[code_opt_3.3.0] split autopilot status and param

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -64,10 +64,8 @@ import com.mogo.och.common.module.biz.constant.OchCommonConst;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
-import com.mogo.och.common.module.utils.PinYinUtil;
 import com.mogo.och.common.module.utils.DateTimeUtil;
-
-import org.jetbrains.annotations.NotNull;
+import com.mogo.och.common.module.utils.PinYinUtil;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -84,7 +82,7 @@ import system_master.SystemStatusInfo;
 public class BusPassengerModel {
     private static final String TAG = BusPassengerModel.class.getSimpleName();
 
-    private List<MogoLocation> mRoutePoints = new ArrayList<>();
+    private final List<MogoLocation> mRoutePoints = new ArrayList<>();
 
     private static final class SingletonHolder {
         private static final BusPassengerModel INSTANCE = new BusPassengerModel();
@@ -97,12 +95,12 @@ public class BusPassengerModel {
     private Context mContext;
     private IBusPassengerADASStatusCallback mADASStatusCallback; //Model->Presenter：自动驾驶状态相关
     private IBusPassengerAutopilotPlanningCallback mAutopilotPlanningCallback; //Model->Presenter：自动驾驶线路规划
-    private Map<String, IBusPassengerControllerStatusCallback> mControllerStatusCallbackMap = new ConcurrentHashMap<>();
+    private final Map<String, IBusPassengerControllerStatusCallback> mControllerStatusCallbackMap = new ConcurrentHashMap<>();
 
     private IBusPassegerDriverStatusCallback mDriverStatusCallback; //出车收车状态
     private IBusPassengerRouteLineInfoCallback mRouteLineInfoCallback; // bus路线信息更新
 
-    private MogoLocation  mLocation = null;
+    private MogoLocation mLocation = null;
 
     private BusPassengerRoutesResult routesResult = null;
 
@@ -116,7 +114,7 @@ public class BusPassengerModel {
     private final Handler handler = new Handler(new Handler.Callback() {
         @Override
         public boolean handleMessage(Message msg) {
-            if ( msg.what == MSG_QUERY_BUS_P_STATION ) {
+            if (msg.what == MSG_QUERY_BUS_P_STATION) {
                 queryDriverOperationStatus();
                 return true;
             }
@@ -127,7 +125,7 @@ public class BusPassengerModel {
     private BusPassengerModel() {
     }
 
-    public void init( Context context ) {
+    public void init(Context context) {
         mContext = context.getApplicationContext();
         initListeners();
         // TODO: 2022/3/31
@@ -135,16 +133,16 @@ public class BusPassengerModel {
         startOrStopOrderLoop(true);
     }
 
-    public void setDriverStatusCallback(IBusPassegerDriverStatusCallback callback){
+    public void setDriverStatusCallback(IBusPassegerDriverStatusCallback callback) {
         this.mDriverStatusCallback = callback;
     }
 
-    public void setRouteLineInfoCallback(IBusPassengerRouteLineInfoCallback callback){
+    public void setRouteLineInfoCallback(IBusPassengerRouteLineInfoCallback callback) {
         this.mRouteLineInfoCallback = callback;
     }
 
     private void queryDriverOperationDelay() {
-        handler.sendEmptyMessageDelayed( MSG_QUERY_BUS_P_STATION, QUERY_BUS_P_STATION_DELAY );
+        handler.sendEmptyMessageDelayed(MSG_QUERY_BUS_P_STATION, QUERY_BUS_P_STATION_DELAY);
     }
 
     private void queryDriverOperationStatus() {
@@ -154,7 +152,7 @@ public class BusPassengerModel {
                     public void onSuccess(BusPassengerOperationStatusResponse data) {
                         if (data == null || data.data == null) return;
                         if (mDriverStatusCallback != null) {
-                            CallerLogger.INSTANCE.d( M_BUS_P + TAG, "queryDriverOperationStatus = %s", data.data.plateNumber );
+                            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "queryDriverOperationStatus = %s", data.data.plateNumber);
                             mDriverStatusCallback.changeOperationStatus(data.data.driverStatus == 1);
                             mDriverStatusCallback.updatePlateNumber(data.data.plateNumber);
                         }
@@ -178,13 +176,13 @@ public class BusPassengerModel {
                 });
     }
 
-    public void queryDriverSiteByCoordinate(){
+    public void queryDriverSiteByCoordinate() {
         BusPassengerServiceManager.queryDriverSiteByCoordinate(mContext
                 , new OchCommonServiceCallback<BusPassengerRoutesResponse>() {
                     @Override
                     public void onSuccess(BusPassengerRoutesResponse data) {
-                        if ( data == null || data.getResult() == null) {
-                            CallerLogger.INSTANCE.d( M_BUS_P + TAG, "queryDriverSiteByCoordinate = null");
+                        if (data == null || data.getResult() == null) {
+                            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "queryDriverSiteByCoordinate = null");
                             if (routesResult != null) {
                                 routesResult = null;
                                 mNextStationIndex = 0;
@@ -192,7 +190,7 @@ public class BusPassengerModel {
 
                             startOrStopCalculateRouteInfo(false);
 
-                            if (mRouteLineInfoCallback != null){
+                            if (mRouteLineInfoCallback != null) {
                                 mRouteLineInfoCallback.showNoTaskView();
                             }
 
@@ -200,8 +198,8 @@ public class BusPassengerModel {
 
                             return;
                         }
-                        if (routesResult != null && data.getResult().equals(routesResult)){
-                            CallerLogger.INSTANCE.d( M_BUS_P + TAG, "queryDriverSiteByCoordinate = not update");
+                        if (routesResult != null && data.getResult().equals(routesResult)) {
+                            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "queryDriverSiteByCoordinate = not update");
                             return;
                         }
                         routesResult = data.getResult();
@@ -210,16 +208,16 @@ public class BusPassengerModel {
 
                     @Override
                     public void onFail(int code, String msg) {
-                        CallerLogger.INSTANCE.d( M_BUS_P + TAG, "queryDriverSiteByCoordinate = %s", msg
-                           + ", sn = " +BusPassengerServiceManager.INSTANCE.getDriverAppSn());
-                        if (code == 1003){
+                        CallerLogger.INSTANCE.d(M_BUS_P + TAG, "queryDriverSiteByCoordinate = %s", msg
+                                + ", sn = " + BusPassengerServiceManager.INSTANCE.getDriverAppSn());
+                        if (code == 1003) {
                             queryDriverOperationDelay();
                         }
-                        if (BusPassengerServiceManager.INSTANCE.getDriverAppSn().isEmpty()){
+                        if (BusPassengerServiceManager.INSTANCE.getDriverAppSn().isEmpty()) {
                             //此处拦截是为了防止过程中乘客屏和司机端断连，拿不到司机端sn, 造成请求失败去刷新了界面
                             return;
                         }
-                        if (code == 1003){
+                        if (code == 1003) {
                             routesResult = null;
                             startOrStopCalculateRouteInfo(false);
                             return;
@@ -229,35 +227,35 @@ public class BusPassengerModel {
     }
 
     private void updatePassengerRouteInfo(BusPassengerRoutesResult result) {
-        if (mRouteLineInfoCallback != null){
-            mRouteLineInfoCallback.updateLineInfo(result.getName(),result.getRunningDur());
+        if (mRouteLineInfoCallback != null) {
+            mRouteLineInfoCallback.updateLineInfo(result.getName(), result.getRunningDur());
             mRouteLineInfoCallback.hideNoTaskView();
-            if (result.getSites() != null){
+            if (result.getSites() != null) {
                 List<BusPassengerStation> stations = result.getSites();
                 mStations.clear();
                 mStations.addAll(stations);
-                for (int i = 0; i< stations.size(); i++){
-                     BusPassengerStation station = stations.get(i);
-                     if (station.getDrivingStatus() == STATION_STATUS_STOPPED && station.isLeaving() && i+1 < stations.size()){ //离站
-                         mRouteLineInfoCallback.updateStationsInfo(stations,i+1,false);
-                         if(mNextStationIndex != i+1){
-                             mTwoStationsRouts.clear();
-                             startRemainRouteInfo();
-                         }
-                         mNextStationIndex = i+1;
+                for (int i = 0; i < stations.size(); i++) {
+                    BusPassengerStation station = stations.get(i);
+                    if (station.getDrivingStatus() == STATION_STATUS_STOPPED && station.isLeaving() && i + 1 < stations.size()) { //离站
+                        mRouteLineInfoCallback.updateStationsInfo(stations, i + 1, false);
+                        if (mNextStationIndex != i + 1) {
+                            mTwoStationsRouts.clear();
+                            startRemainRouteInfo();
+                        }
+                        mNextStationIndex = i + 1;
 
-                         updateAutopilotControlParameters(result,i);
-                         return;
-                     }else if (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving()){ //到站
-                         if (i == 0){
-                             startOrStopRouteAndWipe(false);
-                         }
-                         mPreRouteIndex = 0;
-                         startOrStopCalculateRouteInfo(false);
-                         mRouteLineInfoCallback.updateStationsInfo(stations,i,true);
-                         clearAutopilotControlParameters();
-                         return;
-                     }
+                        updateAutopilotControlParameters(result, i);
+                        return;
+                    } else if (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving()) { //到站
+                        if (i == 0) {
+                            startOrStopRouteAndWipe(false);
+                        }
+                        mPreRouteIndex = 0;
+                        startOrStopCalculateRouteInfo(false);
+                        mRouteLineInfoCallback.updateStationsInfo(stations, i, true);
+                        clearAutopilotControlParameters();
+                        return;
+                    }
                 }
             }
         }
@@ -267,7 +265,7 @@ public class BusPassengerModel {
     private void updateAutopilotControlParameters(BusPassengerRoutesResult busRoutesResult,
                                                   int leaveIndex) {
 
-        AutopilotControlParameters parameters = initAutopilotControlParameters(busRoutesResult,leaveIndex);
+        AutopilotControlParameters parameters = initAutopilotControlParameters(busRoutesResult, leaveIndex);
         if (null == parameters) {
             CallerLogger.INSTANCE.e(M_BUS_P + TAG, "AutopilotControlParameters is empty.");
             return;
@@ -283,11 +281,13 @@ public class BusPassengerModel {
 
     private AutopilotControlParameters initAutopilotControlParameters(BusPassengerRoutesResult busRoutesResult,
                                                                       int leaveIndex) {
-        if (busRoutesResult.getSites() == null){ return null ;}
+        if (busRoutesResult.getSites() == null) {
+            return null;
+        }
         List<BusPassengerStation> stations = busRoutesResult.getSites();
         if (leaveIndex + 1 > stations.size() - 1) {
-                CallerLogger.INSTANCE.e(M_BUS_P + TAG, "行程日志-mismatch condition1.");
-                return null;
+            CallerLogger.INSTANCE.e(M_BUS_P + TAG, "行程日志-mismatch condition1.");
+            return null;
         }
         BusPassengerStation currentStation = stations.get(leaveIndex);
         BusPassengerStation nextStation = stations.get(leaveIndex + 1);
@@ -339,7 +339,7 @@ public class BusPassengerModel {
             return;
         }
 
-        mControllerStatusCallbackMap.put(tag,callback);
+        mControllerStatusCallbackMap.put(tag, callback);
 
     }
 
@@ -347,16 +347,16 @@ public class BusPassengerModel {
 
         // 2021.11.1重构自动驾驶 实现接口 IMoGoAutopilotStatusListener 注册监听 替换IMogoAdasOCHCallback接口
         CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
-        IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
-        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
+        IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener);
+        MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
         // 定位监听
         CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 10,mMapLocationListener);
 
         //2021.11.1 自动驾驶路线规划接口
-        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
+        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
 
         //监听司机端消息
-        CallerTelematicListenerManager.INSTANCE.addListener(TAG,mReceivedMsgListener);
+        CallerTelematicListenerManager.INSTANCE.addListener(TAG, mReceivedMsgListener);
 
         AbnormalFactorsLoopManager.INSTANCE.startLoopAbnormalFactors(mContext);
     }
@@ -380,7 +380,7 @@ public class BusPassengerModel {
     private final IReceivedMsgListener mReceivedMsgListener = new IReceivedMsgListener() {
         @Override
         public void onReceivedServerSn(@Nullable String sn) {
-            Logger.d(SceneConstant.M_BUS_P+TAG,"onReceivedServerSn = "+sn);
+            Logger.d(SceneConstant.M_BUS_P + TAG, "onReceivedServerSn = " + sn);
             if (mDriverStatusCallback != null) {
                 mDriverStatusCallback.updateDriverSn(sn);
             }
@@ -388,16 +388,16 @@ public class BusPassengerModel {
 
         @Override
         public void onReceivedMsg(int type, @NonNull byte[] byteArray) {
-            if (OchCommonConst.BUSINESS_STRING == type){
+            if (OchCommonConst.BUSINESS_STRING == type) {
 
                 BaseDPMsg baseMsg = GsonUtils.fromJson(new String(byteArray), BaseDPMsg.class);
-                Logger.d(SceneConstant.M_BUS_P+TAG,"onReceivedMsg = "+GsonUtils.toJson(baseMsg));
+                Logger.d(SceneConstant.M_BUS_P + TAG, "onReceivedMsg = " + GsonUtils.toJson(baseMsg));
 
-                if (baseMsg != null && baseMsg.getType() == DPMsgType.TYPE_COMMON.getType()){
+                if (baseMsg != null && baseMsg.getType() == DPMsgType.TYPE_COMMON.getType()) {
                     AppConnectMsg msg = GsonUtils.fromJson(new String(byteArray), AppConnectMsg.class);
-                    if (msg.isViewShow()){ //消息盒子显示内容
+                    if (msg.isViewShow()) { //消息盒子显示内容
                         OCHSocketMessageManager.INSTANCE.pushAppOperationalMsgBox(
-                                DateTimeUtil.getCurrentTimeStamp(),msg.getMsg(),
+                                DateTimeUtil.getCurrentTimeStamp(), msg.getMsg(),
                                 OCHSocketMessageManager.OPERATION_SYSTEM);
                     }
                 }
@@ -408,10 +408,10 @@ public class BusPassengerModel {
     //监听网络变化，避免启动机器时无网导致无法更新订单信息
     private final IMogoIntentListener mNetWorkIntentListener = new IMogoIntentListener() {
         @Override
-        public void onIntentReceived( String intentStr, Intent intent ) {
-            CallerLogger.INSTANCE.d( M_BUS_P + TAG, "onIntentReceived = %s", intentStr );
-            if ( ConnectivityManager.CONNECTIVITY_ACTION.equals( intentStr ) ) {
-                if ( NetworkUtils.isConnected( mContext ) ) {
+        public void onIntentReceived(String intentStr, Intent intent) {
+            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "onIntentReceived = %s", intentStr);
+            if (ConnectivityManager.CONNECTIVITY_ACTION.equals(intentStr)) {
+                if (NetworkUtils.isConnected(mContext)) {
                     queryDriverOperationStatus();
                 }
             }
@@ -422,7 +422,7 @@ public class BusPassengerModel {
     private final IMogoStatusChangedListener mMogoStatusChangedListener = (descriptor, isTrue) -> {
         if (StatusDescriptor.VR_MODE == descriptor) {
             if (mControllerStatusCallbackMap.size() > 0) {
-                for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){
+                for (IBusPassengerControllerStatusCallback callback : mControllerStatusCallbackMap.values()) {
                     callback.onVRModeChanged(isTrue);
                 }
             }
@@ -432,18 +432,27 @@ public class BusPassengerModel {
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = gnssInfo -> {
         if (null == gnssInfo) return;
         mLocation = gnssInfo;
-        for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){
+        for (IBusPassengerControllerStatusCallback callback : mControllerStatusCallbackMap.values()) {
             callback.onCarLocationChanged(gnssInfo);
         }
     };
 
-    private volatile int mPreAutoStatus = -1;
+    private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
 
-    private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){
+        @Override
+        public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
+        }
+
+        @Override
+        public void onAutopilotConnectInfo(boolean connectInfo) {
+        }
+
+        @Override
+        public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
+        }
 
         @Override
         public void onAutopilotRouteLineId(long lineId) {
-
         }
 
         @Override
@@ -452,34 +461,24 @@ public class BusPassengerModel {
 
         @Override
         public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
-
         }
 
         private boolean arriveAtEnd = false; //乘客app专用字段
 
         @Override
-        public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-            if (autopilotStatusInfo == null) return;
-            int state = autopilotStatusInfo.getState();
+        public void onAutopilotStatusResponse(int state) {
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
-                if(state != mPreAutoStatus){
-                    mTwoStationsRouts.clear();
-                }
+                mTwoStationsRouts.clear();
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
-                if(state != mPreAutoStatus){
-                    mTwoStationsRouts.clear();
-                }
+                mTwoStationsRouts.clear();
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
-            }else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
-                if(state != mPreAutoStatus){
-                    mTwoStationsRouts.clear();
-                }
+            } else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
+                mTwoStationsRouts.clear();
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
             }
-            mPreAutoStatus = state;
         }
 
         @Override
@@ -498,60 +497,55 @@ public class BusPassengerModel {
             if (DebugConfig.isDebug()) {
                 // ToastUtils.showShort("到达目的地");
             }
-            if (mADASStatusCallback != null){
+            if (mADASStatusCallback != null) {
                 mADASStatusCallback.onAutopilotArriveEnd();
             }
         }
 
         @Override
         public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-
         }
     };
 
-    private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener(){
-
-        @Override
-        public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp routeList) {
-            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "onAutopilotRotting = "
-                    + GsonUtil.jsonFromObject(routeList));
-            List<MessagePad.Location> routePoints = routeList.getWayPointsList();
-            if (null != routePoints && routePoints.size() > 0){
-                updateRoutePoints(routePoints);
-                startToRouteAndWipe();
-            }
+    private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = routeList -> {
+        CallerLogger.INSTANCE.d(M_BUS_P + TAG, "onAutopilotRotting = "
+                + GsonUtil.jsonFromObject(routeList));
+        List<MessagePad.Location> routePoints = routeList.getWayPointsList();
+        if (null != routePoints && routePoints.size() > 0) {
+            updateRoutePoints(routePoints);
+            startToRouteAndWipe();
         }
     };
 
-    public void updateRoutePoints(List<MessagePad.Location> routePoints){
+    public void updateRoutePoints(List<MessagePad.Location> routePoints) {
         mRoutePoints.clear();
         List<MogoLocation> latLngModels = CoordinateCalculateRouteUtil
-                .coordinateConverterWgsToGcjLocations(mContext,routePoints);
+                .coordinateConverterWgsToGcjLocations(mContext, routePoints);
         mRoutePoints.addAll(latLngModels);
         calculateTwoStationsRoute();
     }
 
-    private void calculateTwoStationsRoute(){
+    private void calculateTwoStationsRoute() {
         //找出前往站对应的轨迹点，拿出两站点的集合
         CallerLogger.INSTANCE.d(M_BUS_P + TAG, "mRoutePoints.size() = " + mRoutePoints.size());
         if (mRoutePoints.size() > 0) {
-            if (mStations.size() > 1){ //两个站点及以上要计算两个站点间的轨迹路线
-                if (mNextStationIndex <= mStations.size()-1 && mNextStationIndex - 1 >=0){
+            if (mStations.size() > 1) { //两个站点及以上要计算两个站点间的轨迹路线
+                if (mNextStationIndex <= mStations.size() - 1 && mNextStationIndex - 1 >= 0) {
                     mTwoStationsRouts.clear();
                     BusPassengerStation stationNext = mStations.get(mNextStationIndex);
                     BusPassengerStation stationCur = mStations.get(mNextStationIndex - 1);
                     //当前站在轨迹中对应的点
                     int currentRouteIndex = CoordinateCalculateRouteUtil.getArrivedPointIndexNew(0
-                            ,mRoutePoints
-                            ,stationCur.getGcjLon(),stationCur.getGcjLat());
+                            , mRoutePoints
+                            , stationCur.getGcjLon(), stationCur.getGcjLat());
                     //要前往的站在轨迹中对应的点
                     int nextRouteIndex = CoordinateCalculateRouteUtil.getArrivedPointIndexNew(currentRouteIndex
-                            ,mRoutePoints
-                            ,stationNext.getGcjLon(),stationNext.getGcjLat());
+                            , mRoutePoints
+                            , stationNext.getGcjLon(), stationNext.getGcjLat());
                     CallerLogger.INSTANCE.d(M_BUS_P + TAG, "轨迹排查==currentRouteIndex = " + currentRouteIndex
                             + "， nextRouteIndex = " + nextRouteIndex);
-                    if (currentRouteIndex < nextRouteIndex){ //如果找到的next在起点的轨迹前面，直接舍弃这个轨迹，不显示
-                        mTwoStationsRouts.addAll(mRoutePoints.subList(currentRouteIndex,nextRouteIndex + 1));
+                    if (currentRouteIndex < nextRouteIndex) { //如果找到的next在起点的轨迹前面，直接舍弃这个轨迹，不显示
+                        mTwoStationsRouts.addAll(mRoutePoints.subList(currentRouteIndex, nextRouteIndex + 1));
                     }
                 }
             }
@@ -559,10 +553,10 @@ public class BusPassengerModel {
 //                mTwoStationsRouts.clear();
 //                mTwoStationsRouts.addAll(mRoutePoints);
 //            }
-            if (mTwoStationsRouts.size() > 0){
+            if (mTwoStationsRouts.size() > 0) {
                 float sumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(mTwoStationsRouts);
-                SharedPrefsMgr.getInstance(mContext).putInt(BusPassengerConst.BUS_SP_KEY_ORDER_SUM_DIS,(int) sumLength);
-                if (mAutopilotPlanningCallback != null){
+                SharedPrefsMgr.getInstance(mContext).putInt(BusPassengerConst.BUS_SP_KEY_ORDER_SUM_DIS, (int) sumLength);
+                if (mAutopilotPlanningCallback != null) {
                     mAutopilotPlanningCallback.updateTotalDistance();
                 }
             }
@@ -572,46 +566,46 @@ public class BusPassengerModel {
     public void dynamicCalculateRouteInfo() {
         //计算当前位置和下一站的剩余点集合
         //计算剩余点总里程和时间
-        if (mTwoStationsRouts.size() == 0){
+        if (mTwoStationsRouts.size() == 0) {
             calculateTwoStationsRoute();
         }
-        if (mTwoStationsRouts.size() > 0 && mLocation != null){
-            Map<Integer,List<MogoLocation>> lastPointsMap = CoordinateCalculateRouteUtil
-                    .getRemainPointListByCompareNew(mPreRouteIndex,mTwoStationsRouts,mLocation);
-            for (int index: lastPointsMap.keySet()) {
-                 mPreRouteIndex = index;
+        if (mTwoStationsRouts.size() > 0 && mLocation != null) {
+            Map<Integer, List<MogoLocation>> lastPointsMap = CoordinateCalculateRouteUtil
+                    .getRemainPointListByCompareNew(mPreRouteIndex, mTwoStationsRouts, mLocation);
+            for (int index : lastPointsMap.keySet()) {
+                mPreRouteIndex = index;
                 break;
             }
 
-            for (List<MogoLocation> lastPoints: lastPointsMap.values()){
+            for (List<MogoLocation> lastPoints : lastPointsMap.values()) {
                 CallerLogger.INSTANCE.d(M_BUS_P + TAG, "轨迹排查==lastPoints.size() = " + lastPoints.size());
                 float lastSumLength = 0;
-                if (lastPoints.size() == 1){ //只是最后一个点，计算当前位置和最后一个点的距离
-                    if (mNextStationIndex <= mStations.size()-1 && mNextStationIndex >= 0){
+                if (lastPoints.size() == 1) { //只是最后一个点，计算当前位置和最后一个点的距离
+                    if (mNextStationIndex <= mStations.size() - 1 && mNextStationIndex >= 0) {
                         BusPassengerStation stationNext = mStations.get(mNextStationIndex);
                         lastSumLength = CoordinateUtils.calculateLineDistance(
                                 stationNext.getGcjLon(), stationNext.getGcjLat(),
                                 mLocation.getLongitude(), mLocation.getLatitude());
-                    }else {
+                    } else {
                         lastSumLength = CoordinateUtils.calculateLineDistance(
                                 lastPoints.get(0).getLongitude(), lastPoints.get(0).getLatitude(),
                                 mLocation.getLongitude(), mLocation.getLatitude());
                     }
 
-                }else {
+                } else {
                     lastSumLength = CoordinateCalculateRouteUtil.calculateRouteSumLength(lastPoints);
                 }
 
-                double lastTime = lastSumLength / getAverageSpeed() * 3.6 ; //秒
+                double lastTime = lastSumLength / getAverageSpeed() * 3.6; //秒
                 CallerLogger.INSTANCE.d(M_BUS_P + TAG, "轨迹排查==lastSumLength = " + lastSumLength);
-                if (mAutopilotPlanningCallback != null){
-                    mAutopilotPlanningCallback.routePlanningToNextStationChanged((long)lastSumLength,(long) lastTime);
+                if (mAutopilotPlanningCallback != null) {
+                    mAutopilotPlanningCallback.routePlanningToNextStationChanged((long) lastSumLength, (long) lastTime);
                 }
             }
         }
     }
 
-    public int getAverageSpeed(){
+    public int getAverageSpeed() {
         return BusPassengerConst.BUS_AVERAGE_SPEED;
     }
 
@@ -626,19 +620,20 @@ public class BusPassengerModel {
 
     /**
      * 实时轨迹擦除
+     *
      * @param isStart
      */
-    public void startOrStopRouteAndWipe(boolean isStart){
-        if (isStart){
+    public void startOrStopRouteAndWipe(boolean isStart) {
+        if (isStart) {
             BusPassengerModelLoopManager.getInstance().startOrStopRouteAndWipe();
-        }else {
+        } else {
             mWipePreIndex = 0;
             BusPassengerModelLoopManager.getInstance().stopOrStopRouteAndWipe();
         }
     }
 
     public void loopRouteAndWipe() {
-        if (mRoutePoints != null && mRoutePoints.size() > 0 && mLocation != null){
+        if (mRoutePoints != null && mRoutePoints.size() > 0 && mLocation != null) {
             int haveArrivedIndex = CoordinateCalculateRouteUtil
                     .getArrivedPointIndexNew(mWipePreIndex,
                             mRoutePoints,
@@ -646,17 +641,18 @@ public class BusPassengerModel {
 
             mWipePreIndex = haveArrivedIndex;
 
-            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "thread = "+ Thread.currentThread().getName()+" haveArrivedIndex== " + haveArrivedIndex);
-            if (mAutopilotPlanningCallback != null){
+            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "thread = " + Thread.currentThread().getName() + " haveArrivedIndex== " + haveArrivedIndex);
+            if (mAutopilotPlanningCallback != null) {
                 List<LatLng> routePoints = CoordinateCalculateRouteUtil
-                        .coordinateConverterLocationToLatLng(mContext,mRoutePoints);
-                mAutopilotPlanningCallback.routeResult(routePoints,haveArrivedIndex);
+                        .coordinateConverterLocationToLatLng(mContext, mRoutePoints);
+                mAutopilotPlanningCallback.routeResult(routePoints, haveArrivedIndex);
             }
         }
     }
 
     /**
      * 开始轮询计算剩余里程和时间
+     *
      * @param isStart
      */
     public void startOrStopCalculateRouteInfo(boolean isStart) {

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java

@@ -34,8 +34,6 @@ import com.mogo.och.common.module.biz.constant.LoginStatusManager;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.voice.VoiceNotice;
 
-import org.jetbrains.annotations.NotNull;
-
 import java.util.ArrayList;
 import java.util.List;
 
@@ -45,8 +43,6 @@ import system_master.SystemStatusInfo;
 
 /**
  * 网约车小巴
- *
- * @author tongchenfei
  */
 public class BusPresenter extends Presenter<BusFragment>
         implements IRefreshBusStationsCallback, ISlidePannelHideCallback
@@ -55,7 +51,7 @@ public class BusPresenter extends Presenter<BusFragment>
     private static final String TAG = "BusPresenter";
 
     private int currentAutopilotStatus = -1;
-    private List<BusStationBean> mStationList = new ArrayList<>();
+    private final List<BusStationBean> mStationList = new ArrayList<>();
     private int mCurrentStation = 0;
 
     public BusPresenter(BusFragment view) {
@@ -168,9 +164,7 @@ public class BusPresenter extends Presenter<BusFragment>
     }
 
     @Override
-    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-        int state = autopilotStatusInfo.getState();
-//        CallerLogger.INSTANCE.d(M_BUS + TAG, "onStateChange: " + state + "currentAutopilotStatus = " + currentAutopilotStatus);
+    public void onAutopilotStatusResponse(int state) {
         switch (state) {
             case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
                 if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
@@ -206,26 +200,21 @@ public class BusPresenter extends Presenter<BusFragment>
                         && (
                         (mCurrentStation >= 0 && mCurrentStation <= mStationList.size() - 1)
                                 && OrderModel.getInstance().isGoingToNextStation()
-
                 )
                 ) {
                     CallerLogger.INSTANCE.d(M_BUS + "BusOrderModel=", "有美化功能");
                     return;
                 }
-
                 if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
                     currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
                 }
-                runOnUIThread(() -> {
-                    mView.onAutopilotStatusChanged(currentAutopilotStatus);
-                });
+                runOnUIThread(() -> mView.onAutopilotStatusChanged(currentAutopilotStatus));
                 break;
             case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING:
                 if (FunctionBuildConfig.isDemoMode
                         && (
                         (mCurrentStation >= 0 && mCurrentStation <= mStationList.size() - 1)
                                 && OrderModel.getInstance().isGoingToNextStation()
-
                 )
                 ) {
                     CallerLogger.INSTANCE.d(M_BUS + "BusOrderModel=", "有美化功能");
@@ -234,9 +223,7 @@ public class BusPresenter extends Presenter<BusFragment>
                 if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
                     currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING;
                 }
-                runOnUIThread(() -> {
-                    mView.onAutopilotStatusChanged(currentAutopilotStatus);
-                });
+                runOnUIThread(() -> mView.onAutopilotStatusChanged(currentAutopilotStatus));
                 break;
             default:
                 runOnUIThread(() -> mView.onAutopilotEnableChange(false));
@@ -275,8 +262,6 @@ public class BusPresenter extends Presenter<BusFragment>
 
     /**
      * 测试使用
-     *
-     * @param status
      */
     public void debugAutoPilotStatus(int status) {
         AutopilotStatusInfo info = new AutopilotStatusInfo();
@@ -340,4 +325,16 @@ public class BusPresenter extends Presenter<BusFragment>
     public void onStartAdasFailure() {
         runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
     }
+
+    @Override
+    public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
+    }
+
+    @Override
+    public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
+    }
+
+    @Override
+    public void onAutopilotConnectInfo(boolean connectInfo) {
+    }
 }

OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt

@@ -10,7 +10,6 @@ import com.mogo.eagle.core.data.BaseData
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLonLat
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
@@ -77,7 +76,8 @@ object CharterPassengerModel {
     private var mContext: Context = AbsMogoApplication.getApp()
 
     //Model->Presenter：自动驾驶状态相关
-    var mAutoStatusChnageListener = ConcurrentHashMap<String, ICharterPassengerAutoStatusChangeCallback>()
+    var mAutoStatusChnageListener =
+        ConcurrentHashMap<String, ICharterPassengerAutoStatusChangeCallback>()
 
     // 定位监听
     private val mControllerStatusCallbackMap =
@@ -110,17 +110,18 @@ object CharterPassengerModel {
      * 到站是否播报 key 线路id+业务 value 是否播报
      *
      */
-    private var broadcastList : MutableMap<String,Boolean> = HashMap()
+    private var broadcastList: MutableMap<String, Boolean> = HashMap()
+
     // 到站仅一次
     private val endKey = "arrivedLine"
     private val endKeyRequestIng = "arrivedLineRequestIng"
     private val ending100Key = "arrivingLine"
     private val min5Speak = "min5Speak"
 
-    private var carTypeChageListener: IOrderChangeCallback?=null
+    private var carTypeChageListener: IOrderChangeCallback? = null
 
-    private var subscribeCountDown: Disposable?=null
-    var switchLine5minWait: Disposable?=null
+    private var subscribeCountDown: Disposable? = null
+    var switchLine5minWait: Disposable? = null
 
     @Volatile
     var newCheckedSite: SiteInfoResponse.SiteInfo? = null
@@ -147,7 +148,7 @@ object CharterPassengerModel {
         // 自动驾驶状态变化监听
         CallerAutoPilotStatusListenerManager.addListener(TAG, mGoAutopilotStatusListener)
         // 定位监听
-        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 4 ,mMapLocationListener)
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 4, mMapLocationListener)
         // 自动驾驶路线规划接口 返回自动驾驶轨迹
         CallerPlanningRottingListenerManager.addListener(TAG, moGoAutopilotPlanningListener)
         // 登录状态监听
@@ -163,6 +164,7 @@ object CharterPassengerModel {
         }
         mControllerStatusCallbackMap[tag] = callback
     }
+
     fun setAutoStatusCallback(tag: String, callback: ICharterPassengerAutoStatusChangeCallback?) {
         if (tag.isBlank()) return
         if (callback == null) {
@@ -213,24 +215,17 @@ object CharterPassengerModel {
             }
         }
 
-    // 前一个自动驾驶状体
-    @Volatile
-    private var mPreAutoStatus = -1
-
     // 自动驾驶状态监听
     private val mGoAutopilotStatusListener: IMoGoAutopilotStatusListener =
         object : IMoGoAutopilotStatusListener {
-            override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-                val state = autoPilotStatusInfo.state
-                if(mPreAutoStatus!=state){
-                    mPreAutoStatus = state
-                    mAutoStatusChnageListener.forEach {
-                        it.value.onAutoStatusChange(state)
-                    }
+            override fun onAutopilotStatusResponse(state: Int) {
+                mAutoStatusChnageListener.forEach {
+                    it.value.onAutoStatusChange(state)
                 }
             }
+
             override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
-                CallerLogger.d(M_BUS_P + TAG,"底盘给到站信息")
+                CallerLogger.d(M_BUS_P + TAG, "底盘给到站信息")
                 arriveDest()
             }
         }
@@ -260,11 +255,15 @@ object CharterPassengerModel {
             .coordinateConverterWgsToGcjLocations(mContext, routePoints)
         mRoutePoints = latLngModels
     }
-    fun cleanRoutePoints(){
+
+    fun cleanRoutePoints() {
         mRoutePoints = null
     }
 
-    fun setStatusChangeListener(tag:String,orderStatusChangeListener: IOrderStatusChangeListener?) {
+    fun setStatusChangeListener(
+        tag: String,
+        orderStatusChangeListener: IOrderStatusChangeListener?
+    ) {
         if (tag.isBlank()) return
         if (orderStatusChangeListener == null) {
             orderStatusChangeListeners.remove(tag)
@@ -272,7 +271,8 @@ object CharterPassengerModel {
         }
         orderStatusChangeListeners[tag] = orderStatusChangeListener
     }
-    fun setStationDistanceListener(tag:String,orderStatusChangeListener: IDistanceCallback?) {
+
+    fun setStationDistanceListener(tag: String, orderStatusChangeListener: IDistanceCallback?) {
         if (tag.isBlank()) return
         if (orderStatusChangeListener == null) {
             stationDistanceListener.remove(tag)
@@ -280,7 +280,8 @@ object CharterPassengerModel {
         }
         stationDistanceListener[tag] = orderStatusChangeListener
     }
-    fun setOrderLeftTimeListeners(tag:String,orderStatusChangeListener: ITimeCallback?) {
+
+    fun setOrderLeftTimeListeners(tag: String, orderStatusChangeListener: ITimeCallback?) {
         if (tag.isBlank()) return
         if (orderStatusChangeListener == null) {
             orderLeftTimeListeners.remove(tag)
@@ -291,14 +292,15 @@ object CharterPassengerModel {
         orderStatusChangeListener.setOrderTimeCallBack(leftTime)
     }
 
-    fun setCarTypeChangeListener(carTypeChageListener: IOrderChangeCallback?){
+    fun setCarTypeChangeListener(carTypeChageListener: IOrderChangeCallback?) {
         this.carTypeChageListener = carTypeChageListener
     }
 
     fun getCurrentOrderStatus(): OrderStatusEnum {
         return this.orderStatus
     }
-    fun getCurrentOrderInfo():OrderInfoResponse.OrderInfo?{
+
+    fun getCurrentOrderInfo(): OrderInfoResponse.OrderInfo? {
         return orderInfo
     }
     // endregion
@@ -357,13 +359,13 @@ object CharterPassengerModel {
         BusPassengerServiceManager.queryOrderInfo(
             mContext, object : OchCommonServiceCallback<OrderInfoResponse> {
                 override fun onSuccess(data: OrderInfoResponse?) {
-                    CallerLogger.d(M_BUS_P+TAG,"订单信息:$data")
-                    if (data?.data == null){
-                        if(orderInfo!=null){
+                    CallerLogger.d(M_BUS_P + TAG, "订单信息:$data")
+                    if (data?.data == null) {
+                        if (orderInfo != null) {
                             // 启动车辆服务状态
                             startCarStatusLoop()
                         }
-                    }else {
+                    } else {
                         // 判断是否有订单
                         ordrLagic(data.data)
                     }
@@ -382,21 +384,26 @@ object CharterPassengerModel {
         // 有订单有线路后结束轮训
         orderData.let { order ->
             //设置车模
-            if (this.orderInfo?.productType!=orderData.productType) {
+            if (this.orderInfo?.productType != orderData.productType) {
                 this.carTypeChageListener?.setCarChangeListener(orderData.productType)
-                CallerLogger.d(M_BUS_P+TAG,"设置车模")
+                CallerLogger.d(M_BUS_P + TAG, "设置车模")
             }
-            if(this.orderInfo?.siteId!=orderData.siteId){
+            if (this.orderInfo?.siteId != orderData.siteId) {
                 val coordinateConverterWgsToGcj =
                     CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(
                         mContext,
                         order.wgs84Lon!!,
                         order.wgs84Lat!!
                     )
-                this.carTypeChageListener?.setEndStationCallBack(order.siteId,order.siteName,coordinateConverterWgsToGcj.longitude,coordinateConverterWgsToGcj.latitude)
+                this.carTypeChageListener?.setEndStationCallBack(
+                    order.siteId,
+                    order.siteName,
+                    coordinateConverterWgsToGcj.longitude,
+                    coordinateConverterWgsToGcj.latitude
+                )
             }
             this.orderInfo?.orderNo?.let {
-                if(it!=orderData.orderNo){
+                if (it != orderData.orderNo) {
                     // orderNo 变后清理
                     SharedPrefs.getInstance(mContext).remove("${it}$min5Speak")
                 }
@@ -413,7 +420,7 @@ object CharterPassengerModel {
                     this.orderInfo = orderData
                     setOrderStatus(OrderStatusEnum.OrdersWithLine)
                     updateAutopilotControlParameters()
-                }else{
+                } else {
                     this.orderInfo = orderData
                 }
                 //计算终点距离
@@ -433,7 +440,7 @@ object CharterPassengerModel {
                     )
                     // 小于15m到站
                     if (calculateLineDistance < CharterPassengerConst.ARRIVE_AT_START_STATION_DISTANCE && calculateLineDistance > 0) {
-                        CallerLogger.d(M_BUS_P + TAG,"小于15米到站1")
+                        CallerLogger.d(M_BUS_P + TAG, "小于15米到站1")
                         arriveDest()
                     }
                     if (calculateLineDistance < CharterPassengerConst.ARRIVE_SOON_AT_START_STATION_DISTANCE && calculateLineDistance > 0) {
@@ -450,7 +457,7 @@ object CharterPassengerModel {
     fun hasSetLineAndSite(): Pair<LineInfoResponse.LineInfo, SiteInfoResponse.SiteInfo>? {
         orderInfo?.let {
             if (it.lineId != null && it.lineId > 0 && it.siteId != null && it.siteId!! > 0) {
-                if(it.arriveStatus==OrderInfoResponse.ARRIVED){
+                if (it.arriveStatus == OrderInfoResponse.ARRIVED) {
                     return null
                 }
                 val lineInfo = LineInfoResponse.LineInfo(it.lineName, it.lineId)
@@ -471,7 +478,8 @@ object CharterPassengerModel {
         }
         return null
     }
-    fun hasOrder():Boolean{
+
+    fun hasOrder(): Boolean {
         return orderInfo != null
     }
     // endregion
@@ -542,7 +550,7 @@ object CharterPassengerModel {
     private fun startCalibrationLoop() {
         BusPassengerModelLoopManager.setLoopFunction(
             TAGCALIBRATION,
-            LoopInfo(120, ::queryBusinessTime,immediately = true)
+            LoopInfo(120, ::queryBusinessTime, immediately = true)
         )
         CallerLogger.d(M_BUS_P + TAG, "启动时间校准轮询")
     }
@@ -572,42 +580,43 @@ object CharterPassengerModel {
                         }
                         val leadTime = endlast / 1000
                         subscribeCountDown =
-                        Observable.intervalRange(0L, leadTime, 0, 5, TimeUnit.SECONDS)
-                            .map { aLong -> leadTime - aLong }
-                            .subscribeOn(Schedulers.io())
-                            .observeOn(Schedulers.io())
-                            .subscribe{millisUntilFinished->
-                                if (millisUntilFinished <= 300L) {
-                                    orderInfo?.let {
-                                        val isPlayed = SharedPrefs.getInstance(mContext)
-                                            .getBoolean("${it.orderNo}$min5Speak", false)
-                                        if (!isPlayed) {
-                                            //发送 通知
-                                            OCHSocketMessageManager.pushAppOperationalMsgBox(
-                                                DateTimeUtil.getCurrentTimeStamp(),
-                                                AbsMogoApplication.getApp()
-                                                    .getString(R.string.m1_end_order_5min), 2
-                                            )
-                                            VoiceManager.surplus5min(VoiceFocusManager.getVoiceCmdCallBack())
-                                            CallerLogger.d(M_BUS_P+ TAG,"倒计时5分钟${it.orderNo}")
-                                            SharedPrefs.getInstance(mContext).putBoolean("${it.orderNo}$min5Speak",true)
+                            Observable.intervalRange(0L, leadTime, 0, 5, TimeUnit.SECONDS)
+                                .map { aLong -> leadTime - aLong }
+                                .subscribeOn(Schedulers.io())
+                                .observeOn(Schedulers.io())
+                                .subscribe { millisUntilFinished ->
+                                    if (millisUntilFinished <= 300L) {
+                                        orderInfo?.let {
+                                            val isPlayed = SharedPrefs.getInstance(mContext)
+                                                .getBoolean("${it.orderNo}$min5Speak", false)
+                                            if (!isPlayed) {
+                                                //发送 通知
+                                                OCHSocketMessageManager.pushAppOperationalMsgBox(
+                                                    DateTimeUtil.getCurrentTimeStamp(),
+                                                    AbsMogoApplication.getApp()
+                                                        .getString(R.string.m1_end_order_5min), 2
+                                                )
+                                                VoiceManager.surplus5min(VoiceFocusManager.getVoiceCmdCallBack())
+                                                CallerLogger.d(M_BUS_P + TAG, "倒计时5分钟${it.orderNo}")
+                                                SharedPrefs.getInstance(mContext)
+                                                    .putBoolean("${it.orderNo}$min5Speak", true)
+                                            }
                                         }
                                     }
-                                }
 
-                                if(orderInfo==null){
-                                    subscribeCountDown?.let {
-                                        if (!it.isDisposed) {
-                                            it.dispose()
+                                    if (orderInfo == null) {
+                                        subscribeCountDown?.let {
+                                            if (!it.isDisposed) {
+                                                it.dispose()
+                                            }
                                         }
+                                        invokeOrderLeftTimeListeners(-1)
+                                        invokeStationDistanceListener(-1, -1)
+                                    } else {
+                                        invokeOrderLeftTimeListeners(millisUntilFinished)
                                     }
-                                    invokeOrderLeftTimeListeners(-1)
-                                    invokeStationDistanceListener(-1,-1)
-                                }else{
-                                    invokeOrderLeftTimeListeners(millisUntilFinished)
+                                    CallerLogger.d(M_BUS_P + TAG, "订单倒计时${millisUntilFinished}")
                                 }
-                                CallerLogger.d(M_BUS_P + TAG, "订单倒计时${millisUntilFinished}")
-                            }
                     }
                 }
 
@@ -627,9 +636,12 @@ object CharterPassengerModel {
                     //设置全局轨迹信息
                     locusInfo = data.data
 
-                    CallerLogger.d(M_BUS_P+TAG,"查询自动驾驶轨迹信息")
-                    CallerLogger.d(M_BUS_P+TAG,GsonUtil.jsonFromObject(
-                        locusInfo))
+                    CallerLogger.d(M_BUS_P + TAG, "查询自动驾驶轨迹信息")
+                    CallerLogger.d(
+                        M_BUS_P + TAG, GsonUtil.jsonFromObject(
+                            locusInfo
+                        )
+                    )
                 }
 
                 override fun onFail(code: Int, msg: String) {
@@ -667,15 +679,15 @@ object CharterPassengerModel {
         mLocationGCJ02?.let {
             orderInfo?.let { order ->
                 CallerLogger.d(M_BUS_P + "calculateDistance", "订单信息:$order")
-                if(order.siteId==null||order.siteId==0L||
-                    order.wgs84Lat==null||order.wgs84Lat==0.0||
-                    order.wgs84Lon==null||order.wgs84Lon==0.0
-                ){
+                if (order.siteId == null || order.siteId == 0L ||
+                    order.wgs84Lat == null || order.wgs84Lat == 0.0 ||
+                    order.wgs84Lon == null || order.wgs84Lon == 0.0
+                ) {
                     CallerLogger.d(M_BUS_P + "calculateDistance", "站点信息未获得")
                     return
                 }
                 newCheckedSite?.let {
-                    if(it.siteId!=order.siteId){
+                    if (it.siteId != order.siteId) {
                         CallerLogger.d(M_BUS_P + "calculateDistance", "站点和已选不吻合")
                         return
                     }
@@ -699,46 +711,52 @@ object CharterPassengerModel {
                     mogoLocation.latitude
                 )
                 CallerLogger.d(M_BUS_P + "calculateDistance", "两点距离和站点的直线距离：${lastSumLength}")
-                if(lastSumLength>100) {
-                    if (mRoutePoints==null||mRoutePoints?.size == 0){
+                if (lastSumLength > 100) {
+                    if (mRoutePoints == null || mRoutePoints?.size == 0) {
                         //ToastCharterUtils.showLong("缺少轨迹数据暂停计算")
-                        CallerLogger.d(M_BUS_P + "calculateDistance两点距离",
+                        CallerLogger.d(
+                            M_BUS_P + "calculateDistance两点距离",
                             "缺少轨迹数据"
                         )
                         return
                     }
                     // 计算距离
-                   val templastSumLength =
+                    val templastSumLength =
                         CoordinateCalculateRouteUtil.calculateRouteSumLength(
                             mRoutePoints,
                             it,
                             mogoLocation
                         )
-                    CallerLogger.d(M_BUS_P + TAG, "使用轨迹轨迹:${mRoutePoints?.size}--第一个点${mRoutePoints!![0]}--最后一个点:${mRoutePoints!!.last()}")
+                    CallerLogger.d(
+                        M_BUS_P + TAG,
+                        "使用轨迹轨迹:${mRoutePoints?.size}--第一个点${mRoutePoints!![0]}--最后一个点:${mRoutePoints!!.last()}"
+                    )
                     CallerLogger.d(M_BUS_P + "calculateDistance", "轨迹计算的距离$templastSumLength")
-                    if(templastSumLength>100){
+                    if (templastSumLength > 100) {
                         lastSumLength = templastSumLength
                     }
                 }
 
-                val lastTime: Double = lastSumLength / CharterPassengerConst.Charter_AVERAGE_SPEED * 3.6 //秒
+                val lastTime: Double =
+                    lastSumLength / CharterPassengerConst.Charter_AVERAGE_SPEED * 3.6 //秒
 
-                CallerLogger.d(M_BUS_P + "calculateDistance",
+                CallerLogger.d(
+                    M_BUS_P + "calculateDistance",
                     "最终信息:lastSumLength: ${lastSumLength}lastTime : $lastTime thread = ${Thread.currentThread().name}"
                 )
-                if (lastSumLength < CharterPassengerConst.ARRIVE_SOON_AT_START_STATION_DISTANCE&&lastSumLength>0) {
-                    CallerLogger.d(M_BUS_P + TAG,"小于100米到站2")
+                if (lastSumLength < CharterPassengerConst.ARRIVE_SOON_AT_START_STATION_DISTANCE && lastSumLength > 0) {
+                    CallerLogger.d(M_BUS_P + TAG, "小于100米到站2")
                     arriveDestSoon()
                 }
-                if (lastSumLength < CharterPassengerConst.ARRIVE_AT_START_STATION_DISTANCE&&lastSumLength>0) {
-                    CallerLogger.d(M_BUS_P + TAG,"小于15米到站2")
+                if (lastSumLength < CharterPassengerConst.ARRIVE_AT_START_STATION_DISTANCE && lastSumLength > 0) {
+                    CallerLogger.d(M_BUS_P + TAG, "小于15米到站2")
                     arriveDest()
                     return
                 }
-                if(order.arriveStatus==OrderInfoResponse.ARRIVING) {
+                if (order.arriveStatus == OrderInfoResponse.ARRIVING) {
                     invokeStationDistanceListener(lastSumLength.toLong(), lastTime.toLong())
-                }else{
-                    invokeStationDistanceListener(-1,-1)
+                } else {
+                    invokeStationDistanceListener(-1, -1)
                 }
             }
         }
@@ -748,7 +766,7 @@ object CharterPassengerModel {
 
     private fun setOrderStatus(orderStatus: OrderStatusEnum) {
         if (this.orderStatus != orderStatus) {
-            CallerLogger.d(M_BUS_P + TAG,"${this.orderInfo?.orderNo}新的状态：$orderStatus")
+            CallerLogger.d(M_BUS_P + TAG, "${this.orderInfo?.orderNo}新的状态：$orderStatus")
             this.orderStatus = orderStatus
             for (callback in orderStatusChangeListeners.values) {
                 callback.onStatusChange(this.orderStatus)
@@ -756,10 +774,10 @@ object CharterPassengerModel {
         }
     }
 
-    fun setEndOrderStatus(){
+    fun setEndOrderStatus() {
         UiThreadHandler.postDelayed({
             setOrderStatus(OrderStatusEnum.NoOrderUse)
-        },1000)
+        }, 1000)
     }
 
     /**
@@ -786,16 +804,16 @@ object CharterPassengerModel {
                         val calculateLineDistanceNext = CoordinateUtils.calculateLineDistance(
                             currentInfo.longitude,
                             currentInfo.latitude,
-                            data[index+1].GcjLon!!,
-                            data[index+1].GcjLat!!
+                            data[index + 1].GcjLon!!,
+                            data[index + 1].GcjLat!!
                         )
-                        if(calculateLineDistanceNext<CharterPassengerConst.MIN_DISTANCE_STATION){
+                        if (calculateLineDistanceNext < CharterPassengerConst.MIN_DISTANCE_STATION) {
                             if (index + 2 <= data.size - 1) {
                                 return Pair(index + 2, true)// 下下个站点
-                            }else{
+                            } else {
                                 return Pair(-1, true)// 距离最后一个站点小于30m
                             }
-                        }else {
+                        } else {
                             return Pair(index + 1, true)// 下个站点
                         }
                     } else {
@@ -807,7 +825,7 @@ object CharterPassengerModel {
             }
         }
         for (mutableEntry in distanceMap) {
-            CallerLogger.d(M_BUS_P+ TAG,"距离:${mutableEntry.key}-----第几个站点${mutableEntry.value}")
+            CallerLogger.d(M_BUS_P + TAG, "距离:${mutableEntry.key}-----第几个站点${mutableEntry.value}")
         }
         var middle = -1
         if (distanceMap.size >= 2) {
@@ -815,7 +833,7 @@ object CharterPassengerModel {
                 middle = mutableEntry.value
                 break
             }
-            if(middle==0){
+            if (middle == 0) {
                 return Pair(1, false)
             }
             mLocationGCJ02?.let {
@@ -824,7 +842,7 @@ object CharterPassengerModel {
                 // middle middle+1
                 // middle-1 middle-2
                 // middle+1 middle+2
-                if(middle-1>=0) {
+                if (middle - 1 >= 0) {
                     val degree = CoordinateCalculateRouteUtil.getDegree(
                         it.longitude, it.latitude,
                         data.get(middle).GcjLon!!, data.get(middle).GcjLat!!,
@@ -834,17 +852,17 @@ object CharterPassengerModel {
                         return Pair(middle, false)
                     }
                 }
-                if(middle+1<data.size) {
+                if (middle + 1 < data.size) {
                     val degree = CoordinateCalculateRouteUtil.getDegree(
                         it.longitude, it.latitude,
                         data.get(middle + 1).GcjLon!!, data.get(middle + 1).GcjLat!!,
                         data.get(middle).GcjLon!!, data.get(middle).GcjLat!!,
                     )
                     if (degree > 90) {
-                        return Pair(middle+1, false)
+                        return Pair(middle + 1, false)
                     }
                 }
-                if(middle-2>=0) {
+                if (middle - 2 >= 0) {
                     val degree = CoordinateCalculateRouteUtil.getDegree(
                         it.longitude, it.latitude,
                         data.get(middle - 1).GcjLon!!, data.get(middle - 1).GcjLat!!,
@@ -854,11 +872,11 @@ object CharterPassengerModel {
                         return Pair(middle - 1, false)
                     }
                 }
-                if(middle+2<data.size) {
+                if (middle + 2 < data.size) {
                     val degree = CoordinateCalculateRouteUtil.getDegree(
                         it.longitude, it.latitude,
                         data.get(middle + 2).GcjLon!!, data.get(middle + 2).GcjLat!!,
-                        data.get(middle+1).GcjLon!!, data.get(middle+1).GcjLat!!,
+                        data.get(middle + 1).GcjLon!!, data.get(middle + 1).GcjLat!!,
                     )
                     if (degree > 90) {
                         return Pair(middle + 2, false)
@@ -876,21 +894,29 @@ object CharterPassengerModel {
             BusPassengerServiceManager.endOrder(mContext, it, callback)
         }
     }
-    fun getLineTrajectory(lineId: Long,callback: OchCommonServiceCallback<TrajectoriesResponse>?) {
+
+    fun getLineTrajectory(lineId: Long, callback: OchCommonServiceCallback<TrajectoriesResponse>?) {
         BusPassengerServiceManager.queryLineLocation(mContext, lineId = lineId.toString(), callback)
     }
 
     @Synchronized
     fun arriveDest() {
         val (order, lineId, siteId) = getOrderInfo()
-        if(order!=null&&lineId!=null&&siteId!=null){
+        if (order != null && lineId != null && siteId != null) {
             val requestSuccessSign = "${siteId}$endKey"
             val requestIngSign = "${siteId}$endKeyRequestIng"//正在请求中
-            CallerLogger.d(M_BUS_P + BaseDPMsg.TAG,
-                "requestSuccessSign${isSuccess(requestSuccessSign)}---requestIngSign${isSuccess(requestIngSign)}")
+            CallerLogger.d(
+                M_BUS_P + BaseDPMsg.TAG,
+                "requestSuccessSign${isSuccess(requestSuccessSign)}---requestIngSign${
+                    isSuccess(
+                        requestIngSign
+                    )
+                }"
+            )
             if (order.arriveStatus == OrderInfoResponse.ARRIVING) {
-                if (isSuccess(requestSuccessSign)&&//true 请求还没有成功  false 请求成功
-                    isSuccess(requestIngSign)) {// true 还没有正在请求  false 正在请求中
+                if (isSuccess(requestSuccessSign) &&//true 请求还没有成功  false 请求成功
+                    isSuccess(requestIngSign)
+                ) {// true 还没有正在请求  false 正在请求中
                     val currentTimeStamp = DateTimeUtil.getCurrentTimeStamp()
                     broadcastList[requestIngSign] = true //正在请求中
                     BusPassengerServiceManager.arriveDest(
@@ -898,23 +924,23 @@ object CharterPassengerModel {
                         lindId = lineId,
                         writtenVersion = currentTimeStamp,
                         object : OchCommonServiceCallback<BaseData> {
-                                override fun onSuccess(data: BaseData?) {
-                                    if (null != data && 0 == data.code) {
-                                        arrivedDeskSuccess(currentTimeStamp,true)
-                                        broadcastList[requestIngSign] = false
-                                    }
-                                }
-
-                                override fun onFail(code: Int, msg: String) {
-                                    ToastCharterUtils.showShort("$code:$msg")
+                            override fun onSuccess(data: BaseData?) {
+                                if (null != data && 0 == data.code) {
+                                    arrivedDeskSuccess(currentTimeStamp, true)
                                     broadcastList[requestIngSign] = false
                                 }
+                            }
 
-                                override fun onError() {
-                                    super.onError()
-                                    broadcastList[requestIngSign] = false
-                                }
-                            })
+                            override fun onFail(code: Int, msg: String) {
+                                ToastCharterUtils.showShort("$code:$msg")
+                                broadcastList[requestIngSign] = false
+                            }
+
+                            override fun onError() {
+                                super.onError()
+                                broadcastList[requestIngSign] = false
+                            }
+                        })
                 }
             }
         }
@@ -922,16 +948,16 @@ object CharterPassengerModel {
 
     fun arrivedDeskSuccess(
         currentTimeStamp: Long,
-        needSendDriver:Boolean
+        needSendDriver: Boolean
     ) {
         val (order, lineId, siteId) = getOrderInfo()
         val requestSuccessSign = "${siteId}$endKey"
 
-        if (!isSuccess(requestSuccessSign)){
+        if (!isSuccess(requestSuccessSign)) {
             return
         }
 
-        if(order!=null&&lineId!=null&&siteId!=null){
+        if (order != null && lineId != null && siteId != null) {
             VoiceManager.arrivedStation(
                 order.siteName!!,
                 order.siteNameKr ?: "",
@@ -948,7 +974,7 @@ object CharterPassengerModel {
                     order.startSiteId ?: 0,
                     order.startSiteName ?: "",
                     siteId.toInt(),
-                    order.siteName?:"",
+                    order.siteName ?: "",
                     true,
                     OrderInfoResponse.ARRIVED,
                     currentTimeStamp
@@ -972,15 +998,15 @@ object CharterPassengerModel {
         }
     }
 
-    private fun getOrderInfo():Triple<OrderInfoResponse.OrderInfo?,Long?,Long?>{
-        this.orderInfo?.let { order->
+    private fun getOrderInfo(): Triple<OrderInfoResponse.OrderInfo?, Long?, Long?> {
+        this.orderInfo?.let { order ->
             this.orderInfo?.lineId?.let { lineId ->
                 this.orderInfo?.siteId?.let { siteId ->
-                    return Triple(order,lineId,siteId)
+                    return Triple(order, lineId, siteId)
                 }
             }
         }
-        return Triple(null,null,null)
+        return Triple(null, null, null)
     }
 
     @Synchronized
@@ -989,7 +1015,8 @@ object CharterPassengerModel {
             order.siteId?.let { siteId ->
                 if (order.arriveStatus == OrderInfoResponse.ARRIVING) {
                     if (isSuccess("${siteId}$ending100Key")) {
-                        val string = mContext.getString(R.string.arrived_station_left_100,order.siteName)
+                        val string =
+                            mContext.getString(R.string.arrived_station_left_100, order.siteName)
                         VoiceNotice.showNotice(string)
                         broadcastList["${siteId}$ending100Key"] = true
                     }
@@ -1025,8 +1052,12 @@ object CharterPassengerModel {
     }
 
     fun leaveStation() {
-        orderInfo?.siteName?.let {cn->
-            VoiceManager.leaveStation(cn,orderInfo?.siteNameKr?:"", VoiceFocusManager.getVoiceCmdCallBack())
+        orderInfo?.siteName?.let { cn ->
+            VoiceManager.leaveStation(
+                cn,
+                orderInfo?.siteNameKr ?: "",
+                VoiceFocusManager.getVoiceCmdCallBack()
+            )
         }
     }
 
@@ -1050,14 +1081,17 @@ object CharterPassengerModel {
             return
         }
         orderInfo?.let {
-            if(it.arriveStatus==OrderInfoResponse.ARRIVED){
+            if (it.arriveStatus == OrderInfoResponse.ARRIVED) {
                 ToastCharterUtils.showLong("已到达目的地请重新选择线路")
                 return
             }
             val parameters = initAutopilotControlParameters()
             if (null == parameters) {
                 ToastCharterUtils.showShort("请选择站点")
-                CallerLogger.e(SceneConstant.M_BUS + TAG, "行程日志-AutopilotControlParameters is empty.")
+                CallerLogger.e(
+                    SceneConstant.M_BUS + TAG,
+                    "行程日志-AutopilotControlParameters is empty."
+                )
                 return
             }
             ToastCharterUtils.showShort("启动自动驾驶中")
@@ -1118,12 +1152,14 @@ object CharterPassengerModel {
     fun sendTripInfo() {
         //发送前后屏出站消息 3：代表出站
         orderInfo?.let {
-            CharterSendTripInfoManager.sendCharterTripInfo(LEAVE_STATION,
-                it.lineName!!,it.startSiteName!!,it.siteName!!,false)
+            CharterSendTripInfoManager.sendCharterTripInfo(
+                LEAVE_STATION,
+                it.lineName!!, it.startSiteName!!, it.siteName!!, false
+            )
         }
     }
 
-    private fun invokeOrderLeftTimeListeners(timeInSecond: Long){
+    private fun invokeOrderLeftTimeListeners(timeInSecond: Long) {
         leftTime = timeInSecond
         UiThreadHandler.post({
             for (value in orderLeftTimeListeners.values) {
@@ -1132,7 +1168,7 @@ object CharterPassengerModel {
         }, UiThreadHandler.MODE.QUEUE)
     }
 
-    private fun invokeStationDistanceListener(meters:Long , timeInSecond:Long){
+    private fun invokeStationDistanceListener(meters: Long, timeInSecond: Long) {
         var tempMeters = meters
         var tempTimeInSecond = timeInSecond
         if (orderInfo?.arriveStatus == OrderInfoResponse.ARRIVED) {
@@ -1141,7 +1177,7 @@ object CharterPassengerModel {
         }
         UiThreadHandler.post({
             for (value in stationDistanceListener.values) {
-                value.setDistancecAndTime(tempMeters,tempTimeInSecond)
+                value.setDistancecAndTime(tempMeters, tempTimeInSecond)
             }
         }, UiThreadHandler.MODE.QUEUE)
 

OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/view/statusbar/StatusBarView.kt

@@ -9,7 +9,6 @@ import android.view.ViewGroup
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
 import chassis.ChassisStatesOuterClass
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoBatteryManagementSystemListener
@@ -25,7 +24,6 @@ import com.mogo.eagle.core.utilcode.util.ClickUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.bus.passenger.R
 import com.mogo.och.bus.passenger.bean.event.DebugView
-import com.mogo.och.bus.passenger.model.CharterPassengerModel
 import kotlinx.android.synthetic.main.m1_statusview_datetime.view.*
 import me.jessyan.autosize.utils.AutoSizeUtils
 import org.greenrobot.eventbus.EventBus
@@ -47,8 +45,6 @@ class StatusBarView @JvmOverloads constructor(
 
     private var mHits = LongArray(COUNTS)
 
-    private var preStatus = -1
-
     private fun continuousClick(type:String) {
         //每次点击时，数组向前移动一位
         System.arraycopy(mHits, 1, mHits, 0, mHits.size - 1)
@@ -94,14 +90,10 @@ class StatusBarView @JvmOverloads constructor(
         tv_power_cos.text = "50%"
 
         val state = CallerAutoPilotStatusListenerManager.getState()
-        setAutoPilotSatusInfo(state)
+        setAutoPilotStatusInfo(state)
     }
 
-    private fun setAutoPilotSatusInfo(state: Int) {
-        if(preStatus==state){
-            return
-        }
-        preStatus = state
+    private fun setAutoPilotStatusInfo(state: Int) {
         when (state) {
             IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
                 actv_auto_status.text = "安全接管中"
@@ -126,9 +118,9 @@ class StatusBarView @JvmOverloads constructor(
         }
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+    override fun onAutopilotStatusResponse(state: Int) {
         UiThreadHandler.post {
-            setAutoPilotSatusInfo(autoPilotStatusInfo.state)
+            setAutoPilotStatusInfo(state)
         }
     }
 

OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt

@@ -10,7 +10,6 @@ import com.magic.mogo.och.charter.fragment.DriverM1Fragment
 import com.magic.mogo.och.charter.manager.CharterTrajectoryManager
 import com.magic.mogo.och.charter.model.DriverM1Model
 import com.mogo.commons.mvp.Presenter
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -36,8 +35,9 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
     IMoGoAutopilotStatusListener, StopSideStatusManager.OCHPlanningActionsCallback,
     IDriverM1ControllerStatusCallback {
 
-    private val TAG = DriverM1Presenter::class.java.name
-    private var mCurrentAutopilotStatus : Int = -1
+    companion object{
+        private const val TAG = "DriverM1Presenter"
+    }
 
     init {
         DriverM1Model.get().init(context)
@@ -139,19 +139,14 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
         DriverM1Model.get().onAutopilotArriveAtStation()
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        val status = autoPilotStatusInfo.state
-        if (mCurrentAutopilotStatus == status) return
-
-        mView?.onAutopilotStatusChanged(status)
-        mCurrentAutopilotStatus = status
-        when(status){
-
+    override fun onAutopilotStatusResponse(state: Int) {
+        mView?.onAutopilotStatusChanged(state)
+        when(state){
 //            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> { //
 //
 //            }
             IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING ->{
-                DriverM1Model.get().triggerStartServiceEvent(false,true)
+                DriverM1Model.get().triggerStartServiceEvent(isRestart = false, send = true)
             }
 //            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE ->{
 //
@@ -187,14 +182,12 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
     }
 
     override fun startOpenAutopilot() {
-        mCurrentAutopilotStatus = -1
         ThreadUtils.runOnUiThread {
             mView?.startAutopilotAnimation()
         }
     }
 
     override fun onStartAdasFailure() {
-        mCurrentAutopilotStatus = -1
         ThreadUtils.runOnUiThread {
             mView?.stopAnimAndUpdateBtnStatus()
         }

OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt

@@ -300,12 +300,10 @@ class PM2DrivingModel private constructor() {
     private val mAutoPilotStatusListener: IMoGoAutopilotStatusListener =
         object : IMoGoAutopilotStatusListener {
 
-            override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-                super.onAutopilotStatusResponse(autoPilotStatusInfo)
-                val status = autoPilotStatusInfo.state
-                if (mCurrentAutoStatus == status) return
-                d(SceneConstant.M_BUS_P+TAG, "onAutopilotStatusResponse ===== $status")
-                if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != status){
+            override fun onAutopilotStatusResponse(state: Int) { //todo yakun 检查逻辑
+                super.onAutopilotStatusResponse(state)
+                d(SceneConstant.M_BUS_P+TAG, "onAutopilotStatusResponse ===== $state")
+                if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != state){
                     //美化模式下且行程中
                     if (FunctionBuildConfig.isDemoMode &&
                         mNextStationIndex>= 0 && mNextStationIndex <= mStations.size - 1
@@ -314,11 +312,9 @@ class PM2DrivingModel private constructor() {
                     }else{//非美化模式下
                         mAutoStatusCallback?.updateAutoStatus(false)
                     }
-
                 }else{//自驾状态 2
                     mAutoStatusCallback?.updateAutoStatus(true)
                 }
-                mCurrentAutoStatus = status
             }
 
         }

OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java

@@ -167,14 +167,14 @@ public class BusPresenter extends Presenter<BusFragment>
 
     @Override
     public void onAutopilotSNRequest() {
-
     }
 
     @Override
     public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-        if (autopilotStatusInfo == null) return;
-        int state = autopilotStatusInfo.getState();
-//        CallerLogger.INSTANCE.d(M_BUS + TAG, "onStateChange: " + state + "currentAutopilotStatus = " + currentAutopilotStatus);
+    }
+
+    @Override
+    public void onAutopilotStatusResponse(int state) {
         switch (state) {
             case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
                 if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
@@ -210,26 +210,21 @@ public class BusPresenter extends Presenter<BusFragment>
                         && (
                         (mCurrentStation >= 0 && mCurrentStation <= mStationList.size() - 1)
                                 && OrderModel.getInstance().isGoingToNextStation()
-
                 )
                 ) {
                     CallerLogger.INSTANCE.d(M_BUS + "BusOrderModel=", "有美化功能");
                     return;
                 }
-
                 if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
                     currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
                 }
-                runOnUIThread(() -> {
-                    mView.onAutopilotStatusChanged(currentAutopilotStatus);
-                });
+                runOnUIThread(() -> mView.onAutopilotStatusChanged(currentAutopilotStatus));
                 break;
             case IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING:
                 if (FunctionBuildConfig.isDemoMode
                         && (
                         (mCurrentStation >= 0 && mCurrentStation <= mStationList.size() - 1)
                                 && OrderModel.getInstance().isGoingToNextStation()
-
                 )
                 ) {
                     CallerLogger.INSTANCE.d(M_BUS + "BusOrderModel=", "有美化功能");
@@ -238,9 +233,7 @@ public class BusPresenter extends Presenter<BusFragment>
                 if (currentAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
                     currentAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING;
                 }
-                runOnUIThread(() -> {
-                    mView.onAutopilotStatusChanged(currentAutopilotStatus);
-                });
+                runOnUIThread(() -> mView.onAutopilotStatusChanged(currentAutopilotStatus));
                 break;
             default:
                 runOnUIThread(() -> mView.onAutopilotEnableChange(false));
@@ -279,8 +272,6 @@ public class BusPresenter extends Presenter<BusFragment>
 
     /**
      * 测试使用
-     *
-     * @param status
      */
     public void debugAutoPilotStatus(int status) {
         AutopilotStatusInfo info = new AutopilotStatusInfo();
@@ -345,4 +336,12 @@ public class BusPresenter extends Presenter<BusFragment>
     public void onStartAdasFailure() {
         runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
     }
+
+    @Override
+    public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
+    }
+
+    @Override
+    public void onAutopilotConnectInfo(boolean connectInfo) {
+    }
 }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -109,7 +109,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     }
 
     private Context mContext;
-    private volatile int mPrevAPStatus = -1; //前一次自动驾驶状态值
     private volatile TaxiPassengerOrderQueryRespBean.Result mCurrentOCHOrder; //当前订单
     private volatile List<TaxiPassengerOrderQueryRespBean.Result> mInServiceList = Collections.emptyList(); //进行中订单
     private volatile List<TaxiPassengerOrderQueryRespBean.Result> mWaitServiceList = Collections.emptyList(); //待服务订单
@@ -500,8 +499,15 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){
 
         @Override
-        public void onAutopilotRouteLineId(long lineId) {
+        public void onAutopilotConnectInfo(boolean connectInfo) {
+        }
 
+        @Override
+        public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
+        }
+
+        @Override
+        public void onAutopilotRouteLineId(long lineId) {
         }
 
         @Override
@@ -510,31 +516,26 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
 
         @Override
         public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
+        }
 
+        @Override
+        public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
         }
 
         private boolean arriveAtEnd = false; //乘客app专用字段
 
         @Override
-        public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-            int state = autopilotStatusInfo.getState();
+        public void onAutopilotStatusResponse(int state) {
 //            CallerLogger.INSTANCE.d( M_TAXI_P + TAG, "state = %s", state );
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
                 if (mCurrentOCHOrder != null
-                        && getCurOrderStatus() == TaxiPassengerOrderStatusEnum.UserArriveAtStart
-                        && state != mPrevAPStatus) {
-
+                        && getCurOrderStatus() == TaxiPassengerOrderStatusEnum.UserArriveAtStart) {
                     TaxiPassengerAnalyticsManager.getInstance().triggerStartAutopilotEvent(false, true,
                             mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.orderNo);
-
-                    // 当高频返回autopilot 2时，不重复调用订单状态变更
-                    mPrevAPStatus = state; // 每个状态单独赋值，解决无订单时已经是2的状态导致的新订单来时无法进入此逻辑更新状态
                     startServicePilotDone();
                 }
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
-                mPrevAPStatus = state;
-
                 if (FunctionBuildConfig.isDemoMode
                         && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
                     // 当美化模式（演示模式）开启时：且是乘客app、且未到终点时，维持自动驾驶icon开启状态
@@ -544,11 +545,8 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                         arriveAtEnd = false;
                     }
                 }
-
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
-                mPrevAPStatus = state;
-
                 if (FunctionBuildConfig.isDemoMode
                         && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
                     // 当美化模式（演示模式）开启时：且是乘客app、且未到终点时，维持自动驾驶icon开启状态
@@ -558,14 +556,12 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                         arriveAtEnd = false;
                     }
                 }
-
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
             }
         }
 
         @Override
         public void onAutopilotSNRequest() {
-
         }
 
         @Override
@@ -586,7 +582,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
 
         @Override
         public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-
         }
     };
 

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java

@@ -1,5 +1,10 @@
 package com.mogo.och.taxi.model;
 
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_CODE_OCH_TAXI_START_AUTOPILOT;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_SOURCE_ADAS;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_TYPE_SOCKET_AUTOPILOT;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;
+
 import android.content.Context;
 import android.content.Intent;
 import android.net.ConnectivityManager;
@@ -91,11 +96,6 @@ import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
 
-import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_CODE_OCH_TAXI_START_AUTOPILOT;
-import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_SOURCE_ADAS;
-import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_TYPE_SOCKET_AUTOPILOT;
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;
-
 /**
  * Created by pangfan on 2021/8/19
  * <p>
@@ -114,7 +114,6 @@ public class TaxiModel {
     }
 
     private Context mContext;
-    private volatile int mPrevAPStatus = -1; //前一次自动驾驶状态值
     private volatile String mPrevOrderNo = ""; //前一次的新到单id（当次和前一次orderId相同时，本次不再弹出）
     private volatile OrderQueryRespBean.Result mNewBookingOrder; //新到待抢预约单
     private volatile OrderQueryRespBean.Result mCurrentOCHOrder; //当前订单
@@ -133,7 +132,7 @@ public class TaxiModel {
     private int mPreRouteIndex = 0;
 
     private double mLongitude, mLatitude;
-    private MogoLocation  mLocation = null;
+    private MogoLocation mLocation = null;
 
     private LoginService loginService;
 
@@ -248,13 +247,13 @@ public class TaxiModel {
 
                 @Override
                 public void onMsgReceived(OCHOperationalMessage obj) {
-                    if (obj == null){
+                    if (obj == null) {
                         CallerLogger.INSTANCE.d(M_TAXI + TAG, "onMsgReceived = null");
                         return;
                     }
-                    CallerLogger.INSTANCE.d(M_TAXI + TAG, "onMsgReceived = "+obj.getMessage());
+                    CallerLogger.INSTANCE.d(M_TAXI + TAG, "onMsgReceived = " + obj.getMessage());
                     OCHSocketMessageManager.INSTANCE.pushAppOperationalMsgBox(obj.getPushTimeStamp(),
-                            obj.getMessage(),OCHSocketMessageManager.OPERATION_SYSTEM);
+                            obj.getMessage(), OCHSocketMessageManager.OPERATION_SYSTEM);
                 }
             };
 
@@ -288,11 +287,11 @@ public class TaxiModel {
 
     //更新接单状态
     public void updateCarStatus() {
-        if(!LoginStatusManager.isLogin()){
+        if (!LoginStatusManager.isLogin()) {
             loginService.queryLoginStatusByNet();
             return;
         }
-        TaxiServiceManager.changeOrderServing(mContext,TaxtServingStatusManager.isOpeningOrderStatus(),
+        TaxiServiceManager.changeOrderServing(mContext, TaxtServingStatusManager.isOpeningOrderStatus(),
                 new OchCommonServiceCallback<BaseData>() {
                     @Override
                     public void onSuccess(BaseData data) {
@@ -347,8 +346,8 @@ public class TaxiModel {
                                 //1.1.2. 当本地有currentOrder：
                                 //orderId不一致时：通过currentOrder.orderId查询订单状态，并通知ui更新
                                 //orderId一致且orderStatus不一致时：则更新currentOrder，并通知ui更新
-                                CallerLogger.INSTANCE.d(M_TAXI + TAG,"AutopilotControl-mCurrentOCHOrder = "+mCurrentOCHOrder.orderStatus
-                                        + ", orderStatus = " +data.data.servicing.get(0).orderStatus);
+                                CallerLogger.INSTANCE.d(M_TAXI + TAG, "AutopilotControl-mCurrentOCHOrder = " + mCurrentOCHOrder.orderStatus
+                                        + ", orderStatus = " + data.data.servicing.get(0).orderStatus);
                                 if (!mCurrentOCHOrder.orderNo.equals(data.data.servicing.get(0).orderNo)) {
                                     queryCurOrderStatus();
                                 } else if (mCurrentOCHOrder.orderStatus != data.data.servicing.get(0).orderStatus) {
@@ -460,7 +459,7 @@ public class TaxiModel {
 
                     @Override
                     public void onFail(int code, String msg) {
-                        ToastUtilsOch.showWithCodeMessage(code,msg);
+                        ToastUtilsOch.showWithCodeMessage(code, msg);
                     }
                 });
     }
@@ -489,7 +488,7 @@ public class TaxiModel {
 
                     @Override
                     public void onFail(int code, String msg) {
-                        ToastUtilsOch.showWithCodeMessage(code,msg);
+                        ToastUtilsOch.showWithCodeMessage(code, msg);
                     }
                 });
     }
@@ -543,7 +542,7 @@ public class TaxiModel {
 
                     @Override
                     public void onFail(int code, String msg) {
-                        ToastUtilsOch.showWithCodeMessage(code,msg);
+                        ToastUtilsOch.showWithCodeMessage(code, msg);
                     }
                 });
     }
@@ -637,7 +636,7 @@ public class TaxiModel {
 
                     @Override
                     public void onFail(int code, String msg) {
-                        ToastUtilsOch.showWithCodeMessage(code,msg);
+                        ToastUtilsOch.showWithCodeMessage(code, msg);
                     }
                 });
     }
@@ -731,7 +730,7 @@ public class TaxiModel {
 
                     @Override
                     public void onFail(int code, String msg) {
-                        ToastUtilsOch.showWithCodeMessage(code,msg);
+                        ToastUtilsOch.showWithCodeMessage(code, msg);
                     }
                 });
     }
@@ -747,7 +746,7 @@ public class TaxiModel {
         TaxiServiceManager.confirmAutopilotConditionByDriver(mContext,
                 mCurrentOCHOrder.orderNo,
                 result,
-                new OchCommonServiceCallback<TaxiDataBaseRespBean>(){
+                new OchCommonServiceCallback<TaxiDataBaseRespBean>() {
 
                     @Override
                     public void onSuccess(TaxiDataBaseRespBean data) {
@@ -761,19 +760,19 @@ public class TaxiModel {
                 });
     }
 
-    public void updateAutopilotStatus(boolean isSafe){
-        if (mOrderStatusCallback != null){
+    public void updateAutopilotStatus(boolean isSafe) {
+        if (mOrderStatusCallback != null) {
             mOrderStatusCallback.onDriverHasCheckedPilotCondition(isSafe);
         }
     }
 
-    public void queryAutopilotStatus(boolean isStart){
-        if (isStart){
+    public void queryAutopilotStatus(boolean isStart) {
+        if (isStart) {
             queryAutopilotStatus();
         }
     }
 
-    public void queryAutopilotStatus(){
+    public void queryAutopilotStatus() {
         if (mCurrentOCHOrder == null) return;
         TaxiServiceManager.queryAutopilotStatus(mContext, mCurrentOCHOrder.orderNo,
                 new OchCommonServiceCallback<TaxiDataBaseRespBean>() {
@@ -819,7 +818,7 @@ public class TaxiModel {
         SharedPrefsMgr.getInstance(mContext).putString(TaxiConst.SP_KEY_OCH_TAXI_ORDER,
                 GsonUtil.jsonFromObject(data));
 
-        if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.OnTheWayToEnd.getCode()){
+        if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.OnTheWayToEnd.getCode()) {
             if (FunctionBuildConfig.isDemoMode) {
                 // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                 FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
@@ -830,7 +829,7 @@ public class TaxiModel {
 
             updateAutopilotControlParameters();
         }
-        if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.getCode()){
+        if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.getCode()) {
             if (FunctionBuildConfig.isDemoMode) {
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "setIPCDemoMode：false");
                 CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
@@ -846,7 +845,7 @@ public class TaxiModel {
     private void updateAutopilotControlParameters() {
 
         AutopilotControlParameters parameters = initAutopilotControlParameters();
-        if (null == parameters){
+        if (null == parameters) {
             CallerLogger.INSTANCE.e(M_TAXI + TAG, "AutopilotControlParameters is empty.");
             return;
         }
@@ -854,7 +853,7 @@ public class TaxiModel {
         CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(parameters);
     }
 
-    private void clearAutopilotControlParameters(){
+    private void clearAutopilotControlParameters() {
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "AutopilotControlParameters is clear.");
         CallerAutoPilotStatusListenerManager.INSTANCE.updateAutopilotControlParameters(null);
     }
@@ -905,19 +904,19 @@ public class TaxiModel {
 
         //根据开关和后台是否发布轨迹启动自驾
         if (FunctionBuildConfig.isPassStartAutopilotCommand && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrl)
-                && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrlDPQP)){
+                && TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrlDPQP)) {
             ToastUtils.showLong("无发布轨迹, 请发布后重试");
             CallerLogger.INSTANCE.e(M_TAXI + TAG, "isPassStartAutopilotCommand = " +
                     FunctionBuildConfig.isPassStartAutopilotCommand
-                    + "busRoutesResult.csvFileUrl = "+ mCurrentOCHOrder.csvFileUrl
-                    + "busRoutesResult.csvFileUrlDPQP = "+mCurrentOCHOrder.csvFileUrlDPQP);
+                    + "busRoutesResult.csvFileUrl = " + mCurrentOCHOrder.csvFileUrl
+                    + "busRoutesResult.csvFileUrlDPQP = " + mCurrentOCHOrder.csvFileUrlDPQP);
             return;
         }
 
         CallerLogger.INSTANCE.e(M_TAXI + TAG, "isPassStartAutopilotCommand = " +
                 FunctionBuildConfig.isPassStartAutopilotCommand);
 
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()){
+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
             ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
                     ", 请稍候重试");
             TaxiAnalyticsManager.getInstance().triggerUnableStartAPReasonEvent(
@@ -926,17 +925,11 @@ public class TaxiModel {
             return;
         }
 
-        if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
-                == CallerAutoPilotStatusListenerManager.INSTANCE.getState()) {
-            // TODO: 2021/11/28 工控机存在刚开始状态为0，但是可以开启变为2，工控机解决前不显示此toast
-//            ToastUtils.showShort("自动驾驶状态为不可用！");
-        }
-
         //点击开始自动驾驶按钮订单状态去流转， 不再与自动驾驶是否启动成功挂钩
-        if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.UserArriveAtStart.getCode()){
+        if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.UserArriveAtStart.getCode()) {
             startServicePilotDone();
             isRestartAutopilot = false;
-        }else {
+        } else {
             isRestartAutopilot = true;
         }
 
@@ -950,9 +943,9 @@ public class TaxiModel {
         CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s",
                 GsonUtil.jsonFromObject(parameters)
-                + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr
+                        + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr
                         + " ,endSiteName=" + mCurrentOCHOrder.endSiteAddr
-                        + "isRestartAutopilot = "+isRestartAutopilot);
+                        + "isRestartAutopilot = " + isRestartAutopilot);
 
         TaxiAnalyticsManager.getInstance().triggerStartAutopilotEvent(isRestartAutopilot, false,
                 mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.lineId, mCurrentOCHOrder.orderNo);
@@ -1023,7 +1016,6 @@ public class TaxiModel {
 
         if (distance <= TaxiConst.ARRIVE_AT_START_STATION_DISTANCE) {
             arrivedStartPoint();
-            return;
         }
     }
 
@@ -1034,7 +1026,7 @@ public class TaxiModel {
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "onIntentReceived = %s", intentStr);
             if (ConnectivityManager.CONNECTIVITY_ACTION.equals(intentStr)) {
                 if (NetworkUtils.isConnected(mContext)) {
-                    startOrStopOrderLoop(LoginStatusManager.isLogin()&&TaxtServingStatusManager.isOpeningOrderStatus());
+                    startOrStopOrderLoop(LoginStatusManager.isLogin() && TaxtServingStatusManager.isOpeningOrderStatus());
                     loginService.queryLoginStatusByNet();
                 }
             }
@@ -1045,8 +1037,8 @@ public class TaxiModel {
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             TaxiAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
-            if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode){
-                CallerLogger.INSTANCE.e(M_TAXI + TAG, "mAdasStartFailureListener = "+startFailedMessage);
+            if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode) {
+                CallerLogger.INSTANCE.e(M_TAXI + TAG, "mAdasStartFailureListener = " + startFailedMessage);
                 mADASStatusCallback.onStartAdasFailure();
             }
         }
@@ -1065,7 +1057,7 @@ public class TaxiModel {
     };
 
     // 自车定位
-    private final IMoGoChassisLocationGCJ02Listener mMapLocationLIstener = new IMoGoChassisLocationGCJ02Listener() {
+    private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
         public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             //位置变化时，通过围栏判断是否到达x点
@@ -1075,7 +1067,7 @@ public class TaxiModel {
                     judgeStartStation(gnssInfo);
                 }
                 if (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd &&
-                        mPrevAPStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
+                        CallerAutoPilotStatusListenerManager.INSTANCE.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                     judgeEndStation(gnssInfo);
                 }
             }
@@ -1089,7 +1081,7 @@ public class TaxiModel {
         }
     };
 
-    private void judgeEndStation(MogoLocation  location) {
+    private void judgeEndStation(MogoLocation location) {
         if (mCurrentOCHOrder == null || mCurrentOCHOrder.endSiteGcjPoint == null
                 || mCurrentOCHOrder.endSiteGcjPoint.size() < 2) {
             return;
@@ -1109,7 +1101,6 @@ public class TaxiModel {
                 return;
             }
             arriveTerminal();
-            return;
         }
 
     }
@@ -1158,8 +1149,15 @@ public class TaxiModel {
     private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
 
         @Override
-        public void onAutopilotRouteLineId(long lineId) {
+        public void onAutopilotConnectInfo(boolean connectInfo) {
+        }
 
+        @Override
+        public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
+        }
+
+        @Override
+        public void onAutopilotRouteLineId(long lineId) {
         }
 
         @Override
@@ -1173,26 +1171,24 @@ public class TaxiModel {
 
         @Override
         public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-            int state = autopilotStatusInfo.getState();
+        }
+
+        @Override
+        public void onAutopilotStatusResponse(int state) {
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-                if (state != mPrevAPStatus && mADASStatusCallback != null){
+                if (mADASStatusCallback != null) {
                     mADASStatusCallback.onAutopilotRunning();
                 }
                 if (mCurrentOCHOrder != null
-                        && TaxiOrderStatusEnum.OnTheWayToEnd.getCode() == mCurrentOCHOrder.orderStatus){
-                    if (state != mPrevAPStatus) {
-                        // 当高频返回autopilot 2时，不重复调用订单状态变更
-                        mPrevAPStatus = state; // 每个状态单独赋值，解决无订单时已经是2的状态导致的新订单来时无法进入此逻辑更新状态
-
-                        TaxiAnalyticsManager.getInstance().triggerStartAutopilotEvent(isRestartAutopilot, true,
-                                mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.lineId, mCurrentOCHOrder.orderNo);
-                        if (FunctionBuildConfig.isDemoMode) {
-                            // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
-                            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-                            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
-                            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
-                            CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）");
-                        }
+                        && TaxiOrderStatusEnum.OnTheWayToEnd.getCode() == mCurrentOCHOrder.orderStatus) {
+                    TaxiAnalyticsManager.getInstance().triggerStartAutopilotEvent(isRestartAutopilot, true,
+                            mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.lineId, mCurrentOCHOrder.orderNo);
+                    if (FunctionBuildConfig.isDemoMode) {
+                        // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
+                        FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
+                        CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
+                        CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
+                        CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）");
                     }
                 }
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
@@ -1203,10 +1199,9 @@ public class TaxiModel {
                     // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
                     return;
                 }
-                if (mADASStatusCallback != null){
+                if (mADASStatusCallback != null) {
                     mADASStatusCallback.onAutopilotEnable();
                 }
-                mPrevAPStatus = state;
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
                 if (FunctionBuildConfig.isDemoMode
                         && checkCurrentOCHOrder()
@@ -1215,34 +1210,30 @@ public class TaxiModel {
                     // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
                     return;
                 }
-                if (mADASStatusCallback != null){
+                if (mADASStatusCallback != null) {
                     mADASStatusCallback.onAutopilotDisable();
                 }
-                mPrevAPStatus = state;
-
-            }else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
-                if (FunctionBuildConfig.isDemoMode){
+            } else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
+                if (FunctionBuildConfig.isDemoMode) {
                     if (checkCurrentOCHOrder()
                             && (getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd
-                            || getCurOrderStatus() == TaxiOrderStatusEnum.ArriveAtEnd)){//订单中
+                            || getCurOrderStatus() == TaxiOrderStatusEnum.ArriveAtEnd)) {//订单中
                         // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
-                    }else { //美化模式下没订单，显示人工驾驶
-                        if (mADASStatusCallback != null){
+                    } else { //美化模式下没订单，显示人工驾驶
+                        if (mADASStatusCallback != null) {
                             mADASStatusCallback.onAutopilotDisable();
                         }
                     }
                     return;
                 }
-                if (mADASStatusCallback != null){
+                if (mADASStatusCallback != null) {
                     mADASStatusCallback.onManMachineCoDriving();
                 }
-                mPrevAPStatus = state;
             }
         }
 
         @Override
         public void onAutopilotSNRequest() {
-
         }
 
         @Override
@@ -1274,7 +1265,7 @@ public class TaxiModel {
 
         @Override
         public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
-            if (null != routeList && routeList.getWayPointsList() != null){
+            if (null != routeList && routeList.getWayPointsList() != null) {
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "getWayPointsList = "
                         + routeList.getWayPointsList().size());
             }
@@ -1288,12 +1279,11 @@ public class TaxiModel {
 
     /**
      * 设置路径规划起终点
+     *
      * @param latLngModels
      */
     public void setRouteLineMarker(List<LatLng> latLngModels) {
-//        List<LatLng> latLngModels = CoordinateCalculateRouteUtil
-//                .coordinateConverterWgsToGcjListCommon(mContext,models);
-        if (mAutopilotPlanningCallback != null){
+        if (mAutopilotPlanningCallback != null) {
             mAutopilotPlanningCallback.setLineMarker(latLngModels);
         }
     }
@@ -1348,7 +1338,7 @@ public class TaxiModel {
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "--------计算出sumLength开始---------- ");
 
         //转换成高德坐标系
-        if (mRoutePoints.size() > 0){
+        if (mRoutePoints.size() > 0) {
             mRoutePoints.clear();
         }
         mRoutePoints.addAll(CoordinateCalculateRouteUtil
@@ -1364,14 +1354,14 @@ public class TaxiModel {
         }
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "--------mRoutePoints.size---------- " + mRoutePoints.size());
 
-        if (mRoutePoints.size() > 0){
+        if (mRoutePoints.size() > 0) {
             reportTotalDisAndTime();
         }
         //开启实时计算剩余距离，剩余时间，预计时间
         startOrStopCalculateRouteInfo(true);
         AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi();
-        if (mOrderStatusCallback != null){
-            mOrderStatusCallback.onNaviToEnd(false,false);
+        if (mOrderStatusCallback != null) {
+            mOrderStatusCallback.onNaviToEnd(false, false);
         }
     }
 
@@ -1386,18 +1376,18 @@ public class TaxiModel {
      * 实时计算当前剩余里程和时间
      */
     public void dynamicCalculateRouteInfo() {
-        if (mLocation == null){
+        if (mLocation == null) {
             return;
         }
-        if (mRoutePoints.size() > 0 && mLocation != null){
-            Map<Integer,List<MogoLocation>> lastPointsMap = CoordinateCalculateRouteUtil
-                    .getRemainPointListByCompareNew(mPreRouteIndex,mRoutePoints, mLocation);
+        if (mRoutePoints.size() > 0 && mLocation != null) {
+            Map<Integer, List<MogoLocation>> lastPointsMap = CoordinateCalculateRouteUtil
+                    .getRemainPointListByCompareNew(mPreRouteIndex, mRoutePoints, mLocation);
 
-            for (int index: lastPointsMap.keySet()) {
+            for (int index : lastPointsMap.keySet()) {
                 mPreRouteIndex = index;
                 break;
             }
-            for (List<MogoLocation> lastPoints: lastPointsMap.values()){
+            for (List<MogoLocation> lastPoints : lastPointsMap.values()) {
                 float lastSumLength = 0;
                 if (lastPoints.size() == 1) { //只是最后一个点，计算当前位置和最后一个点的距离
                     lastSumLength = CoordinateUtils.calculateLineDistance(
@@ -1410,9 +1400,9 @@ public class TaxiModel {
                 double lastTime = lastSumLength / TaxiConst.TAXI_AVERAGE_SPEED * 3.6; //秒
                 CallerLogger.INSTANCE.d(M_TAXI + "dynamicCalculateRouteInfo"
                         , "---lastSumLength: " + lastSumLength + "----lastTime : " + lastTime
-                                + " thread = "+ Thread.currentThread().getName());
+                                + " thread = " + Thread.currentThread().getName());
 
-                if (mCurrentOCHOrder != null){
+                if (mCurrentOCHOrder != null) {
                     mCurrentOCHOrder.decreaseTravelDistance(lastSumLength);
                 }
                 if (mOrderStatusCallback != null) {
@@ -1427,16 +1417,16 @@ public class TaxiModel {
     }
 
     private void routeAndWipe() {
-        if (mRoutePoints != null && mRoutePoints.size() > 0 && mLocation != null){
+        if (mRoutePoints != null && mRoutePoints.size() > 0 && mLocation != null) {
             int haveArrivedIndex = CoordinateCalculateRouteUtil
                     .getArrivedPointIndexNew(mPreRouteIndex,
                             mRoutePoints,
                             mLocation.getLongitude(),
                             mLocation.getLatitude());
             List<LatLng> routePoints = CoordinateCalculateRouteUtil
-                    .coordinateConverterLocationToLatLng(mContext,mRoutePoints);
-            if (mAutopilotPlanningCallback != null){
-                mAutopilotPlanningCallback.routeResult(routePoints,haveArrivedIndex);
+                    .coordinateConverterLocationToLatLng(mContext, mRoutePoints);
+            if (mAutopilotPlanningCallback != null) {
+                mAutopilotPlanningCallback.routeResult(routePoints, haveArrivedIndex);
             }
             setRouteLineMarker(routePoints);
         }
@@ -1537,7 +1527,7 @@ public class TaxiModel {
                 });
     }
 
-    public void startServicePilotDone(){
+    public void startServicePilotDone() {
         if (mCurrentOCHOrder == null) return;
 
         TaxiOrPassengerReadyReqBean.Result result = new TaxiOrPassengerReadyReqBean.Result();
@@ -1558,7 +1548,7 @@ public class TaxiModel {
                 });
     }
 
-    public void arrivedStartPoint(){
+    public void arrivedStartPoint() {
         if (mCurrentOCHOrder == null) return;
         TaxiOrPassengerReadyReqBean.Result result = new TaxiOrPassengerReadyReqBean.Result();
         result.lat = mLatitude;
@@ -1579,7 +1569,7 @@ public class TaxiModel {
                 });
     }
 
-    public void arriveTerminal(){
+    public void arriveTerminal() {
         if (mCurrentOCHOrder == null) return;
         TaxiOrPassengerReadyReqBean.Result result = new TaxiOrPassengerReadyReqBean.Result();
         result.lat = mLatitude;
@@ -1600,7 +1590,7 @@ public class TaxiModel {
                 });
     }
 
-    public void orderCompleted(){
+    public void orderCompleted() {
         if (mCurrentOCHOrder == null) return;
         TaxiOrPassengerReadyReqBean.Result result = new TaxiOrPassengerReadyReqBean.Result();
         result.lat = mLatitude;
@@ -1622,28 +1612,28 @@ public class TaxiModel {
 
     // 登出
     public void logout() {
-        loginService.loginOut(mLatitude,mLongitude);
+        loginService.loginOut(mLatitude, mLongitude);
     }
 
     //导航去订单终点目的地
-    public void startNaviToEndStation(boolean isShow){
-        if (mRoutePoints.size() > 0 ){ //使用自驾轨迹
-            if (mOrderStatusCallback != null){
-                mOrderStatusCallback.onNaviToEnd(false,isShow);
+    public void startNaviToEndStation(boolean isShow) {
+        if (mRoutePoints.size() > 0) { //使用自驾轨迹
+            if (mOrderStatusCallback != null) {
+                mOrderStatusCallback.onNaviToEnd(false, isShow);
             }
-        }else {//若直接要显示导航地图则直接导航， 若不是则2s后若无轨迹数据使用高德导航
-            if (isShow && mRoutePoints.size() == 0 && mOrderStatusCallback != null){
+        } else {//若直接要显示导航地图则直接导航， 若不是则2s后若无轨迹数据使用高德导航
+            if (isShow && mRoutePoints.size() == 0 && mOrderStatusCallback != null) {
 
-                mOrderStatusCallback.onNaviToEnd(true,true);
-            }else {
+                mOrderStatusCallback.onNaviToEnd(true, true);
+            } else {
                 UiThreadHandler.postDelayed(new Runnable() {
                     @Override
                     public void run() {
-                        if (mRoutePoints.size() == 0 && mOrderStatusCallback != null){
-                            mOrderStatusCallback.onNaviToEnd(true,false);
+                        if (mRoutePoints.size() == 0 && mOrderStatusCallback != null) {
+                            mOrderStatusCallback.onNaviToEnd(true, false);
                         }
                     }
-                },2000l);
+                }, 2000l);
             }
 
         }

OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java

@@ -117,16 +117,17 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
 
     @Override
     public void onAutopilotRouteLineId(long lineId) {
-
     }
 
     @Override
     public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-        if (autopilotStatusInfo == null) return;
-        CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotStatusResponse state:" + autopilotStatusInfo.getState());
-        SweeperTaskModel.getInstance().setAutopilotState(autopilotStatusInfo.getState());
-        ThreadUtils.runOnUiThread(() -> mView.startAutoBtn(autopilotStatusInfo.getState()));
-        switch (autopilotStatusInfo.getState()) {
+    }
+
+    @Override
+    public void onAutopilotStatusResponse(int state) {
+        SweeperTaskModel.getInstance().setAutopilotState(state);
+        ThreadUtils.runOnUiThread(() -> mView.startAutoBtn(state));
+        switch (state) {
             case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE://不可自动驾驶
                 break;
             case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE://人工驾驶
@@ -207,8 +208,6 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
     /**
      * 测试使用
-     *
-     * @param status
      */
     public void debugAutoPilotStatus(int status) {
         AutopilotStatusInfo info = new AutopilotStatusInfo();
@@ -237,12 +236,10 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
 
     @Override
     public void onAutopilotSNRequest() {
-
     }
 
     @Override
     public void onStartAdasFailure() {
-
     }
 
     public void onArriveTaskEnd(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
@@ -251,9 +248,6 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
 
     @Override
     public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
-        if (cleanSystemState == null) {
-            return;
-        }
         long current = System.currentTimeMillis();
         if (current - mVehicleStateCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
             return;
@@ -279,30 +273,29 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
         // 纯扫 模式判断：不是另外其他3个模式，同时有清扫方向，说明开启了纯扫模式
         boolean clean_mode_pure_sweep = SweeperFutianCmdUtil.checkIfCleanModePureSweep(cleanSystemState);
 
-        StringBuilder stringBuilder = new StringBuilder();
-        stringBuilder.append("开关：")
-                .append(clean_open_requirement)
-                .append("\n")
-                .append("纯扫：")
-                .append(clean_mode_wash_sweep)
-                .append("纯洗:")
-                .append(clean_mode_pure_wash)
-                .append("纯吸：")
-                .append(clean_mode_pure_draw)
-                .append("纯扫：")
-                .append("\n")
-                .append(clean_mode_pure_sweep)
-                .append("左侧：")
-                .append(clean_direction_left_side)
-                .append("右侧：")
-                .append(clean_direction_right_side)
-                .append("两侧:")
-                .append("\n")
-                .append(clean_direction_both_side)
-                .append("标准：")
-                .append(clean_intensity_standard)
-                .append("强力：")
-                .append(clean_intensity_strong);
+        String stringBuilder = "开关：" +
+                clean_open_requirement +
+                "\n" +
+                "纯扫：" +
+                clean_mode_wash_sweep +
+                "纯洗:" +
+                clean_mode_pure_wash +
+                "纯吸：" +
+                clean_mode_pure_draw +
+                "纯扫：" +
+                "\n" +
+                clean_mode_pure_sweep +
+                "左侧：" +
+                clean_direction_left_side +
+                "右侧：" +
+                clean_direction_right_side +
+                "两侧:" +
+                "\n" +
+                clean_direction_both_side +
+                "标准：" +
+                clean_intensity_standard +
+                "强力：" +
+                clean_intensity_strong;
 
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianCleanSystemState：" + stringBuilder);
         mView.onSweeperFutianCleanSystemState(cleanSystemState);
@@ -310,27 +303,23 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
 
     @Override
     public void onSweeperFutianTaskIndexData(@NonNull RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
-        if (roboSweeperTaskIndex == null) {
-            return;
-        }
         long current = System.currentTimeMillis();
         if (current - mWeltDataCurrentTimeMillis <= WELT_DATA_INTERVAL_MILLIS) {
             return;
         }
         mWeltDataCurrentTimeMillis = current;
-        StringBuilder stringBuilder = new StringBuilder();
-        stringBuilder.append("清扫模式：")
-                .append(roboSweeperTaskIndex.getCleanMode())
-                .append("清扫方向:")
-                .append(roboSweeperTaskIndex.getCleanDirection())
-                .append("清扫强度：")
-                .append(roboSweeperTaskIndex.getCleanIntensity())
-                .append("贴边距离：")
-                .append(roboSweeperTaskIndex.getDistToRefEdgePoint())
-                .append("经度：")
-                .append(roboSweeperTaskIndex.getLocLon())
-                .append("纬度：")
-                .append(roboSweeperTaskIndex.getLocLat());
+        String stringBuilder = "清扫模式：" +
+                roboSweeperTaskIndex.getCleanMode() +
+                "清扫方向:" +
+                roboSweeperTaskIndex.getCleanDirection() +
+                "清扫强度：" +
+                roboSweeperTaskIndex.getCleanIntensity() +
+                "贴边距离：" +
+                roboSweeperTaskIndex.getDistToRefEdgePoint() +
+                "经度：" +
+                roboSweeperTaskIndex.getLocLon() +
+                "纬度：" +
+                roboSweeperTaskIndex.getLocLat();
         CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onSweeperFutianTaskIndexData：" + stringBuilder);
         String tempLongitude=NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLon(), 6);
         String tempLatitude=NumberFormatUtil.cutOutNumber(roboSweeperTaskIndex.getLocLat(), 6);
@@ -458,4 +447,12 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     public void setRouteList(@NonNull ArrayList<SweeperRoutePlanningUpdateReqBean.Result> routeList) {
        mView.setTaskRouteList(routeList);
     }
+
+    @Override
+    public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
+    }
+
+    @Override
+    public void onAutopilotConnectInfo(boolean connectInfo) {
+    }
 }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/V2XBizTrace.kt

@@ -11,9 +11,9 @@ class V2XBizTrace {
     companion object {
 
         @ChainLog(
-            linkChainLog = ChainConstant.CHAIN_TYPE_CLOUD_V2N,
+            linkChainLog = ChainConstant.CHAIN_TYPE_V2X,
             linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
-            nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N,
+            nodeAliasCode = ChainConstant.CHAIN_CODE_V2X_MSG,
             paramIndexes = [0, 1]
         )
         fun onAck(data: Any, data1: Any) {

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

@@ -6,9 +6,9 @@ import android.util.*
 import androidx.annotation.*
 import androidx.localbroadcastmanager.content.*
 import com.mogo.eagle.core.data.config.*
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_CLOUD_V2N
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_V2X_MSG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_CLOUD
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_CLOUD_V2N
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_V2X
 import com.mogo.eagle.core.data.enums.*
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew.Companion.isRoadEvent
@@ -144,9 +144,9 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
      * V2XEvent事件回调
      */
     @ChainLog(
-        linkChainLog = CHAIN_TYPE_CLOUD_V2N,
+        linkChainLog = CHAIN_TYPE_V2X,
         linkCode = CHAIN_SOURCE_CLOUD,
-        nodeAliasCode = CHAIN_CODE_CLOUD_V2N,
+        nodeAliasCode = CHAIN_CODE_V2X_MSG,
         paramIndexes = [0]
     )
     override fun onAck(event: V2XEvent) {
@@ -179,9 +179,9 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
 
     @RequiresApi(Build.VERSION_CODES.N)
     @ChainLog(
-        linkChainLog = CHAIN_TYPE_CLOUD_V2N,
+        linkChainLog = CHAIN_TYPE_V2X,
         linkCode = CHAIN_SOURCE_CLOUD,
-        nodeAliasCode = CHAIN_CODE_CLOUD_V2N,
+        nodeAliasCode = CHAIN_CODE_V2X_MSG,
         paramIndexes = [0]
     )
     override fun onAutopilotIdentifyPlanningObj(planningObjects: List<PlanningObject>?) {

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

@@ -28,11 +28,11 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
 import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotStatusRespByQuery
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotDockerInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutoPilotStatus
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager.invokeAutopilotAbility
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
@@ -127,7 +127,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
     )
     override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
         CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
-
         if (gnssInfo != null) {
             if (1 == FunctionBuildConfig.gpsProvider) {
                 // 同步更新经纬度和系统时间至 AutoPilotStatusListener
@@ -363,8 +362,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         carConfigResp: MessagePad.CarConfigResp?
     ) {
         if (carConfigResp != null) {
-            val autopilotStatusInfo = getAutoPilotStatusInfo()
-            autopilotStatusInfo.dockVersion = carConfigResp.dockVersion
+            updateAutoPilotDockerInfo(carConfigResp.dockVersion)
             AppConfigInfo.dockerVersion = carConfigResp.dockVersion
             AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号
             AppConfigInfo.iPCMacAddress = carConfigResp.macAddress//工控机MAC地址
@@ -686,9 +684,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param rsi    数据
      */
     @ChainLog(
-        linkChainLog = ChainConstant.CHAIN_TYPE_CLOUD_V2N,
+        linkChainLog = ChainConstant.CHAIN_TYPE_V2X,
         linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
-        nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N,
+        nodeAliasCode = ChainConstant.CHAIN_CODE_V2X_MSG,
         paramIndexes = [0, 1]
     )
     override fun onV2nCongestionEvent(header: MessagePad.Header, rsi: MogoV2X.RSI_PB) {
@@ -706,9 +704,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param parkingViolation 违停 ---包含 静态障碍车
      */
     @ChainLog(
-        linkChainLog = ChainConstant.CHAIN_TYPE_CLOUD_V2N,
+        linkChainLog = ChainConstant.CHAIN_TYPE_V2X,
         linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
-        nodeAliasCode = ChainConstant.CHAIN_CODE_CLOUD_V2N,
+        nodeAliasCode = ChainConstant.CHAIN_CODE_V2X_MSG,
         paramIndexes = [0]
     )
     override fun onV2nGlobalPathEvents(

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

@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.server
 
 import android.annotation.SuppressLint
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
@@ -36,7 +35,6 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
         }
     }
 
-    private var mPreAutoStatus = AtomicInteger(-1)
     private var createSubscribe: Disposable? = null
 
     fun initServer() {
@@ -45,16 +43,11 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
     }
 
     @SuppressLint("CheckResult")
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        super.onAutopilotStatusResponse(autoPilotStatusInfo)
-        val state = autoPilotStatusInfo.state
-        if (mPreAutoStatus.get() != state) {
-            mPreAutoStatus.set(state)
-            createSubscribe?.let {
-                if (!it.isDisposed) {
-                    bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
-                    createSubscribe?.dispose()
-                }
+    override fun onAutopilotStatusResponse(state: Int) {
+        createSubscribe?.let {
+            if (!it.isDisposed) {
+                bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
+                createSubscribe?.dispose()
             }
 
             when (state) {

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

@@ -65,10 +65,7 @@ class TeleMsgHandler : IMsgHandler {
                         AdasManager.getInstance().decoderRaw(it.body)
                     } catch (e: Exception) {
                         e.printStackTrace()
-                        CallerLogger.e(
-                            "${SceneConstant.M_ADAS_IMPL}$TAG",
-                            "乘客屏解析数据过程中出现异常：${e.message}"
-                        )
+                        invokeNettyConnResult("乘客屏解析数据过程中出现异常：${e.message}")
                     }
                 }
                 MogoProtocolMsg.SYNC_MODE_STATUS -> {
@@ -144,11 +141,6 @@ class TeleMsgHandler : IMsgHandler {
                         CallerTrafficLightListenerManager.invokeEnterCrossRoad(false)
                     }
                 }
-                TelematicConstant.OPEN_ROMA_STATUS -> {
-                    ThreadUtils.runOnUiThread {
-                        CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.OPEN_ROMA_STATUS,it.body)
-                    }
-                }
                 TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR -> {
                     ThreadUtils.runOnUiThread {
                         CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR,it.body)
@@ -223,11 +215,6 @@ class TeleMsgHandler : IMsgHandler {
                 TelematicConstant.BUSINESS_STRING -> {
                     CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.BUSINESS_STRING, it.body)
                 }
-                TelematicConstant.OPEN_ROMA_STATUS -> {
-                    ThreadUtils.runOnUiThread {
-                        CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.OPEN_ROMA_STATUS,it.body)
-                    }
-                }
                 else -> {
                 }
             }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt

@@ -1,7 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.status.flow.trace
 
 import android.content.*
-import com.mogo.eagle.core.data.autopilot.*
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
 import com.mogo.eagle.core.function.call.autopilot.*
@@ -37,7 +36,6 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
-
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         val code = guardianInfo?.code
@@ -70,9 +68,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
         }
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        super.onAutopilotStatusResponse(autoPilotStatusInfo)
-        val state = autoPilotStatusInfo.state
+    override fun onAutopilotStatusResponse(state: Int) {
         try {
             if (ipcStatus.get() != state) {
                 if (state != STATUS_AUTOPILOT_RUNNING) {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt

@@ -66,8 +66,8 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener {
             FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_RECORD_NATIVE_LEAK)
         fwBuildMap[ChainConstant.CHAIN_TYPE_ANR] =
             FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_RECORD_ANR)
-        fwBuildMap[ChainConstant.CHAIN_TYPE_CLOUD_V2N] =
-            FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_CLOUD_WEB_SOCKET_V2N)
+        fwBuildMap[ChainConstant.CHAIN_TYPE_V2X] =
+            FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_V2X)
         fwBuildMap[ChainConstant.CHAIN_TYPE_HD_MAP] =
             FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_HD_MAP_BIZ)
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEAK_NETWORK] =
@@ -96,7 +96,7 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener {
             ChainLogParam(true, "Native Leak Record")
         traceInfoCache[ChainConstant.CHAIN_TYPE_ANR] =
             ChainLogParam(true, "ANR Record")
-        traceInfoCache[ChainConstant.CHAIN_TYPE_CLOUD_V2N] =
+        traceInfoCache[ChainConstant.CHAIN_TYPE_V2X] =
             ChainLogParam(true, "Cloud WebSocket V2N")
         traceInfoCache[ChainConstant.CHAIN_TYPE_HD_MAP] =
             ChainLogParam(true, "HD Map Caller")

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/IPCUpgradeManager.kt

@@ -4,7 +4,6 @@ import android.content.Context
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
 import com.mogo.cloud.passport.MoGoAiCloudClient
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -72,18 +71,15 @@ class IPCUpgradeManager: IMogoOnMessageListener<IPCUpgradeStateInfo> ,
                 //更新下载or升级状态
                 CallerHmiManager.showAdUpgradeStatus(it)
             }
-
-
         }
     }
 
     /**
      * 自动驾驶状态信息
-     * @param autoPilotStatusInfo 状态信息
      */
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        autopilotStatus = autoPilotStatusInfo.state
+    override fun onAutopilotStatusResponse(state: Int) {
         //有升级任务，且不处于自动驾驶状态，进行升级提示
+        autopilotStatus = state
         if(hasIPCUpgradeTask && autopilotStatus!=2){
             ipcUpgradeStateInfoTask?.let {
                 var releaseId=""

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

@@ -19,14 +19,12 @@ import androidx.core.content.ContextCompat
 import androidx.core.view.*
 import androidx.lifecycle.lifecycleScope
 import chassis.Chassis
-import chassis.ChassisStatesOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
@@ -82,7 +80,6 @@ import kotlinx.android.synthetic.main.view_debug_setting.view.tbRouteDynamicEffe
 import kotlinx.coroutines.*
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
-import planning.RoboSweeperTaskIndexOuterClass
 import java.text.SimpleDateFormat
 import java.util.*
 import kotlin.collections.component1
@@ -126,8 +123,6 @@ internal class DebugSettingView @JvmOverloads constructor(
     private var logInfoView: LogInfoView? = null
     private var logViewAttach = false
 
-    @Volatile
-    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
     private var mGnssInfo: MogoLocation? = null
 
     private var accelerationFloatWindow: AccelerationFloatWindow? = null
@@ -932,7 +927,7 @@ internal class DebugSettingView @JvmOverloads constructor(
             clipboardManager?.setPrimaryClip(
                 ClipData.newPlainText(
                     "DockVersion",
-                    mAutoPilotStatusInfo?.dockVersion
+                    CallerAutoPilotStatusListenerManager.getDockerVersion()?:""
                 )
             )
             ToastUtils.showLong("docker版本复制成功")
@@ -1090,13 +1085,8 @@ internal class DebugSettingView @JvmOverloads constructor(
     /**
      * 设置域控制器点击监听
      */
+    @SuppressLint("SetTextI18n")
     private fun setDomainControllerCheckedChangeListener() {
-
-        // 初始化工控机 IP信息
-        val autoPilotIpAddress =
-            SharedPrefsMgr.getInstance(context)
-                .getString(MoGoConfig.AUTOPILOT_IP, FunctionBuildConfig.adasConnectIP)
-
         etAutopilotIP.setText("192.168.1.")
         etAutopilotIP.text?.let { etAutopilotIP.setSelection(it.length) }
         //设置工控机IP
@@ -1586,8 +1576,9 @@ internal class DebugSettingView @JvmOverloads constructor(
         } else {
             tvIpcProtocolVersionInfo.text = "工控机协议版本：${AppConfigInfo.protocolVersionNumber}"
         }
-        tvIpcVersionInfo.text = "MAP：${mAutoPilotStatusInfo?.dockVersion}"
-        tvIpcVersionInfoKey.text = "MAP：${mAutoPilotStatusInfo?.dockVersion}"
+        val dockerVersion = CallerAutoPilotStatusListenerManager.getDockerVersion()
+        tvIpcVersionInfo.text = "MAP：$dockerVersion"
+        tvIpcVersionInfoKey.text = "MAP：$dockerVersion"
         tvMoGoMapVersion.text = "HD-Map版本：${DebugConfig.getMapVersion()}"
         tvMoGoMapVersionKey.text = "HD-Map版本：${DebugConfig.getMapVersion()}"
         tvGitBranchInfo.text = "Git分支：${AppConfigInfo.workingBranchName}"
@@ -1658,12 +1649,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                         "司机端Server启动"
                     }
                     else -> {
-                        "乘客端${
-                            when {
-                                !AppConfigInfo.serverSn.isNullOrEmpty() -> "(司机屏SN是:${AppConfigInfo.serverSn?:""})"
-                                else -> ""
-                            }
-                        }连接"
+                        "乘客端${"(司机屏SN是:${AppConfigInfo.serverSn})"}连接"
                     }
                 }
             }是否正常：${
@@ -1696,11 +1682,10 @@ internal class DebugSettingView @JvmOverloads constructor(
             }"
         )
 
-        mAutoPilotStatusInfo?.let {
-            val autopilotJson = GsonUtils.toJson(it)
-            tvAutopilotInfo.text = autopilotJson
-            tvIpcInfo.text = autopilotJson
-            tvIpcInfoKey.text = autopilotJson
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString().let {
+            tvAutopilotInfo.text = it
+            tvIpcInfo.text = it
+            tvIpcInfoKey.text = it
         }
         tvCmdbCarInfoContent.text = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.CAR_INFO)?:""
 
@@ -1780,8 +1765,7 @@ internal class DebugSettingView @JvmOverloads constructor(
     /**
      * 自动驾驶状态回调
      */
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        mAutoPilotStatusInfo = autoPilotStatusInfo
+    override fun onAutopilotStatusResponse(state: Int) {
         setAutopilotConnectStatus()
     }
 

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

@@ -11,11 +11,9 @@ import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.temp.EventLogout
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
@@ -44,7 +42,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
     context,
     attrs,
     defStyleAttr
-), IMoGoAutopilotStatusListener {
+) {
 
     companion object{
         private const val TAG = "AutoPilotAndCheckView"
@@ -52,8 +50,6 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
 
     private var clickListener: ClickListener? = null
     private var keyBoardUtil: KeyBoardUtil? = null
-    @Volatile
-    private var connectStatus = false
     private var lastTime = 0L
 
     init {
@@ -174,7 +170,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
             svLayout.post {
                 svLayout.fullScroll(View.FOCUS_DOWN)
             }
-            if (!connectStatus) { //todo 单次获取
+            if (!CallerAutoPilotStatusListenerManager.getConnectStates()) {
                 ToastUtils.showShort("设置车速失败，请启动域控制器")
                 keyBoardUtil?.hideKeyboard()
                 return@setOnTouchListener true
@@ -267,20 +263,14 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
     }
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
-        CallerAutoPilotStatusListenerManager.removeListener(TAG)
         CallerAutopilotCarConfigListenerManager.removeListener(TAG)
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        connectStatus = autoPilotStatusInfo.connectStatus
-    }
-
     interface ClickListener {
         fun onClose(v: View)
         fun showDebugPanelView()

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

@@ -6,13 +6,12 @@ import android.util.TypedValue.COMPLEX_UNIT_PX
 import android.view.LayoutInflater
 import androidx.appcompat.content.res.AppCompatResources
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
-import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_PNC_ACTIONS
-import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.biz.trafficlight.currentRoadTrafficLight
 import com.mogo.eagle.core.data.biz.trafficlight.isRed
+import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_PNC_ACTIONS
+import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
@@ -40,9 +39,6 @@ class PncActionsView @JvmOverloads constructor(
     @Volatile
     private var mTrafficLightResult: TrafficLightResult? = null
 
-    @Volatile
-    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
-
     private val bgResources: Int
     private val topMargin: Float
     private val txtSize: Float
@@ -68,7 +64,7 @@ class PncActionsView @JvmOverloads constructor(
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         (tvHmiPncActions.layoutParams as MarginLayoutParams).topMargin = topMargin.toInt()
-        tvHmiPncActions.setTextSize(COMPLEX_UNIT_PX, txtSize.toFloat())
+        tvHmiPncActions.setTextSize(COMPLEX_UNIT_PX, txtSize)
 
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerPlanningActionsListenerManager.addListener(TAG, this)
@@ -82,10 +78,8 @@ class PncActionsView @JvmOverloads constructor(
         CallerTrafficLightListenerManager.removeListener(TAG)
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        super.onAutopilotStatusResponse(autoPilotStatusInfo)
-        mAutoPilotStatusInfo = autoPilotStatusInfo
-        if (mAutoPilotStatusInfo!!.state != STATUS_AUTOPILOT_RUNNING) {
+    override fun onAutopilotStatusResponse(state: Int) {
+        if (state != STATUS_AUTOPILOT_RUNNING) {
             UiThreadHandler.post {
                 this.background = null
                 tvHmiPncActions.text = ""
@@ -96,45 +90,43 @@ class PncActionsView @JvmOverloads constructor(
     @BizConfig(FOUNDATION, "", BIZ_PNC_ACTIONS)
     override fun pncActions(planningActionMsg: MessagePad.PlanningActionMsg) {
         try {
-            mAutoPilotStatusInfo?.let {
-                UiThreadHandler.post {
-                    if (it.state == STATUS_AUTOPILOT_RUNNING) {
-                        var actions: String? = null
-                        planningActionMsg.actionMsg?.let { it ->
-                            try {
-                                actions = PncActionsHelper.getAction(
-                                    it.drivingState.number,
-                                    it.drivingAction.number
-                                )
-                            } catch (e: Exception) {
-                                e.printStackTrace()
-                            }
-                            //如果是存在云端红绿灯数据条件下，设置云端数据
-                            if (PncActionsHelper.isWaitingTrafficlight(
-                                    it.drivingState.number,
-                                    it.drivingAction.number
-                                )
-                                && mTrafficLightResult != null
-                                && getWaitTrafficLightTime().isNotBlank()
-                            ) {
-                                actions += ",预计${getWaitTrafficLightTime()}秒后通过"
-                            } else {
-                                mTrafficLightResult = null
-                            }
+            UiThreadHandler.post {
+                if (CallerAutoPilotStatusListenerManager.getState() == STATUS_AUTOPILOT_RUNNING) {
+                    var actions: String? = null
+                    planningActionMsg.actionMsg?.let { it ->
+                        try {
+                            actions = PncActionsHelper.getAction(
+                                it.drivingState.number,
+                                it.drivingAction.number
+                            )
+                        } catch (e: Exception) {
+                            e.printStackTrace()
                         }
-                        // update view
-                        if (actions.isNullOrEmpty()) {
-                            this.background = null
-                            tvHmiPncActions.text = ""
+                        //如果是存在云端红绿灯数据条件下，设置云端数据
+                        if (PncActionsHelper.isWaitingTrafficlight(
+                                it.drivingState.number,
+                                it.drivingAction.number
+                            )
+                            && mTrafficLightResult != null
+                            && getWaitTrafficLightTime().isNotBlank()
+                        ) {
+                            actions += ",预计${getWaitTrafficLightTime()}秒后通过"
                         } else {
-                            this.background =
-                                AppCompatResources.getDrawable(context, bgResources)
-                            tvHmiPncActions.text = actions
+                            mTrafficLightResult = null
                         }
-                    } else {
+                    }
+                    // update view
+                    if (actions.isNullOrEmpty()) {
                         this.background = null
                         tvHmiPncActions.text = ""
+                    } else {
+                        this.background =
+                            AppCompatResources.getDrawable(context, bgResources)
+                        tvHmiPncActions.text = actions
                     }
+                } else {
+                    this.background = null
+                    tvHmiPncActions.text = ""
                 }
             }
         } catch (e: Exception) {

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

@@ -6,7 +6,6 @@ import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
@@ -16,7 +15,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -33,31 +31,22 @@ class TakeOverView @JvmOverloads constructor(
         const val TAG = "TakeOverView"
     }
 
-    private var autopilotStatus: Int = 0  //自动驾驶状态   0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中,7:平行驾驶中
-    private var isParallel: Boolean = false //是否是平行驾驶
-
-
     init {
         LayoutInflater.from(context).inflate(R.layout.view_take_over, this, true)
     }
 
     private var takeOver = false
+    private var isParallel: Boolean = false //是否是平行驾驶
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
-    /**
-     * 自动驾驶状态信息
-     *
-     * @param autoPilotStatusInfo 状态信息
-     */
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        autopilotStatus = autoPilotStatusInfo.state
-        if(autoPilotStatusInfo.state == 7){
+    override fun onAutopilotStatusResponse(state: Int) {
+        if(state == 7){
             isParallel = true
-        }else if(autoPilotStatusInfo.state == 0 || autoPilotStatusInfo.state == 1){
+        }else if(state == 0 || state == 1){
             isParallel = false
         }
     }

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

@@ -6,7 +6,6 @@ import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -37,7 +36,7 @@ class AutoPilotStatusView constructor(
 
     private var mAutopilotStatus: Int = 0
 
-    init{
+    init {
         initView(context)
     }
 
@@ -119,8 +118,8 @@ class AutoPilotStatusView constructor(
         }
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        setAutoPilotStatus(autoPilotStatusInfo.state)
+    override fun onAutopilotStatusResponse(state: Int) {
+        setAutoPilotStatus(state)
     }
 
     override fun onDetachedFromWindow() {

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

@@ -6,7 +6,6 @@ import android.view.Gravity
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
@@ -29,12 +28,7 @@ class CheckSystemView @JvmOverloads constructor(
         const val TAG = "CheckSystemView"
     }
 
-    @Volatile
-    private var connectStatus = false //是否连接工控机
-    @Volatile
-    private var autopilotStatus: Int? = null   //自动驾驶状态   0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中
     private var dockerRebootDialog: DockerRebootDialog? = null
-
     private var downloadStatus: String = "" //下载状态
     private var upgradeStatus: String = "" //升级状态
 
@@ -54,7 +48,7 @@ class CheckSystemView @JvmOverloads constructor(
                 dockerRebootDialog = DockerRebootDialog(context)
                 dockerRebootDialog?.setClickListener(object : DockerRebootDialog.ClickListener {
                     override fun confirm() {
-                        if (autopilotStatus == 2) {
+                        if (CallerAutoPilotStatusListenerManager.getState() == 2) {
                             //当前处于自动驾驶状态，不可进行重启，Toast提示
                             ToastUtils.showShort("请先退出自动驾驶状态")
                         }
@@ -106,16 +100,15 @@ class CheckSystemView @JvmOverloads constructor(
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        connectStatus = autoPilotStatusInfo.connectStatus //单次
-        autopilotStatus = autoPilotStatusInfo.state
+    override fun onAutopilotConnectInfo(connectInfo: Boolean) {
+        super.onAutopilotConnectInfo(connectInfo)
         ThreadUtils.runOnUiThread {
-            setViewStatus()
+            setViewStatus(connectInfo)
         }
     }
 
-    private fun setViewStatus() {
-        if (connectStatus) {
+    private fun setViewStatus(connectInfo:Boolean) {
+        if (connectInfo) {
             viewCheckShutDown.requestFocus()
             viewCheckShutDown.isClickable = true
             viewCheckReboot.requestFocus()
@@ -124,7 +117,6 @@ class CheckSystemView @JvmOverloads constructor(
             viewCheckShutDown.isClickable = false
             viewCheckReboot.isClickable = false
         }
-
     }
 
 }

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

@@ -94,9 +94,8 @@ class SteeringWheelView : ConstraintLayout, IMoGoChassisSteeringStateListener,
 
     private val mGoAutopilotStatusListener: IMoGoAutopilotStatusListener =
         object : IMoGoAutopilotStatusListener {
-            override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+            override fun onAutopilotStatusResponse(state: Int) {
                 ThreadUtils.runOnUiThread {
-                    val state = autoPilotStatusInfo.state
                     d("$M_BUS_P$TAG", "state = %s", state)
                     if (autopilotIV != null) {
                         if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {

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

@@ -5,7 +5,6 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.deva.bindingcar.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -44,8 +43,6 @@ class SystemVersionView @JvmOverloads constructor(
     }
 
     private var dockerVersion: String? = null //工控机版本
-    private var autopilotStatus: Int? = null   //自动驾驶状态   0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中
-
     private var ipcUpgradeStateInfo: IPCUpgradeStateInfo?=null
 
     private var needQueryContainers: Boolean = false
@@ -320,17 +317,9 @@ class SystemVersionView @JvmOverloads constructor(
         needQueryContainers = false
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        dockerVersion = autoPilotStatusInfo.dockVersion
-        autopilotStatus = autoPilotStatusInfo.state
-        CallerLogger.i(
-            "$M_HMI$TAG",
-            "onAutopilotStatusResponse dockerVersion=$dockerVersion , autopilotStatus=$autopilotStatus"
-        )
-        setViewStatus()
-    }
-
-    private fun setViewStatus() {
+    override fun onAutopilotDockerInfo(dockerVersion: String) {
+        super.onAutopilotDockerInfo(dockerVersion)
+        this.dockerVersion = dockerVersion
         showCurrentAdVersion()
     }
 

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

@@ -5,16 +5,12 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.widget.LinearLayout
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.function.main.AppListActivity
 import com.mogo.eagle.core.utilcode.kotlin.*
-import com.mogo.eagle.core.utilcode.util.ActivityUtils
 import com.mogo.eagle.core.utilcode.util.AppUtils
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import kotlinx.android.synthetic.main.view_version_name.view.*
 import kotlinx.coroutines.*
 
@@ -89,11 +85,12 @@ class VersionNameView @JvmOverloads constructor(
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        dockerVersion = autoPilotStatusInfo.dockVersion
+    override fun onAutopilotDockerInfo(dockerVersion: String) {
+        super.onAutopilotDockerInfo(dockerVersion)
+        this.dockerVersion = dockerVersion
         showCurrentMapVersion()
         //将工控机版本赋值给BadCase配置常量
-        CallerDevaToolsManager.dockerVersion(autoPilotStatusInfo.dockVersion)
+        CallerDevaToolsManager.dockerVersion(dockerVersion)
     }
 
 }

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

@@ -91,12 +91,15 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-        int mode = autoPilotStatusInfo.getState();
-        if (mode == 2) {
+    public void onAutopilotStatusResponse(int state) {
+        if (state == 2) {
             isArriveAtStation.set(false);
         }
-        this.autopilotMode.set(mode);
+        this.autopilotMode.set(state);
+    }
+
+    @Override
+    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
     }
 
     @Override
@@ -135,4 +138,12 @@ public class MogoRouteOverlayManager implements
     public void onAutopilotRouteLineId(long lineId) {
 
     }
+
+    @Override
+    public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
+    }
+
+    @Override
+    public void onAutopilotConnectInfo(boolean connectInfo) {
+    }
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt

@@ -10,7 +10,6 @@ import android.widget.RelativeLayout
 import androidx.annotation.UiThread
 import com.amap.api.maps.*
 import com.amap.api.maps.model.*
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -50,9 +49,6 @@ class SmallMapView @JvmOverloads constructor(
     private var mContext: Context? = null
     private var mLocation: MogoLocation? = null
 
-    @Volatile
-    private var autoPilotStatus = 0
-
     companion object {
         const val TAG = "SmallMapView"
     }
@@ -318,14 +314,12 @@ class SmallMapView @JvmOverloads constructor(
 
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        val tempStatus = autoPilotStatusInfo.state
-        if (tempStatus != 2) {
+    override fun onAutopilotStatusResponse(state: Int) {
+        if (state != 2) {
             UiThreadHandler.post {
                 clearPolyline()
             }
         }
-        autoPilotStatus = tempStatus
     }
 
     override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {

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

@@ -29,7 +29,7 @@ class ChainConstant {
         const val CHAIN_TYPE_SOCKET_P_OBJECTS = 7
         const val CHAIN_TYPE_SOCKET_P_ACTIONS = 8
         const val CHAIN_TYPE_NATIVE_LEAK = 100
-        const val CHAIN_TYPE_CLOUD_V2N = 200
+        const val CHAIN_TYPE_V2X = 200
         const val CHAIN_TYPE_HD_MAP = 300
         const val CHAIN_TYPE_ANR = 400
         const val CHAIN_LINK_LOG_WEAK_NETWORK = 500
@@ -44,7 +44,7 @@ class ChainConstant {
         const val CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS = "-adasWsPlanningObj"
         const val CHAIN_LINK_LOG_ADAS_PLANNING_ACTIONS = "-adasWsPlanningActions"
         const val CHAIN_LINK_LOG_RECORD_NATIVE_LEAK = "-eagleRecordNativeLeak"
-        const val CHAIN_LINK_LOG_CLOUD_WEB_SOCKET_V2N = "-eagleCloudWSV2N"
+        const val CHAIN_LINK_LOG_V2X = "-eagleCloudWSV2X"
         const val CHAIN_LINK_LOG_HD_MAP_BIZ = "-eagleHDMapBiz"
         const val CHAIN_LINK_LOG_RECORD_ANR = "-eagleRecordANR"
         const val CHAIN_LINK_LOG_RECORD_WEAK_NETWORK = "-eagleRecordWeakNetwork"
@@ -90,7 +90,8 @@ class ChainConstant {
         const val CHAIN_CODE_HTTP_DNS_CITY_CODE = "CHAIN_CODE_HTTP_DNS_CITY_CODE"
         const val CHAIN_CODE_HTTP_DNS_ERROR_REASON = "CHAIN_CODE_HTTP_DNS_ERROR_REASON"
 
-        const val CHAIN_CODE_CLOUD_V2N = "CHAIN_CODE_CLOUD_V2N"
+        const val CHAIN_CODE_V2X_MSG = "CHAIN_CODE_V2X_MSG"
+        const val CHAIN_CODE_MSG_BOX = "CHAIN_CODE_MSG_BOX"
 
         const val CHAIN_CODE_INIT_ON_MAP_LOADED = "CHAIN_CODE_INIT_ON_MAP_LOADED"
         const val CHAIN_CODE_INIT_ON_MAP_INIT = "CHAIN_CODE_INIT_ON_MAP_INIT"

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt

@@ -10,8 +10,6 @@ class TelematicConstant {
         const val BUSINESS_STRING = 100
         const val SHOW_TRAFFIC_LIGHT = 101
         const val HIDE_TRAFFIC_LIGHT = 102
-        const val OPEN_ROMA_STATUS = 103
-        const val ROMA_UPDATE = 104
         const val CONTROL_PASSENGER_DRIVER_MONITOR = 105
 
         const val OBU_RUNREDLIGHT_WARNING = 200 //闯红灯预警开关

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

@@ -13,18 +13,33 @@ import system_master.*
 interface IMoGoAutopilotStatusListener {
 
     /**
-     * 自动驾驶状态信息 TODO 接口优化，拆分业务属性字段
+     * 自动驾驶状态信息
      *
      * @param autoPilotStatusInfo 状态信息
      */
+    @Deprecated("3.3.0之后不建议使用此种回调方式，按需回调,主界面暂时使用用于check检查信息透出")
     fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {}
 
     /**
      * 自动驾驶状态信息
      *
-     * @param status 状态信息
+     * @param state 状态信息
      */
-    fun onAutopilotStatusResponse(status: Int) {}
+    fun onAutopilotStatusResponse(state: Int) {}
+
+    /**
+     * 自动驾驶docker信息
+     *
+     * @param dockerVersion docker版本
+     */
+    fun onAutopilotDockerInfo(dockerVersion:String){}
+
+    /**
+     * 自动驾驶连接状态
+     *
+     * @param connectInfo 连接状态
+     */
+    fun onAutopilotConnectInfo(connectInfo:Boolean){}
 
     /**
      * 自动驾驶到站

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

@@ -31,8 +31,8 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         }
     }
 
-    private var status: Int by Delegates.observable(0){_, oldValue, newValue ->
-        if(oldValue != newValue){
+    private var autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
             M_LISTENERS.forEach {
                 val listener = it.value
                 listener.onAutopilotStatusResponse(newValue)
@@ -40,12 +40,38 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         }
     }
 
+    private var dockerV: String by Delegates.observable("") { _, oldValue, newValue ->
+        if (!oldValue.contentEquals(newValue)) {
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.onAutopilotDockerInfo(newValue)
+            }
+        }
+    }
+
+    private var connectStatus:Boolean by Delegates.observable(false){_, oldValue, newValue ->
+        if(oldValue != newValue){
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.onAutopilotConnectInfo(newValue)
+            }
+        }
+    }
+
     @Volatile
     private var autoPilotMessageCode: String = ""
 
     @Volatile
     private var autoPilotMessageContent: String = ""
 
+    override fun doSomeAfterAddListener(tag: String, listener: IMoGoAutopilotStatusListener) {
+        listener.onAutopilotStatusResponse(mAutopilotStatusInfo)
+        listener.onAutopilotStatusResponse(autopilotState)
+        if(dockerV.isNotEmpty()){
+            listener.onAutopilotDockerInfo(dockerV)
+        }
+    }
+
     /**
      * 查询AutoPilot状态
      */
@@ -61,10 +87,21 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         return lineId ?: 0L
     }
 
-    fun getDockerInfo(): String? {
+    fun getDockerVersion():String?{
         return mAutopilotStatusInfo.dockVersion
     }
 
+    fun getConnectStates():Boolean{
+        return mAutopilotStatusInfo.connectStatus
+    }
+
+    /**
+     * 获取当前时刻WGS84 卫星时间
+     */
+    fun getCurWgs84SatelliteTime(): Double {
+        return mAutopilotStatusInfo.satelliteTime
+    }
+
     /**
      * 查询AutoPilot状态
      */
@@ -87,21 +124,17 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         invokeAutoPilotStatus()
     }
 
-    fun updateAutoPilotStatus(state: Int, autopilotMode: Int) {
-        mAutopilotStatusInfo.state = state
+    fun updateAutoPilotStatus(autopilotState: Int, autopilotMode: Int) {
+        this.autopilotState = autopilotState
+        mAutopilotStatusInfo.state = autopilotState
         mAutopilotStatusInfo.pilotmode = autopilotMode
         invokeAutoPilotStatus()
     }
 
-    /**
-     * 获取当前时刻WGS84 卫星时间
-     */
-    fun getCurWgs84SatelliteTime(): Double {
-        return mAutopilotStatusInfo.satelliteTime
-    }
-
-    override fun doSomeAfterAddListener(tag: String, listener: IMoGoAutopilotStatusListener) {
-        listener.onAutopilotStatusResponse(mAutopilotStatusInfo)
+    fun updateAutoPilotDockerInfo(dockerV: String) {
+        this.dockerV = dockerV
+        mAutopilotStatusInfo.dockVersion = dockerV
+        invokeAutoPilotStatus()
     }
 
     /**
@@ -109,6 +142,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
      */
     @Synchronized
     fun invokeAutoPilotStatus() {
+        connectStatus = mAutopilotStatusInfo.connectStatus
         invokeAutoPilotStatus(mAutopilotStatusInfo)
     }
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/msgbox/CallerMsgBoxManager.kt

@@ -1,11 +1,12 @@
 package com.mogo.eagle.core.function.call.msgbox
 
 import android.content.Context
-import android.util.Log
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhjt.service.chain.ChainLog
 
 object CallerMsgBoxManager {
 
@@ -24,6 +25,12 @@ object CallerMsgBoxManager {
     /**
      * 存储数据到消息盒子
      */
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_TYPE_V2X,
+        linkCode = ChainConstant.CHAIN_SOURCE_CLOUD,
+        nodeAliasCode = ChainConstant.CHAIN_CODE_MSG_BOX,
+        paramIndexes = [0]
+    )
     fun saveMsgBox(bean: MsgBoxBean) {
         providerApi?.saveMsg(bean)
     }

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

@@ -1,12 +1,12 @@
 package com.zhidao.support.adas.high;
 
 
+import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_INIT;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_GLOBAL_PATH;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_SYSTEM_CMD;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_TRAJECTORY_DOWNLOAD;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_START_AUTOPILOT;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_CONNECT_ADDRESS;
-import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_INIT;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_STATUS_CHANGE_REASON;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_SOURCE_ADAS;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_TYPE_INIT_STATUS;
@@ -16,6 +16,7 @@ import android.os.Handler;
 import android.os.Message;
 import android.os.SystemClock;
 import android.text.TextUtils;
+import android.util.Log;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -294,7 +295,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     @ChainLog(linkChainLog = CHAIN_TYPE_INIT_STATUS,
             linkCode = CHAIN_SOURCE_ADAS,
             nodeAliasCode = CHAIN_CODE_CONNECT_ADDRESS,
-            paramIndexes = {0,1})
+            paramIndexes = {0, 1})
     private void connectSocket(String address, int port) {
         if (mSocket != null) {
             mSocket.connectWebSocket(address, port);
@@ -524,7 +525,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 
     @Override
     public void onConnecting(String msg) {
-        updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTING, msg);
+        updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTING, msg == null ? "" : msg);
     }
 
     @Override
@@ -550,7 +551,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         ipcConnectedPort = Constants.DEFAULT_PORT;
         subscribeInterface = null;
         usedChassisType = Constants.CHASSIS_TYPE.UNKNOWN;
-        updateConnectStatus(Constants.IPC_CONNECTION_STATUS.DISCONNECTED, t);
+        updateConnectStatus(Constants.IPC_CONNECTION_STATUS.DISCONNECTED, t == null ? "" : t);
     }
 
     @Override
@@ -638,11 +639,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * @param reason 状态描述
      *               如果ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED && reason==null 表示主动断开连接
      */
-    @ChainLog(linkChainLog = CHAIN_TYPE_INIT_STATUS,
-            linkCode = CHAIN_SOURCE_ADAS,
-            nodeAliasCode = CHAIN_CODE_STATUS_CHANGE_REASON,
-            paramIndexes = {0, 1})
     private void updateConnectStatus(@Define.IPCConnectionStatus int status, @Nullable String reason) {
+        Log.d("emArrow", "status:" + status + " , reason :" + reason);
+        log(status, reason);
         ipcConnectionStatus.set(status);
         if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             AutopilotAbilityManager.getInstance().start();
@@ -663,6 +662,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason);
     }
 
+    @ChainLog(linkChainLog = CHAIN_TYPE_INIT_STATUS,
+            linkCode = CHAIN_SOURCE_ADAS,
+            nodeAliasCode = CHAIN_CODE_STATUS_CHANGE_REASON,
+            paramIndexes = {0, 1})
+    private void log(int status, @Nullable String reason) {
+
+    }
+
 
     @Override
     public void stopDispatchHandler() {

libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java

@@ -21,7 +21,6 @@ import android.graphics.Point;
 import android.graphics.Rect;
 import android.os.Bundle;
 import android.os.Looper;
-import android.os.Trace;
 import android.text.TextUtils;
 import android.util.Log;
 import android.view.MotionEvent;
@@ -391,6 +390,12 @@ public class AMapViewWrapper implements IMogoMapView,
         }
     }
 
+    @ChainLog(
+            linkChainLog = CHAIN_TYPE_HD_MAP,
+            linkCode = CHAIN_SOURCE_MAP,
+            nodeAliasCode = CHAIN_CODE_HD_MAP_CALL,
+            paramIndexes = {0}
+    )
     @Override
     public void setRomaMode(int mode) {
         if (checkAMapView()) {
@@ -818,12 +823,10 @@ public class AMapViewWrapper implements IMogoMapView,
     @Override
     public void onCameraChangeFinish(@Nullable CameraPosition cameraPosition) {
         if (cameraPosition != null) {
-            Trace.beginSection("timer.onCameraChangeFinish");
             MogoMapListenerHandler.Companion.getMogoMapListenerHandler().onMapChanged(ObjectUtils.fromAMap(cameraPosition.getTarget()),
                     cameraPosition.getZoom(),
                     cameraPosition.getTilt(),
                     cameraPosition.getBearing());
-            Trace.endSection();
         }
     }
 
@@ -927,7 +930,7 @@ public class AMapViewWrapper implements IMogoMapView,
     /**
      * 加载3D模型
      */
-    private void loadPreVehicleModel() {  //todo 耗时打印
+    private void loadPreVehicleModel() {
         CallerLogger.INSTANCE.d(M_MAP + TAG, "添加感知模型到地图中……");
         ThreadUtils.getIoPool().submit(() -> {
             addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI, "添加感知模型到地图中……preVehicleStrWeiZhi=");
@@ -1042,8 +1045,6 @@ public class AMapViewWrapper implements IMogoMapView,
         PointCloudHelper.INSTANCE.setPointCloudColor(color);
     }
 
-
-
     @Override
     public void cacheHDDataByCity(IHdCacheListener listener) {
         if (mMapView.getMapAutoViewHelper() != null) {