Merge branch 'dev_robotaxi-d-app-module_2110_220915_2.11.0' into dev_robotaxi-d-app-module_2110_yangyakun_2.11.0

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/bean/BusPassengerOperationStatusResponse.java

@@ -14,8 +14,8 @@ public class BusPassengerOperationStatusResponse extends BaseData {
 
     public static class Result {
         private String sn; //司机屏sn
+        private String phone; //司机手机号
         public String plateNumber; //车牌号
-        public int serviceStatus;//0:已收车，1:已出车
-        public int businessType;// 车辆类型： taxi/bus
+        public int driverStatus;//0:已收车，1:已出车
     }
 }

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

@@ -135,7 +135,7 @@ public class BusPassengerModel {
             public void onSuccess(BusPassengerOperationStatusResponse data) {
                 if (data == null || data.data == null) return;
                 if(mDriverStatusCallback != null){
-                    mDriverStatusCallback.changeOperationStatus(data.data.serviceStatus == 1);
+                    mDriverStatusCallback.changeOperationStatus(data.data.driverStatus == 1);
                     mDriverStatusCallback.updatePlateNumber(data.data.plateNumber);
                 }
             }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/network/BusPassengerModelLoopManager.java

@@ -36,7 +36,7 @@ public class BusPassengerModelLoopManager {
         return SingletonHolder.INSTANCE;
     }
 
-    private Disposable mHeartbeatDisposable; //心跳轮询
+    private Disposable mQueryLineDisposable; //心跳轮询
     private CompositeDisposable mRouteWipeDisposable;
     private CompositeDisposable mCalculateRouteDisposable; //每隔2s计算一次剩余里程和时间
 
@@ -78,11 +78,11 @@ public class BusPassengerModelLoopManager {
     }
 
     public void startQueryDriverLineLoop() {
-        if (mHeartbeatDisposable != null && !mHeartbeatDisposable.isDisposed()) {
+        if (mQueryLineDisposable != null && !mQueryLineDisposable.isDisposed()) {
             return;
         }
         CallerLogger.INSTANCE.i(M_BUS_P + TAG, "startQueryDriverLineLoop()");
-        mHeartbeatDisposable = Observable.interval(LOOP_DELAY,
+        mQueryLineDisposable = Observable.interval(LOOP_DELAY,
                 LOOP_LINE_2S, TimeUnit.MILLISECONDS)
                 .map((aLong -> aLong + 1))
                 .subscribeOn(Schedulers.io())
@@ -91,10 +91,10 @@ public class BusPassengerModelLoopManager {
     }
 
     public void stopQueryDriverLineLoop() {
-        if (mHeartbeatDisposable != null) {
+        if (mQueryLineDisposable != null) {
             CallerLogger.INSTANCE.i(M_BUS_P + TAG, "stopQueryDriverLineLoop()");
-            mHeartbeatDisposable.dispose();
-            mHeartbeatDisposable = null;
+            mQueryLineDisposable.dispose();
+            mQueryLineDisposable = null;
         }
     }
 

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/network/BusPassengerServiceApi.java

@@ -27,12 +27,14 @@ interface BusPassengerServiceApi {
     Observable<BusPassengerRoutesResponse> queryDriverSiteByCoordinate(@Header("appId") String appId, @Header("ticket") String ticket, @Body BusPassengerQueryLineRequest request);
 
     /**
-     * 查询司机端出车/收车状态
+     * 查询司机端的登陆状态
      * @param sn
      * @return
      */
     @Headers({"Content-type:application/json;charset=UTF-8"})
-    @GET("/autopilot-car-hailing/car/v2/driver/bus/passenger/takeOrderStatus/query")
+//    @GET("/autopilot-car-hailing/car/v2/driver/bus/passenger/takeOrderStatus/query")
+    @GET("/autopilot-car-hailing/operation/v1/driver/bus/passenger/loginStatus")
     Observable<BusPassengerOperationStatusResponse> queryDriverOperationStatus(@Header ("appId") String appId, @Header("ticket") String ticket, @Query("sn") String sn);
 
+
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusCloseTaskRequest.java

@@ -0,0 +1,20 @@
+package com.mogo.och.bus.bean;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+
+/**
+ *
+ */
+public class BusCloseTaskRequest {
+
+    private String sn;
+    private int taskId;
+    public BusCloseTaskRequest(int taskId) {
+        this.sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        this.taskId = taskId;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+}

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusQueryLineStationsRequest.java

@@ -2,14 +2,13 @@ package com.mogo.och.bus.bean;
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 
-public
 /**
  * @author congtaowang
  * @since 2021/3/22
  *
  * 根据车机行驶线路站点信息
  */
-class BusQueryLineStationsRequest {
+public class BusQueryLineStationsRequest {
 
     private String sn;
     private double lat;

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutesResult.java

@@ -15,6 +15,7 @@ public class BusRoutesResult {
     private String description;
     private int status;
     private long taskTime; //线路时间班次
+    private int taskId;// 线路班次id
 
     //线路轨迹相关字段
     public String csvFileUrl = ""; //轨迹文件下载的cos url，默认“”
@@ -33,6 +34,10 @@ public class BusRoutesResult {
         return lineId;
     }
 
+    public int getTaskId() {
+        return taskId;
+    }
+
     public String getName() {
         return name;
     }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusUpdateSiteStatusRequest.java

@@ -12,16 +12,14 @@ import com.mogo.commons.network.Utils;
 public class BusUpdateSiteStatusRequest {
 
     public String sn;
+    public int taskId;
     public int seq;//站点序号
     public int siteId;//站点id
-    public double lon;
-    public double lat;
 
-    public BusUpdateSiteStatusRequest(int seq, int siteId, double lon, double lat) {
+    public BusUpdateSiteStatusRequest(int taskId,int siteId,int seq) {
         this.sn = MoGoAiCloudClientConfig.getInstance().getSn();
         this.seq = seq;
         this.siteId = siteId;
-        this.lon = lon;
-        this.lat = lat;
+        this.taskId = taskId;
     }
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt

@@ -75,5 +75,9 @@ class BusConst {
 
         //围栏到站 暂定10米
         const val ARRIVE_AT_END_STATION_DISTANCE = 10
+
+        // 轮询
+        const val LOOP_PASSENGER_2S = 2 * 1000L
+        const val LOOP_PASSENGER_1S = 1 * 1000L
     }
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java

@@ -492,7 +492,7 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
             if ((int)mSwitchLine.getTag() == 0){//切换路线
                 Intent intent = new Intent(getContext(), BusSwitchLineActivity.class);
                 startActivity(intent);
-            }else {//结束路线
+            }else {//结束任务
                 OCHCommitDialog.Builder builder = new OCHCommitDialog.Builder();
                 OCHCommitDialog closeLineConfirmDialog = builder
                         .title(getString(R.string.bus_dialog_title))
@@ -503,7 +503,7 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
                 closeLineConfirmDialog.setClickListener(new OCHCommitDialog.ClickListener() {
                     @Override
                     public void confirm() {
-                        mPresenter.resetCurrentLineStatus();
+                        mPresenter.abortTask();
                     }
 
                     @Override

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java

@@ -85,6 +85,7 @@ import mogo.telematics.pad.MessagePad;
 public class BusOrderModel {
     private final String TAG = BusOrderModel.class.getSimpleName();
     private int currentLineId = -1;
+    private int currentTaskId = -1;
     private int backgroundCurrentStationIndex = 0;//A->B 此处值是A站点索引
 
     private static volatile BusOrderModel sInstance;
@@ -335,6 +336,7 @@ public class BusOrderModel {
             mBusOrdersDisposable.dispose();
         }
         startOrStopOrderLoop(false);
+        startOrStopQueryPassengerWriteOff(false);
         MogoApisHandler.getInstance()
                 .getApis()
                 .getStatusManagerApi()
@@ -500,13 +502,13 @@ public class BusOrderModel {
     /**
      * 重置路线站点状态--结束路线，当前路线恢复到始发站
      */
-    public void resetCurrentLineStatus() {
-        CallerLogger.INSTANCE.d( M_BUS + TAG, "结束当前路线");
-        BusServiceManager.getInstance().resetCurrentLineStatus(mContext, currentLineId
-                , new IBusServiceCallback<BusRoutesResponse>() {
+    public void abortTask() {
+        CallerLogger.INSTANCE.d( M_BUS + TAG, "结束当前路线abortTask");
+        BusServiceManager.getInstance().abortTask(mContext, currentTaskId
+                , new IBusServiceCallback<BaseData>() {
             @Override
-            public void onSuccess(BusRoutesResponse o) {
-                CallerLogger.INSTANCE.d(M_BUS + TAG, "结束当前路线成功: " + o);
+            public void onSuccess(BaseData o) {
+                CallerLogger.INSTANCE.d(M_BUS + TAG, "abortTask success: " + o);
                 isGoingToNextStation = false;
                 if (o.code == 0){ // 重置成功
                     queryBusRoutes();
@@ -521,42 +523,6 @@ public class BusOrderModel {
 
     }
 
-    /**
-     * 离站上报
-     */
-    public void leaveStation(boolean isOneWayOver,boolean isRestart){
-        CallerLogger.INSTANCE.d(M_BUS + TAG,"leaveStation-backgroundCurrentStationIndex = "+backgroundCurrentStationIndex);
-        BusServiceManager.getInstance().leaveStation(mContext, stationList.get(backgroundCurrentStationIndex).getSeq()
-                , stationList.get(backgroundCurrentStationIndex).getSiteId(), new IBusServiceCallback<BusRoutesResponse>() {
-            @Override
-            public void onSuccess(BusRoutesResponse o) {
-                if ( o.getResult() == null || o.getResult().getSites() == null || o.getResult().getSites().isEmpty() ) {
-                    return;
-                }
-                isArrivedStation = false;
-                if (!isOneWayOver){
-                    CallerLogger.INSTANCE.d( M_BUS + TAG, "自动驾驶开启开往下一站====" );
-                    //需要更改当前站和下一站的状态 然后渲染
-                    leaveStationSuccess(o.getResult(),isRestart);
-                }else {
-                    CallerLogger.INSTANCE.d( M_BUS + TAG, "单程真的结束了====" );
-                    isGoingToNextStation = false;
-                    backgroundCurrentStationIndex = 0;
-                    CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
-                    queryBusRoutes();
-                }
-            }
-            @Override
-            public void onFail(String failMsg) {
-                if (!NetworkUtils.isConnected(mContext)) {
-                    ToastUtils.showShort("网络异常，请稍后重试");
-                }else{
-                    ToastUtils.showShort("离站上报失败:"+failMsg);
-                }
-            }
-        });
-    }
-
     /**
      * 离站上报成功后渲染站点
      * 服务端返回的OchBusRoutesResult逻辑， 离开站为当前站， 到达下一站后才会将下一站置为当前站，
@@ -570,9 +536,7 @@ public class BusOrderModel {
             paramIndexes = {0},
             clientPkFileName = "sn"
     )
-    private void leaveStationSuccess(BusRoutesResult result, boolean isRestart) {
-
-        updateBusStatus(result);
+    private void leaveStationSuccess(boolean isRestart) {
 
         //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启
         if (isRestart || CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
@@ -631,6 +595,21 @@ public class BusOrderModel {
         }
     }
 
+    /**
+     * 到站查询核销乘客
+     */
+    public void queryPassengerWriteOff(){
+        //todo 查询接口拿到核销乘客波播报
+    }
+
+    private void startOrStopQueryPassengerWriteOff(boolean isStart){
+        if (isStart){
+            BusModelLoopManager.getInstance().startQueryPassengerWriteOffLoop();
+        }else {
+            BusModelLoopManager.getInstance().stopQueryPassengerWriteOffLoop();
+        }
+    }
+
     /**
      * 到站后重置站点状态
      */
@@ -645,25 +624,56 @@ public class BusOrderModel {
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG,"arriveSiteStation-currentStationIndex = "+ arrivedStationIndex);
 
-        BusServiceManager.getInstance().arriveSiteStation(mContext
-                , stationList.get(arrivedStationIndex).getSeq(), stationList.get(arrivedStationIndex).getSiteId()
-                , new IBusServiceCallback<BaseData>() {
+        BusServiceManager.getInstance().arriveSiteStation(mContext ,
+                stationList.get(arrivedStationIndex).getSeq(),
+                stationList.get(arrivedStationIndex).getSiteId(),
+                currentTaskId ,
+                new IBusServiceCallback<BaseData>() {
                     @Override
                     public void onSuccess(BaseData o) {
                         CallerLogger.INSTANCE.d(M_BUS + TAG,"arriveSiteStation success");
                         if (!isRestart){
                             arrivedBusStationSuccess();
+                            //todo 开始轮询到站核销的乘客
+                            startOrStopQueryPassengerWriteOff(true);
                         }
                     }
 
                     @Override
                     public void onFail(String failMsg) {
-//                        if (!NetworkUtils.isConnected(mContext)) {
-//                            ToastUtils.showShort("网络异常，请稍后重试");
-//                        }else {
-//                            ToastUtils.showShort("离站上报失败:"+failMsg);
-//                        }
+                        if (!NetworkUtils.isConnected(mContext)) {
+                            ToastUtils.showShort("网络异常，请稍后重试");
+                        }
+                    }
+                });
+    }
 
+    /**
+     * 离站上报
+     */
+    public void leaveStation(boolean isRestart){
+        CallerLogger.INSTANCE.d(M_BUS + TAG,"leaveStation-backgroundCurrentStationIndex = "+backgroundCurrentStationIndex);
+        BusServiceManager.getInstance().leaveStation(mContext,
+                stationList.get(backgroundCurrentStationIndex).getSeq(),
+                stationList.get(backgroundCurrentStationIndex).getSiteId(),
+                currentTaskId,
+                new IBusServiceCallback<BaseData>() {
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        isArrivedStation = false;
+                        CallerLogger.INSTANCE.d( M_BUS + TAG, "自动驾驶开启开往下一站====" );
+                        //需要更改当前站和下一站的状态 然后渲染
+                         leaveStationSuccess(isRestart);
+                         queryBusRoutes();
+                         startOrStopQueryPassengerWriteOff(false);
+                    }
+                    @Override
+                    public void onFail(String failMsg) {
+                        if (!NetworkUtils.isConnected(mContext)) {
+                            ToastUtils.showShort("网络异常，请稍后重试");
+                        }else{
+                            ToastUtils.showShort("离站上报失败:"+failMsg);
+                        }
                     }
                 });
     }
@@ -722,13 +732,13 @@ public class BusOrderModel {
     /**
      * 开启自动驾驶到下一站
      */
-    public void autoDriveToNextStation( boolean isRestart ) {
+    public void autoDriveToNextStation(boolean isRestart) {
         if ( backgroundCurrentStationIndex >= stationList.size() - 1 ) {
             // 当前站是最后一站，结束当前行程
             travelOver();
             return;
         }
-        leaveStation(false,isRestart);
+        leaveStation(isRestart);
     }
 
     /**
@@ -741,6 +751,7 @@ public class BusOrderModel {
         if (result == null) return;
         busRoutesResult = result;
         List<BusStationBean> site = result.getSites();
+        currentTaskId = result.getTaskId();
         currentLineId = result.getLineId();
         stationList.clear();
         stationList.addAll( site );
@@ -801,25 +812,6 @@ public class BusOrderModel {
         }
     }
 
-    /**
-     * 根据订单状态、获取下一站靠站的的站点
-     *
-     * @return -1 当前已是最后一个站点
-     */
-    private int getNextStopStation() {
-        if ( backgroundCurrentStationIndex >= stationList.size() - 1 ) {
-            return -1;
-        }
-        int nextStationIndex = backgroundCurrentStationIndex + 1;
-        for ( ; nextStationIndex < stationList.size() - 1; nextStationIndex++ ) {
-            if ( stationList.get( nextStationIndex ).getIfStop() == 1 ) {
-                break;
-            }
-            break;
-        }
-        return nextStationIndex;
-    }
-
     /**
      * 延时查询站点信心
      */
@@ -832,7 +824,7 @@ public class BusOrderModel {
      */
     public void restartAutopilot() {
         CallerLogger.INSTANCE.d( M_BUS + TAG, "重启自动驾驶===" + isGoingToNextStation );
-        autoDriveToNextStation( true );
+        autoDriveToNextStation(true);
     }
 
     /**
@@ -890,7 +882,33 @@ public class BusOrderModel {
         CallerLogger.INSTANCE.d( M_BUS + TAG, "单程结束====" );
         CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
         AIAssist.getInstance( mContext ).speakTTSVoice( "感谢您体验'蘑菇车联'无人驾驶小巴车，请您携带好随身物品，我们下次再见" );
-        leaveStation(true,true);
+
+        endTask();
+    }
+
+    /**
+     * task正常结束
+     */
+    private void endTask() {
+        CallerLogger.INSTANCE.d( M_BUS + TAG, "任务正常走完endTask()");
+        BusServiceManager.getInstance().endTask(mContext, currentTaskId
+                , new IBusServiceCallback<BaseData>() {
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        CallerLogger.INSTANCE.d(M_BUS + TAG, "endTask success: " + o);
+                        if (o.code == 0){
+                            isGoingToNextStation = false;
+                            backgroundCurrentStationIndex = 0;
+                            queryBusRoutes();// 重新获取任务
+                            startOrStopQueryPassengerWriteOff(false);
+                        }
+                    }
+
+                    @Override
+                    public void onFail(String failMsg) {
+                        ToastUtils.showShort(failMsg);
+                    }
+                });
     }
 
     /**
@@ -915,16 +933,18 @@ public class BusOrderModel {
         CallerLogger.INSTANCE.d( M_BUS + TAG, "到站====currentStationIndex=" + backgroundCurrentStationIndex);
         isGoingToNextStation = false;
 
-        queryStationLeaveAwayPassengers();
-        UiThreadHandler.postDelayed(new Runnable() {// 先查询下车乘客，再上报到站，便于后台筛查下车订单
-            @Override
-            public void run() {
-                if (!hadQueryLeaveAwayPassager){
-                    arriveSiteStation(false);
-                }
-                hadQueryLeaveAwayPassager = false;
-            }
-        },1500);
+        arriveSiteStation(false);
+
+//        queryStationLeaveAwayPassengers();// 2.11.0不再播报乘客下车
+//        UiThreadHandler.postDelayed(new Runnable() {// 先查询下车乘客，再上报到站，便于后台筛查下车订单
+//            @Override
+//            public void run() {
+//                if (!hadQueryLeaveAwayPassager){
+//                    arriveSiteStation(false);
+//                }
+//                hadQueryLeaveAwayPassager = false;
+//            }
+//        },1500);
     }
 
     public boolean isGoingToNextStation() {

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/BusServiceManager.java

@@ -10,9 +10,9 @@ import com.mogo.eagle.core.network.MoGoRetrofitFactory;
 import com.mogo.eagle.core.network.RequestOptions;
 import com.mogo.eagle.core.network.SubscribeImpl;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.och.bus.bean.BusCloseTaskRequest;
 import com.mogo.och.bus.bean.BusQueryLineTaskResponse;
 import com.mogo.och.bus.bean.BusQueryLinesResponse;
-import com.mogo.och.bus.bean.BusResetLineStatusRequest;
 import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
 import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.CarHeartbeatReqBean;
@@ -82,17 +82,31 @@ public class BusServiceManager {
     }
 
     /**
-     * 结束当前路线，当前路线状态重置到始发站
+     * 中断当前任务
      * @param context
-     * @param lineId
+     * @param taskId
      * @param callback
      */
-    public void resetCurrentLineStatus(Context context, int lineId, IBusServiceCallback<BusRoutesResponse> callback){
-        mService.resetCurrentLineStatus(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
+    public void abortTask(Context context, int taskId, IBusServiceCallback<BaseData> callback){
+        mService.abortTask(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
                 ,MoGoAiCloudClientConfig.getInstance().getToken()
-                ,new BusResetLineStatusRequest())
+                ,new BusCloseTaskRequest(taskId))
                 .subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
-                .subscribe(getSubscribeImpl(context,callback,"resetCurrentLineStatus"));
+                .subscribe(getSubscribeImpl(context,callback,"abortTask"));
+    }
+
+    /**
+     * 正常结束任务
+     * @param context
+     * @param taskId
+     * @param callback
+     */
+    public void endTask(Context context, int taskId, IBusServiceCallback<BaseData> callback){
+        mService.endTask(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
+                ,MoGoAiCloudClientConfig.getInstance().getToken()
+                ,new BusCloseTaskRequest(taskId))
+                .subscribeOn(Schedulers.io()).observeOn(AndroidSchedulers.mainThread())
+                .subscribe(getSubscribeImpl(context,callback,"endTask"));
     }
 
     /**
@@ -102,11 +116,10 @@ public class BusServiceManager {
      * @param siteId
      * @param callback
      */
-    public void leaveStation(Context context, int seq, int siteId, IBusServiceCallback<BusRoutesResponse> callback){
+    public void leaveStation(Context context, int seq, int siteId,int taskId, IBusServiceCallback<BaseData> callback){
         mService.leaveStation(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
                 ,MoGoAiCloudClientConfig.getInstance().getToken()
-                ,new BusUpdateSiteStatusRequest(seq,siteId, BusOrderModel.getInstance().mLongitude
-                        , BusOrderModel.getInstance().mLatitude))
+                ,new BusUpdateSiteStatusRequest(taskId,siteId,seq))
                 .subscribeOn( Schedulers.io() )
                 .observeOn( AndroidSchedulers.mainThread() )
                 .subscribe(getSubscribeImpl(context,callback,"leaveStation"));
@@ -119,11 +132,11 @@ public class BusServiceManager {
      * @param siteId
      * @param callback
      */
-    public void arriveSiteStation(Context context, int seq, int siteId, IBusServiceCallback<BaseData> callback){
+    public void arriveSiteStation(Context context, int seq, int siteId,int taskId,
+                                  IBusServiceCallback<BaseData> callback){
         mService.arriveSiteStation(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
                 ,MoGoAiCloudClientConfig.getInstance().getToken()
-                ,new BusUpdateSiteStatusRequest(seq,siteId
-                        , BusOrderModel.getInstance().mLongitude, BusOrderModel.getInstance().mLatitude))
+                ,new BusUpdateSiteStatusRequest(taskId,siteId,seq))
                 .subscribeOn( Schedulers.io() )
                 .observeOn( AndroidSchedulers.mainThread() )
                 .subscribe(getSubscribeImpl(context,callback,"leaveStation"));

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/IBusApiService.java

@@ -1,10 +1,10 @@
 package com.mogo.och.bus.net;
 import com.mogo.eagle.core.data.BaseData;
+import com.mogo.och.bus.bean.BusCloseTaskRequest;
 import com.mogo.och.bus.bean.BusOperationStatusRequest;
 import com.mogo.och.bus.bean.BusOrdersResponse;
 import com.mogo.och.bus.bean.BusQueryLineTaskResponse;
 import com.mogo.och.bus.bean.BusQueryLinesResponse;
-import com.mogo.och.bus.bean.BusResetLineStatusRequest;
 import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
 import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.CarHeartbeatReqBean;
@@ -58,9 +58,10 @@ public interface IBusApiService {
      */
     @Headers({"Content-Type:application/json;charset=UTF-8"})
 //    @POST("/autopilot-car-hailing/car/v2/bus/driving/away")
-    @POST("/autopilot-car-hailing/car/v2/driver/bus/driving/away")
+//    @POST("/autopilot-car-hailing/car/v2/driver/bus/driving/away")
+    @POST("/autopilot-car-hailing/cab/flow/v1/bus/driver/bus/leave")
 //    @POST("/mock/268/autopilot-car-hailing/bus/api/driving/away")
-    Observable<BusRoutesResponse> leaveStation(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusUpdateSiteStatusRequest request);
+    Observable<BaseData> leaveStation(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusUpdateSiteStatusRequest request);
 
     /**
      * 到站 更新到站信息
@@ -69,7 +70,8 @@ public interface IBusApiService {
      */
     @Headers({"Content-type:application/json;charset=UTF-8"})
 //    @POST("/autopilot-car-hailing/order/v2/bus/driving/attachSite")
-    @POST("/autopilot-car-hailing/order/v2/driver/bus/driving/attachSite")
+//    @POST("/autopilot-car-hailing/order/v2/driver/bus/driving/attachSite")
+    @POST("/autopilot-car-hailing/cab/flow/v1/bus/driver/bus/arrive")
 //    @POST("/mock/268/autopilot-car-hailing/bus/api/driving/attachSite")
     Observable< BaseData > arriveSiteStation(@Header ("appId") String appId,@Header("ticket") String ticket,@Body BusUpdateSiteStatusRequest request);
 
@@ -126,8 +128,29 @@ public interface IBusApiService {
     @POST( "/autopilot-car-hailing/location/v2/driver/bus/saveLineCoordinate" )
     Observable<BaseData> updateOrderRoute(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusRoutePlanningUpdateReqBean data);
 
-    @Headers( {"Content-type:application/json;charset=UTF-8"} )
+//    @Headers( {"Content-type:application/json;charset=UTF-8"} )
+//    @POST("/autopilot-car-hailing/operation/v1/driver/bus/line/resetStart")
+//    Observable<BusRoutesResponse> resetCurrentLineStatus(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusResetLineStatusRequest data);
+
+    /**
+     * 中止任务
+     * @param appId
+     * @param ticket
+     * @param data
+     * @return
+     */
     @POST("/autopilot-car-hailing/cab/flow/v1/bus/driver/bus/abortTask")
-    Observable<BusRoutesResponse> resetCurrentLineStatus(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusResetLineStatusRequest data);
+    Observable<BaseData> abortTask(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusCloseTaskRequest data);
+
+    /**
+     * 任务正常跑完结束
+     * @param appId
+     * @param ticket
+     * @param data
+     * @return
+     */
+    @Headers( {"Content-type:application/json;charset=UTF-8"} )
+    @POST("/autopilot-car-hailing/cab/flow/v1/bus/driver/bus/endTask")
+    Observable<BaseData> endTask(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusCloseTaskRequest data);
 }
 

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

@@ -1,6 +1,8 @@
 package com.mogo.och.bus.presenter;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+import static com.mogo.och.bus.constant.BusConst.LOOP_DELAY;
+import static com.mogo.och.bus.constant.BusConst.LOOP_PASSENGER_2S;
 
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.constant.BusConst;
@@ -31,6 +33,28 @@ public class BusModelLoopManager {
     }
 
     private Disposable mHeartbeatDisposable; //心跳轮询
+    private Disposable mQueryPassengerDisposable; //查询核销乘客
+
+    public void startQueryPassengerWriteOffLoop() {
+        if (mQueryPassengerDisposable != null && !mQueryPassengerDisposable.isDisposed()) {
+            return;
+        }
+        CallerLogger.INSTANCE.i(M_BUS + TAG, "startQueryPassengerWriteOffLoop()");
+        mQueryPassengerDisposable = Observable.interval(LOOP_DELAY,
+                LOOP_PASSENGER_2S, TimeUnit.MILLISECONDS)
+                .map((aLong -> aLong + 1))
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(aLong -> BusOrderModel.getInstance().queryPassengerWriteOff());
+    }
+
+    public void stopQueryPassengerWriteOffLoop() {
+        if (mQueryPassengerDisposable != null) {
+            CallerLogger.INSTANCE.i(M_BUS + TAG, "stopQueryPassengerWriteOffLoop()");
+            mQueryPassengerDisposable.dispose();
+            mQueryPassengerDisposable = null;
+        }
+    }
 
     public void startHeartbeatLoop() {
         if (mHeartbeatDisposable != null && !mHeartbeatDisposable.isDisposed()) {

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

@@ -89,8 +89,8 @@ public class BusPresenter extends Presenter<BusFragment>
         BusOrderModel.getInstance().queryBusRoutes();
     }
 
-    public void resetCurrentLineStatus() {
-        BusOrderModel.getInstance().resetCurrentLineStatus();
+    public void abortTask() {
+        BusOrderModel.getInstance().abortTask();
     }
 
     public void autoDriveToNextStation(boolean isRestart) {

OCH/mogo-och-common-module/build.gradle

@@ -5,7 +5,7 @@ apply plugin: 'kotlin-kapt'
 apply plugin: 'com.alibaba.arouter'
 
 android {
-    compileSdkVersion 31
+    compileSdkVersion rootProject.ext.android.compileSdkVersion
     buildToolsVersion "30.0.2"
 
     defaultConfig {

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java

@@ -94,12 +94,19 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     }
 
     /**
-     * 开启自动驾驶
+     * 开启自动驾驶 自驾模式
      */
     public void startAutoPilot() {
         TaxiModel.getInstance().startAutoPilot();
     }
 
+    /**
+     * 人工模式
+     */
+    public void startManualDrive(){
+        TaxiModel.getInstance().startServicePilotDone();
+    }
+
     /**
      * 跳过乘客验证环节
      */

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java

@@ -21,9 +21,7 @@ import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.Group;
 import androidx.fragment.app.FragmentTransaction;
 
-import com.mogo.cloud.httpdns.util.L;
 import com.mogo.commons.AbsMogoApplication;
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
@@ -388,13 +386,11 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     public void onCheckPilotConditionSafe(boolean isSafe){
         updateCtvAutopilotStatusTag(isSafe);
         if (isSafe){
-            ToastUtils.showLong(getResources().getString(
-                    R.string.module_och_taxi_order_choose_start_autopilot_tip));
-            updateOrderUI();
+            updateOrderBottomBtnUI();
         }
     }
 
-    protected abstract void updateOrderUI();
+    protected abstract void updateOrderBottomBtnUI();
 
     private AnimatorDrawableUtil animatorDrawableUtil = null;
 

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java

@@ -18,7 +18,6 @@ import androidx.constraintlayout.widget.ConstraintLayout;
 
 import com.amap.api.navi.model.NaviLatLng;
 import com.mogo.commons.AbsMogoApplication;
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
@@ -62,19 +61,14 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
     private OrderQueryRespBean.Result mCurrentOrder = null;
     private boolean isFirstStartAutopilotDone = true;
 
-    public static TaxiBeingServerdOrdersFragment newInstance(Activity activity, TaxiFragment taxiFragment) {
-        mActivity = activity;
-        mTaxiFragment = taxiFragment;
-        Bundle args = new Bundle();
-
-        TaxiBeingServerdOrdersFragment fragment = new TaxiBeingServerdOrdersFragment();
-        fragment.setArguments(args);
-        return fragment;
-    }
-
     private TextView mOrderStatus;
     private ImageView mOrderCancel;
+
     private TextView mOrderServerStatus;
+    private ConstraintLayout mOrderStartModeBtn;
+    private TextView mAutoPilotBtn;
+    private TextView mManualBtn;
+
     private ConstraintLayout mBeingOrderLayout;
     private ConstraintLayout mContentModule3;
     private ConstraintLayout mContentModule2;
@@ -103,6 +97,16 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
 
     private volatile int saveOrderState = -1;
 
+    public static TaxiBeingServerdOrdersFragment newInstance(Activity activity, TaxiFragment taxiFragment) {
+        mActivity = activity;
+        mTaxiFragment = taxiFragment;
+        Bundle args = new Bundle();
+
+        TaxiBeingServerdOrdersFragment fragment = new TaxiBeingServerdOrdersFragment();
+        fragment.setArguments(args);
+        return fragment;
+    }
+
     @Override
     protected int getLayoutId() {
         return R.layout.taxi_being_order;
@@ -112,7 +116,12 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
     protected void initViews(View view) {
         mOrderStatus = view.findViewById(R.id.module_och_taxi_order_status);
         mOrderCancel = view.findViewById(R.id.module_och_taxi_order_cancel_iv);
+
         mOrderServerStatus = view.findViewById(R.id.module_och_taxi_order_server_status_tv);
+        mOrderStartModeBtn = view.findViewById(R.id.taxi_start_mode_btn);
+        mAutoPilotBtn = view.findViewById(R.id.taxi_start_by_auto);
+        mManualBtn = view.findViewById(R.id.taxi_start_by_manual);
+
         mBeingOrderLayout = view.findViewById(R.id.module_och_taxi_being_order_content);
         mContentModule2 = view.findViewById(R.id.module_och_taxi_order_status_station_2);
         mContentModule3 = view.findViewById(R.id.module_och_taxi_order_status_station_3);
@@ -136,16 +145,22 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
 
         mNoDatasTv = view.findViewById(R.id.no_order_data_tv);
         mNoDataView = view.findViewById(R.id.being_no_data_view);
-        mOrderCancel.setOnClickListener(this);
-        mOrderServerStatus.setOnClickListener(this);
+
+        initOnClickListener();
 
         initNaviView(view);
 
         isHaveBeingOrder(false);
 
-//        if (DebugConfig.isDebug()) { //任意模式下调试信息都打开
-            initOrderTestBar(view);
-//        }
+        //任意模式下调试信息都打开
+        initOrderTestBar(view);
+    }
+
+    private void initOnClickListener() {
+        mOrderCancel.setOnClickListener(this);
+        mOrderServerStatus.setOnClickListener(this);
+        mAutoPilotBtn.setOnClickListener(this);
+        mManualBtn.setOnClickListener(this);
     }
 
     @Override
@@ -175,29 +190,34 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
             mOrderNo = order.orderNo;
             onOrderStatusChanged(order);
             if (TaxiOrderStatusEnum.ArriveAtEnd.getCode() == order.orderStatus) {
+
+                showOrHideOrderModeBtn(false);
+
                 mTaxiFragment.queryCurOrderRouteInfo();
                 mContentModule3.setVisibility(View.GONE);
                 mContentModule2.setVisibility(View.VISIBLE);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "已经达到终点");
                 mOrderStatus.setText(R.string.module_och_taxi_arrive_at_end_station2);
-                mOrderServerStatus.setText(R.string.module_och_taxi_order_server_end);
-                mOrderServerStatus.setTextColor(Color.parseColor("#FFFFFF"));
-                GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
-                background.setColor(Color.parseColor("#FF1D5EF3"));
-                mOrderServerStatus.setClickable(true);
+                updateOrderBottomBtn(getString(R.string.module_och_taxi_order_server_end),
+                        Color.parseColor("#FFFFFF"),
+                        Color.parseColor("#FF1D5EF3"),
+                        true);
                 mTitleTV2.setText("送乘客至");
                 mStationTv2.setText(order.endSiteAddr);
+
             } else if (TaxiOrderStatusEnum.OnTheWayToEnd.getCode() == order.orderStatus) {
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "已经去往终点");
 
+                showOrHideOrderModeBtn(false);
+
                 mContentModule3.setVisibility(View.GONE);
                 mContentModule2.setVisibility(View.VISIBLE);
                 mOrderStatus.setText(R.string.module_och_taxi_on_the_way_2_end_station);
-                mOrderServerStatus.setText(R.string.module_och_taxi_order_server_end);
-                mOrderServerStatus.setTextColor(Color.parseColor("#4DFFFFFF"));
-                GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
-                background.setColor(Color.parseColor("#4D1D5EF3"));
-                mOrderServerStatus.setClickable(false);
+
+                updateOrderBottomBtn(getString(R.string.module_och_taxi_order_server_end),
+                        Color.parseColor("#4DFFFFFF"),
+                        Color.parseColor("#4D1D5EF3"),
+                        false);
 
                 mTitleTV2.setText("送乘客至");
                 mStationTv2.setText(order.endSiteAddr);
@@ -240,21 +260,25 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
                     mPassengerNum.setText(order.passengerNum  + "人");
                     mPassengerPhone.setText(order.passengerPhone);
                     mOrderStatus.setText(R.string.module_och_taxi_waiting);
-                    mOrderServerStatus.setText(R.string.module_och_taxi_order_server_start_wait_check);
-                    mOrderServerStatus.setTextColor(Color.parseColor("#FFFFFF"));
-                    GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
-                    background.setColor(Color.parseColor("#FF1D5EF3"));
-                    mOrderServerStatus.setClickable(true);
+
+                    updateOrderBottomBtn(getString(R.string.module_och_taxi_order_server_start_wait_check),
+                            Color.parseColor("#FFFFFF"),
+                            Color.parseColor("#FF1D5EF3"),
+                            true);
+
+                    showOrHideOrderModeBtn(false);
                 }else if (TaxiOrderStatusEnum.UserArriveAtStart.getCode() == order.orderStatus ){
                     CallerLogger.INSTANCE.d(M_TAXI + TAG, "乘客已上车验证成功");
 
                     mPassengerInfoLayout.setVisibility(View.GONE);
                     mOrderStatus.setText(R.string.module_och_taxi_user_check_success);
-                    mOrderServerStatus.setText(R.string.module_och_taxi_order_server_start);
-                    GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
-                    background.setColor(Color.parseColor("#FF1D5EF3"));
-                    mOrderServerStatus.setTextColor(Color.parseColor("#FFFFFF"));
-                    mOrderServerStatus.setClickable(true);
+
+                    updateOrderBottomBtn(getString(R.string.module_och_taxi_order_server_start),
+                            Color.parseColor("#FFFFFF"),
+                            Color.parseColor("#FF1D5EF3"),
+                            true);
+
+                    showOrHideOrderModeBtn(true);
                 }
 
             }else if (TaxiModel.getInstance().checkCurrentOCHOrder()) {
@@ -270,11 +294,14 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
                 mPassengerNum.setText(order.passengerNum  + "人");
                 mPassengerPhone.setText(order.passengerPhone);
                 mOrderStatus.setText(R.string.module_och_taxi_new_order);
-                mOrderServerStatus.setText(R.string.module_och_taxi_order_server_start);
-                mOrderServerStatus.setTextColor(Color.parseColor("#4DFFFFFF"));
-                GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
-                background.setColor(Color.parseColor("#4D1D5EF3"));
-                mOrderServerStatus.setClickable(false);
+
+                showOrHideOrderModeBtn(false);
+
+                updateOrderBottomBtn(getString(R.string.module_och_taxi_order_server_start),
+                        Color.parseColor("#4DFFFFFF"),
+                        Color.parseColor("#4D1D5EF3"),
+                        false);
+
                 mGoAheadStationTitleTv31.setText("前往");
                 mCatchStationTitleTv31.setText("接乘客");
                 mStationTv31.setText(order.startSiteAddr);
@@ -302,6 +329,16 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
         }
     }
 
+    private void showOrHideOrderModeBtn(boolean isShow) {
+        if (isShow){
+            mOrderStartModeBtn.setVisibility(View.VISIBLE);
+            mOrderServerStatus.setVisibility(View.GONE);
+        }else {
+            mOrderStartModeBtn.setVisibility(View.GONE);
+            mOrderServerStatus.setVisibility(View.VISIBLE);
+        }
+    }
+
     private void startNaviToStartStation(boolean isShow, double orderStartStationLat, double orderStartStationLng) {
         NaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "currentLatLng=" + mTaxiFragment.mCurLatitude + " " + mTaxiFragment.mCurLongitude);
@@ -523,6 +560,14 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
             if (mTaxiFragment != null) {
                 showNaviToStartStationFragment(true);
             }
+        } else if (v.getId() == R.id.taxi_start_by_auto){//自驾模式
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "自驾模式");
+            mOrderStartModeBtn.setTag(0);
+            startOrEndService();
+        } else if (v.getId() == R.id.taxi_start_by_manual){//人工模式
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "人工模式");
+            mOrderStartModeBtn.setTag(1);
+            mTaxiFragment.confirmAutopilotConditionByDriver();
         }
     }
 
@@ -652,20 +697,30 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
         }
     }
 
-    public void updateOrderUI() {
+    public void updateOrderBottomBtnUI() {
         try {
-            updateOrderBottomBtn();
+            if ((int)mOrderStartModeBtn.getTag() == 1){//人工
+                mTaxiFragment.startManualDirve();
+                return;
+            }
+            ToastUtils.showLong(getResources().getString(
+                    R.string.module_och_taxi_order_choose_start_autopilot_tip));
+            showOrHideOrderModeBtn(false);
+            updateOrderBottomBtn(getString(R.string.module_och_taxi_order_server_wait_passenger_start),
+                    Color.parseColor("#4DFFFFFF"),
+                    Color.parseColor("#FF1D5EF3"),
+                    false);
         }catch (NullPointerException e){
             mTaxiFragment.confirmAutopilotConditionByDriver();
         }
     }
 
-    public void updateOrderBottomBtn(){
-        mOrderServerStatus.setText(R.string.module_och_taxi_order_server_wait_passenger_start);
-        mOrderServerStatus.setTextColor(Color.parseColor("#4DFFFFFF"));
+    public void updateOrderBottomBtn(String txt, int txtColorId, int bgColorId,boolean isClickable){
+        mOrderServerStatus.setText(txt);
+        mOrderServerStatus.setTextColor(txtColorId);
         GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
-        background.setColor(Color.parseColor("#FF1D5EF3"));
-        mOrderServerStatus.setClickable(false);
+        background.setColor(bgColorId);
+        mOrderServerStatus.setClickable(isClickable);
     }
     /**
      * END

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java

@@ -245,6 +245,10 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
         mPresenter.completeOrderService();
     }
 
+    public void startManualDirve(){
+        mPresenter.startManualDrive();
+    }
+
     public void cancelCurOrder(int reasonType, String reaso) {
         mPresenter.cancelCurOrder(reasonType, reaso);
     }
@@ -265,9 +269,9 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
     }
 
     @Override
-    protected void updateOrderUI() {
+    protected void updateOrderBottomBtnUI() {
         if (null == serverOrdersFragment) return;
-        serverOrdersFragment.updateOrderUI();
+        serverOrdersFragment.updateOrderBottomBtnUI();
     }
 
     public void onNewBookingOrderGot(OrderQueryRespBean.Result order) {

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiServerOrdersFragment.java

@@ -213,8 +213,8 @@ public class TaxiServerOrdersFragment extends BaseTaxiUIFragment {
         beingServerdOrdersFragment.onCurrentOrderRouteInfoGot(routeInfo);
     }
 
-    public void updateOrderUI() {
+    public void updateOrderBottomBtnUI() {
         if (null == beingServerdOrdersFragment) return;
-        beingServerdOrdersFragment.updateOrderUI();
+        beingServerdOrdersFragment.updateOrderBottomBtnUI();
     }
 }

OCH/mogo-och-taxi/src/main/res/layout/auto_or_manual_btn_view.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="@dimen/module_och_taxi_panel_width"
+    android:layout_height="130px"
+    android:id="@+id/taxi_start_mode_btn"
+    android:visibility="gone"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:background="@drawable/order_drive_mode_bg">
+
+    <TextView
+        android:id="@+id/taxi_start_by_auto"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        android:layout_marginLeft="@dimen/dp_40"
+        android:text="@string/och_taxi_auto_txt"
+        android:textColor="#FFFFFF"
+        android:textSize="24sp"/>
+    <TextView
+        android:id="@+id/taxi_start_by_manual"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        android:text="@string/och_taxi_manual_txt"
+        android:layout_marginRight="@dimen/dp_40"
+        android:textColor="#FFFFFF"
+        android:textSize="24sp"/>
+
+</androidx.constraintlayout.widget.ConstraintLayout>

OCH/mogo-och-taxi/src/main/res/layout/taxi_being_order.xml

@@ -275,6 +275,13 @@
             android:textColor="#4DFFFFFF"
             android:textSize="24sp"
             app:layout_constraintBottom_toBottomOf="parent" />
+
+        <include layout="@layout/auto_or_manual_btn_view"
+            android:layout_width="match_parent"
+            android:layout_height="130px"
+            app:layout_constraintBottom_toBottomOf="parent" />
+
+
     </androidx.constraintlayout.widget.ConstraintLayout>
 
     <include

OCH/mogo-och-taxi/src/main/res/values/strings.xml

@@ -19,6 +19,8 @@
     <string name="module_och_taxi_order_cancel_tip">出现异常情况时,可选择原因无责取消订单：</string>
     <string name="module_och_taxi_order_cancel_commit">确认</string>
     <string name="module_och_taxi_order_server_start">开始服务</string>
+    <string name="och_taxi_auto_txt">自驾模式</string>
+    <string name="och_taxi_manual_txt">人工模式</string>
     <string name="module_och_taxi_order_server_start_wait_check">跳过乘客验证</string>
     <string name="module_och_taxi_order_server_wait_passenger_start">等待乘客开始行程</string>
     <string name="module_och_taxi_order_choose_start_autopilot_tip">请等待乘客启动自动驾驶，或您自行启动</string>

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

@@ -6,7 +6,6 @@ import android.util.Log
 import androidx.annotation.RequiresPermission
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
@@ -29,6 +28,7 @@ import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager
 import com.mogo.eagle.core.function.autopilot.server.AsyncDataToAutopilotServer
 import com.mogo.eagle.core.function.autopilot.telematic.IMsgHandler
 import com.mogo.eagle.core.function.autopilot.telematic.TeleMsgHandler
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
 import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
@@ -51,9 +51,7 @@ import com.zhidao.support.adas.high.OnMultiDeviceListener
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
-import com.zhidao.support.adas.high.common.MessageType
 import com.zhidao.support.adas.high.common.MogoReport
-import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
 import io.netty.channel.Channel

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

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.autopilot.adapter
 
 import android.location.Location
+import android.util.Log
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -310,6 +311,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
             header: MessagePad.Header,
             carConfigResp: MessagePad.CarConfigResp?
     ) {
+        Log.d("Upgrade", "isMapLoaded = " + HdMapBuildConfig.isMapLoaded + "___carConfigResp = " + carConfigResp)
         if (HdMapBuildConfig.isMapLoaded && carConfigResp != null) {
             AppConfigInfo.plateNumber = carConfigResp.plateNumber//车牌号
             AppConfigInfo.iPCMacAddress = carConfigResp.macAddress//工控机MAC地址

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

@@ -5,13 +5,13 @@ import android.text.TextUtils;
 import android.util.Log;
 
 import androidx.annotation.Nullable;
-
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
@@ -19,6 +19,8 @@ import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.zhidao.support.adas.high.AdasManager;
 
 import org.jetbrains.annotations.NotNull;
 
@@ -60,6 +62,15 @@ public class MoGoHandAdasMsgManager implements
     private int brakeLight = -1;
 
 
+    public void getConfig() {
+        com.elegant.utils.UiThreadHandler.postDelayed(new Runnable() {
+            @Override
+            public void run() {
+                CallerAutoPilotManager.INSTANCE.getCarConfig();
+            }
+        },0);
+    }
+
     private int setTurnLightState(int turn_light) {
         if (turn_light == 0) {
             if (isOnTurnLight) {
@@ -106,6 +117,7 @@ public class MoGoHandAdasMsgManager implements
     @Override
     public void onAutopilotCarConfig(@NotNull MessagePad.CarConfigResp carConfigResp) {
         if (carConfigResp != null && !TextUtils.isEmpty(carConfigResp.getMacAddress())) {
+            Log.d("Upgrade", "onAutopilotCarConfig carConfigResp.getMacAddress() = " + carConfigResp.getMacAddress());
             CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.getMacAddress(), MoGoAiCloudClientConfig.getInstance().getSn());
         }
     }
@@ -166,4 +178,5 @@ public class MoGoHandAdasMsgManager implements
     public void onAutopilotBrake(float brake) {
 
     }
+
 }

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

@@ -73,7 +73,6 @@ class TeleMsgHandler : IMsgHandler {
                             TextFormat.printer().escapingNonAscii(false).printToString(carConfig)
                         }"
                     )
-//                    Log.d("liyz", "TeleMsgHandler macAddress = " + carConfig.macAddress)
                     CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(
                         carConfig.macAddress,
                         MoGoAiCloudClientConfig.getInstance().sn

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/appupgrade/network/UpgradeAppNetWorkManager.java

@@ -59,12 +59,11 @@ public class UpgradeAppNetWorkManager {
      * 获取app升级信息
      */
     public void getAppUpgradeInfo(Context context, String mac, String screenType) {
-        String sn = "X20202203105S688HZ";
+//        String sn = "X20202203105S688HZ";
 //        String mac = "48:b0:2d:3a:bc:78";
-//        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
         int versionCode = AppUtils.getAppVersionCode();
-
-        //TODO 不能写死
+        Log.d("Upgrade", "mac = " + mac + "---type = " + screenType + "---sn = " + sn );
         UpgradeAppRequest request = new UpgradeAppRequest(sn, mac, screenType);
         RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
         mUpgradeApiService.getUpgradeInfo(requestBody)
@@ -81,7 +80,7 @@ public class UpgradeAppNetWorkManager {
                             CallerLogger.INSTANCE.d(TAG, "UpgradeAppInfo url = " + info.result.getAppUrl() + "----code = " + info.result.getVersionCode());
                             Log.d(TAG, "UpgradeAppInfo url = " + info.result.getAppUrl() + "----code = " + info.result.getVersionCode() + "--versionCode =" + versionCode + "--info.result = " + info.result);
                             if (info.result.getVersionCode() > versionCode) {
-                                CallerHmiManager.INSTANCE.showUpgradeDialog(info.result.getAppUrl().substring(info.result.getAppUrl().lastIndexOf("/")+1), info.result.getAppUrl());
+                                CallerHmiManager.INSTANCE.showUpgradeDialog(info.result.getAppUrl().substring(info.result.getAppUrl().lastIndexOf("/")+1), info.result.getAppUrl(), info.result.getInstallTitle(), info.result.getInstallContent());
                             }
                         } else {
                             Log.e(TAG, "onNext info == null");

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java

@@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingcarProvider;
 import com.mogo.eagle.core.function.appupgrade.network.UpgradeAppNetWorkManager;
 import com.mogo.eagle.core.function.bindingcar.network.BindingcarNetWorkManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.ipcupgrade.IPCUpgradeManager;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
@@ -57,6 +58,7 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
      */
     @Override
     public void getBindingcarInfo(String macAddress, String widevineIDWithMd5) {
+        Log.d("Upgrade", "getBindingcarInfo mAddress = " + macAddress + "--widevineIDWithMd5 = " + widevineIDWithMd5);
         mAddress = macAddress;
         mWidevineIDWithMd5 = widevineIDWithMd5;
         if (getScreenType() == 1) { //司机屏
@@ -172,7 +174,6 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
      */
     @Override
     public void queryAppUpgrade() {
-        Log.d("Upgrade", "mac = " + mAddress + "---type = " + getCarScreenType() );
         UpgradeAppNetWorkManager.getInstance().getAppUpgradeInfo(mContext, mAddress, getCarScreenType());
     }
 

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

@@ -77,7 +77,6 @@ class UpgradeManager : IDownload {
         if (downloadUrl != null) {
             AppUtils.installApp(Config.downLoadPath + downloadUrl.substring(downloadUrl.lastIndexOf("/") + 1))
         }
-
         findKey(downloadUrl) {
             CallerDevaToolsUpgradeListenerManager.invokeUpgradeFinish(it)
         }

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

@@ -1306,11 +1306,11 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     /**
      * 升级app弹框
      */
-    override fun showUpgradeDialog(name: String, url: String) {
+    override fun showUpgradeDialog(name: String, url: String, title: String, content: String) {
         if (upgradeAppDialog == null) {
             upgradeAppDialog = UpgradeAppDialog(requireContext())
         }
-        upgradeAppDialog!!.showUpgradeAppDialog(name, url)
+        upgradeAppDialog!!.showUpgradeAppDialog(name, url, title, content)
     }
 
     /**
@@ -1374,6 +1374,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
         HmiBuildConfig.isShowSnBindingView = isOpen
     }
 
+    private var takeOver = false
 
     /**
      * 工控机监控节点上报
@@ -1381,31 +1382,6 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
         ThreadUtils.runOnUiThread {
             guardianInfo?.let {
-                when (it.code) {
-                    EXIT_AUTOPILOT_FOR_PLANNING,
-                    EXIT_AUTOPILOT_FOR_LOCATION,
-                    EXIT_AUTOPILOT_FOR_CHASSIS,
-                    EXIT_AUTOPILOT_FOR_DISTANCE -> {
-                        showWarningV2X(
-                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
-                            EventTypeEnum.TAKE_OVER_EVENT.content,
-                            EventTypeEnum.TAKE_OVER_EVENT.tts,
-                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
-                            object : IMoGoWarningStatusListener {
-                                override fun onShow() {
-                                    clTakeOverView.visibility = View.VISIBLE
-                                }
-
-                                override fun onDismiss() {
-                                    clTakeOverView.visibility = View.GONE
-                                }
-                            },
-                            true,
-                            6000L
-                        )
-                    }
-                }
-
                 if (reportList.size > 49) {
                     reportList.removeLast()
                 }
@@ -1418,6 +1394,38 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                 )
                 reportListFloatWindow?.refreshData(reportList)
 
+                if(FunctionBuildConfig.isDemoMode){
+                    return@let
+                }
+                if(takeOver){
+                    return@let
+                }
+                when (it.code) {
+                    EXIT_AUTOPILOT_FOR_PLANNING,
+                    EXIT_AUTOPILOT_FOR_LOCATION,
+                    EXIT_AUTOPILOT_FOR_CHASSIS,
+                    EXIT_AUTOPILOT_FOR_DISTANCE -> {
+                        showWarningV2X(
+                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
+                            EventTypeEnum.TAKE_OVER_EVENT.content,
+                            EventTypeEnum.TAKE_OVER_EVENT.tts,
+                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
+                            object : IMoGoWarningStatusListener {
+                                override fun onShow() {
+                                    takeOver = true
+                                    clTakeOverView.visibility = View.VISIBLE
+                                }
+
+                                override fun onDismiss() {
+                                    takeOver = false
+                                    clTakeOverView.visibility = View.GONE
+                                }
+                            },
+                            true,
+                            6000L
+                        )
+                    }
+                }
             }
         }
     }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/bindingcar/UpgradeAppDialog.kt

@@ -21,20 +21,17 @@ class UpgradeAppDialog(context: Context) : BaseFloatDialog(context), LifecycleOb
     private val TAG = "UpgradeAppDialog"
     private var confirmTv: TextView? = null
     private var cancleTv: TextView? = null
+    private var upgradeTitleTv: TextView? = null
+    private var upgradeContentTv: TextView? = null
     private var tag: String? = null
     private var downloarUrl: String? = null
 
-    private var mServiceApis: IMogoServiceApis? = null
-    private val statusChangedListenerForCheckNotice = IMogoStatusChangedListener { descriptor, isTrue ->
-        if (descriptor == StatusDescriptor.MAIN_PAGE_IS_BACKGROUND) {
-            dismiss()
-        }
-    }
-
     init {
         setContentView(R.layout.dialog_upgrade_app)
         setCanceledOnTouchOutside(true)
 
+        upgradeTitleTv = findViewById(R.id.tv_upgrade_title)
+        upgradeContentTv = findViewById(R.id.tv_upgrade_content)
         confirmTv = findViewById(R.id.tv_upgrade_confirm)
         cancleTv = findViewById(R.id.tv_upgrade_cancel)
 
@@ -61,12 +58,16 @@ class UpgradeAppDialog(context: Context) : BaseFloatDialog(context), LifecycleOb
         super.dismiss()
     }
 
-    fun showUpgradeAppDialog(name: String, url: String) {
+    fun showUpgradeAppDialog(name: String, url: String, title: String, content: String) {
         if (isShowing) {
             return
         }
         tag = name
         downloarUrl = url
+
+        upgradeTitleTv?.text = title
+        upgradeContentTv?.text = content
+
         show()
     }
 

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

@@ -9,6 +9,7 @@ import android.graphics.Color
 import android.os.Build
 import android.text.Html
 import android.util.AttributeSet
+import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.*
@@ -21,7 +22,6 @@ import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.autopilot.*
@@ -57,7 +57,6 @@ import com.mogo.eagle.core.function.call.map.CallerSmpManager
 import com.mogo.eagle.core.function.call.obu.CallerOBUManager
 import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager
-import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.logcatch.ILogViewListener
 import com.mogo.eagle.core.function.hmi.ui.logcatch.LogInfoView
@@ -633,33 +632,20 @@ class DebugSettingView @JvmOverloads constructor(
 
         }
 
-
         // 初始化 GSP数据源 数据
         rgGpsProvider.check(
             when (FunctionBuildConfig.gpsProvider) {
-                0 -> {
-                    R.id.rbGpsProviderAndroid
-                }
-                1 -> {
-                    R.id.rbGpsProviderRTK
-                }
-                2 -> {
-                    R.id.rbGpsProviderOBU
-                }
+                0 -> R.id.rbGpsProviderAndroid
+                1 -> R.id.rbGpsProviderRTK
+                2 -> R.id.rbGpsProviderOBU
                 else -> R.id.rbGpsProviderAndroid
             }
         )
         rgGpsProvider.setOnCheckedChangeListener { _, checkedId ->
             when (checkedId) {
-                R.id.rbGpsProviderAndroid -> {
-                    FunctionBuildConfig.gpsProvider = 0
-                }
-                R.id.rbGpsProviderRTK -> {
-                    FunctionBuildConfig.gpsProvider = 1
-                }
-                R.id.rbGpsProviderOBU -> {
-                    FunctionBuildConfig.gpsProvider = 2
-                }
+                R.id.rbGpsProviderAndroid -> FunctionBuildConfig.gpsProvider = 0
+                R.id.rbGpsProviderRTK -> FunctionBuildConfig.gpsProvider = 1
+                R.id.rbGpsProviderOBU -> FunctionBuildConfig.gpsProvider = 2
             }
         }
 
@@ -690,22 +676,18 @@ class DebugSettingView @JvmOverloads constructor(
         trackerIPCProvider.check(
             when (FunctionBuildConfig.trackerIPCProvider) {
                 0 -> R.id.trackerIPCUnion
-                1 -> R.id.trackerIPCObu
-                2 -> R.id.trackerIPCV2N
+                1 -> R.id.trackerIPC
+                2 -> R.id.trackerIPCObu
+                3 -> R.id.trackerIPCV2I
                 else -> R.id.trackerIPCUnion
             }
         )
-        trackerProvider.setOnCheckedChangeListener{ _, checkedId ->
-            when(checkedId){
-                R.id.trackerIPCUnion -> {
-                    FunctionBuildConfig.trackerIPCProvider = 0
-                }
-                R.id.trackerIPCObu -> {
-                    FunctionBuildConfig.trackerIPCProvider = 1
-                }
-                R.id.trackerIPCV2N -> {
-                    FunctionBuildConfig.trackerIPCProvider = 2
-                }
+        trackerIPCProvider.setOnCheckedChangeListener { _, checkedId ->
+            when (checkedId) {
+                R.id.trackerIPCUnion -> FunctionBuildConfig.trackerIPCProvider = 0
+                R.id.trackerIPC -> FunctionBuildConfig.trackerIPCProvider = 1
+                R.id.trackerIPCObu -> FunctionBuildConfig.trackerIPCProvider = 2
+                R.id.trackerIPCV2I -> FunctionBuildConfig.trackerIPCProvider = 3
             }
         }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java

@@ -4,16 +4,20 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI
 
 import android.content.Context;
 import android.os.Process;
+import android.util.Log;
 
 import com.bytedance.boost_multidex.BoostMultiDex;
 import com.elegant.utils.UiThreadHandler;
 import com.kwai.koom.base.DefaultInitTask;
 import com.mogo.cloud.socket.SocketBuildConfig;
 import com.mogo.commons.AbsMogoApplication;
+import com.mogo.eagle.core.data.app.AppConfigInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.chat.biz.ChatConsts;
+import com.mogo.eagle.core.function.autopilot.adapter.MoGoHandAdasMsgManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.notice.PushUIConstants;
@@ -27,6 +31,7 @@ import com.mogo.map.MapApiPath;
 import com.mogo.module.common.MogoModule;
 import com.mogo.module.common.MogoModulePaths;
 import com.mogo.module.service.ServiceConst;
+import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.obu.ami.AmiClientManager;
 import com.zhjt.mogo_core_function_devatools.monitor.db.CpuInfo;
 import com.zhjt.mogo_core_function_devatools.monitor.db.MemInfo;
@@ -71,12 +76,22 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
     }
 
     private void queryAppUpgrade() {
+        UiThreadHandler.postDelayed(new Runnable() {
+            @Override
+            public void run() {
+                Log.e("Upgrade", "queryAppUpgrade isConnectAutopilot = " + AppConfigInfo.INSTANCE.isConnectAutopilot());
+                if (AppConfigInfo.INSTANCE.isConnectAutopilot()) {
+                    MoGoHandAdasMsgManager.getInstance(getBaseContext()).getConfig();
+                }
+            }
+        },8000);
+
         UiThreadHandler.postDelayed(new Runnable() {
             @Override
             public void run() {
                 CallerBindingcarManager.getBindingcarProvider().queryAppUpgrade();
             }
-        },5000);
+        },10000);
     }
 
     private void checkMonitorDb() {

core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_upgrade_app.xml

@@ -2,7 +2,7 @@
 <com.mogo.eagle.core.widget.RoundConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:layout_width="840px"
-    android:layout_height="470px"
+    android:layout_height="530px"
     android:background="@color/dialog_bg_color"
     app:roundLayoutRadius="32px">
 
@@ -10,7 +10,7 @@
         android:id="@+id/tv_upgrade_title"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginTop="50px"
+        android:layout_marginTop="30px"
         android:text="@string/application_upgrade"
         android:textColor="#FFFFFFFF"
         android:textSize="56px"
@@ -22,7 +22,7 @@
         android:id="@+id/tv_upgrade_tips"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginTop="50px"
+        android:layout_marginTop="30px"
         android:text="@string/application_upgrade_confirm"
         android:textColor="#FFFFFFFF"
         android:textSize="43px"
@@ -30,15 +30,32 @@
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toBottomOf="@id/tv_upgrade_title" />
 
+    <TextView
+        android:id="@+id/tv_upgrade_content"
+        android:layout_width="0px"
+        android:layout_height="130px"
+        android:layout_marginStart="50px"
+        android:layout_marginTop="20px"
+        android:layout_marginEnd="50px"
+        android:layout_marginBottom="15px"
+        android:text=""
+        android:textColor="#FFFFFFFF"
+        android:textSize="36px"
+        android:visibility="visible"
+        app:layout_constraintBottom_toTopOf="@id/view_horizontal_line"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tv_upgrade_tips" />
+
     <View
         android:id="@+id/view_horizontal_line"
         android:layout_width="match_parent"
         android:layout_height="2px"
-        android:layout_marginTop="80px"
+        android:layout_marginTop="20px"
         android:background="#66B8BFE8"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toBottomOf="@id/tv_upgrade_tips" />
+        app:layout_constraintTop_toBottomOf="@id/tv_upgrade_content" />
 
     <View
         android:id="@+id/view_vertical_line"

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml

@@ -1796,6 +1796,16 @@
                             android:layout_height="wrap_content"
                             android:layout_weight="1"
                             android:padding="@dimen/dp_10"
+                            android:text="融合全部感知数据"
+                            android:textColor="#000"
+                            android:textSize="@dimen/dp_24" />
+
+                        <RadioButton
+                            android:id="@+id/trackerIPC"
+                            android:layout_width="0dp"
+                            android:layout_height="wrap_content"
+                            android:layout_weight="1"
+                            android:padding="@dimen/dp_10"
                             android:text="融合感知数据"
                             android:textColor="#000"
                             android:textSize="@dimen/dp_24" />
@@ -1811,12 +1821,12 @@
                             android:textSize="@dimen/dp_24" />
 
                         <RadioButton
-                            android:id="@+id/trackerIPCV2N"
+                            android:id="@+id/trackerIPCV2I"
                             android:layout_width="0dp"
                             android:layout_height="wrap_content"
                             android:layout_weight="1"
                             android:padding="@dimen/dp_10"
-                            android:text="融合V2N感知数据"
+                            android:text="融合V2I感知数据"
                             android:textColor="#000"
                             android:textSize="@dimen/dp_24" />
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt

@@ -1,21 +1,14 @@
 package com.mogo.eagle.core.function.map.identify
 
 import android.annotation.SuppressLint
-import android.text.TextUtils
 import androidx.collection.ArraySet
 import com.mogo.commons.AbsMogoApplication
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.traffic.TrafficData
-import com.mogo.eagle.core.data.traffic.threatLevelColor
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.mogo.map.MogoMarkerManager
 import com.mogo.module.common.MogoApisHandler
-import mogo.telematics.pad.MessagePad
-import mogo.telematics.pad.MessagePad.*
+import mogo.telematics.pad.MessagePad.PlanningObject
+import mogo.telematics.pad.MessagePad.TrackedObject
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -23,20 +16,12 @@ import java.util.concurrent.ConcurrentHashMap
  * @date 2021/10/19 10:45 上午
  * 域控制器识别信息绘制
  */
-class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
+class IdentifyOriginDataDrawer : Identify {
 
     companion object {
         private const val TAG = "IdentifyDataDrawer"
     }
 
-    init {
-        // 添加 ADAS状态 监听
-        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
-    }
-
-    @Volatile
-    private var mAutopilotStatus: Int = 0 //自动驾驶状态
-
     /**
      * 上一帧数据的缓存
      */
@@ -54,58 +39,13 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
     @SuppressLint("NewApi")
     private val mFilterTrafficData = HashMap<String, TrackedObject>()
 
-    /**
-     * planning 感知物预警缓存，用于重置color状态
-     */
-    private val pncWarningTrafficData = ConcurrentHashMap<String, PlanningTrack>()
-
-    /**
-     * obu 感知物预警缓存，用于重置color状态
-     */
-    private val obuWarningTrafficData = ConcurrentHashMap<String, TrafficData>()
-
     @SuppressLint("NewApi")
-    override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
-        pncWarningTrafficData.clear()
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || mAutopilotStatus == 2) {
-            if (planningObjects == null) {
-                return
-            }
-            planningObjects.forEach { planningObj ->
-                val trackId = planningObj.uuid.toString()
-                if (mMarkersCaches.containsKey(trackId)) {
-                    val trackObj = mMarkersCaches[trackId]
-                    if (planningObj.type == 0) {
-                        //0是leading障碍物，障碍物车身红色提示
-                        trackObj?.let {
-                            pncWarningTrafficData[trackId] = PlanningTrack(
-                                "#D65D5AFF",
-                                CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
-                            )
-                        }
-                    } else if (planningObj.type == 1) {
-                        //1是避障和择机的障碍物，障碍物车身黄色提示
-                        trackObj?.let {
-                            pncWarningTrafficData[trackId] = PlanningTrack(
-                                "#E4DD94FF",
-                                CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
-                            )
-                        }
-                    }
-                }
-            }
-        }
+    override fun renderPlanningWarningObj(planningObjects: List<PlanningObject>?) {
+        WarningHelper.renderPlanningOriginWarningObj(planningObjects, mMarkersCaches)
     }
 
     override fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
-        if (obuTrafficData.uuid.isNullOrEmpty()) {
-            return
-        }
-        if (exist) {
-            obuWarningTrafficData[obuTrafficData.uuid!!] = obuTrafficData
-        } else {
-            obuWarningTrafficData.remove(obuTrafficData.uuid!!)
-        }
+        WarningHelper.renderOBUWarningObj(exist, obuTrafficData)
     }
 
     /**
@@ -129,7 +69,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
         //清除缓存
         for (data in resultList) {
             if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.uuid)) {
-                if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) {
+                if (TrackerSourceHelper.filterData(data)) {
                     continue
                 }
                 trafficDataUuidList.remove("" + data.uuid)
@@ -165,7 +105,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
         trafficDataUuidList.clear()
         for (data in trafficData) {
             // 过滤掉未知感知数据
-            if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type) {
+            if (TrackerSourceHelper.filterData(data)) {
                 continue
             }
             var temp: TrackedObject = data
@@ -173,38 +113,8 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
             //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
             val cacheData = mMarkersCaches[uuid]
             if (cacheData != null) {
-
-                //OBU数据颜色标记
-                val first = data.trackedSourceList.stream()
-                    .filter { trackedSource: TrackedSource -> trackedSource.source == 4 }
-                    .findFirst()
-                if (first.isPresent) {
-                    val subFirst = first.get().subSourceList.stream()
-                        .filter { subSource: SubSource -> subSource.source == 1 }
-                        .findFirst()
-                    if (subFirst.isPresent) {
-                        val subID = subFirst.get().id
-                        if (!TextUtils.isEmpty(subID)) {
-                            temp = data.toBuilder().setColor("#36D3FE").build()
-                            if (obuWarningTrafficData.containsKey(subID)) {
-                                temp = data.toBuilder()
-                                    .setColor(obuWarningTrafficData[subID]!!.threatLevelColor())
-                                    .build()
-                            }
-                        }
-                    }
-                }
-
-                //预警颜色变化
-                if (pncWarningTrafficData.containsKey(uuid)) {
-                    val planningTrack = pncWarningTrafficData[uuid]
-                    if (!timeOut(planningTrack!!.time)) {
-                        temp = data.toBuilder().setColor(planningTrack.color).build()
-                    } else {
-                        pncWarningTrafficData.remove(uuid)
-                    }
-                }
-
+                val color = TrackerSourceHelper.getDefaultColor(data)
+                temp = data.toBuilder().setColor(color).build()
                 mFilterTrafficData[uuid] = temp
             }
             mMarkersCaches[uuid] = temp
@@ -223,17 +133,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                 .removeMarker(uuid)
         }
         trafficDataUuidList.clear()
-        pncWarningTrafficData.clear()
-    }
-
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        mAutopilotStatus = autoPilotStatusInfo.state
-    }
-
-    private fun timeOut(time: Double): Boolean {
-        val duration =
-            (CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime() * 1000).toLong() - (time * 1000).toLong()
-        return duration >= 500
+        WarningHelper.clear()
     }
 
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java

@@ -9,8 +9,6 @@ import androidx.annotation.RequiresApi;
 import com.google.common.collect.BiMap;
 import com.google.common.collect.HashBiMap;
 import com.mogo.commons.AbsMogoApplication;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.data.traffic.TrafficDataKt;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -22,7 +20,6 @@ import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
 import java.util.Map;
-import java.util.Optional;
 import java.util.concurrent.ConcurrentHashMap;
 
 import mogo.telematics.pad.MessagePad;
@@ -64,57 +61,13 @@ public class TrackManager {
     @SuppressLint("NewApi")
     private final HashMap<String, MessagePad.TrackedObject> mFilterTrafficData = new HashMap<>();
 
-    //感知物预警各自先以帧数更新保持，不做同一个集合的融合处理(以卫星时间做判断先后，可能会出现不同ip节点间的回溯问题)
-    /**
-     * planning 感知物预警缓存，用于重置color状态
-     */
-    private final ConcurrentHashMap<String, PlanningTrack> pncWarningTrafficData = new ConcurrentHashMap<>();
-
-    /**
-     * obu 感知物预警缓存，用于重置color状态
-     */
-    private final ConcurrentHashMap<String, TrafficData> obuWarningTrafficData = new ConcurrentHashMap<>();
-
     @SuppressLint("NewApi")
     public synchronized void renderPlanningWarningObj(List<MessagePad.PlanningObject> planningObjects) {
-        pncWarningTrafficData.clear();
-        //处于美化模式或者自动驾驶状态下展示
-        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == 2) {
-            if (planningObjects == null) {
-                return;
-            }
-            planningObjects.forEach(planningObj -> {
-                String trackId = "" + planningObj.getUuid();
-                if (mMarkersCaches.containsKey(trackId)) {
-                    TrackObj trackObj = mMarkersCaches.get(trackId);
-                    if (trackObj == null) {
-                        return;
-                    }
-                    if (planningObj.getType() == 0) {
-                        pncWarningTrafficData.put(trackId, new PlanningTrack(
-                                "#D65D5AFF",
-                                CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
-                        ));
-                    } else if (planningObj.getType() == 1) {
-                        pncWarningTrafficData.put(trackId, new PlanningTrack(
-                                "#E4DD94FF",
-                                CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
-                        ));
-                    }
-                }
-            });
-        }
+        WarningHelper.INSTANCE.renderPlanningWarningObj(planningObjects, mMarkersCaches);
     }
 
     public synchronized void renderOBUWarningObj(boolean exist, TrafficData obuTrafficData) {
-        if (obuTrafficData.getUuid() == null || obuTrafficData.getUuid().isEmpty()) {
-            return;
-        }
-        if (exist) {
-            obuWarningTrafficData.put(obuTrafficData.getUuid(), obuTrafficData);
-        } else {
-            obuWarningTrafficData.remove(obuTrafficData.getUuid());
-        }
+        WarningHelper.INSTANCE.renderOBUWarningObj(exist, obuTrafficData);
     }
 
     /**
@@ -126,39 +79,14 @@ public class TrackManager {
         mFilterTrafficData.clear();
         //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
         for (MessagePad.TrackedObject data : trafficData) {
-            if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
+            if (TrackerSourceHelper.INSTANCE.filterData(data)) {
                 continue;
             }
             String uuid = "" + data.getUuid();
             TrackObj trackObj = mMarkersCaches.get(uuid);
 
-            //OBU数据颜色标记
-            Optional<MessagePad.TrackedSource> first = data.getTrackedSourceList().stream()
-                    .filter(trackedSource -> trackedSource.getSource() == 4).findFirst();
-            if (first.isPresent()) {
-                Optional<MessagePad.SubSource> subFirst = first.get().getSubSourceList().stream().filter(subSource -> subSource.getSource() == 1).findFirst();
-                if (subFirst.isPresent()) {
-                    String subID = subFirst.get().getId();
-                    if (!TextUtils.isEmpty(subID)) {
-                        data = data.toBuilder().setColor("#36D3FE").build();
-                        if (obuWarningTrafficData.containsKey(subID)) {
-                            data = data.toBuilder()
-                                    .setColor(TrafficDataKt.threatLevelColor(obuWarningTrafficData.get(subID)))
-                                    .build();
-                        }
-                    }
-                }
-            }
-
-            // 判断物体是否与预警信息
-            if (pncWarningTrafficData.containsKey(uuid)) {
-                PlanningTrack planningTrack = pncWarningTrafficData.get(uuid);
-                if (planningTrack != null && !timeOut(planningTrack.getTime())) {
-                    data = data.toBuilder().setColor(planningTrack.getColor()).build();
-                } else {
-                    pncWarningTrafficData.remove(uuid);
-                }
-            }
+            String color = TrackerSourceHelper.INSTANCE.getDefaultColor(data);
+            data = data.toBuilder().setColor(color).build();
 
             if (trackObj != null) {
                 trackObj.updateObj(data);
@@ -178,7 +106,7 @@ public class TrackManager {
                         if (cache != null) {
                             //相对静止物体并且非obu数据，则不改变，为感知融合同位置物体，使用缓存数据做覆盖
                             if (cacheTrack.relativeStatic()) {
-                                if(data.getColor()!= null && !data.getColor().isEmpty()){
+                                if (data.getColor() != null && !data.getColor().isEmpty()) {
                                     cache = cache.toBuilder().setColor(data.getColor()).build();
                                 }
                                 data = cache;
@@ -206,7 +134,7 @@ public class TrackManager {
         //过滤现有元素
         for (MessagePad.TrackedObject data : resultList) {
             String uuid = "" + data.getUuid();
-            if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.getType()) {
+            if (TrackerSourceHelper.INSTANCE.filterData(data)) {
                 continue;
             }
             if (trafficDataUuid.size() > 0) {
@@ -234,13 +162,8 @@ public class TrackManager {
     @SuppressLint("NewApi")
     public void clearAll() {
         trafficDataUuid.clear();
-        pncWarningTrafficData.clear();
+        WarningHelper.INSTANCE.clear();
         mMarkersCaches.forEach((uuid, trackObj) -> removeKey(uuid));
     }
 
-    private Boolean timeOut(Double time) {
-        long duration = (long) (CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() * 1000) - (long) (time * 1000);
-        return duration >= 500;
-    }
-
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackerSourceHelper.kt

@@ -0,0 +1,135 @@
+package com.mogo.eagle.core.function.map.identify
+
+import android.annotation.SuppressLint
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import mogo.telematics.pad.MessagePad.*
+
+object TrackerSourceHelper {
+
+    @SuppressLint("NewApi")
+    fun filterData(data: TrackedObject): Boolean {
+        if (!FunctionBuildConfig.isDrawUnknownIdentifyData
+            && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
+        ) {
+            return true
+        }
+        var trackIPCFilter = true
+        when (FunctionBuildConfig.trackerIPCProvider) {
+            0 -> trackIPCFilter = false
+            1 -> if (isIPC(data)) {
+                trackIPCFilter = false
+            }
+            2 -> {
+                if (isObu(data).second) {
+                    trackIPCFilter = false
+                }
+            }
+            3 -> {
+                if (isV2I(data).second) {
+                    trackIPCFilter = false
+                }
+            }
+        }
+        return trackIPCFilter
+    }
+
+    fun getDefaultColor(data: TrackedObject): String {
+        var color = ""
+        if (!FunctionBuildConfig.isDrawUnknownIdentifyData
+            && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
+        ) {
+            return ""
+        }
+
+        if (isV2I(data).second) {
+            color = "#00AEFF"
+        }
+
+        //等级最高
+        if (isObu(data).second) {
+            color = "#36D3FE"
+            // obu预警
+            isObu(data).first?.let {
+                val obuColor = WarningHelper.getObuColor(it.id)
+                if (obuColor.isNotBlank()) {
+                    color = obuColor
+                }
+            }
+        }
+
+        // pnc预警
+        val pncColor = WarningHelper.getPncColor(data.uuid.toString())
+        if (pncColor.isNotBlank()) {
+            color = pncColor
+        }
+        return color
+    }
+
+    /**
+     * 过滤所有 工控感知数据 all match
+     */
+    @SuppressLint("NewApi")
+    fun isIPC(data: TrackedObject): Boolean {
+        val source = data.trackedSourceList.stream().allMatch {
+            it.source != 4
+        }
+        return source
+    }
+
+    /**
+     * any match 任何一个匹配到OBU，则认为是存在obu数据
+     */
+    @SuppressLint("NewApi")
+    fun isObu(data: TrackedObject): Pair<SubSource?, Boolean> {
+        val source = data.trackedSourceList.stream().anyMatch {
+            it.source == 4
+        }
+        if (source) {
+            val first = data.trackedSourceList.stream()
+                .filter { trackedSource: TrackedSource -> trackedSource.source == 4 }.findFirst()
+            if (first.isPresent) {
+                val subObu = first.get().subSourceList.stream().anyMatch {
+                    it.source == 1
+                }
+                if (subObu) {
+                    val subFirst = first.get().subSourceList.stream()
+                        .filter { subSource: SubSource -> subSource.source == 1 }
+                        .findFirst()
+                    if (subFirst.isPresent) {
+                        return Pair(subFirst.get(), true)
+                    }
+                }
+            }
+        }
+        return Pair(null, false)
+    }
+
+    /**
+     * 过滤所有 v2i 感知数据 all match
+     */
+    @SuppressLint("NewApi")
+    fun isV2I(data: TrackedObject): Pair<SubSource?, Boolean> {
+        val source = data.trackedSourceList.stream().allMatch {
+            it.source == 4
+        }
+        if (source) {
+            val first = data.trackedSourceList.stream()
+                .filter { trackedSource: TrackedSource -> trackedSource.source == 4 }.findFirst()
+            if (first.isPresent) {
+                val subV2I = first.get().subSourceList.stream().allMatch {
+                    it.source == 6
+                }
+                if (subV2I) {
+                    val subFirst = first.get().subSourceList.stream()
+                        .filter { subSource: SubSource -> subSource.source == 6 }
+                        .findFirst()
+                    if (subFirst.isPresent) {
+                        return Pair(subFirst.get(), true)
+                    }
+                }
+            }
+        }
+        return Pair(null, false)
+    }
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/WarningHelper.kt

@@ -0,0 +1,148 @@
+package com.mogo.eagle.core.function.map.identify
+
+import android.annotation.SuppressLint
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.data.traffic.threatLevelColor
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime
+import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.PlanningObject
+import java.util.concurrent.ConcurrentHashMap
+import java.util.function.Consumer
+
+object WarningHelper {
+
+    //感知物预警各自先以帧数更新保持，不做同一个集合的融合处理(以卫星时间做判断先后，可能会出现不同ip节点间的回溯问题)
+    /**
+     * planning 感知物预警缓存，用于重置color状态
+     */
+    private val pncWarningBeautyTrafficData = ConcurrentHashMap<String, PlanningTrack>()
+
+    /**
+     * planning 感知物预警缓存，用于重置color状态
+     */
+    private val pncWarningOriginTrafficData = ConcurrentHashMap<String, PlanningTrack>()
+
+    /**
+     * obu 感知物预警缓存，用于重置color状态
+     */
+    private val obuWarningTrafficData = ConcurrentHashMap<String, TrafficData>()
+
+    @SuppressLint("NewApi")
+    fun renderPlanningWarningObj(
+        planningObjects: List<PlanningObject>?,
+        mMarkersCaches: ConcurrentHashMap<String, TrackObj>
+    ) {
+        pncWarningBeautyTrafficData.clear()
+        //处于美化模式或者自动驾驶状态下展示
+        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || getAutoPilotStatusInfo().state == 2) {
+            if (planningObjects == null) {
+                return
+            }
+            planningObjects.forEach(Consumer { planningObj: PlanningObject ->
+                val trackId = "" + planningObj.uuid
+                if (mMarkersCaches.containsKey(trackId)) {
+                    mMarkersCaches[trackId] ?: return@Consumer
+                    if (planningObj.type == 0) {   //0是leading障碍物，障碍物车身红色提示
+                        pncWarningBeautyTrafficData[trackId] = PlanningTrack(
+                            "#D65D5AFF",
+                            getCurWgs84SatelliteTime()
+                        )
+                    } else if (planningObj.type == 1) {   //1是避障和择机的障碍物，障碍物车身黄色提示
+                        pncWarningBeautyTrafficData[trackId] = PlanningTrack(
+                            "#E4DD94FF",
+                            getCurWgs84SatelliteTime()
+                        )
+                    }
+                }
+            })
+        }
+    }
+
+    @SuppressLint("NewApi")
+    fun renderPlanningOriginWarningObj(
+        planningObjects: List<PlanningObject>?,
+        mMarkersCaches: ConcurrentHashMap<String, MessagePad.TrackedObject>
+    ) {
+        pncWarningOriginTrafficData.clear()
+        //处于美化模式或者自动驾驶状态下展示
+        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || getAutoPilotStatusInfo().state == 2) {
+            if (planningObjects == null) {
+                return
+            }
+            planningObjects.forEach(Consumer { planningObj: PlanningObject ->
+                val trackId = "" + planningObj.uuid
+                if (mMarkersCaches.containsKey(trackId)) {
+                    mMarkersCaches[trackId] ?: return@Consumer
+                    if (planningObj.type == 0) {    //0是leading障碍物，障碍物车身红色提示
+                        pncWarningOriginTrafficData[trackId] = PlanningTrack(
+                            "#D65D5AFF",
+                            getCurWgs84SatelliteTime()
+                        )
+                    } else if (planningObj.type == 1) {   //1是避障和择机的障碍物，障碍物车身黄色提示
+                        pncWarningOriginTrafficData[trackId] = PlanningTrack(
+                            "#E4DD94FF",
+                            getCurWgs84SatelliteTime()
+                        )
+                    }
+                }
+            })
+        }
+    }
+
+    fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
+        if (obuTrafficData.uuid == null || obuTrafficData.uuid!!.isEmpty()) {
+            return
+        }
+        if (exist) {
+            obuWarningTrafficData[obuTrafficData.uuid!!] = obuTrafficData
+        } else {
+            obuWarningTrafficData.remove(obuTrafficData.uuid)
+        }
+    }
+
+    fun getObuColor(uuid: String): String {
+        if (obuWarningTrafficData.containsKey(uuid)) {
+            return obuWarningTrafficData[uuid]!!.threatLevelColor()
+        }
+        return ""
+    }
+
+    fun getPncColor(uuid: String): String {
+        if (FunctionBuildConfig.isBeautyMode) {
+            // 判断物体是否有预警信息
+            if (pncWarningBeautyTrafficData.containsKey(uuid)) {
+                val planningTrack = pncWarningBeautyTrafficData[uuid]
+                if (planningTrack != null && !timeOut(planningTrack.time)) {
+                    return planningTrack.color
+                } else {
+                    pncWarningBeautyTrafficData.remove(uuid)
+                }
+            }
+            return ""
+        } else {
+            // 判断物体是否有预警信息
+            if (pncWarningOriginTrafficData.containsKey(uuid)) {
+                val planningTrack = pncWarningOriginTrafficData[uuid]
+                if (planningTrack != null && !timeOut(planningTrack.time)) {
+                    return planningTrack.color
+                } else {
+                    pncWarningOriginTrafficData.remove(uuid)
+                }
+            }
+            return ""
+        }
+    }
+
+    fun clear() {
+        pncWarningBeautyTrafficData.clear()
+        pncWarningOriginTrafficData.clear()
+        obuWarningTrafficData.clear()
+    }
+
+    private fun timeOut(time: Double): Boolean {
+        val duration = (getCurWgs84SatelliteTime() * 1000).toLong() - (time * 1000).toLong()
+        return duration >= 500
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -80,7 +80,7 @@ object FunctionBuildConfig {
     var debugTrackerProvider = 0
 
     /**
-     * 感知物识别使用的数据来源 0 = 默认输出  1 = 只显示工控硬件数据感知来源  2 = 只显示V2V数据来源  3 = 只显示V2N数据来源
+     * 感知物识别使用的数据来源 0 = 默认输出  1 = 只显示工控硬件数据感知来源  2 = 只显示V2V数据来源  3 = 只显示V2I数据来源
      */
     @Volatile
     @JvmField

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt

@@ -222,7 +222,7 @@ interface IMoGoWaringProvider : IMoGoHmiViewProxy {
     /**
      * 展示升级app弹框
      */
-    fun showUpgradeDialog(name: String, url: String)
+    fun showUpgradeDialog(name: String, url: String, title: String, content: String)
 
     /**
      * 呈现工控机升级确认框

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.devatools
 
 import android.app.Activity
 import android.content.Context
+import android.util.Log
 import android.view.*
 import com.mogo.eagle.core.data.config.*
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -145,6 +146,7 @@ object CallerDevaToolsManager {
      */
     fun downLoadPackage(downloadKey: String, downloadUrl: String) {
         devaToolsProviderApi?.downLoadPackage(downloadKey, downloadUrl)
+//        devaToolsProviderApi?.downLoadPackage("IntelligentPilot_v2.9.0.1002_20220725_[fPadLenovoOchBus-launcher-qa]_debug.apk", "https://scm-1255510688.cos.ap-beijing.myqcloud.com/test/com.mogo.launcher.f/2.9.0.1002/IntelligentPilot_v2.9.0.1002_20220725_[fPadLenovoOchBus-launcher-qa]_debug.apk")
     }
 
     /**

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt

@@ -292,8 +292,8 @@ object CallerHmiManager : CallerBase() {
         waringProviderApi?.showModifyBindingcarDialog()
     }
 
-    fun showUpgradeDialog(name: String, url: String) {
-        waringProviderApi?.showUpgradeDialog(name, url)
+    fun showUpgradeDialog(name: String, url: String, title: String, content: String) {
+        waringProviderApi?.showUpgradeDialog(name, url, title, content)
     }
 
     /**

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/services/DownloadService.java

@@ -154,11 +154,9 @@ public class DownloadService implements InitThread.InitCallBack, DownloadCallBac
 
     @Override
     public void threadDownLoadFinished(String url, ThreadBean threadBean) {
-        Log.e(DOWN_LOAD_TAG, "threadDownLoadFinished 1  : " + url);
         IDownload iDownload = callBacks.get(url);
         Log.d(DOWN_LOAD_TAG, "iDownload = " + iDownload);
         if (iDownload != null) {
-            Log.e(DOWN_LOAD_TAG, "threadDownLoadFinished  2 : " + url);
             iDownload.onFinished(url, threadBean);
         }
     }

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/InitThread.java

@@ -1,5 +1,9 @@
 package com.mogo.eagle.core.utilcode.breakpoint.thread;
 
+import static com.mogo.eagle.core.utilcode.breakpoint.Config.DOWN_LOAD_TAG;
+
+import android.util.Log;
+
 import com.mogo.eagle.core.utilcode.breakpoint.bean.FileBean;
 import com.mogo.eagle.core.utilcode.breakpoint.event.DownloadData;
 
@@ -41,6 +45,7 @@ public class InitThread extends Thread {
             if (connection.getResponseCode() == HttpURLConnection.HTTP_OK) {
                 fileLength = connection.getContentLength();
             }
+            Log.d(DOWN_LOAD_TAG, "InitThread fileLength = " + fileLength + "---connection.getResponseCode() = " + connection.getResponseCode());
             if (fileLength <= 0) return;
             File dir = new File(fileBean.getSavePath());
             if (!dir.exists()) {
@@ -52,6 +57,7 @@ public class InitThread extends Thread {
             fileBean.setLength(fileLength);
             this.initCallBack.initSuccess(fileBean);
         } catch (Exception e) {
+            Log.e(DOWN_LOAD_TAG, "InitThread e = " + e);
             DownloadData downloadData = new DownloadData();
             downloadData.setUrl(fileBean.getUrl());
             downloadData.setMsg(e.getMessage());

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

@@ -13,6 +13,7 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNEC
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT;
 
 import android.text.TextUtils;
+import android.util.Log;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;

modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/EventTypeEnum.kt

@@ -363,8 +363,8 @@ enum class EventTypeEnum(
             tts = ""
     ),
 
-    TYPE_VIP_IDENTIFICATION("10022", "", "", R.drawable.icon_warning_v2x_vip_turn_light, "VIP车辆优先通行", "已为您变灯请优先通行"),
-    TYPE_VIP_ERROR_IDENTIFICATION("10023", "", "", R.drawable.icon_warning_v2x_vip_turn_light, "请求失败，", "请求失败请稍后重试"),
+    TYPE_VIP_IDENTIFICATION("10022", "", "", R.drawable.icon_warning_v2x_vip_turn_light, "VIP车辆优先通行", "已为您变灯,请优先通行"),
+    TYPE_VIP_ERROR_IDENTIFICATION("10023", "", "", R.drawable.icon_warning_v2x_vip_turn_light, "请求失败，", "请求失败,请稍后重试"),
 
     TYPE_OPTIMAL_ROUTE_RECOMMEND("2000", "", "", R.drawable.icon_warning_v2x_optimal_route, "为您推荐最优路线", "已为您选择最优路线");