【Taxi无人化】refactor: 优化任务调试面板；

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/DateTimeUtil.java

@@ -19,6 +19,7 @@ public class DateTimeUtil {
     public static final String yyyyMMdd = "yyyy-MM-dd";
     public static final String yy_MM_dd = "yy.MM.dd";
     public static final String yyyy_MM_dd_HH_mm = "yyyy-MM-dd HH:mm";
+    public static final String yyyy_MM_dd_HH_mm_ss = "yyyy-MM-dd HH:mm:ss";
 
     public static String formatCalendarToString(Calendar calendar, String format){
         if (calendar == null) return "";

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt

@@ -2,6 +2,7 @@ package com.mogo.och.taxi.ui.base
 
 import android.animation.ObjectAnimator
 import android.annotation.SuppressLint
+import android.content.Intent
 import android.os.Bundle
 import android.os.Handler
 import android.os.Looper
@@ -10,6 +11,7 @@ import android.view.LayoutInflater
 import android.view.View
 import android.view.animation.LinearInterpolator
 import androidx.fragment.app.FragmentTransaction
+import androidx.localbroadcastmanager.content.LocalBroadcastManager
 import com.mogo.commons.mvp.IView
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.mvp.Presenter
@@ -21,11 +23,9 @@ import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.initBa
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showToolsView
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getMapUIController
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
-
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener
-import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.map.listener.IMogoMapListener
 import com.mogo.map.uicontroller.VisualAngleMode
@@ -34,6 +34,7 @@ import com.mogo.och.common.module.wigets.StartAutopilotAnimationView
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.START_AUTOPILOT_ANIMATION_INTERVAL
+import com.mogo.och.taxi.ui.debug.DebugView
 import com.mogo.och.taxi.ui.navi.amap.TaxiAmapNaviFragment
 import com.mogo.och.taxi.ui.navi.auto.TaxiRoutingNaviFragment
 import kotlinx.android.synthetic.main.taxi_base_fragment.anim_flow_iv
@@ -224,31 +225,22 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
         //        }
         onAutopilotStatusChanged(getState())
 
-        // 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
+        // 打开任务调试面板
-        findViewById<View>(R.id.btnAutopilotDisable)?.setOnClickListener {
+        findViewById<View>(R.id.btnOpenDebugView)?.setOnClickListener {
-            onAutopilotStatusChanged(
+            val intent = Intent()
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
+            intent.action = DebugView.BROADCAST_ACTION
-            )
+            intent.putExtra(DebugView.BROADCAST_DATA_SHOW, true)
+            LocalBroadcastManager.getInstance(requireContext()).sendBroadcast(intent)
         }
 
-        // 模拟 可自动驾驶，工控机连接正常，且处于人工干预状态
+        // 关闭任务调试面板
-        findViewById<View>(R.id.btnAutopilotEnable)?.setOnClickListener {
+        findViewById<View>(R.id.btnCloseDebugView)?.setOnClickListener {
-            onAutopilotStatusChanged(
+            val intent = Intent()
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE
+            intent.action = DebugView.BROADCAST_ACTION
-            )
+            intent.putExtra(DebugView.BROADCAST_DATA_SHOW, false)
+            LocalBroadcastManager.getInstance(requireContext()).sendBroadcast(intent)
         }
 
-        // 模拟 自动驾驶能力，自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
-        findViewById<View>(R.id.btnAutopilotRunning)?.setOnClickListener {
-            onAutopilotStatusChanged(
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
-            )
-        }
-        findViewById<View>(R.id.btnAutopilotmanco)?.setOnClickListener {
-            onAutopilotStatusChanged(
-                IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING
-            )
-        }
         module_mogo_och_operation_status.setOnClickListener { onChangeOperationStatus() }
         taxi_close_navi_icon.setOnClickListener {
             showAmapNaviToStationFragment(false)

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt

@@ -254,7 +254,9 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
             TaxiTaskModel.mockOnTheWayToEndStation()
         }
 
-        findViewById<View>(R.id.test_bar_route)?.setOnClickListener { testRouteInfoUpload() }
+        findViewById<View>(R.id.test_bar_route)?.setOnClickListener {
+            testRouteInfoUpload()
+        }
     }
 
     fun onCurrentOrderDistToEndChanged(meters: Long, timeInSecond: Long) {

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt

@@ -1,70 +1,160 @@
 package com.mogo.och.taxi.ui.debug
 
+import android.content.BroadcastReceiver
 import android.content.Context
+import android.content.Intent
+import android.content.IntentFilter
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.LinearLayout
+import androidx.localbroadcastmanager.content.LocalBroadcastManager
 import com.mogo.eagle.core.network.utils.GsonUtil
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.taxi.R
+import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
+import com.mogo.och.taxi.bean.TrajectoryListRespBean
+import com.mogo.och.taxi.callback.ITaxiTaskWithOrderCallback
+import com.mogo.och.taxi.constant.TaskStatusEnum
+import com.mogo.och.taxi.constant.TaskTypeEnum
+import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.ui.task.TaxiTaskModel
-import kotlinx.android.synthetic.main.taxi_debug_order.view.orderInfo
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentCarStatus
-import kotlinx.android.synthetic.main.taxi_debug_order.view.orderToStartLines
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentDataTimestamps
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentLineId
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentOrder
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentOrderStopInfo
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentOrderTrajectoryInfo
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentStatus
+import kotlinx.android.synthetic.main.taxi_debug_order.view.currentTaskType
+import kotlinx.android.synthetic.main.taxi_debug_order.view.orderEndSiteInfo
+import kotlinx.android.synthetic.main.taxi_debug_order.view.orderNo
+import kotlinx.android.synthetic.main.taxi_debug_order.view.orderPreLoadLines
+import kotlinx.android.synthetic.main.taxi_debug_order.view.orderStartSiteInfo
+import kotlinx.android.synthetic.main.taxi_debug_order.view.orderStatus
 import kotlinx.android.synthetic.main.taxi_debug_order.view.taskEndSite
 import kotlinx.android.synthetic.main.taxi_debug_order.view.taskStartSite
-import kotlinx.android.synthetic.main.taxi_debug_order.view.taskStatus2
-import kotlinx.android.synthetic.main.taxi_debug_order.view.taskType2
-import kotlinx.android.synthetic.main.taxi_debug_order.view.test_bar_current_line_id
-import kotlinx.android.synthetic.main.taxi_debug_order.view.test_bar_current_line_name
-import kotlinx.android.synthetic.main.taxi_debug_order.view.test_bar_current_order_id
-import kotlinx.android.synthetic.main.taxi_debug_order.view.test_bar_current_stop_md5
-import kotlinx.android.synthetic.main.taxi_debug_order.view.test_bar_current_stop_md5_dpqp
-import kotlinx.android.synthetic.main.taxi_debug_order.view.test_bar_current_traj_md5
-import kotlinx.android.synthetic.main.taxi_debug_order.view.test_bar_current_traj_md5_dpqp
 
-class DebugView @JvmOverloads constructor(
+public class DebugView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0,
     defStyleRes: Int = 0
-) : LinearLayout(context, attrs, defStyleAttr, defStyleRes) {
+) : LinearLayout(context, attrs, defStyleAttr, defStyleRes), ITaxiTaskWithOrderCallback {
     companion object {
         const val TAG = "DebugView"
+        const val BROADCAST_ACTION = "com.mogo.och.driver.debugview.show"
+        const val BROADCAST_DATA_SHOW = "isShow"
+    }
+
+    private val broadcastReceiver = object : BroadcastReceiver() {
+        override fun onReceive(context: Context, intent: Intent) {
+            if (BROADCAST_ACTION == intent.action) {
+                val isShow = intent.getBooleanExtra(BROADCAST_DATA_SHOW, false)
+                visibility = if (isShow) VISIBLE else GONE
+            }
+        }
     }
 
     init {
+        initBroadcastReceiver()
         LayoutInflater.from(context)
             .inflate(R.layout.taxi_debug_order, this, true)
         visibility = GONE
     }
 
-    fun toggleOrderDebugView() {
+    private fun initBroadcastReceiver() {
-        val data = TaxiTaskModel.getCurrentTaskWithOrder()
+        val intentFilter = IntentFilter()
-        val curContrail = TaxiTaskModel.getCurrentTaskTrajectory()
+        intentFilter.addAction(BROADCAST_ACTION)
+        LocalBroadcastManager.getInstance(context).registerReceiver(broadcastReceiver, intentFilter)
+    }
 
+    fun toggleOrderDebugView() {
         visibility =
             if (visibility == View.VISIBLE)
                 View.GONE
             else
                 View.VISIBLE
-        test_bar_current_order_id.text = "orderNo: ${data?.order?.orderNo}"
+        val data = TaxiTaskModel.getCurrentTaskWithOrder()
-        test_bar_current_line_id!!.text = "当前任务lineId: ${data?.lineId}"
+        initViewByData(data)
-        test_bar_current_line_name!!.text = "当前任务lineName: ${curContrail?.lineName}"
+    }
-        taskType2.text = "当前任务类型: ${data?.taskType}"
-        taskStatus2.text = "任务状态: ${data?.currentStatus}"
-        taskStartSite.text =
-            "任务开始站点: ${data?.startSite?.siteName} , siteId: ${data?.startSite?.siteId}"
-        taskEndSite.text =
-            "任务结束站点: ${data?.endSite?.siteName}, siteId: ${data?.endSite?.siteId}"
-        orderInfo.text =
-            "订单信息: 开始: ${data?.order?.orderStartSite?.siteName}, 结束: ${data?.order?.orderEndSite?.siteName}, " +
-                    "orderStatus: ${data?.order?.orderStatus}"
-        orderToStartLines.text =
-            "接驾任务的lineId集合: " + GsonUtil.jsonFromObject(data?.order?.planningLines)
 
-        test_bar_current_traj_md5.text = "TrajMd5: ${curContrail?.csvFileMd5}"
+    private fun initTaskWithOrderDataListener() {
-        test_bar_current_stop_md5.text = "StopMd5: ${curContrail?.txtFileMd5}"
+        TaxiTaskModel.addTaskWithOrderListener(TAG, this)
-        test_bar_current_traj_md5_dpqp.text = "TrajMd5DPQP: ${curContrail?.csvFileMd5DPQP}"
+    }
-        test_bar_current_stop_md5_dpqp.text = "StopMd5DPQP: ${curContrail?.txtFileMd5DPQP}"
+
+    private fun removeTaskWithOrderDataListener() {
+        TaxiTaskModel.removeTaskWithOrderListener(TAG)
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        initTaskWithOrderDataListener()
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        removeTaskWithOrderDataListener()
+    }
+
+    private fun initViewByData(data: QueryCurrentTaskRespBean.Result?) {
+        val curContrail = TaxiTaskModel.getCurrentTaskTrajectory()
+        currentDataTimestamps.text = "【当前数据返回时间】${
+            DateTimeUtil.formatCalendarToString(
+                DateTimeUtil.formatLongToCalendar(System.currentTimeMillis()),
+                DateTimeUtil.yyyy_MM_dd_HH_mm_ss
+            )
+        }"
+        currentCarStatus.text =
+            "【当前车辆状态】${data?.servingStatus} / ${if (data?.servingStatus == 1) "开始接单" else "暂停接单"}"
+        currentTaskType.text = "【当前任务类型】${data?.taskType} / ${TaskTypeEnum.valueOf(data?.taskType ?: -1)?.name}"
+        currentStatus.text =
+            "【当前任务状态】${data?.currentStatus} / ${TaskStatusEnum.valueOf(data?.currentStatus ?: -1)?.name}"
+        currentLineId.text = "【当前任务lineId】 ${data?.lineId}"
+        taskStartSite.text =
+            "【当前任务起点】${data?.startSite?.siteName} siteId=${data?.startSite?.siteId}"
+        taskEndSite.text =
+            "【当前任务终点】${data?.endSite?.siteName} siteId=${data?.endSite?.siteId}"
+        currentOrder.text = "【订单信息】${if (data?.order == null) "null" else "不为空"}"
+        orderNo.text = "【订单编号】${data?.order?.orderNo}"
+        orderStatus.text =
+            "【订单状态】${data?.order?.orderStatus} / ${TaxiOrderStatusEnum.valueOf(data?.order?.orderStatus ?: -1)?.name}"
+        orderStartSiteInfo.text =
+            "【订单起点】${data?.order?.orderStartSite?.siteName}"
+        orderEndSiteInfo.text =
+            "【订单终点】${data?.order?.orderEndSite?.siteName}"
+        orderPreLoadLines.text =
+            "【接驾任务预加载lineIds】${GsonUtil.jsonFromObject(data?.order?.planningLines)}"
+        currentOrderTrajectoryInfo.text =
+            "【当前任务Traj信息】TrajMd5=${curContrail?.csvFileMd5} , TrajDPQPMd5=${curContrail?.csvFileMd5DPQP}"
+        currentOrderStopInfo.text =
+            "【当前任务Stop信息】StopMd5=${curContrail?.txtFileMd5}, StopDPQPMd5=${curContrail?.txtFileMd5DPQP}"
+    }
+
+    override fun onTaskWithOrderDataChanged(taskWithOrder: QueryCurrentTaskRespBean.Result?) {
+        d(TAG, "onTaskWithOrderDataChanged")
+        initViewByData(taskWithOrder)
+    }
+
+    override fun onTaskCompleted(isOrderArrivedAtStart: Boolean, siteId: Long) {
+    }
+
+    override fun onTaskTrajectoryDataChanged(data: TrajectoryListRespBean?) {
+    }
+
+    override fun onOrderCancel() {
+    }
+
+    override fun onOrderArriveAtEnd(orderNo: String) {
+    }
+
+    override fun onOrderTotalMileAndDurationChanged(mileage: Float, duration: Int) {
+    }
+
+    override fun onOrderJourneyCompleted() {
+    }
+
+    override fun onStartAutopilot() {
     }
 }

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt

@@ -167,6 +167,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
                         if (currentTaskWithOrder == null) {
                             initContainerView(false)
                             removeAllMapMarker()
+                            updateNextTaskFragment(currentTaskWithOrder)
                             return@collect
                         }
                         updateNextTaskFragment(currentTaskWithOrder)

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt

@@ -39,7 +39,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     private val TAG = SceneConstant.M_TAXI + "TaxiUnmannedViewModel"
 
     init {
-        TaxiTaskModel.setTaskWithOrderCallback(this)
+        TaxiTaskModel.addTaskWithOrderListener(TAG, this)
         TaxiTaskModel.setCarServiceCallback(this)
     }
 
@@ -200,7 +200,6 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         }
     }
 
-
     override fun onTaskWithOrderDataChanged(result: QueryCurrentTaskRespBean.Result?) {
         d(TAG, "onTaskWithOrderChanged = result = " + GsonUtil.jsonFromObject(result))
         updateTaskAndOrderUi(result)

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt

@@ -84,6 +84,7 @@ import mogo.telematics.pad.MessagePad.GlobalPathResp
 import mogo_msg.MogoReportMsg.MogoReportMessage
 import system_master.SsmInfo
 import system_master.SystemStatusInfo
+import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.TimeUnit
 
 /**
@@ -111,7 +112,8 @@ object TaxiTaskModel {
 
     private var mAutopilotPlanningCallback: IOCHTaxiAutopilotPlanningCallback? = null
 
-    private var mTaxiTaskWithOrderCallback: ITaxiTaskWithOrderCallback? = null
+    private val mTaxiTaskWithOrderCallbackMap: ConcurrentHashMap<String, ITaxiTaskWithOrderCallback> =
+        ConcurrentHashMap()
 
     private var mTaxiCarServiceCallback: ITaxiCarServiceCallback? = null
 
@@ -132,6 +134,20 @@ object TaxiTaskModel {
 
     private val mCurrentTaskRoutePointsGcj: MutableList<MogoLocation> = ArrayList()
 
+    fun addTaskWithOrderListener(tag: String, listener: ITaxiTaskWithOrderCallback) {
+        if (mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
+            return
+        }
+        mTaxiTaskWithOrderCallbackMap[tag] = listener
+    }
+
+    fun removeTaskWithOrderListener(tag: String) {
+        if (!mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
+            return
+        }
+        mTaxiTaskWithOrderCallbackMap.remove(tag)
+    }
+
     fun setMoGoAutopilotPlanningListener(moGoAutopilotPlanningCallback: IOCHTaxiAutopilotPlanningCallback?) {
         mAutopilotPlanningCallback = moGoAutopilotPlanningCallback
     }
@@ -148,10 +164,6 @@ object TaxiTaskModel {
         mOrderStatusCallback = callback
     }
 
-    fun setTaskWithOrderCallback(callback: ITaxiTaskWithOrderCallback) {
-        mTaxiTaskWithOrderCallback = callback
-    }
-
     fun setCarServiceCallback(callback: ITaxiCarServiceCallback) {
         mTaxiCarServiceCallback = callback
     }
@@ -664,18 +676,25 @@ object TaxiTaskModel {
                         if (result.endSite == null && result.order == null) {
                             d(TAG, "queryCurrentTaskOnce: 任务为空")
                             mCurrentTaskWithOrder = null
-                            mTaxiTaskWithOrderCallback?.onTaskWithOrderDataChanged(null)
+
+                            mTaxiTaskWithOrderCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onTaskWithOrderDataChanged(null)
+                            }
                             return
                         }
 
                         //当前任务完成且订单状态到达乘客上车点, 则立马去拉取任务 不再等30s,否则送驾任务要等30s后才能去执行
                         if (result?.currentStatus == TaskStatusEnum.CompleteTask.code) {
-                            mTaxiTaskWithOrderCallback?.onTaskCompleted(
+                            mTaxiTaskWithOrderCallbackMap.forEach {
-                                QueryCurrentTaskRespBean.isOrderArriveAtStart(
+                                val listener = it.value
-                                    result
+                                listener.onTaskCompleted(
-                                ),
+                                    QueryCurrentTaskRespBean.isOrderArriveAtStart(
-                                result.endSite!!.siteId
+                                        result
-                            )
+                                    ),
+                                    result.endSite!!.siteId
+                                )
+                            }
                         }
 
                         updateLocalCalculateStation()
@@ -683,7 +702,10 @@ object TaxiTaskModel {
                         //达到终点后查询全程里程和用时
                         if (QueryCurrentTaskRespBean.isOrderArriveAtEnd(result)) {
                             d(TAG, "queryCurrentTaskOnce ArriveAtEnd")
-                            mTaxiTaskWithOrderCallback?.onOrderArriveAtEnd(result.order!!.orderNo)
+                            mTaxiTaskWithOrderCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onOrderArriveAtEnd(result.order!!.orderNo)
+                            }
                         }
 
                         //根据lineId集合去查轨迹集合, 返回的只是接驾任务的line集合, 没有送驾任务
@@ -703,12 +725,18 @@ object TaxiTaskModel {
                                 d(TAG, "queryCurrentTaskOnce autoStartDriving")
                                 //启动动画+文字
                                 mControllerStatusCallback?.startOpenAutopilotNonManual()
-                                mTaxiTaskWithOrderCallback?.onStartAutopilot()
+                                mTaxiTaskWithOrderCallbackMap.forEach {
+                                    val listener = it.value
+                                    listener.onStartAutopilot()
+                                }
                             }
                         }
 
                         if (mDriveToNearestStationTask == null) {
-                            mTaxiTaskWithOrderCallback?.onTaskWithOrderDataChanged(mCurrentTaskWithOrder)
+                            mTaxiTaskWithOrderCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onTaskWithOrderDataChanged(mCurrentTaskWithOrder)
+                            }
                         }
                     }
                 }
@@ -749,20 +777,29 @@ object TaxiTaskModel {
                         TaxiOrderStatusEnum.Cancel.code -> {
                             //更新本地标志位
                             mCurrentTaskWithOrder?.order = null
-                            mTaxiTaskWithOrderCallback?.onOrderCancel()
+                            mTaxiTaskWithOrderCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onOrderCancel()
+                            }
                         }
 
                         TaxiOrderStatusEnum.ArriveAtEnd.code -> {
-                            mTaxiTaskWithOrderCallback?.onOrderTotalMileAndDurationChanged(
+                            mTaxiTaskWithOrderCallbackMap.forEach {
-                                data.data.mileage,
+                                val listener = it.value
-                                data.data.duration.toInt()
+                                listener.onOrderTotalMileAndDurationChanged(
-                            )
+                                    data.data.mileage,
+                                    data.data.duration.toInt()
+                                )
+                            }
                         }
 
                         TaxiOrderStatusEnum.JourneyCompleted.code -> {
                             //更新本地标志位
                             mCurrentTaskWithOrder?.order = null
-                            mTaxiTaskWithOrderCallback?.onOrderJourneyCompleted()
+                            mTaxiTaskWithOrderCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onOrderJourneyCompleted()
+                            }
                         }
                     }
                 }
@@ -842,7 +879,10 @@ object TaxiTaskModel {
                         mTaskTrajectoryList.addAll(it)
                         mCurrentTaskTrajectory = it.first { currentTaskLineId == it.lineId }
                     }
-                    mTaxiTaskWithOrderCallback?.onTaskTrajectoryDataChanged(data)
+                    mTaxiTaskWithOrderCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onTaskTrajectoryDataChanged(data)
+                    }
                 }
 
                 override fun onFail(code: Int, msg: String?) {

OCH/taxi/unmanned-driver/src/main/res/layout/taxi_base_fragment.xml

@@ -336,52 +336,34 @@
 <!--    </LinearLayout>-->
 
     <Button
-        android:id="@+id/btnAutopilotDisable"
+        android:id="@+id/btnOpenDebugView"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="模拟 自动驾驶Disable"
+        android:text="打开任务调试面板"
+        android:background="#0f0"
         android:textSize="@dimen/dp_40"
         android:visibility="gone"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
     <Button
-        android:id="@+id/btnAutopilotEnable"
+        android:id="@+id/btnCloseDebugView"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="模拟 自动驾驶Enable"
+        android:background="#f00"
+        android:text="关闭任务调试面板"
         android:textSize="@dimen/dp_40"
         android:visibility="gone"
-        app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
+        app:layout_constraintRight_toRightOf="@id/btnOpenDebugView"
-        app:layout_constraintTop_toBottomOf="@id/btnAutopilotDisable" />
+        app:layout_constraintTop_toBottomOf="@id/btnOpenDebugView" />
-
-    <Button
-        android:id="@+id/btnAutopilotRunning"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:text="模拟 自动驾驶Running"
-        android:textSize="@dimen/dp_40"
-        android:visibility="gone"
-        app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
-        app:layout_constraintTop_toBottomOf="@id/btnAutopilotEnable" />
-
-    <Button
-        android:id="@+id/btnAutopilotmanco"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:text="模拟 人机共驾"
-        android:textSize="@dimen/dp_40"
-        android:visibility="gone"
-        app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
-        app:layout_constraintTop_toBottomOf="@id/btnAutopilotRunning" />
 
     <androidx.constraintlayout.widget.Group
         android:id="@+id/groupTestPanel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:visibility="gone"
-        app:constraint_referenced_ids="btnAutopilotDisable,btnAutopilotEnable,btnAutopilotRunning,btnAutopilotmanco"
+        app:constraint_referenced_ids="btnOpenDebugView,btnCloseDebugView"
-        tools:visibility="gone" />
+        tools:visibility="visible" />
 
     <FrameLayout
         android:id="@+id/module_mogo_och_navi_panel_container"

OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml

@@ -6,35 +6,35 @@
     android:orientation="vertical">
 
     <TextView
-        android:id="@+id/test_bar_current_order_id"
+        android:id="@+id/currentDataTimestamps"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/test_bar_current_line_id"
+        android:id="@+id/currentCarStatus"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/test_bar_current_line_name"
+        android:id="@+id/currentTaskType"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/taskType2"
+        android:id="@+id/currentStatus"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/taskStatus2"
+        android:id="@+id/currentLineId"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
@@ -55,80 +55,107 @@
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/orderInfo"
+        android:id="@+id/currentOrder"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/orderToStartLines"
+        android:id="@+id/orderNo"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/test_bar_current_traj_md5"
+        android:id="@+id/orderStatus"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/test_bar_current_stop_md5"
+        android:id="@+id/orderStartSiteInfo"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/test_bar_current_traj_md5_dpqp"
+        android:id="@+id/orderEndSiteInfo"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
     <TextView
-        android:id="@+id/test_bar_current_stop_md5_dpqp"
+        android:id="@+id/orderPreLoadLines"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
-    <Button
+    <TextView
-        android:id="@+id/test_bar_to_virtual"
+        android:id="@+id/currentOrderTrajectoryInfo"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="到达标定站点"
+        android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
-    <Button
+    <TextView
-        android:id="@+id/test_bar_start_service_confirm"
+        android:id="@+id/currentOrderStopInfo"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="开启服务"
+        android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 
-    <Button
+    <LinearLayout
-        android:id="@+id/test_bar_on_the_way_to_end"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="开启自动驾驶"
+        android:layout_marginTop="@dimen/dp_10"
-        android:textSize="@dimen/dp_24" />
+        android:orientation="horizontal">
 
-    <Button
+        <Button
-        android:id="@+id/test_bar_to_end"
+            android:id="@+id/test_bar_to_virtual"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="Mock到达标定站点"
+            android:textSize="@dimen/dp_24" />
+
+        <Button
+            android:id="@+id/test_bar_start_service_confirm"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="Mock开启服务"
+            android:textSize="@dimen/dp_24" />
+
+        <Button
+            android:id="@+id/test_bar_on_the_way_to_end"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="Mock开启自动驾驶"
+            android:textSize="@dimen/dp_24" />
+    </LinearLayout>
+
+    <LinearLayout
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:text="到达站点"
+        android:layout_marginTop="@dimen/dp_10"
-        android:textSize="@dimen/dp_24" />
+        android:orientation="horizontal">
 
-    <Button
+        <Button
-        android:id="@+id/test_bar_route"
+            android:id="@+id/test_bar_to_end"
-        android:layout_width="wrap_content"
+            android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+            android:layout_height="wrap_content"
-        android:text="模拟轨迹"
+            android:text="Mock到达站点"
-        android:textSize="12sp" />
+            android:textSize="@dimen/dp_24" />
 
+        <Button
+            android:id="@+id/test_bar_route"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="Mock模拟轨迹"
+            android:textSize="12sp" />
+    </LinearLayout>
 </LinearLayout>