Merge branch 'dev_robotaxi-d-app-module_2100_220816_2.10.0' into 'test_robotaxi-d-app-module_2100_220816_2.10.0.1'

Dev robotaxi d app module 2100 220816 2.10.0 See merge request zhjt/AndroidApp/MoGoEagleEye!147
2022-09-05 12:08:04 +00:00
parent 817bc2db21 254add90b5
commit 1cd0992d87
18 changed files with 194 additions and 63 deletions
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/constant/BusPassengerConst.kt
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/constant/BusPassengerConst.kt
@@ -44,5 +44,7 @@ class BusPassengerConst {

        // 订单总里程
        const val BUS_SP_KEY_ORDER_SUM_DIS = "BUS_SP_KEY_ORDER_SUM_DIS"
+
+        const val QUERY_BUS_P_STATION_DELAY = 5 * 1000L
    }
 }
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -4,6 +4,8 @@ import android.content.Context;
 import android.content.Intent;
 import android.location.Location;
 import android.net.ConnectivityManager;
+import android.os.Handler;
+import android.os.Message;

 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -56,6 +58,7 @@ import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;

 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
+import static com.mogo.och.bus.passenger.constant.BusPassengerConst.QUERY_BUS_P_STATION_DELAY;
 import static com.mogo.och.bus.passenger.constant.BusPassengerConst.STATION_STATUS_STOPPED;

 /**
@@ -88,6 +91,18 @@ public class BusPassengerModel {
    private int mNextStationIndex = 0;// 要到达站的index
    private List<LatLng> mTwoStationsRouts = new ArrayList<>();

+    private static final int MSG_QUERY_BUS_P_STATION = 1001;
+    private final Handler handler = new Handler(new Handler.Callback() {
+        @Override
+        public boolean handleMessage(Message msg) {
+            if ( msg.what == MSG_QUERY_BUS_P_STATION ) {
+                queryDriverOperationStatus();
+                return true;
+            }
+            return false;
+        }
+    });
+
    private BusPassengerModel() {
    }

@@ -106,6 +121,10 @@ public class BusPassengerModel {
        this.mRouteLineInfoCallback = callback;
    }

+    private void queryDriverOperationDelay() {
+        handler.sendEmptyMessageDelayed( MSG_QUERY_BUS_P_STATION, QUERY_BUS_P_STATION_DELAY );
+    }
+
    private void queryDriverOperationStatus() {
        BusPassengerServiceManager.getInstance().queryDriverOperationStatus(mContext
                , new BusPassengerServiceCallback<BusPassengerOperationStatusResponse>() {
@@ -121,7 +140,8 @@ public class BusPassengerModel {

            @Override
            public void onFail(int code, String msg) {
-                queryDriverOperationStatus();
+                //延迟3s再次查询
+                queryDriverOperationDelay();
            }
        });
    }
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/AnimatorDrawableUtil.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/AnimatorDrawableUtil.java
@@ -35,7 +35,7 @@ public class AnimatorDrawableUtil {
    //图片资源的ID列表
    private List<Integer> mResourceIdList = null;
    //定时任务器
-    private Timer mTimer = null;
+    private final Timer mTimer = new Timer();
    //定时任务
    private AnimTimerTask mTimeTask = null;
    //记录播放位置
@@ -44,7 +44,7 @@ public class AnimatorDrawableUtil {
    private boolean isLooping = false;

    public AnimatorDrawableUtil() {
-        mTimer = new Timer();
+//        mTimer = new Timer();
    }

    /**
@@ -139,18 +139,25 @@ public class AnimatorDrawableUtil {
     */
    public void start(boolean loop, int duration, AnimationLisenter lisenter) {
        this.lisenter = lisenter;
-        stop();
+//        stop();
        if (mResourceIdList == null || mResourceIdList.size() == 0) {
            return;
        }
-        if (mTimer == null) {
-            mTimer = new Timer();
+//        if (mTimer == null) {
+//            mTimer = new Timer();
+//        }
+        try {
+            isLooping = loop;
+            mFrameIndex = 0;
+            mState = STATE_RUNNING;
+            if (mTimeTask != null){
+                return;
+            }
+            mTimeTask = new AnimTimerTask();
+            mTimer.schedule(mTimeTask, 0, duration);
+        }catch (Exception e){
+            e.printStackTrace();
        }
-        isLooping = loop;
-        mFrameIndex = 0;
-        mState = STATE_RUNNING;
-        mTimeTask = new AnimTimerTask();
-        mTimer.schedule(mTimeTask, 0, duration);
        if (lisenter != null){
            lisenter.startAnimation();
        }
@@ -163,7 +170,7 @@ public class AnimatorDrawableUtil {
        if (mTimer != null) {
            mTimer.purge();
            mTimer.cancel();
-            mTimer = null;
+//            mTimer = null;
        }
        if (mTimeTask != null) {
            mFrameIndex = 0;
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -67,7 +67,10 @@ import java.util.Collections;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;

+import io.reactivex.Observable;
+import io.reactivex.disposables.Disposable;
 import io.reactivex.exceptions.UndeliverableException;
 import io.reactivex.functions.Consumer;
 import io.reactivex.plugins.RxJavaPlugins;
@@ -108,6 +111,9 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback

    private ITaxiPassengerVeloctityCallback mVeloctityCallback;//道路限速返回

+    private Disposable subscribe;
+    private int delayTime = 2;
+
    private double mLongitude, mLatitude;

    private List<LatLng> mLocationsModels = new ArrayList<>();
@@ -209,6 +215,9 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
        startOrStopOrderLoop(false);
        startOrStopQueryOrderRemaining(false);
        releaseListeners();
+        if(subscribe!=null&&!subscribe.isDisposed()){
+            subscribe.dispose();
+        }
    }

    private void initListeners() {
@@ -720,13 +729,17 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                         startOrStopRouteAndWipe(true);
                     }
                 }else {
-                     queryOrderRouteList();
+                     subscribe = Observable.timer(delayTime, TimeUnit.SECONDS).subscribe(aLong -> {
+                         queryOrderRouteList();
+                     });
                 }
             }

             @Override
             public void onFail(int code, String msg) {
-                 queryOrderRouteList();
+                 subscribe = Observable.timer(delayTime, TimeUnit.SECONDS).subscribe(aLong -> {
+                     queryOrderRouteList();
+                 });
             }
         });
    }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java
@@ -24,11 +24,8 @@ import com.mogo.och.taxi.passenger.model.TaxiPassengerGeocodeSearchModel;
 import com.mogo.och.taxi.passenger.model.TaxiPassengerModel;
 import com.mogo.och.taxi.passenger.ui.TaxiPassengerServingOrderFragment;

-import java.util.ArrayList;
 import java.util.List;

-import mogo.telematics.pad.MessagePad;
-
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;

 /**
@@ -54,9 +51,11 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
    }

    private void initListener() {
+        // 设置起点和终点marker和实时车辆位置
        TaxiPassengerModel.getInstance().setMoGoAutopilotPlanningListener(this);
        TaxiPassengerModel.getInstance().setOrderStatusCallback("TaxiPassengerServingOrderPresenter",this);
        TaxiPassengerModel.getInstance().setControllerStatusCallback("TaxiPassengerServingOrderPresenter",this);
+        // 获取道路限速
        TaxiPassengerModel.getInstance().setVeloctityCallback(this);
    }

@@ -132,10 +131,19 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS

    }

+    private long startTime = 0;
+    private static final long TIMEINTERVAL = 4000;
+
    @Override
    public void onCarLocationChanged(Location location) {
        if (location != null){
            runOnUIThread(() -> mView.onCarLocationChanged(location));
+            long currentTimeMillis = System.currentTimeMillis();
+            if(currentTimeMillis-startTime<TIMEINTERVAL){
+                return;
+            }
+            CallerLogger.INSTANCE.d(M_TAXI_P + TAG,"onCarLocationChanged 获取当前路的信息");
+            startTime = currentTimeMillis;
            TaxiPassengerGeocodeSearchModel.getInstance(getContext()).searchLocationInfo(location.getLatitude(),location.getLongitude());
        }
    }
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
@@ -101,9 +101,9 @@ public class TaxiPassengerStartAutopilotView extends RelativeLayout implements V
        mAutopilotBtnBg = view.findViewById(R.id.taxi_p_autopilot_btn_bg);
        mCarIv = view.findViewById(R.id.taxi_p_autopilot_starting);

-        initBtnAnimatonDrawable();
-
-        initCarStartingFrame();
+//        initBtnAnimatonDrawable();
+//
+//        initCarStartingFrame();
    }

    private void initCarStartingFrame() {
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -42,6 +42,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
    private static final String TAG = TaxiPresenter.class.getSimpleName();

    private boolean isFirstShow = true;
+    private int preAutopilotStatus = 0;

    public TaxiPresenter(TaxiFragment view) {
        super(view);
@@ -191,24 +192,30 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
    public void onAutopilotEnable() {
        runOnUIThread(() -> mView.updateAutopilotStatus(
                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE));
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE;
    }

    @Override
    public void onAutopilotDisable() {
        runOnUIThread(() -> mView.updateAutopilotStatus(
                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE));
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
    }

    @Override
    public void onAutopilotRunning() {
-        runOnUIThread(() -> mView.updateAutopilotStatus(
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING));
+        if (preAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
+            runOnUIThread(() -> mView.updateAutopilotStatus(
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING));
+        }
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
    }


    @Override
    public void onManMachineCoDriving() {
        runOnUIThread(() -> mView.onManMachineCoDriving(IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING));
+        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING;
    }

    @Override
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -396,8 +396,8 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
            }
            taxiLoginDialog.show(getParentFragmentManager(), taxiLoginDialog.getTag());
            taxiLoginDialog.setOnDismissListener(dialog -> {
-                mPresenter.queryLoginStatus();
                taxiLoginDialogFragment.clear();
+                mPresenter.queryLoginStatus();
            });
        }
    }
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -16,6 +16,11 @@ if (!isAndroidTestBuild()) {
        logLevel "DEBUG"
    }
 }
+
+if (!isAndroidTestBuild()) {
+    apply plugin: 'bytex.notsticky.service'
+}
+
 if (!isAndroidTestBuild()) {
    apply plugin: 'chain.log.hook'
    hooklog{
@@ -34,7 +39,6 @@ if (!isAndroidTestBuild()) {
        enable true
        enableInDebug true
        logLevel "DEBUG"
-        threadNameMaxLength 1000
        //白名单中的类不进行替换
        white_list = [
                'leakcanary.*',
--- a/build.gradle
+++ b/build.gradle
@@ -32,9 +32,10 @@ buildscript {
        classpath "com.bytedance.android.byteX:base-plugin:0.3.0"
        classpath "com.mogo.cloud:hook:${HOOK_LOG_VERSION}"
        classpath 'com.volcengine:apm_insight_plugin:1.4.1'
-        classpath 'com.mogo.thread.opt:plg:2.1.3'
+        classpath 'com.mogo.thread.opt:plg:2.1.6'
        classpath 'com.mogo.cloud:systrace:1.0.1'
        classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'
+        classpath 'com.mogo.sticky:service:1.0.8'

 //        classpath ("com.tencent.matrix:matrix-gradle-plugin:0.6.6") { changing = true }
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
@@ -2,10 +2,11 @@ package com.mogo.eagle.core.function.hmi.ui.tools

 import android.annotation.SuppressLint
 import android.content.Context
+import android.content.Intent
 import android.graphics.Color
 import android.graphics.drawable.ColorDrawable
+import android.os.Process
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
@@ -29,6 +30,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import kotlinx.android.synthetic.main.view_auto_pilot_check.view.*
 import mogo.telematics.pad.MessagePad
 import org.greenrobot.eventbus.EventBus
+import kotlin.system.exitProcess

 /**
 * @author ChenFufeng
@@ -97,6 +99,9 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
        ivCloseIcon.setOnClickListener {
            clickListener?.onClose(it)
        }
+        rlKillLayout.setOnClickListener {
+            killApp()
+        }
        viewCheckStatus.setOnClickListener {
            clickListener?.go2CheckPage()
        }
@@ -170,6 +175,16 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
        }
    }

+    private fun killApp() {
+        Intent(Intent.ACTION_MAIN).apply {
+            addCategory(Intent.CATEGORY_HOME)
+            flags = Intent.FLAG_ACTIVITY_NEW_TASK
+            context.startActivity(this)
+            Process.killProcess(Process.myPid())
+            exitProcess(0)
+        }
+    }
+
    fun setClickListener(clickListener: ClickListener) {
        this.clickListener = clickListener
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/service/MogoMainService.java
@@ -67,7 +67,7 @@ class MogoMainService extends Service implements IMogoLocationListener {

    @Override
    public int onStartCommand(Intent intent, int flags, int startId) {
-        return START_STICKY;
+        return START_NOT_STICKY;
    }

    private void initAndStartLocation() {
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/close_nor.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/close_nor.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
@@ -107,6 +107,31 @@
                        android:textSize="32px" />
                </RelativeLayout>

+                <RelativeLayout
+                    android:id="@+id/rlKillLayout"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_marginStart="142px">
+
+                    <ImageView
+                        android:id="@+id/ivKillImg"
+                        android:layout_width="150px"
+                        android:layout_height="150px"
+                        android:layout_centerHorizontal="true"
+                        android:background="@drawable/close_nor" />
+
+                    <TextView
+                        android:id="@+id/tvKillContent"
+                        android:layout_width="wrap_content"
+                        android:layout_height="42px"
+                        android:layout_alignParentBottom="true"
+                        android:layout_centerHorizontal="true"
+                        android:layout_marginTop="23px"
+                        android:text="杀死APP"
+                        android:textColor="@color/color_FFA7B6F0"
+                        android:textSize="32px" />
+                </RelativeLayout>
+
            </LinearLayout>

            <TextView
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
@@ -1,13 +1,14 @@
 package com.mogo.eagle.core.function.map

+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
-import mogo.telematics.pad.MessagePad
-import rule_segement.MogoPointCloudOuterClass
 import java.math.BigDecimal

 /**
@@ -16,12 +17,15 @@ import java.math.BigDecimal
 *
 * @author donghongyu
 */
-class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
+class MapPointCloudSubscriber private constructor()
+    : IMoGoSubscriber, IMoGoAutopilotPointCloudListener, IMoGoAutopilotStatusListener {

    private val TAG = "MapPointCloudSubscriber"

    private var isDrawPointCloud = false

+    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
+
    init {
        onCrate()
    }
@@ -34,16 +38,18 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto

    override fun onCrate() {
        CallerAutopilotPointCloudListenerManager.addListener(TAG, this)
-
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
    }

    override fun onDestroy() {
        CallerAutopilotPointCloudListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
    }

    override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
        try {// 根据配置动态控制点云是否绘制
-            if (FunctionBuildConfig.isDrawPointCloudData) {
+            if (FunctionBuildConfig.isDrawPointCloudData && isDrawCloudPointDockerVersion()) {
                if (!isDrawPointCloud) {
                    Logger.d(TAG, "====开启点云渲染====")
                    isDrawPointCloud = true
@@ -74,13 +80,53 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
        }
    }

-    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
-//        Logger.d(TAG, "数据对比："
-//                + "\n自车定位：自车的 satelliteTime==${getPrettyNumber(CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().satelliteTime.toString())}   经纬度：${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLat},${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().locationLon}"
-//                + "\n点云数据：点云的 header?.timestamp==${getPrettyNumber(header?.timestamp.toString())}   经纬度：${pointCloud?.selfLatitude},${pointCloud?.selfLongitude}   点云数量：addDataCount==${pointCloud?.addDataCount}  delDataCount===${pointCloud?.delDataCount}  "
-//        )
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        mAutoPilotStatusInfo = autoPilotStatusInfo
    }

+    /**
+     * 判断是否是260之后但版本
+     */
+    fun isDrawCloudPointDockerVersion(): Boolean {
+        // 由于Docker命名规则不统一，但核心版本是统一但，采用"."分割，如下
+        // MAP-taxi_RoboTaxi_Default_2.2.0_badcasetest_20220215_dev
+        val dockerVersionName = mAutoPilotStatusInfo?.dockVersion
+        // "." 分割，取前两位
+        val dockerVersionNameArray = dockerVersionName?.split(".")
+
+        var dockerVersionCode = ""
+        dockerVersionNameArray?.let {
+            if (it.size > 3) {
+                for (index in 0 until 3) {
+                    dockerVersionCode +=
+                            when (index) {
+                                0 -> {
+                                    it[index].substring(it[index].lastIndex)
+                                }
+                                it.size - 1 -> {
+                                    it[index].substring(0, 1)
+                                }
+                                else -> {
+                                    it[index]
+                                }
+                            }
+                }
+            }
+        }
+        val dockerVersion =
+                if (dockerVersionCode.isNotEmpty()) {
+                    dockerVersionCode.toInt()
+                } else {
+                    0
+                }
+
+        if (dockerVersion >= 260) {
+            return true
+        }
+        return false
+    }
+
+
    fun getPrettyNumber(number: String): String {
        return BigDecimal.valueOf(number.toDouble())
                .stripTrailingZeros().toPlainString()
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
@@ -18,9 +18,4 @@ interface IMoGoAutopilotPointCloudListener {
     */
    fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?)

-    /**
-     *
-     */
-    fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?)
-
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
@@ -68,16 +68,4 @@ object CallerAutopilotPointCloudListenerManager : CallerBase() {
        }
    }

-    /**
-     * 点云数据 回调
-     */
-    @Synchronized
-    fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
-        M_POINT_CLOUD_LISTENERS.forEach {
-            val tag = it.key
-            val listener = it.value
-            listener.onAutopilotPointCloudDataUpdate(header, pointCloud)
-        }
-    }
-
 }
--- a/gradle.properties
+++ b/gradle.properties
@@ -63,23 +63,23 @@ SERVICE_CHAIN_VERSION=1.1.0
 LOGLIB_VERSION=1.3.38
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.3.23
+MOGO_NETWORK_VERSION=1.4.3.26
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.3.23
+MOGO_PASSPORT_VERSION=1.4.3.26
 # 常链接
-MOGO_SOCKET_VERSION=1.4.3.23
+MOGO_SOCKET_VERSION=1.4.3.26
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.3.23
+MOGO_REALTIME_VERSION=1.4.3.26
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.3.23
+MOGO_TANLU_VERSION=1.4.3.26
 # 直播推流
-MOGO_LIVE_VERSION=1.4.3.23
+MOGO_LIVE_VERSION=1.4.3.26
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.3.23
+MOGO_TRAFFICLIVE_VERSION=1.4.3.26
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.3.23
+MOGO_LOCATION_VERSION=1.4.3.26
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.3.23
+MOGO_TELEMATIC_VERSION=1.4.3.26
 ######## MogoAiCloudSDK Version ########
 # 自研地图
 MAP_SDK_VERSION=2.4.2.3