[Change]

整理ADAS相关代码

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

core/function-impl/mogo-core-function-autopilot/build.gradle

@@ -52,15 +52,22 @@ dependencies {
     kapt rootProject.ext.dependencies.aroutercompiler
 
     implementation rootProject.ext.dependencies.adasHigh
+    implementation rootProject.ext.dependencies.mogoami
 
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
+        implementation rootProject.ext.dependencies.modulecommon
+
         implementation rootProject.ext.dependencies.mogo_core_data
         implementation rootProject.ext.dependencies.mogo_core_utils
+        implementation rootProject.ext.dependencies.mogo_core_network
         implementation rootProject.ext.dependencies.mogo_core_function_api
         implementation rootProject.ext.dependencies.mogo_core_function_call
     } else {
+        implementation project(':modules:mogo-module-common')
+
         implementation project(':core:mogo-core-data')
         implementation project(':core:mogo-core-utils')
+        implementation project(':core:mogo-core-network')
         implementation project(':core:mogo-core-function-api')
         implementation project(':core:mogo-core-function-call')
     }

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

@@ -6,13 +6,16 @@ import androidx.annotation.RequiresPermission
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasListenerImpl
+import com.mogo.eagle.core.function.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
 import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.GsonUtils
-import com.mogo.eagle.core.utilcode.util.LogUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
@@ -34,9 +37,26 @@ class MoGoAutopilotProvider :
         get() = TAG
 
     override fun init(context: Context) {
+        Logger.d(TAG, "初始化工控机连接……")
         mContext = context
         // 初始化ADAS 域控制器
-        //AdasManager.getInstance().create(context)
+        CupidLogUtils.setEnableLog(false)
+        CupidLogUtils.setIsWriteLog(false)
+        // TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
+        when (FunctionBuildConfig.appIdentityMode) {
+            0 -> // 司机
+                AdasManager.getInstance().create(context, "192.168.1.102")
+            1 -> // 乘客
+                AdasManager.getInstance().create(context, "192.168.1.103")
+            else -> // 默认采用UDP寻址方式
+                AdasManager.getInstance().create(context)
+        }
+        //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
+        // 监听 adas 连接状态
+        AdasManager.getInstance().setOnAdasConnectStatusListener(MoGoAdasMsgConnectStatusListenerImpl())
+        // 监听ADAS-SDK获取到的工控机数据
+        AdasManager.getInstance().setOnAdasListener(MoGoAdasListenerImpl())
+        // 同步数据给工控机的服务
         AsyncDataToAutopilotServer.INSTANCE.initServer()
     }
 
@@ -72,7 +92,7 @@ class MoGoAutopilotProvider :
             val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
             AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
         } else {
-            LogUtils.eTag(TAG, "车机与工控机链接失败，无法开启自动驾驶")
+            Logger.e(TAG, "车机与工控机链接失败，无法开启自动驾驶")
         }
     }
 
@@ -84,7 +104,7 @@ class MoGoAutopilotProvider :
         if (AdasManager.getInstance().isSocketConnect) {
             AdasManager.getInstance().controlAutopilotCarHead()
         } else {
-            LogUtils.eTag(TAG, "车机与工控机链接失败，无法断开自动驾驶")
+            Logger.e(TAG, "车机与工控机链接失败，无法断开自动驾驶")
         }
     }
 

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

@@ -0,0 +1,249 @@
+package com.mogo.eagle.core.function.autopilot.adapter;
+
+import android.util.Log;
+
+import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
+import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.eagle.core.data.config.HdMapBuildConfig;
+import com.mogo.eagle.core.data.traffic.TrafficData;
+import com.mogo.eagle.core.function.autopilot.utils.AdasObjectConvertUtils;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.SSHResult;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult;
+import com.zhidao.support.obu.ami.AmiClientManager;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * @author congtaowang
+ * @since 2020/10/22
+ * <p>
+ * 适配ADAS 回调监听分发
+ */
+public class MoGoAdasListenerImpl implements OnAdasListener {
+    private final String TAG = "OnAdasListenerAdapter";
+
+
+    @Override
+    public void onRectData(RectInfo rectInfo) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            ArrayList<TrafficData> recognizedListResults = AdasObjectConvertUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
+            CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotIdentifyDataUpdate(recognizedListResults);
+        }
+    }
+
+    @Override
+    public void onCarStateData(CarStateInfo carStateInfo) {
+        if (HdMapBuildConfig.isMapLoaded) {
+//        Logger.d(TAG, "--------carStateInfo.toString() = " + carStateInfo.toString());
+            //can数据转发
+            CarStateInfo.ValuesBean bean = carStateInfo.getValues();
+//        Log.w("DHY-location", bean.getLon() + "," + bean.getLat() + "                       OnAdasListenerAdapter-onCarStateData：");
+            if (bean != null) {
+                int turnLight = bean.getTurnLightOften(); //转向灯状态 0是正常 1是左转 2是右转
+                AmiClientManager.getInstance().setTurnLightState(turnLight);
+                int brakeLight = bean.getBrake_light(); //TODO
+//            Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);
+                //设置转向灯
+                CallerHmiManager.INSTANCE.showTurnLight(turnLight);
+                //设置刹车信息
+                CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
+            } else {
+                Logger.e(TAG, "bean == null ");
+            }
+            AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectConvertUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
+            CallerAutopilotCarStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
+        }
+    }
+
+    @Override
+    public void autopilotStatus(AutopilotStatus autopilotStatus) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
+
+            if (autopilotStatusValues != null) {
+                // 初始化自动驾驶状态信息
+                AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+                autopilotStatusInfo.setState(autopilotStatusValues.getState());
+                autopilotStatusInfo.setPilotmode(autopilotStatusValues.getPilotmode());
+                autopilotStatusInfo.setControl_pilotmode(autopilotStatusValues.getControl_pilotmode());
+                autopilotStatusInfo.setReason(autopilotStatusValues.getReason());
+                autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
+                autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
+                autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
+                autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
+                // 初始化自动驾驶状态信息
+                autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
+                autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
+                autopilotStatusInfo.setDockVersion(AdasManager.getInstance().getAdasConfig().getDockVersion());
+
+                CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
+            }
+        }
+    }
+
+    @Override
+    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            Logger.d(TAG, "autopilotArrive : " + autopilotWayArrive);
+            if (autopilotWayArrive != null) {
+                AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
+                if (result != null) {
+                    AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
+                    if (endLatLon != null) {
+                        AutopilotStationInfo stationInfo = new AutopilotStationInfo(result.getCarType(), endLatLon.getLon(), endLatLon.getLat());
+
+                        CallerAutoPilotStatusListenerManager.INSTANCE.invokeArriveAtStation(stationInfo);
+                    }
+                }
+            }
+        }
+    }
+
+    @Override
+    public void onAutopilotRoute(AutopilotRoute route) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            Logger.d(TAG, "onAutopilotRoute : " + route.toString());
+            AutopilotRouteInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAdasAutopilotRoute(route);
+            CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotRotting(autopilotRoute);
+        }
+    }
+
+    @Override
+    public void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            Logger.d(TAG, "onAutopilotTrajectory : " + trajectoryList);
+            ArrayList<ADASTrajectoryInfo> trajectoryInfoArrayList = new ArrayList<>();
+            if (trajectoryList != null && trajectoryList.size() > 0) {
+                for (TrajectoryInfo trajectory : trajectoryList) {
+                    ADASTrajectoryInfo adasTrajectoryInfo = new ADASTrajectoryInfo();
+                    adasTrajectoryInfo.setLat(trajectory.getLat());
+                    adasTrajectoryInfo.setLon(trajectory.getLon());
+                    adasTrajectoryInfo.setAcceleration(trajectory.getAcceleration());
+                    adasTrajectoryInfo.setAccumulatedDis(trajectory.getAccumulatedDis());
+                    adasTrajectoryInfo.setTime(trajectory.getTime());
+                    adasTrajectoryInfo.setVelocity(trajectory.getVelocity());
+                    adasTrajectoryInfo.setAlt(trajectory.getAlt());
+                    adasTrajectoryInfo.setKappa(trajectory.getKappa());
+                    adasTrajectoryInfo.setTheta(trajectory.getTheta());
+                    trajectoryInfoArrayList.add(adasTrajectoryInfo);
+                }
+                Log.e(TAG, "time:" + System.currentTimeMillis() + "trajectoryInfoArrayList:" + trajectoryInfoArrayList);
+            }
+            CallerAutopilotPlanningListenerManager.INSTANCE.invokeAutopilotTrajectory(trajectoryInfoArrayList);
+        }
+    }
+
+    @Override
+    public void onAutopilotSNRequest() {
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotSNRequest();
+    }
+
+    @Override
+    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            AutopilotGuardianStatusInfo autopilotRoute = AdasObjectConvertUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
+            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
+        }
+    }
+
+    @Override
+    public void onAutopilotRecord(AutopilotRecordResult result) {
+        if (result != null) {
+            AutoPilotRecordResult real = new AutoPilotRecordResult();
+            real.setDiskFree(result.getDiskFree());
+            real.setId(result.getId());
+            real.setDuration(result.getDuration());
+            real.setNote(result.getNote());
+            real.setTotal(result.getTotalSize());
+            real.setType(result.getType());
+            real.setFileName(result.getFilename());
+            real.setKey(result.getKey());
+            real.setStat(result.getStat());
+            real.setTimestamp(result.getTimestamp());
+            CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotRecordResult(real);
+        }
+    }
+
+
+    @Override
+    public void onLightStateData(LightStatueInfo lightStatueInfo) {
+
+    }
+
+    @Override
+    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
+
+    }
+
+    @Override
+    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
+
+    }
+
+
+    @Override
+    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
+        final AutopilotWarnMessage warnMessage = AdasObjectConvertUtils.INSTANCE.fromAdasObject(warnMessageInfo);
+        CallerAutopilotIdentifyListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
+    }
+
+    @Override
+    public void onVideoSize(int width, int height) {
+
+    }
+
+    /**
+     * 工控机升级状态
+     * @param info 工控机升级状态
+     */
+    @Override
+    public void onUpgradeStateInfo(IPCUpgradeStateInfo info) {
+        if(info != null){
+            Logger.d(TAG,"onUpgradeStateInfo "+
+                    " upgrade mode="+info.getUpgradeMode()+
+                    " download status="+info.getDownloadStatus()+
+                    " download progress current="+info.getProgress().getCurrent()+
+                    " download progress total="+info.getProgress().getTotal()+
+                    " download version="+info.getImages()+
+                    " upgrade status="+info.getUpgradeStatus());
+            CallerHmiManager.INSTANCE.showAdUpgradeStatus(info.getUpgradeMode(),info.getDownloadStatus(),info.getProgress().getCurrent(),
+                    info.getProgress().getTotal(),info.getImages(),info.getUpgradeStatus());
+        }else{
+            Logger.d(TAG,"onUpgradeStateInfo : upgrade state info is null");
+        }
+    }
+
+
+
+    @Override
+    public void onSSHResult(SSHResult info) {
+
+    }
+}

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

@@ -0,0 +1,100 @@
+package com.mogo.eagle.core.function.autopilot.adapter
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhidao.support.adas.high.AdasManager
+import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener
+import com.zhidao.support.adas.high.bean.BasicInfo
+import io.reactivex.Flowable
+import io.reactivex.android.schedulers.AndroidSchedulers
+import io.reactivex.schedulers.Schedulers
+import java.util.concurrent.TimeUnit
+
+/**
+ * ADAS-SDK与工控机连接状态回调
+ *
+ * @author donghongyu
+ */
+class MoGoAdasMsgConnectStatusListenerImpl : OnAdasMsgConnectStatusListener, IMoGoAutopilotStatusListener {
+    private val TAG = "MoGoAdasMsgConnectStatusListenerImpl"
+
+    //自动驾驶状态
+    private var mCurrentAutopilotStatus = -1
+
+    //自动驾驶车速度
+    private var mCurrentAutopilotSpeed = 0f
+
+    override fun onWebSocketConnectSuccess() {
+        Logger.d(TAG, "webSocket 连接成功")
+        // 初始化自动驾驶状态信息
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
+        CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+
+        // 同步SN给工控机
+        syncBasicInfoToAutopilot()
+
+        // 开启轮训上传自动驾驶状态
+        updateDriveStatusTask()
+    }
+
+    override fun onWebSocketConnectFailed(reason: String) {
+        Logger.d(TAG, "webSocket 连接失败 reason:$reason")
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP = AdasManager.getInstance().adasConfig.address
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
+        CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
+    }
+
+    /**
+     * 工控机获取SN
+     */
+    override fun onAutopilotSNRequest() {
+        syncBasicInfoToAutopilot()
+    }
+
+    override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
+        if (autopilotWayArrive != null) {
+            val lon = autopilotWayArrive.lon
+            val lat = autopilotWayArrive.lat
+            AdasServiceModel.getInstance().reportSite(lon, lat)
+        }
+    }
+
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        val state = autoPilotStatusInfo.state
+        val speed = autoPilotStatusInfo.speed
+        mCurrentAutopilotStatus = state
+        mCurrentAutopilotSpeed = speed
+    }
+
+    /**
+     * 同步SN信息给工控机
+     */
+    fun syncBasicInfoToAutopilot() {
+        Logger.d(TAG, "同步PAD的SN给工控机……")
+        val info = BasicInfo()
+        info.setSn(MoGoAiCloudClientConfig.getInstance().sn)
+        AdasManager.getInstance().setBasicInfo(info)
+    }
+
+    /**
+     * 上传自动驾驶状态任务
+     */
+    fun updateDriveStatusTask() {
+        Logger.d(TAG, "updateDriveStatusTask")
+        Flowable.interval(0, 5, TimeUnit.SECONDS)
+                .subscribeOn(Schedulers.io())
+                .unsubscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe { aLong: Long? ->
+                    AdasServiceModel.getInstance().updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
+                }
+    }
+
+
+}

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAutopilotStatusListenerImpl.java

@@ -1,38 +0,0 @@
-package com.mogo.eagle.core.function.autopilot.adapter;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-
-import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
-import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/10/20 1:02 下午
- * 自动驾驶状态回调用
- */
-public class MoGoAutopilotStatusListenerImpl implements IMoGoAutopilotStatusListener {
-    @Override
-    public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
-
-    }
-
-    @Override
-    public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
-
-    }
-
-
-    @Override
-    public void onAutopilotSNRequest() {
-
-    }
-
-    @Override
-    public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
-
-    }
-
-}

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/AutonomousDriveStatusBean.java

@@ -0,0 +1,41 @@
+package com.mogo.eagle.core.function.autopilot.entity;
+
+/**
+ * Created by XuYong on 2021/5/28 16:12
+ */
+public class AutonomousDriveStatusBean {
+
+    private String sn;
+    private int status;
+    private float vehicleSpeed;
+
+    public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
+        this.sn = sn;
+        this.status = status;
+        this.vehicleSpeed = vehicleSpeed;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public int getStatus() {
+        return status;
+    }
+
+    public void setStatus(int status) {
+        this.status = status;
+    }
+
+    public float getVehicleSpeed() {
+        return vehicleSpeed;
+    }
+
+    public void setVehicleSpeed(float vehicleSpeed) {
+        this.vehicleSpeed = vehicleSpeed;
+    }
+}

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/entity/ReportSiteBean.java

@@ -0,0 +1,40 @@
+package com.mogo.eagle.core.function.autopilot.entity;
+
+/**
+ * Created by XuYong on 2021/5/31 16:24
+ */
+public class ReportSiteBean {
+    private String sn;
+    private double lon;
+    private double lat;
+
+    public ReportSiteBean(String sn, double lon, double lat) {
+        this.sn = sn;
+        this.lon = lon;
+        this.lat = lat;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+}

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/AdasServiceModel.java

@@ -0,0 +1,98 @@
+package com.mogo.eagle.core.function.autopilot.network;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.context.ContextHolderUtil;
+import com.mogo.eagle.core.data.BaseData;
+import com.mogo.eagle.core.function.autopilot.entity.AutonomousDriveStatusBean;
+import com.mogo.eagle.core.function.autopilot.entity.ReportSiteBean;
+import com.mogo.eagle.core.network.RequestOptions;
+import com.mogo.eagle.core.network.SubscribeImpl;
+import com.mogo.eagle.core.network.utils.GsonUtil;
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.constants.HostConst;
+
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.schedulers.Schedulers;
+import okhttp3.MediaType;
+import okhttp3.RequestBody;
+
+/**
+ * 将自动驾驶状态及站点信息上传给云平台，云平台会根据此数据做路线的绘制
+ *
+ * @author dongghongyu
+ */
+public class AdasServiceModel {
+
+    private static final String TAG = "AdasServiceModel";
+    private static volatile AdasServiceModel instance;
+    private static final byte[] obj = new byte[0];
+
+    private final IAdasApiService mAdasApiService;
+
+    private AdasServiceModel() {
+        this.mAdasApiService = MogoApisHandler.getInstance().getApis().getNetworkApi().create(IAdasApiService.class, HostConst.DATA_SERVICE_HOST);
+    }
+
+    public static AdasServiceModel getInstance() {
+        if (instance == null) {
+            synchronized (obj) {
+                if (instance == null) {
+                    instance = new AdasServiceModel();
+                }
+            }
+        }
+        return instance;
+    }
+
+    public void updateDriveStatus(int autoPilotStatus, float autoPilotSpeed) {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        AutonomousDriveStatusBean request = new AutonomousDriveStatusBean(sn, autoPilotStatus, autoPilotSpeed);
+        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
+        mAdasApiService.updateAutonomousDriveStatus(requestBody).
+                subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(ContextHolderUtil.getContext())) {
+                    @Override
+                    public void onError(String message, int code) {
+                        super.onError(message, code);
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                    }
+
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        super.onSuccess(o);
+                        Logger.d(TAG, "updateDriveStatus success");
+                    }
+                });
+    }
+
+    public void reportSite(double lon, double lat) {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        ReportSiteBean reportSiteBean = new ReportSiteBean(sn, lon, lat);
+        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(reportSiteBean));
+        mAdasApiService.updateReportSite(requestBody).
+                subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(ContextHolderUtil.getContext())) {
+                    @Override
+                    public void onError(String message, int code) {
+                        super.onError(message, code);
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                    }
+
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        super.onSuccess(o);
+                        Logger.d(TAG, "autopilotArrive success");
+                    }
+                });
+    }
+
+}

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/network/IAdasApiService.java

@@ -0,0 +1,31 @@
+package com.mogo.eagle.core.function.autopilot.network;
+
+import com.mogo.eagle.core.data.BaseData;
+
+import io.reactivex.Observable;
+import okhttp3.RequestBody;
+import retrofit2.http.Body;
+import retrofit2.http.Headers;
+import retrofit2.http.POST;
+
+public interface IAdasApiService {
+
+    /**
+     * 上传自动驾驶状态接口
+     * @param requestBody
+     * @return
+     */
+    @Headers({"Content-Type:application/json;charset=UTF-8"})
+    @POST("/dataService/autonomousDrive/updateAutonomousDriveStatus")
+    Observable<BaseData> updateAutonomousDriveStatus(@Body RequestBody requestBody);
+
+    /**
+     * 站点上报 用于网约车业务 云平台绘制路线使用
+     * @param requestBody
+     * @return
+     */
+    @Headers({"Content-Type:application/json;charset=UTF-8"})
+    @POST("/dataService/autonomousDrive/reportSite")
+    Observable<BaseData> updateReportSite(@Body RequestBody requestBody);
+
+}

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt

@@ -1,10 +1,102 @@
 package com.mogo.eagle.core.function.autopilot.utils
 
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.zhidao.support.adas.high.bean.AutopilotRoute
+import com.zhidao.support.adas.high.bean.CarStateInfo
+import com.zhidao.support.adas.high.bean.RectInfo
+import com.zhidao.support.adas.high.bean.WarnMessageInfo
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
+import com.zhidao.utils.common.GsonUtil
+
 /**
  * @author xiaoyuzhou
  * @date 2021/10/18 1:32 下午
  */
-class AdasObjectConvertUtils {
+object AdasObjectConvertUtils {
+    val TAG = "AdasObjectConvertUtils"
+
+    fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
+        return GsonUtil.objectFromJson(
+                GsonUtil.jsonFromObject(autopilotGuardianInfo),
+                AutopilotGuardianStatusInfo::class.java
+        )
+    }
+
+    fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
+        return GsonUtil.objectFromJson(
+                GsonUtil.jsonFromObject(carStateInfo),
+                AutopilotRouteInfo::class.java
+        )
+    }
+
+    fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
+        return GsonUtil.objectFromJson(
+                GsonUtil.jsonFromObject(carStateInfo),
+                AutopilotCarStateInfo::class.java
+        )
+    }
+
+    fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
+        if (info == null) {
+            return null
+        }
+        val warnMessage = AutopilotWarnMessage()
+        warnMessage.content = info.content
+        warnMessage.level = info.level
+        try {
+            warnMessage.type = info.type.toInt()
+        } catch (e: NumberFormatException) {
+            return null
+        }
+        warnMessage.value = info.value
+        return warnMessage
+    }
+
+    fun regroupTrafficDataData(datums: List<RectInfo.RectBean?>?): ArrayList<TrafficData>? {
+        if (datums == null || datums.isEmpty()) {
+            return null
+        }
+        val recognizedListResults: ArrayList<TrafficData> = ArrayList()
+        for (model in datums) {
+            if (model == null) {
+                continue
+            }
+            val recognizedListResult = fromAdasTrafficDataObject(model)
+            if (recognizedListResult != null) {
+                recognizedListResults.add(recognizedListResult)
+            }
+        }
+        return recognizedListResults
+    }
+
+    fun fromAdasTrafficDataObject(model: RectInfo.RectBean?): TrafficData? {
+        if (model == null) {
+            return null
+        }
+        val result = TrafficData()
+        result.uuid = model.uuid
+        result.lat = model.lat
+        result.lon = model.lon
+        result.type = TrafficTypeEnum.getType(model.type.toInt())
+        result.heading = model.heading
+        result.systemTime = model.systemTime.toLong()
+        result.satelliteTime = model.satelliteTime.toLong()
+        result.alt = model.alt
+        result.speed = model.speed
+        result.carId = model.carId
+        result.dataAccuracy = model.dataAccuracy
+        result.distance = model.distance
+        result.threatLevel = model.drawlevel
+
+        //Log.d(TAG, "TrafficData = $result")
+        return result
+    }
+
 
 }