Merge remote-tracking branch 'origin/dev_robotaxi-d_230912_6.1.0' into dev_robotaxi-d_230912_6.1.0

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsList
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 
@@ -25,7 +25,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
     private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
 
     private boolean isAutopilotAbility;
-    private ArrayList<UnableAutopilotReason> unableAutopilotReasons;
+    private ArrayList<UnableLaunchReason> unableAutopilotReasons;
     private String startFailedCode = "";
     private String startFailedMessage = "";
 
@@ -93,7 +93,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
     }
 
     @Override
-    public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons) {
+    public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
         this.isAutopilotAbility = isAutopilotAbility;
         this.unableAutopilotReasons = unableAutopilotReasons;
         Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString()));

OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/ui/arrived/RightRearCamView.kt

@@ -158,5 +158,6 @@ class RightRearCamView : ConstraintLayout , IMoGoBackCameraVideoListener,
             actv_cam_position_group?.visibility = VISIBLE
         }
         v_video_right_rear?.setImageBitmap(mBitmap)
+        v_video_right_rear?.scaleX = -1f
     }
 }

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/arrived/RightRearCamView.kt

@@ -158,5 +158,6 @@ class RightRearCamView : ConstraintLayout , IMoGoBackCameraVideoListener,
             actv_cam_position_group?.visibility = VISIBLE
         }
         v_video_right_rear?.setImageBitmap(mBitmap)
+        v_video_right_rear?.scaleX = -1f
     }
 }

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

@@ -58,7 +58,7 @@ import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
@@ -885,7 +885,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onAutopilotAbility(
         isAutopilotAbility: Boolean,
-        unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
+        unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
         if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
             autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString())
@@ -893,6 +893,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
         invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
     }
 
+    override fun onParallelDrivingAbility(
+        isParallelDrivingAbility: Boolean,
+        unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
+    ) {
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
+            isParallelDrivingAbility,
+            unableParallelDrivingReasons
+        )
+    }
+
     @ChainLog(
         linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
         linkCode = CHAIN_SOURCE_ADAS,

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

@@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -39,10 +40,12 @@ class MoGoAdasMsgConnectStatusListenerImpl :
     init {
         CallerCloudListenerManager.addListener(TAG, this)
         CallerAutopilotActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
     }
 
     override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
         CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
+        CallerParallelDrivingActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
         AppConfigInfo.connectStatusDescribe = reason
         when (ipcConnectionStatus) {
             Constants.IPC_CONNECTION_STATUS.CONNECTED -> {

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

@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
-import android.widget.*
+import android.widget.Toast
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
@@ -21,18 +21,18 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
 import com.mogo.eagle.core.function.call.devatools.*
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
-import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiAction
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import kotlinx.android.synthetic.main.view_sop_setting.view.*
-import kotlinx.android.synthetic.main.view_sop_setting.view.tbRouteDynamicEffect
 import mogo.telematics.pad.MessagePad
 
 /**
@@ -57,47 +57,30 @@ internal class SOPSettingView @JvmOverloads constructor(
 
     private fun initView() {
         sopLayout.setOnClickListener {  }
-        tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
-        tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 绕障类功能开关",isChecked)
-            CallerAutoPilotControlManager.sendDetouring(isChecked)
-            FunctionBuildConfig.isDetouring = isChecked
+        //V2X消息设置
+        v2xSetting()
+        //地图效果类设置
+        mapSetting()
+        //与车相关类设置
+        vehicleSetting()
+        //其他类别开关设置
+        otherSetting()
+    }
+
+    /**
+     * V2X消息设置
+     */
+    private fun v2xSetting(){
+        //V2N新链路
+        scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
+        scNewV2NData.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
+            FunctionBuildConfig.isNewV2NData = isChecked
         }
 
-        tbMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
-        tbMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 危险障碍物颜色标记开关",isChecked)
-            FunctionBuildConfig.isPNCWarning = isChecked
-        }
-
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
-            tbMarkingObstacles.visibility = View.GONE
-        }
-
-        tbRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
-        tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 引导线动态效果",isChecked)
-            HmiBuildConfig.isShowRouteStrategy = isChecked
-        }
-
-        //默认开启
-        tbObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
-        tbObuWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obu弱势交通控制, ",isChecked)
-            HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbCloudWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowCloudWeaknessTrafficView
-        tbCloudWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 云端弱势交通控制, ",isChecked)
-            HmiBuildConfig.isShowCloudWeaknessTrafficView = isChecked
-        }
-
-        tbV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
-        tbV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        //V2N场景进PNC
+        scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
+        scV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
@@ -106,53 +89,9 @@ internal class SOPSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isV2NPnc = isChecked
         }
 
-        tbV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
-        tbV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
-                return@setOnCheckedChangeListener
-            }
-            hmiAction("SOP V2I场景进PNC, ",isChecked)
-            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
-            FunctionBuildConfig.isV2IPnc = isChecked
-        }
-
-        /**
-         * 默认打开
-         */
-        tbObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
-        tbObuV2vView.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obuV2V开关, ",isChecked)
-            HmiBuildConfig.isShowObuV2vView = isChecked
-        }
-
-        /**
-         * 默认打开
-         */
-        tbObuV2iView.isChecked = HmiBuildConfig.isShowObuV2iView
-        tbObuV2iView.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obuV2i开关, ",isChecked)
-            HmiBuildConfig.isShowObuV2iView = isChecked
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
-        tbRunRedLightSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obu闯红灯预警, ",isChecked)
-            HmiBuildConfig.isShowRunRedLightView = isChecked
-            if (HmiBuildConfig.isShowRunRedLightView) {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
-            } else {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
-            }
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
-        tbGreenWaveSop.setOnCheckedChangeListener { _, isChecked ->
+        //绿波通行(默认关闭)
+        scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
+        scGreenWaveSop.setOnCheckedChangeListener { _, isChecked ->
             hmiAction("SOP obu绿波通行, ",isChecked)
             HmiBuildConfig.isShowGreenWaveView = isChecked
             if (HmiBuildConfig.isShowGreenWaveView) {
@@ -162,30 +101,111 @@ internal class SOPSettingView @JvmOverloads constructor(
             }
         }
 
-        tbTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
-        tbTrafficLight.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 红绿灯标识开关, ",isChecked)
-            if (isChecked) {
-                CallerHmiManager.showTrafficLightView()
+        //V2I场景进PNC
+        scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
+        scV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP V2I场景进PNC, ",isChecked)
+            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
+            FunctionBuildConfig.isV2IPnc = isChecked
+        }
+
+        //闯红灯预警(默认关闭)
+        scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
+        scRunRedLightSop.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP obu闯红灯预警, ",isChecked)
+            HmiBuildConfig.isShowRunRedLightView = isChecked
+            if (HmiBuildConfig.isShowRunRedLightView) {
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
             } else {
-                CallerHmiManager.hideTrafficLightView()
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
             }
         }
 
-        tbSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
-        tbSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 限速标识开关, ",isChecked)
+        //路侧弱势交通参与者(默认开启)
+        scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
+        scObuWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP obu弱势交通控制, ",isChecked)
+            HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
+        }
+
+        //V2V总开关(默认关闭)
+        scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
+        scObuV2vView.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP obuV2V开关, ",isChecked)
+            HmiBuildConfig.isShowObuV2vView = isChecked
+        }
+
+        //obu总开关
+        scObu.isChecked = CallerObuApiManager.isConnected()
+        scObu.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP OBU控制总开关, ",isChecked)
             if (isChecked) {
-                HmiBuildConfig.isShowLimitingVelocityView = true
+                CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
             } else {
-                HmiBuildConfig.isShowLimitingVelocityView = false
-                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
+                //断开链接
+                CallerObuApiManager.disConnectObu()
             }
         }
 
+    }
+
+    /**
+     * 地图效果类设置
+     */
+    private fun mapSetting(){
+        //危险障碍物颜色标记开关
+        scMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
+        scMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 危险障碍物颜色标记开关",isChecked)
+            FunctionBuildConfig.isPNCWarning = isChecked
+        }
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+            scMarkingObstacles.isEnabled = false
+        }
+
+        //引导线动态效果
+        scRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
+        scRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 引导线动态效果",isChecked)
+            HmiBuildConfig.isShowRouteStrategy = isChecked
+        }
+
+        //点云效果
+        //初始化点云数据渲染情况
+        scDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
+        //是否渲染点云数据
+        scDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
+            CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
+            FunctionBuildConfig.isDrawPointCloudData = isChecked
+            CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
+        }
+
+        //自车光圈
+        scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        scCarAperture.setOnCheckedChangeListener { _, isChecked ->
+            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            FunctionBuildConfig.isDisplayAnimEnable = isChecked
+        }
+    }
+
+    /**
+     * 与车相关类设置
+     */
+    private fun vehicleSetting(){
+        //绕障类功能
+        scObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
+        scObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 绕障类功能开关",isChecked)
+            CallerAutoPilotControlManager.sendDetouring(isChecked)
+            FunctionBuildConfig.isDetouring = isChecked
+        }
+
         // 演示模式,上一次勾选的数据
-        tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
-        tbDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
+        scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
+        scDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
@@ -200,12 +220,12 @@ internal class SOPSettingView @JvmOverloads constructor(
         }
         //只在司机端设置美化模式开关功能
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            tbDemoMode.visibility = View.GONE
+            scDemoMode.isEnabled = false
         }
 
         // 雨天模式，上一次勾选的数据
-        tbRainMode.isChecked = FunctionBuildConfig.isRainMode
-        tbRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
+        scRainMode.isChecked = FunctionBuildConfig.isRainMode
+        scRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
@@ -216,72 +236,24 @@ internal class SOPSettingView @JvmOverloads constructor(
         }
         //雨天模式按钮只在司机屏生效，乘客屏不显示
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            tbRainMode.visibility = View.GONE
-        }
-
-        tbObu.isChecked = CallerObuApiManager.isConnected()
-        tbObu.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP OBU控制总开关, ",isChecked)
-            if (isChecked) {
-                CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
-            } else {
-                //断开链接
-                CallerObuApiManager.disConnectObu()
-            }
-        }
-
-
-        tbIPCReport.isChecked = FunctionBuildConfig.isReportWarning
-        tbIPCReport.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 是否开启异常上报, ",isChecked)
-            FunctionBuildConfig.isReportWarning = isChecked
-        }
-
-        tbNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
-        tbNewV2NData.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
-            FunctionBuildConfig.isNewV2NData = isChecked
-        }
-
-        // M1 360度环视
-        tbNew360LookAround?.also {
-            if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
-                it.isEnabled = false
-            } else {
-                it.isEnabled = true
-                it.setOnCheckedChangeListener { _, isChecked ->
-                    if (isChecked) {
-                        CallerHmiManager.showM1360LookAround()
-                    } else {
-                        CallerHmiManager.hidM1360LookAround()
-                    }
-                }
-                it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
-            }
+            scRainMode.visibility = View.GONE
         }
 
         //弱网减速停车
-        tbWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
-        tbWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
+        scWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
             FunctionBuildConfig.isWeakNetSlowDown = isChecked
             CallerAutoPilotControlManager.sendWeakNetSlowDown(isChecked)
             hmiAction("SOP 弱网减速停车, ",isChecked)
         }
 
         //故障减速停车
-        tbFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
-        tbFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
+        scFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
             FunctionBuildConfig.isFaultSlowDown = isChecked
             CallerAutoPilotControlManager.sendBreakdownSlowDown(isChecked)
             hmiAction("SOP 故障减速停车, ",isChecked)
         }
-
-        //是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
-        tbShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
-        tbShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
-            FunctionBuildConfig.isShowBagRecordWindow = isChecked
-            hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
-        }
         //融合模式
         rgFusionMode.setOnCheckedChangeListener { _, p1 ->
             when(p1){
@@ -308,7 +280,65 @@ internal class SOPSettingView @JvmOverloads constructor(
             }
             CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
         }
+    }
 
+    /**
+     * 其他类别开关设置
+     */
+    private fun otherSetting(){
+        //红绿灯标识开关
+        scTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
+        scTrafficLight.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 红绿灯标识开关, ",isChecked)
+            if (isChecked) {
+                CallerHmiManager.showTrafficLightView()
+            } else {
+                CallerHmiManager.hideTrafficLightView()
+            }
+        }
+
+        //限速标识
+        scSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
+        scSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 限速标识开关, ",isChecked)
+            if (isChecked) {
+                HmiBuildConfig.isShowLimitingVelocityView = true
+            } else {
+                HmiBuildConfig.isShowLimitingVelocityView = false
+                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
+            }
+        }
+
+        //异常上报提示
+        scIPCReport.isChecked = FunctionBuildConfig.isReportWarning
+        scIPCReport.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 是否开启异常上报, ",isChecked)
+            FunctionBuildConfig.isReportWarning = isChecked
+        }
+
+        // M1 360度环视
+        scNew360LookAround?.also {
+            if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
+                it.isEnabled = false
+            } else {
+                it.isEnabled = true
+                it.setOnCheckedChangeListener { _, isChecked ->
+                    if (isChecked) {
+                        CallerHmiManager.showM1360LookAround()
+                    } else {
+                        CallerHmiManager.hidM1360LookAround()
+                    }
+                }
+                it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
+            }
+        }
+
+        //是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
+        scShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
+        scShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
+            FunctionBuildConfig.isShowBagRecordWindow = isChecked
+            hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
+        }
 
         //变道绕障的目标障碍物速度阈值
         tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
@@ -393,8 +423,11 @@ internal class SOPSettingView @JvmOverloads constructor(
             mfStatusLayout.setClickEnabled(false)
             mfTest.isEnabled = false
         }
+
+
     }
 
+
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         //添加 业务配置监听
@@ -410,10 +443,10 @@ internal class SOPSettingView @JvmOverloads constructor(
     override fun updateFuncMode(tag: String, boolean: Boolean) {
         super.updateFuncMode(tag, boolean)
         if(tag == FUNC_MODE_DEMO){
-            tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
+            scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
         }
         if(tag == FUNC_MODE_RAIN){
-            tbRainMode.isChecked = FunctionBuildConfig.isRainMode
+            scRainMode.isChecked = FunctionBuildConfig.isRainMode
         }
     }
 
@@ -426,40 +459,34 @@ internal class SOPSettingView @JvmOverloads constructor(
         CallerDevaToolsManager.mofang()?.unRegisterMoFangStatusListener(this)
     }
 
-//    private val timerTaskRefresh = object : TimerTask(){
-//        override fun run() {
-//            UiThreadHandler.post{
-//                tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
-//                tbRainMode.isChecked = FunctionBuildConfig.isRainMode
-//            }
-//        }
-//
-//    }
 
     override fun updateBizView(type: String, lock: Boolean) {
         when (type) {
+            //美化模式
             FuncBizConfig.BIZ_BEAUTY_MODE -> {
-                tbDemoMode.isClickable = !lock
+                scDemoMode.isClickable = !lock
                 if(lock){
-                    tbDemoMode.visibility = View.INVISIBLE
+                    scDemoMode.visibility = View.INVISIBLE
                 }else{
-                    tbDemoMode.visibility = View.VISIBLE
+                    scDemoMode.visibility = View.VISIBLE
                 }
             }
+            //雨天模式
             FuncBizConfig.BIZ_RAIN_MODE -> {
-                tbRainMode.isClickable = !lock
+                scRainMode.isClickable = !lock
                 if (lock) {
-                    tbRainMode.visibility = View.INVISIBLE
+                    scRainMode.visibility = View.INVISIBLE
                 } else {
-                    tbRainMode.visibility = View.VISIBLE
+                    scRainMode.visibility = View.VISIBLE
                 }
             }
+            //危险障碍物颜色标记
             FuncBizConfig.BIZ_PNC_WARNING -> {
-                tbMarkingObstacles.isClickable = !lock
+                scMarkingObstacles.isClickable = !lock
                 if (lock) {
-                    tbMarkingObstacles.visibility = View.INVISIBLE
+                    scMarkingObstacles.visibility = View.INVISIBLE
                 } else {
-                    tbMarkingObstacles.visibility = View.VISIBLE
+                    scMarkingObstacles.visibility = View.VISIBLE
                 }
             }
         }

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

@@ -21,8 +21,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListener
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason.SourceType
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType
 import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest.ParallelRequest
 import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 
@@ -121,7 +121,7 @@ class ParallelDriveView @JvmOverloads constructor(
 
     override fun onAutopilotAbility(
         isAutopilotAbility: Boolean,
-        unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
+        unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
         // 是否可平行驾驶
         val isAvailable = isAvailable(unableAutopilotReasons)
@@ -173,7 +173,7 @@ class ParallelDriveView @JvmOverloads constructor(
         }
     }
 
-    private fun isAvailable(unableAutopilotReasons: ArrayList<UnableAutopilotReason>?): Boolean {
+    private fun isAvailable(unableAutopilotReasons: ArrayList<UnableLaunchReason>?): Boolean {
         var unavailable = false
         unableAutopilotReasons?.forEach {
             if (it.source.ordinal == SourceType.CHASSIS.ordinal) {

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

@@ -168,7 +168,16 @@ object FunctionBuildConfig {
      */
     @Volatile
     @JvmField
-    var isDrawPointCloudData = true
+    var isDrawPointCloudData = false
+
+    /**
+     * 自车是否展示光圈
+     * true - 展示
+     * false - 不展示
+     */
+    @Volatile
+    @JvmField
+    var isDisplayAnimEnable = false
 
     /**
      * 地图是否忽略判断条件直接绘制工控机引导线数据&全局路径规划

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

@@ -54,7 +54,7 @@ object HmiBuildConfig {
      */
     @JvmField
     @Volatile
-    var isShowObuV2vView = true
+    var isShowObuV2vView = false
 
     /**
      * 是否展示obu的v2i

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

@@ -1,6 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 
 
 /**
@@ -11,5 +11,5 @@ interface IMoGoAutopilotActionsListener {
     /**
      * pnc actions 决策 驾驶的意图
      */
-    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?)
+    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?)
 }

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

@@ -0,0 +1,13 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+
+
+/**
+ * 平行驾驶能力 能否启动平行驾驶
+ */
+interface IMoGoParallelDrivingActionsListener {
+
+
+    fun onParallelDrivingAbility(isParallelDrivingAbility: Boolean, unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?)
+}

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

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 
 
 /**
@@ -12,7 +12,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     @Volatile
     private var isConnected = false
     private var isAutopilotAbility: Boolean = false
-    private var unableAutopilotReasons: ArrayList<UnableAutopilotReason>? = null
+    private var unableAutopilotReasons: ArrayList<UnableLaunchReason>? = null
 
     init {
         isAutopilotAbility = false
@@ -20,9 +20,14 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
 //        printLog("初始化")
     }
 
-    private fun disconnectedReason(): ArrayList<UnableAutopilotReason> {
-        val list = ArrayList<UnableAutopilotReason>()
-        list.add(UnableAutopilotReason(UnableAutopilotReason.SourceType.LIB, "未连接自动驾驶系统"))
+    private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
+        val list = ArrayList<UnableLaunchReason>()
+        list.add(
+            UnableLaunchReason(
+                UnableLaunchReason.SourceType.LIB,
+                "未连接自动驾驶系统"
+            )
+        )
         return list
     }
 
@@ -37,7 +42,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
      * 获取不能启动自驾的原因
      *  null：表示没有任何原因证，证明isAutopilotAbility为true
      */
-    fun getUnableAutopilotReasons(): ArrayList<UnableAutopilotReason>? {
+    fun getUnableAutopilotReasons(): ArrayList<UnableLaunchReason>? {
         return unableAutopilotReasons
     }
 
@@ -53,15 +58,15 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
 
     @Synchronized
     fun invokeAutopilotAbility(
-        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
+        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
         if (isConnected) {
             var isEquals: Boolean = true
             if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
                 unableAutopilotReasons.let { onw ->
-                    onw.sortWith(compareBy(UnableAutopilotReason::hashCode));
+                    onw.sortWith(compareBy(UnableLaunchReason::hashCode));
                     this.unableAutopilotReasons?.let { old ->
-                        old.sortWith(compareBy(UnableAutopilotReason::hashCode));
+                        old.sortWith(compareBy(UnableLaunchReason::hashCode));
                         isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
 //                        Log.i(
 //                            "ddd",

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

@@ -0,0 +1,99 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import android.util.Log
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+
+
+/**
+ * 是否可以启动平行驾驶管理
+ */
+object CallerParallelDrivingActionsListenerManager :
+    CallerBase<IMoGoParallelDrivingActionsListener>() {
+    @Volatile
+    private var isConnected = false
+    private var isParallelDrivingAbility: Boolean = false
+    private var unableParallelDrivingReasons: ArrayList<UnableLaunchReason>? = null
+
+    init {
+        isParallelDrivingAbility = false
+        unableParallelDrivingReasons = disconnectedReason()
+    }
+
+    private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
+        val list = ArrayList<UnableLaunchReason>()
+        list.add(
+            UnableLaunchReason(
+                UnableLaunchReason.SourceType.LIB,
+                "未连接自动驾驶系统"
+            )
+        )
+        return list
+    }
+
+    /**
+     * 能否启动平行驾驶
+     */
+    fun isParallelDrivingAbility(): Boolean {
+        return isParallelDrivingAbility
+    }
+
+    /**
+     * 获取不能启动平行驾驶的原因
+     *  null：表示没有任何原因证，证明isParallelDrivingAbility为true
+     */
+    fun getUnableParallelDrivingReasons(): ArrayList<UnableLaunchReason>? {
+        return unableParallelDrivingReasons
+    }
+
+    fun setConnected(isConnected: Boolean) {
+        if (this.isConnected != isConnected) {
+            this.isConnected = isConnected
+            this.isParallelDrivingAbility = isConnected
+            unableParallelDrivingReasons = if (isConnected) null else disconnectedReason()
+            notification()
+        }
+    }
+
+    @Synchronized
+    fun invokeParallelDrivingAbility(
+        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
+    ) {
+        if (isConnected) {
+            var isEquals: Boolean = true
+            if (unableAutopilotReasons != null && this.unableParallelDrivingReasons != null) {
+                unableAutopilotReasons.let { onw ->
+                    onw.sortWith(compareBy(UnableLaunchReason::hashCode));
+                    this.unableParallelDrivingReasons?.let { old ->
+                        old.sortWith(compareBy(UnableLaunchReason::hashCode));
+                        isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
+
+                    }
+                }
+            } else isEquals =
+                !(unableAutopilotReasons != null || this.unableParallelDrivingReasons != null)
+
+            if (this.isParallelDrivingAbility != isAutopilotAbility || !isEquals) {
+                this.isParallelDrivingAbility = isAutopilotAbility
+                this.unableParallelDrivingReasons = unableAutopilotReasons
+                notification()
+            }
+        }
+    }
+
+    private fun notification() {
+        Log.i(
+            "xfk",
+            "是否可以启动平行驾驶=" + isParallelDrivingAbility + if (unableParallelDrivingReasons == null) "" else unableParallelDrivingReasons.toString()
+        )
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onParallelDrivingAbility(
+                isParallelDrivingAbility,
+                unableParallelDrivingReasons
+            )
+        }
+    }
+
+}

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java

@@ -5,9 +5,9 @@ import android.text.TextUtils;
 import java.util.Objects;
 
 /**
- * 自动驾驶能力 能否启动自动驾驶
+ * 不能启动自动驾驶或不能启动平行驾驶的原因
  */
-public class UnableAutopilotReason {
+public class UnableLaunchReason {
 
     public enum SourceType {
         LIB,//ADAS庫
@@ -26,7 +26,7 @@ public class UnableAutopilotReason {
     public final String unableAutopilotReason;
 
 
-    public UnableAutopilotReason(SourceType source, String unableAutopilotReason) {
+    public UnableLaunchReason(SourceType source, String unableAutopilotReason) {
         this.source = source;
         this.unableAutopilotReason = unableAutopilotReason;
     }
@@ -35,7 +35,7 @@ public class UnableAutopilotReason {
     public boolean equals(Object o) {
         if (this == o) return true;
         if (o == null || getClass() != o.getClass()) return false;
-        UnableAutopilotReason that = (UnableAutopilotReason) o;
+        UnableLaunchReason that = (UnableLaunchReason) o;
         return source == that.source && TextUtils.equals(unableAutopilotReason, that.unableAutopilotReason);
     }
 

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

@@ -29,6 +29,7 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.Define;
 import com.zhidao.support.adas.high.common.IPCFixationIPHelper;
 import com.zhidao.support.adas.high.common.MessageType;
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 import com.zhidao.support.adas.high.common.RegexUtils;
@@ -667,9 +668,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         ipcConnectionStatus.set(status);
         if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             AutopilotAbilityManager.getInstance().start();
+            ParallelDrivingManager.getInstance().start();
             startCheckCompatibility();
         } else {
             AutopilotAbilityManager.getInstance().stop();
+            ParallelDrivingManager.getInstance().stop();
             stopCheckCompatibility();
             stopCarConfigReq();
         }
@@ -771,6 +774,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     void setOnAdasListener(OnAdasListener adasListener) {
         mAdasListener = adasListener;
         AutopilotAbilityManager.getInstance().setOnAdasListener(adasListener);
+        ParallelDrivingManager.getInstance().setOnAdasListener(adasListener);
     }
 
     @Override

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

@@ -1,5 +1,6 @@
 package com.zhidao.support.adas.high;
 
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 
@@ -202,5 +203,6 @@ public class AdasOptions {
 
     public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
         AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
+        ParallelDrivingManager.getInstance().setUnableLaunchParallelDrivingGear(unableLaunchAutopilotGear);
     }
 }

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

@@ -10,7 +10,7 @@ import com.zhjt.mogo.adas.data.AdasConstants;
 import com.zhjt.mogo.adas.data.AiCloudTask;
 import com.zhjt.mogo.adas.data.bean.AdasParam;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
@@ -200,7 +200,8 @@ public interface OnAdasListener {
      * @param header     头
      * @param statusInfo 数据
      */
-    @Deprecated//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
+    @Deprecated
+//HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
     void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo);
 
     /**
@@ -470,9 +471,17 @@ public interface OnAdasListener {
      * @param isAutopilotAbility     是否能启动自动驾驶
      * @param unableAutopilotReasons 不能启动自动驾驶原因
      */
-    void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
+    void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
 
 
+    /**
+     * 是否有能力启动平行驾驶
+     *
+     * @param isParallelDrivingAbility     是否能启动平行驾驶
+     * @param unableParallelDrivingReasons 不能启动平行驾驶原因
+     */
+    void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons);
+
     /**
      * 启动自动驾驶失败回调
      * 根据MAP 系统监控状态返回过滤

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

@@ -0,0 +1,211 @@
+package com.zhidao.support.adas.high.common;
+
+
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
+
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.Set;
+import java.util.Timer;
+import java.util.TimerTask;
+
+import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
+import chassis.VehicleStateOuterClass;
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * 是否可以启动平行驾驶能力检测
+ */
+public class ParallelDrivingManager {
+    private static final String TAG = ParallelDrivingManager.class.getSimpleName();
+    private static volatile ParallelDrivingManager INSTANCE;
+
+    private volatile Timer callbackTimer;
+    private volatile Timer bootTimer;
+    private OnAdasListener listener;
+    private ChassisStatesOuterClass.ChassisStates chassisStates;
+    private VehicleStateOuterClass.VehicleState vehicleState;
+    /**
+     * 不能启动平行驾驶的档位
+     */
+    private Set<Chassis.GearPosition> unableLaunchParallelDrivingGear;
+    private int mapVersion = -1;//工控机版本
+    private boolean isHQ = false;//是否是HQ
+    private boolean isDF = false;//是否是DF
+
+    private ParallelDrivingManager() {
+    }
+
+    public static ParallelDrivingManager getInstance() {
+        if (INSTANCE == null) {
+            synchronized (ParallelDrivingManager.class) {
+                if (INSTANCE == null) {
+                    INSTANCE = new ParallelDrivingManager();
+                }
+            }
+        }
+        return INSTANCE;
+    }
+
+
+    public void setCarConfig(MessagePad.CarConfigResp carConfig) {
+        mapVersion = carConfig.getMapVersion();
+        isHQ = carConfig.getIsHQ();
+        isDF = carConfig.getIsDF();
+        if (mapVersion != -1) {
+            stopBootTimer();
+            startCallback();
+        }
+    }
+
+    public void setOnAdasListener(OnAdasListener listener) {
+        this.listener = listener;
+    }
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        this.chassisStates = chassisStates;
+    }
+
+    public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
+        this.vehicleState = vehicleState;
+    }
+
+    public void setUnableLaunchParallelDrivingGear(Set<Chassis.GearPosition> unableLaunchParallelDrivingGear) {
+        if (unableLaunchParallelDrivingGear != null) {
+            this.unableLaunchParallelDrivingGear = new HashSet<>(unableLaunchParallelDrivingGear);
+        }
+    }
+
+    /**
+     * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动
+     * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位
+     *
+     * @param currentGear 当前档位
+     * @return 是否能启动自驾
+     */
+    private boolean isLaunchAutopilot(Chassis.GearPosition currentGear) {
+        if (unableLaunchParallelDrivingGear != null && !unableLaunchParallelDrivingGear.isEmpty()) {
+            return !unableLaunchParallelDrivingGear.contains(currentGear);
+        }
+        return true;
+    }
+
+    /**
+     * 添加不能启动平行驾驶的原因
+     *
+     * @param unableParallelDrivingReasons 原因列表
+     * @param source                       来源
+     * @param unableParallelDrivingReason  云隐
+     * @return 原因列表
+     */
+    public static ArrayList<UnableLaunchReason> addUnableParallelDrivingReason(ArrayList<UnableLaunchReason> unableParallelDrivingReasons, UnableLaunchReason.SourceType source, String unableParallelDrivingReason) {
+        if (unableParallelDrivingReasons == null) {
+            unableParallelDrivingReasons = new ArrayList<>();
+        }
+        unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableParallelDrivingReason));
+        return unableParallelDrivingReasons;
+    }
+
+    private void onCallback() {
+        boolean isParallelDrivingAbility = true;//是否能启动平行驾驶
+        ArrayList<UnableLaunchReason> unableParallelDrivingReasons = null;//不能启动平行驾驶原因
+        //检测底盘相关
+        if (chassisStates != null) {
+            if (chassisStates.hasBrakeSystemStates()) {
+                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                if (brake > 0) {
+                    isParallelDrivingAbility = false;
+                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
+                }
+            }
+            if (chassisStates.hasGearSystemStates()) {
+                Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                if (!isLaunchAutopilot(gear)) {
+                    isParallelDrivingAbility = false;
+                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
+                }
+            }
+        }
+        if (vehicleState != null) {
+            //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
+            //电子驻车制动系统
+            if (vehicleState.hasParkingBrake()) {
+                boolean isBrake = vehicleState.getParkingBrake();
+                if (isBrake) {
+                    isParallelDrivingAbility = false;
+                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
+                }
+            }
+        }
+        callListener(isParallelDrivingAbility, unableParallelDrivingReasons);
+    }
+
+    private void callListener(boolean isParallelDrivingAbility, ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
+
+        if (listener != null) {
+            listener.onParallelDrivingAbility(isParallelDrivingAbility, unableParallelDrivingReasons);
+        }
+    }
+
+    /**
+     * 底盘数据回调20Hz，检测太频繁没有意义
+     * Taxi 无人化时才会使用 MAP360开始上线此功能
+     */
+    protected synchronized void startCallback() {
+        if (mapVersion >= 30600 && (isDF || isHQ)) {
+            if (callbackTimer == null) {
+                callbackTimer = new Timer();
+                callbackTimer.schedule(new TimerTask() {
+                    @Override
+                    public void run() {
+                        onCallback();
+                    }
+                }, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
+            }
+        } else {
+            callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, "当前域控版本无法通过鹰眼启动平行驾驶"));
+        }
+    }
+
+
+    /**
+     * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测
+     * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑
+     */
+    public synchronized void start() {
+        if (bootTimer == null) {
+            bootTimer = new Timer();
+            bootTimer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    if (mapVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+                        mapVersion = 30600;//获取 CarConfig获取失败就认为是Taxi版本大于等于360
+                        isDF = true;
+                        startCallback();
+                    }
+                }
+            }, 8000L);//8秒原因：需要后去CarConfig 对象，两个地方调用initAutopilotAbility(); 初始化 一个在这，另一个在setCarConfig(),如果setCarConfig() 证明获取版本还未成功，获取版本会重试3次每次间隔两秒
+        }
+
+    }
+
+    private void stopBootTimer() {
+        if (bootTimer != null) {
+            bootTimer.cancel();
+            bootTimer = null;
+        }
+    }
+
+    public synchronized void stop() {
+        stopBootTimer();
+        if (callbackTimer != null) {
+            callbackTimer.cancel();
+            callbackTimer = null;
+        }
+        this.chassisStates = null;
+        this.vehicleState = null;
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java

@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
 
 import androidx.annotation.Nullable;
 
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 import java.util.Timer;
@@ -25,7 +25,7 @@ public class AutopilotAbility230 {
     private OnAutopilotAbilityListener listener;
 
     protected interface OnAutopilotAbilityListener {
-        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
+        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
     }
 
     protected AutopilotAbility230() {
@@ -39,21 +39,21 @@ public class AutopilotAbility230 {
 
     private void onCallback() {
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
-        ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
+        ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
         //检测底盘相关
         if (chassisStates != null) {
             if (chassisStates.hasBrakeSystemStates()) {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
                 }
             }
             //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java

@@ -4,7 +4,7 @@ import androidx.annotation.Nullable;
 
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -30,10 +30,12 @@ public class AutopilotAbility250 {
     private VehicleStateOuterClass.VehicleState vehicleState;
     private int mapVersion = -1;//MAP版本
     private int masterVersion = -1;//Master版本
+    private boolean isHQ = false;//是否是HQ
+    private boolean isDF = false;//是否是DF
     private OnAutopilotAbilityListener listener;
 
     protected interface OnAutopilotAbilityListener {
-        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
+        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
 
         void onStatusQuery();
 
@@ -42,8 +44,10 @@ public class AutopilotAbility250 {
         void onRemoveTimeoutMessages();
     }
 
-    protected AutopilotAbility250(int mapVersion) {
+    protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF) {
         this.mapVersion = mapVersion;
+        this.isHQ = isHQ;
+        this.isDF = isDF;
         this.masterVersion = -1;
     }
 
@@ -65,7 +69,7 @@ public class AutopilotAbility250 {
 
     private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
-        ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
+        ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
             if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
@@ -77,7 +81,7 @@ public class AutopilotAbility250 {
             if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -89,13 +93,13 @@ public class AutopilotAbility250 {
                             String nodeName = info.getNodeName();
                             int state = info.getState();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
                     }
                 }
             } else {
@@ -126,13 +130,13 @@ public class AutopilotAbility250 {
                         unableAutopilotReason = "未知系统状态";
                     }
                     if (!isAutopilotAbility) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
                     }
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM状态查询超时无响应");
         }
         //检测底盘相关
         if (chassisStates != null) {
@@ -140,29 +144,30 @@ public class AutopilotAbility250 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
                 }
             }
         }
-        if (vehicleState != null) {
-            //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
-            //电子驻车制动系统
-            if (vehicleState.hasParkingBrake()) {
-                boolean isBrake = vehicleState.getParkingBrake();
-                if (isBrake) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "施加驻车");
+        if ((!isHQ && !isDF) || mapVersion < 30600) {
+            if (vehicleState != null) {
+                //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
+                //电子驻车制动系统
+                if (vehicleState.hasParkingBrake()) {
+                    boolean isBrake = vehicleState.getParkingBrake();
+                    if (isBrake) {
+                        isAutopilotAbility = false;
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
+                    }
                 }
             }
         }
-
         if (listener != null) {
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java

@@ -6,7 +6,7 @@ import androidx.annotation.Nullable;
 
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -34,7 +34,7 @@ public class AutopilotAbility330 {
     private OnAutopilotAbilityListener listener;
 
     protected interface OnAutopilotAbilityListener {
-        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
+        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
 
         void onStatusQuery();
 
@@ -62,7 +62,7 @@ public class AutopilotAbility330 {
 
     private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
-        ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
+        ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
             if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
@@ -74,7 +74,7 @@ public class AutopilotAbility330 {
             if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -86,13 +86,13 @@ public class AutopilotAbility330 {
                             String nodeName = info.getNodeName();
                             int state = info.getState();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
                     }
                 }
             } else {
@@ -123,13 +123,13 @@ public class AutopilotAbility330 {
                         unableAutopilotReason = "未知系统状态";
                     }
                     if (!isAutopilotAbility) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
                     }
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM状态查询超时无响应");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM状态查询超时无响应");
         }
         if (fsmStatusReasonRespond != null) {
             int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -138,11 +138,11 @@ public class AutopilotAbility330 {
                 for (int i = 0; i < count; i++) {
                     String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
                     if (!TextUtils.isEmpty(respond)) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.FSM, respond);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, respond);
                     }
                 }
                 if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM数据异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常");
                 }
             }
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java

@@ -4,7 +4,7 @@ import androidx.annotation.Nullable;
 
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 
@@ -23,15 +23,21 @@ public class AutopilotAbility350And360 {
     private static final String TAG = AutopilotAbility250.class.getSimpleName();
     private ChassisStatesOuterClass.ChassisStates chassisStates;
     private VehicleStateOuterClass.VehicleState vehicleState;
+    private int mapVersion = -1;//MAP版本
     private int masterVersion = -1;//Master版本
+    private boolean isHQ = false;//是否是HQ
+    private boolean isDF = false;//是否是DF
     private OnAutopilotAbilityListener listener;
 
     protected interface OnAutopilotAbilityListener {
-        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
+        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
 
     }
 
-    protected AutopilotAbility350And360() {
+    protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF) {
+        this.mapVersion = mapVersion;
+        this.isHQ = isHQ;
+        this.isDF = isDF;
         this.masterVersion = -1;
     }
 
@@ -51,7 +57,7 @@ public class AutopilotAbility350And360 {
 
     private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
-        ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
+        ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
             if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
@@ -63,7 +69,7 @@ public class AutopilotAbility350And360 {
             if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -75,13 +81,13 @@ public class AutopilotAbility350And360 {
                             String nodeName = info.getNodeName();
                             int state = info.getState().getNumber();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
                     }
                 }
             } else {
@@ -100,12 +106,12 @@ public class AutopilotAbility350And360 {
                     } else {
                         unableAutopilotReason = "未知系统模式";
                     }
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM数据异常");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM数据异常");
         }
         //检测底盘相关
         if (chassisStates != null) {
@@ -113,29 +119,30 @@ public class AutopilotAbility350And360 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "制动踏板被踩下");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "档位异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
                 }
             }
         }
-        if (vehicleState != null) {
-            //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
-            //电子驻车制动系统
-            if (vehicleState.hasParkingBrake()) {
-                boolean isBrake = vehicleState.getParkingBrake();
-                if (isBrake) {
-                    isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.CHASSIS, "施加驻车");
+        if ((!isHQ && !isDF) || mapVersion < 30600) {
+            if (vehicleState != null) {
+                //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
+                //电子驻车制动系统
+                if (vehicleState.hasParkingBrake()) {
+                    boolean isBrake = vehicleState.getParkingBrake();
+                    if (isBrake) {
+                        isAutopilotAbility = false;
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
+                    }
                 }
             }
         }
-
         if (listener != null) {
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java

@@ -6,7 +6,7 @@ import androidx.annotation.Nullable;
 
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 
@@ -27,7 +27,7 @@ public class AutopilotAbility360 {
     private OnAutopilotAbilityListener listener;
 
     protected interface OnAutopilotAbilityListener {
-        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons);
+        void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons);
 
 
     }
@@ -47,7 +47,7 @@ public class AutopilotAbility360 {
 
     private void onCallback(SsmInfo.SsmStatusInf statusInfo) {
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
-        ArrayList<UnableAutopilotReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
+        ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
             if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
@@ -59,7 +59,7 @@ public class AutopilotAbility360 {
             if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -71,13 +71,13 @@ public class AutopilotAbility360 {
                             String nodeName = info.getNodeName();
                             int state = info.getState().getNumber();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
                     }
                 }
             } else {
@@ -96,12 +96,12 @@ public class AutopilotAbility360 {
                     } else {
                         unableAutopilotReason = "未知系统模式";
                     }
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.SSM, unableAutopilotReason);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "SSM数据异常");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM数据异常");
         }
         if (fsmStatusReasonRespond != null) {
             int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -110,11 +110,11 @@ public class AutopilotAbility360 {
                 for (int i = 0; i < count; i++) {
                     String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
                     if (!TextUtils.isEmpty(respond)) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.FSM, respond);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, respond);
                     }
                 }
                 if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableAutopilotReason.SourceType.LIB, "FSM数据异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常");
                 }
             }
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java

@@ -10,9 +10,10 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.Constants;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
+import java.util.HashSet;
 import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;
@@ -47,6 +48,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
     private boolean isFutianSweeper = false;//是否是福田清扫车
     private boolean isJinlvM1 = false;//是否是M1
     private boolean isHQ = false;//是否是HQ
+    private boolean isDF = false;//是否是DF
     private AutopilotAbility230 autopilotAbility230;
     private AutopilotAbility250 autopilotAbility250;
     private AutopilotAbility330 autopilotAbility330;
@@ -78,7 +80,10 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
     }
 
     public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
-        this.unableLaunchAutopilotGear = unableLaunchAutopilotGear;
+        if (unableLaunchAutopilotGear != null) {
+            this.unableLaunchAutopilotGear = new HashSet<>(unableLaunchAutopilotGear);
+            taxiUnmanned();
+        }
     }
 
     /**
@@ -103,19 +108,32 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
      * @param unableAutopilotReason  云隐
      * @return 原因列表
      */
-    protected ArrayList<UnableAutopilotReason> addUnableAutopilotReason(ArrayList<UnableAutopilotReason> unableAutopilotReasons, UnableAutopilotReason.SourceType source, String unableAutopilotReason) {
+    protected ArrayList<UnableLaunchReason> addUnableAutopilotReason(ArrayList<UnableLaunchReason> unableAutopilotReasons, UnableLaunchReason.SourceType source, String unableAutopilotReason) {
         if (unableAutopilotReasons == null) {
             unableAutopilotReasons = new ArrayList<>();
         }
-        unableAutopilotReasons.add(new UnableAutopilotReason(source, unableAutopilotReason));
+        unableAutopilotReasons.add(new UnableLaunchReason(source, unableAutopilotReason));
         return unableAutopilotReasons;
     }
 
+    /**
+     * Taxi无人化相关，从MAP360开始去掉P档限制和手刹限制
+     */
+    private void taxiUnmanned() {
+        if ((isHQ || isDF) && mapVersion >= 30600) {
+            if (unableLaunchAutopilotGear != null) {
+                unableLaunchAutopilotGear.remove(Chassis.GearPosition.GEAR_P);
+            }
+        }
+    }
+
     public void setCarConfig(MessagePad.CarConfigResp carConfig) {
         mapVersion = carConfig.getMapVersion();
         isFutianSweeper = carConfig.getIsFutianSweeper();
         isJinlvM1 = carConfig.getIsJinlvM1();
         isHQ = carConfig.getIsHQ();
+        isDF = carConfig.getIsDF();
+        taxiUnmanned();
         if (mapVersion != -1) {
             stopTimer();
             CupidLogUtils.i(TAG, "工控机版本=" + mapVersion);
@@ -128,7 +146,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
     }
 
     @Override
-    public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons) {
+    public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
         if (listener != null) {
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons);
         }
@@ -265,7 +283,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
             stop330();
             stop360();
             if (autopilotAbility350And360 == null) {
-                autopilotAbility350And360 = new AutopilotAbility350And360();
+                autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF);
                 autopilotAbility350And360.start(this);
             }
 
@@ -286,7 +304,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
             stop350And360();
             stop360();
             if (autopilotAbility250 == null) {
-                autopilotAbility250 = new AutopilotAbility250(mapVersion);
+                autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF);
                 autopilotAbility250.start(this);
             }
         } else {

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

@@ -8,6 +8,7 @@ import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
@@ -24,6 +25,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler {
         carConfigResp = addPersonalParameter(carConfigResp);
         AdasChannel.calculateTimeConsumingOnDispatchRaw("车机基础信息应答", raw.receiveTime);
         AutopilotAbilityManager.getInstance().setCarConfig(carConfigResp);
+        ParallelDrivingManager.getInstance().setCarConfig(carConfigResp);
         AdasManager.getInstance().setCarConfig(carConfigResp);
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())

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

@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.msg;
 
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
@@ -16,6 +17,7 @@ public class ChassisStatesMessage extends MyAbstractMessageHandler {
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
         AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
+        ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
         if (adasListener != null) {
             adasListener.onChassisStates(raw.getHeader(), chassisStates);
         }

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

@@ -5,6 +5,7 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -27,6 +28,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
         AutopilotAbilityManager.getInstance().setVehicleState(vehicleState);
+        ParallelDrivingManager.getInstance().setVehicleState(vehicleState);
         ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState);
         if (adasListener != null) {
             //TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState
@@ -113,6 +115,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         }
         ChassisStatesOuterClass.ChassisStates chassisStates = builder.build();
         AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
+        ParallelDrivingManager.getInstance().setChassisStates(chassisStates);
         return chassisStates;
     }
 

libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java

@@ -45,6 +45,12 @@ public interface IMogoMapUIController {
      */
     void setDebugMode(Boolean debugMode);
 
+    /**
+     * 设置地图是否展示自车光圈
+     * @param displayAnimEnable 是否展示自车光圈
+     */
+    void setDisplayAnimEnable(Boolean displayAnimEnable);
+
     /**
      * 进入VR 模式
      *

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

@@ -337,6 +337,19 @@ public class AMapViewWrapper implements IMogoMapView,
         MapAutoApi.INSTANCE.setDebugMode(debugMode);
     }
 
+    /**
+     * 自车光圈
+     * @param displayAnimEnable 是否展示自车光圈
+     */
+    @Override
+    public void setDisplayAnimEnable(Boolean displayAnimEnable) {
+        if (checkAMapView()){
+            MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
+            style.setDisplayAnimEnable(displayAnimEnable);
+            mMapView.getMapAutoViewHelper().setMyLocationStyle(style);
+        }
+    }
+
     @Override
     public void changeMapVisualAngle(VisualAngleMode angelMode, MogoLatLng mogoLatLng) {
         if(visualLock){

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

@@ -83,6 +83,18 @@ public class MogoMapUIController implements IMogoMapUIController {
         }
     }
 
+    /**
+     * 自车光圈
+     * @param displayAnimEnable 是否展示自车光圈
+     */
+    @Override
+    public void setDisplayAnimEnable(Boolean displayAnimEnable) {
+        initDelegate();
+        if(mDelegate != null){
+            mDelegate. setDisplayAnimEnable(displayAnimEnable);
+        }
+    }
+
     @Override
     public void changeMapVisualAngle(VisualAngleMode angelMode, MogoLatLng mogoLatLng) {
         initDelegate();

libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java

@@ -70,6 +70,17 @@ public class AMapUIController implements IMogoMapUIController {
         }
     }
 
+    /**
+     * 自车光圈
+     * @param displayAnimEnable 是否展示自车光圈
+     */
+    @Override
+    public void setDisplayAnimEnable(Boolean displayAnimEnable) {
+        if(mClient != null){
+            mClient.setDisplayAnimEnable(displayAnimEnable);
+        }
+    }
+
     @Override
     public void changeMapVisualAngle(VisualAngleMode angelMode, MogoLatLng mogoLatLng) {
         if (mClient != null) {