADE_PROGRAM_FINISH
+            || status == ObuSoftwareUpgradeStatus.CONNECTION_FAILED|| status == ObuSoftwareUpgradeStatus.AUTHENTICATION_FAILED
+            || status == ObuSoftwareUpgradeStatus.CHANNEL_ABNORMITY|| status == ObuSoftwareUpgradeStatus.UPGRADE_PACKAGE_ERROR
+            || status == ObuSoftwareUpgradeStatus.UPGRADE_PACKAGE_CHECK_FAILED || status == ObuSoftwareUpgradeStatus.PACKAGE_UPLOAD_FAILED
+            || status == ObuSoftwareUpgradeStatus.EXEC_UPGRADE_PROGRAM_FAILED || status == ObuSoftwareUpgradeStatus.UNKNOWN) {
+
+            deleteObuFile()
+        }
+    }
+
+    /**
+     * 当前的obu版本
+     */
+    override fun onCurrentVersion(version: MogoObuSystemBConfigData) {
+        CallerLogger.d("$M_OBU${MogoObuConst.TAG_UPGRADE_OBU}", "onCurrentVersion version = ${version.version}")
+        if (!version.version.isNullOrEmpty()) {
+            mVersionName = version.version
+            CallerDevaToolsManager.queryObuUpgrade(version.version)
+        }
+    }
+
+    /**
+     * 删除obu相关的文件夹
+     */
+    fun deleteObuFile(){
+        UiThreadHandler.post {
+            var isDeleteSuccess = FileUtils.delete(Config.downLoadObuPath)
+            var isDeleteUnzipSuccess = FileUtils.delete(Config.downLoadUnzipObuPath)
+            CallerLogger.d("$M_OBU${MogoObuConst.TAG_UPGRADE_OBU}", "deleteObuFile isDeleteSuccess = $isDeleteSuccess ----isDeleteUnzipSuccess = $isDeleteUnzipSuccess")
+        }
+    }
+
+    /**
+     * 监听obu
+     */
+    fun readSystemConfig() {
+        ObuManager.getInstance().readSystemBConfig(mContext, MogoObuConst.OBU_DEFAULT_IP, this)
+    }
+
+    /**
+     * 传递obu升级包给硬件
+     * @param upgradePackage 升级包文件绝对路径 只能包含 升级包MD5文件和升级包文件
+     * @param isUpgradeNow   是否立即升级
+     *                       false：OBU设备下次上电时执行升级程序
+     *                       ture: OBU设备立即执行升级程序 TODO 警告：执行立即升级时请确保车辆是静止状态。车辆在运行过程中升级设备可能会影响驾驶，严重时可能造成安全隐患！！！
+     * @param listener       升级回调
+     * @return 是否调用成功
+     */
+    fun uploadObuPack(filePathArray: Array<String>) {
+        CallerLogger.d("$M_OBU${MogoObuConst.TAG_UPGRADE_OBU}", " uploadObuPack filePathArray = $filePathArray")
+        ObuManager.getInstance().uploadUpgradePackage(MogoObuConst.OBU_DEFAULT_IP, filePathArray,true,this)
+    }
+
    /**
     * 断开新obu
     */
@@ -100,6 +168,9 @@ class MogoPrivateObuNewManager private constructor() {
        return ObuManager.getInstance().connectStatus == MogoObuConstants.CONNECT_STATUS.CONNECTED
    }

+    /**
+     * 设置obu sdk日志的输出
+     */
    fun setObuLog(isChecked: Boolean) {
        ObuManager.getInstance().setEnableLog(isChecked)
        val builder: MogoObuLog.Builder =
@@ -110,6 +181,9 @@ class MogoPrivateObuNewManager private constructor() {
        ObuManager.getInstance().logConfig(builder.build())
    }

+    /**
+     * obu 回调监听
+     */
    private val mogoObuListener: OnObuListener = object : OnObuListener {
        /**
         * 连接状态的改变
@@ -154,11 +228,14 @@ class MogoPrivateObuNewManager private constructor() {
            if (HmiBuildConfig.isShowObuV2vView) {
                if (data.warningMsg != null) {
                    // 更新数据，远车数据，之前要匹配uuid
-                    TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(data.vehBasicsMsg)
-                        ?.let {
-                            CallerMapUIServiceManager.getMarkerService()
-                                ?.updateITrafficLocationInfo(it)
-                        }
+                    data.vehBasicsMsg?.let {
+                        TrafficDataConvertUtilsNew.cvxRvInfoIndInfo2TrafficData(it)
+                            ?.let { data ->
+                                CallerMapUIServiceManager.getMarkerService()?.updateITrafficLocationInfo(data)
+                            }
+                    }.also {
+                        CallerLogger.e("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", "cvxRvInfoIndInfo2TrafficData  数据转换异常，请检查参数是否齐全")
+                    }

                    CallerLogger.d("$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", data.toString())
                    //预警信息,预警类型 threat_level 2、3
@@ -607,12 +684,9 @@ class MogoPrivateObuNewManager private constructor() {
        when (appId) {
            //前向碰撞预警
            MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
-                if (FunctionBuildConfig.isObuWarningFusionUnion) {
+                if (FunctionBuildConfig.isObuWarningFusionUnion && level == 3) {
                    alertContent = "前车距离过近"
                    ttsContent = "前车距离过近"
-                    CallerObuWarningListenerManager.invokeTrackerFusionData(
-                        ObuManager.getInstance().obuRvToTrackedObject(info)
-                    )
                } else {
                    alertContent =
                        EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
@@ -952,7 +1026,12 @@ 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, DataSourceType.OBU)
+        CallerObuSaveMessageListenerManager.invokeObuSaveMessage(
+            type,
+            content,
+            tts,
+            DataSourceType.OBU
+        )
    }

    /**
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/utils/TrafficDataConvertUtilsNew.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/utils/TrafficDataConvertUtilsNew.kt
@@ -6,9 +6,6 @@ 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.ObuBase
 import com.mogo.support.obu.ObuScene
-import com.mogo.support.obu.model.MogoObuRsiWarningData
-import com.mogo.support.obu.model.MogoObuRsmWarningData
-import com.mogo.support.obu.model.MogoObuRvWarningData

 /**
 * @description 自研obu数据转换
@@ -23,10 +20,6 @@ object TrafficDataConvertUtilsNew {
     * OBU 远车 转换交通元素数据,是否需要
     */
    fun cvxRvInfoIndInfo2TrafficData(info: ObuBase.VehicleBasics): TrafficData? {
-        if (info == null) {
-            CallerLogger.e("$M_OBU$TAG", "cvxRvInfoIndInfo2TrafficData  数据转换异常，请检查参数是否齐全")
-            return null
-        }
        val trafficData = TrafficData()
        trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
        trafficData.uuid = info.id
@@ -59,7 +52,7 @@ object TrafficDataConvertUtilsNew {
     * OBU 预警事件 转换交通元素数据 他车预警
     */
    fun cvxV2vThreatIndInfo2TrafficData(info: ObuScene.RvWarningData): TrafficData? {
-        if (info?.vehBasicsMsg == null || info.warningMsg == null) {
+        if (info.vehBasicsMsg == null || info.warningMsg == null) {
            CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
            return null
        }
@@ -70,7 +63,7 @@ object TrafficDataConvertUtilsNew {
        trafficData.heading = info.vehBasicsMsg.heading
        trafficData.speed = info.vehBasicsMsg.speed
        // 判断车辆V2X预警级别，调整车辆颜色
-        if (info.warningMsg.warningDataList != null) {
+        if (info.warningMsg.warningDataList != null && info.warningMsg.warningDataList.size > 0) {
            trafficData.threatLevel = info.warningMsg.warningDataList[0].warningLevel
        } else {
            trafficData.threatLevel = 1
@@ -123,7 +116,7 @@ object TrafficDataConvertUtilsNew {
        }

        // 判断车辆V2X预警级别，调整车辆颜色
-        if (info.warningMsg != null && info.warningMsg.warningDataList != null) {
+        if (info.warningMsg != null && info.warningMsg.warningDataList != null && info.warningMsg.warningDataList.size > 0) {
            trafficData.threatLevel = info.warningMsg.warningDataList[0].warningLevel
        } else {
            trafficData.threatLevel = 1