[自主算路验证] feat: 联调后端接口，增加自动自驾，高德导航相关逻辑；

2023-11-24 21:22:16 +08:00
parent 2eec825543
commit 2c33619e03
14 changed files with 638 additions and 85 deletions
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiRoutingBean.kt
@@ -9,17 +9,35 @@ data class GrayLineBean(
    var carVerificationCount: Int?, //本次今日已验证次数
    var lineSuccessCount: Int?, //线路累计反馈可用次数
    var lineFailCount: Int?, //线路累计反馈不可用次数
-    var isChoosed: Boolean = false //当前是否选中
+    var isChoosed: Boolean = false, //当前是否选中
+    var startSite: RoutingSite?,
+    var endSite: RoutingSite?
+)
+
+data class RoutingSite(
+    var siteId: Long,
+    var siteName: String,
+    var gcjLat: Double,
+    var gcjLon: Double,
+    var wgs84Lon: Double,
+    var wgs84Lat: Double
 )

 data class ContrailBean(
-    var lineId: Long?,
-    var contrailId: Long?,
-    var csvFileUrl: String?,
-    var csvFileMd5: String?,
-    var txtFileUrl: String?,
-    var txtFileMd5: String?,
-    var version: Long?
+    var lineId: Long = -1L,
+    var lineName: String = "",
+    var contrailId: Long = -1L,
+    var csvFileUrl: String = "",
+    var csvFileMd5: String = "",
+    var txtFileUrl: String = "",
+    var txtFileMd5: String = "",
+    var contrailSaveTime: Long = -1L,
+    var csvFileUrlDPQP: String = "",
+    var csvFileMd5DPQP: String = "",
+    var txtFileUrlDPQP: String = "",
+    var txtFileMd5DPQP: String = "",
+    var contrailSaveTimeDPQP: Long = -1L,
+    var version: Long = -1L
 )

 data class QueryGrayContrailListRsp(var data: MutableList<GrayLineBean>?) : BaseData()
@@ -34,6 +52,10 @@ data class StartGrayAndQueryContrailRsp(
    var grayLineBean: GrayLineBean
 ) : BaseData()

+enum class EndGrayTaskFeedbackType(var type: Int) {
+    USABLE_YES(1),
+    USABLE_NO(2)
+}



--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiRoutingCallback.kt
@@ -8,4 +8,8 @@ interface ITaxiRoutingCallback {
    fun onQueryRoutingGrayLineListFailed(errorStr: String)
    fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp)
    fun onStartGrayTaskAndQueryContrailFailed(errorStr: String)
+    fun onSubmitGrayLineIssueLocationSuccess()
+    fun onSubmitGrayLineIssueLocationFailed(errorStr: String)
+    fun onSubmitEndTaskSuccess()
+    fun onSubmitEndTaskFailed(errorStr: String)
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiDriverEventConst.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiDriverEventConst.java
@@ -15,6 +15,6 @@ public interface TaxiDriverEventConst {
    }

    interface RoutingActivityEvent {
-        String EVENT_TYPE_GET_CHOSEN_LINE_TASK_ID = "event_type_get_chosen_line_task_id";
+        String EVENT_TYPE_GET_CHOSEN_LINE_TASK = "event_type_get_chosen_line_task";
    }
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceManager.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/network/TaxiRoutingServiceManager.kt
@@ -105,6 +105,8 @@ object TaxiRoutingServiceManager {
                        contrail = null,
                        grayLineBean = grayLineBean
                    )
+                    result.code = startGrayRsp.code
+                    result.msg = startGrayRsp.msg
                    return@flatMap Observable.just(result)
                }
                taskId = startGrayRsp.data!!
@@ -115,6 +117,8 @@ object TaxiRoutingServiceManager {
                            contrail = queryRoutingContrailRsp.data,
                            grayLineBean = grayLineBean
                        )
+                        result.code = queryRoutingContrailRsp.code
+                        result.msg = queryRoutingContrailRsp.msg
                        result
                    }
            }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
@@ -163,9 +163,9 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
                if (StatusDescriptor.TAXI_UNMANED_DRIVER_LINE_ROUTING_VERIFY_MODE == descriptor) {
                    UiThreadHandler.post {
                        if (isTrue) {
-                           showRoutingFragment()
+                            showRoutingFragment()
                        } else {
-                           showTaskFragment()
+                            showTaskFragment()
                        }
                    }
                }
@@ -272,8 +272,12 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),

    fun onNaviToEnd(isAmap: Boolean, isShow: Boolean) {
        if (isAmap) {
-            if (null == taskTabFragment || taskTabFragment!!.get() == null) return
-            taskTabFragment!!.get()!!.onNaviToEndStationByAMap(isShow)
+            if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode) {
+                showAmapNaviToStationFragment(isShow)
+            } else {
+                if (null == taskTabFragment || taskTabFragment!!.get() == null) return
+                taskTabFragment!!.get()!!.onNaviToEndStationByAMap(isShow)
+            }
        } else if (isShow) { //使用routing数据
            showRoutingToStationFragment(true)
        } else {
@@ -304,8 +308,8 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
                    if (it.order != null && it.order!!.orderStatus >= TaxiOrderStatusEnum.ArriveAtStart.code)
                        it.order!!.orderLine
                    else
-                        it.lineId
-                ,true)
+                        it.lineId, true
+                )
            }
        }

--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
@@ -20,6 +20,7 @@ import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback;
 import com.mogo.och.taxi.constant.TaxiCarServingStatusManager;
 import com.mogo.och.taxi.constant.TaxiDriverRoleEnum;
 import com.mogo.och.taxi.constant.TaxiUnmannedConst;
+import com.mogo.och.taxi.ui.routing.TaxiRoutingModel;
 import com.mogo.och.taxi.ui.task.TaxiTaskModel;

 /**
@@ -51,6 +52,8 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
        TaxiTaskModel.INSTANCE.setADASStatusCallback(this);
        TaxiTaskModel.INSTANCE.setControllerStatusCallback(this);
        TaxiTaskModel.INSTANCE.setOrderStatusCallback(this);
+        TaxiRoutingModel.INSTANCE.setControllerStatusCallback(this);
+        TaxiRoutingModel.INSTANCE.setOrderStatusCallback(this);
    }

    private void releaseListeners() {
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
@@ -13,7 +13,6 @@ import androidx.recyclerview.widget.LinearLayoutManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.view.SpacesItemDecoration
 import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.utils.FlowBus
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.bean.GrayLineBean
@@ -101,14 +100,6 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
            mViewModel.sendUiIntent(
                TaxiRoutingUiIntent.StartTaskAndQueryContrail(chosenItem)
            )
-            // TODO
-            UiThreadHandler.postDelayed({
-                mLoadingDialog.hideLoading()
-                FlowBus.with<Int>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK_ID)
-                    .post(this.lifecycleScope, 1000)
-                mChooseLineListAdapter.setOnLineItemClickListener(null)
-                finish()
-            }, 3000L)
        }
    }

@@ -127,6 +118,23 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
                    is RoutingUIState.ShowGrayLineList -> {
                        onRoutingGrayLineListChanged(routingUiState.data)
                    }
+
+                    is RoutingUIState.HideChooseLineLoading -> {
+                        mLoadingDialog.hideLoading()
+                        if (routingUiState.isCosePage) {
+                            mChooseLineListAdapter.setOnLineItemClickListener(null)
+                            finish()
+                        }
+                    }
+
+                    is RoutingUIState.PostRoutingTaskResult -> {
+                        FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK)
+                            .post(this, RoutingUIState.RoutingTask(
+                                grayLineBean = routingUiState.grayLineBean,
+                                contrailBean = routingUiState.contrailBean,
+                                grayId = routingUiState.grayId
+                            ))
+                    }
                }
            }
        }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
@@ -1,6 +1,7 @@
 package com.mogo.och.taxi.ui.routing

 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.taxi.base.BaseViewModel
 import com.mogo.och.taxi.base.IUiIntent
 import com.mogo.och.taxi.bean.GrayLineBean
@@ -45,46 +46,58 @@ class TaxiRoutingChooseLineViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRou
    }

    override fun onQueryRoutingGrayLineListFailed(errorStr: String) {
-//        sendUiState {
-//            copy(
-//                routingUiState = RoutingUIState.Init
-//            )
-//        }
-        //TODO
-        val data: MutableList<GrayLineBean> = mutableListOf()
-        for (i in 1..15) {
-            val result = GrayLineBean(
-                lineId = i + 1L,
-                lineName = "路线名称$i",
-                contrailId = i + 1L,
-                carVerificationCount = i,
-                lineSuccessCount = i,
-                lineFailCount = i,
-                isChoosed = false
-            )
-            data.add(result)
-        }
+        ToastUtils.showShort(errorStr)
        sendUiState {
            copy(
-                routingUiState = RoutingUIState.ShowGrayLineList(data)
+                routingUiState = RoutingUIState.Init
            )
        }
    }

    override fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) {
+        if (data.taskId == -1L) {
+            onStartGrayTaskAndQueryContrailFailed("开始任务失败, 请稍后重试")
+            return
+        }
        sendUiState {
            copy(
-                routingUiState = RoutingUIState.RoutingTask(
-                    grayId = data.taskId,
+                routingUiState = RoutingUIState.PostRoutingTaskResult(
                    grayLineBean = data.grayLineBean,
-                    contrailBean = data.contrail
+                    contrailBean = data.contrail,
+                    grayId = data.taskId
+                )
+            )
+        }
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.HideChooseLineLoading(
+                    isCosePage = true
                )
            )
        }
    }

    override fun onStartGrayTaskAndQueryContrailFailed(errorStr: String) {
+        ToastUtils.showShort(errorStr)
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.HideChooseLineLoading(
+                    isCosePage = false
+                )
+            )
+        }
+    }

+    override fun onSubmitGrayLineIssueLocationSuccess() {
+    }
+
+    override fun onSubmitGrayLineIssueLocationFailed(errorStr: String) {
+    }
+
+    override fun onSubmitEndTaskSuccess() {
+    }
+
+    override fun onSubmitEndTaskFailed(errorStr: String) {
    }

    override fun onCleared() {
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFeedbackDialog.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFeedbackDialog.kt
@@ -13,12 +13,13 @@ class TaxiRoutingFeedbackDialog : BaseFloatDialog, LifecycleObserver {
    private var commonCancel: TextView? = null
    private var commonTips: TextView? = null
    private var commonCloseIcon: ImageView? = null
-    private var clickListener: ClickListener? = null
+    private var clickListener: TaxiRoutingFeedBackDialogClickListener? = null

    constructor(builder: Builder, context: Context) : super(context) {
        commonTips?.text = builder.tipsStr
        commonCancel?.text = builder.cancelStr
        commonConfirm?.text = builder.confirmStr
+        clickListener = builder.clickListener
    }

    init {
@@ -46,10 +47,6 @@ class TaxiRoutingFeedbackDialog : BaseFloatDialog, LifecycleObserver {
        }
    }

-    fun setClickListener(clickListener: ClickListener) {
-        this.clickListener = clickListener
-    }
-
    fun showDialog() {
        if (isShowing) {
            return
@@ -57,7 +54,13 @@ class TaxiRoutingFeedbackDialog : BaseFloatDialog, LifecycleObserver {
        show()
    }

-    interface ClickListener {
+    fun hideDialog() {
+        if (isShowing) {
+            dismiss()
+        }
+    }
+
+    interface TaxiRoutingFeedBackDialogClickListener {
        fun confirm()
        fun cancel()
    }
@@ -66,6 +69,7 @@ class TaxiRoutingFeedbackDialog : BaseFloatDialog, LifecycleObserver {
        var tipsStr: String = ""
        var confirmStr: String = ""
        var cancelStr: String = ""
+        var clickListener: TaxiRoutingFeedBackDialogClickListener? = null

        fun tips(tips: String): Builder {
            this.tipsStr = tips
@@ -82,6 +86,11 @@ class TaxiRoutingFeedbackDialog : BaseFloatDialog, LifecycleObserver {
            return this
        }

+        fun clickListener(listener: TaxiRoutingFeedBackDialogClickListener): Builder {
+            this.clickListener = listener
+            return this
+        }
+
        fun build(context: Context): TaxiRoutingFeedbackDialog? {
            return TaxiRoutingFeedbackDialog(this, context)
        }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragment.kt
@@ -4,25 +4,38 @@ import android.os.Bundle
 import android.view.View
 import androidx.lifecycle.ViewModelProvider
 import androidx.lifecycle.lifecycleScope
+import com.amap.api.navi.model.NaviLatLng
 import com.mogo.commons.mvp.BaseFragment
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.main.MainMoGoApplication
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.och.common.module.map.AmapNaviToDestinationModel
+import com.mogo.och.common.module.map.ICommonNaviChangedCallback
 import com.mogo.och.common.module.utils.FlowBus
 import com.mogo.och.taxi.R
+import com.mogo.och.taxi.bean.EndGrayTaskFeedbackType
 import com.mogo.och.taxi.constant.TaxiDriverEventConst
+import com.mogo.och.taxi.utils.TaskUtils
 import kotlinx.android.synthetic.main.routing_fragment.btnChooseTask
 import kotlinx.android.synthetic.main.routing_fragment.btnFinishTask
 import kotlinx.android.synthetic.main.routing_fragment.btnStartTask
+import kotlinx.android.synthetic.main.routing_fragment.btnSummitIssue
+import kotlinx.android.synthetic.main.routing_fragment.endStationName
 import kotlinx.android.synthetic.main.routing_fragment.finishSubmitIssueGroup
 import kotlinx.android.synthetic.main.routing_fragment.headerTitleContainer
 import kotlinx.android.synthetic.main.routing_fragment.mCurrentTaskLayout
+import kotlinx.android.synthetic.main.routing_fragment.naviToEnd
+import kotlinx.android.synthetic.main.routing_fragment.naviToStart
 import kotlinx.android.synthetic.main.routing_fragment.noDataContainer
+import kotlinx.android.synthetic.main.routing_fragment.startStationName
 import kotlinx.android.synthetic.main.routing_fragment.taskTitleTv
+import kotlinx.android.synthetic.main.routing_fragment.taskTripInfo
 import kotlinx.coroutines.flow.map

-class TaxiRoutingFragment : BaseFragment() {
+class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {

    companion object {
        const val TAG = SceneConstant.M_TAXI + "TaxiRoutingFragment"
@@ -35,6 +48,8 @@ class TaxiRoutingFragment : BaseFragment() {
        }
    }

+    private var mFeedbackDialog: TaxiRoutingFeedbackDialog? = null
+
    private val mViewModel: TaxiRoutingFragmentViewModel by lazy {
        ViewModelProvider(
            this,
@@ -57,7 +72,7 @@ class TaxiRoutingFragment : BaseFragment() {
    }

    private fun initEventBus() {
-        FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK_ID)
+        FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK)
            .register(this) { task ->
                ToastUtils.showLong("接收到taskId:${task.grayId}")
                mViewModel.sendUiIntent(TaxiRoutingUiIntent.ShowRoutingTask(task))
@@ -80,6 +95,7 @@ class TaxiRoutingFragment : BaseFragment() {
                when (routingUiState) {
                    is RoutingUIState.Init -> {
                        showChooseTaskView()
+                        AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
                    }

                    is RoutingUIState.RoutingTask -> {
@@ -87,11 +103,15 @@ class TaxiRoutingFragment : BaseFragment() {
                    }

                    is RoutingUIState.ShowFinishTaskButton -> {
-                        showFinishTaskView()
+                        showFinishTaskView(routingUiState.routingTask)
                    }

                    is RoutingUIState.ShowFeedbackDialog -> {
-                        showFeedbackDialog()
+                        showFeedbackDialog(routingUiState.grayId)
+                    }
+
+                    is RoutingUIState.DismissFeedbackDialog -> {
+                        hideFeedbackDialog()
                    }
                }
            }
@@ -113,38 +133,179 @@ class TaxiRoutingFragment : BaseFragment() {
        mCurrentTaskLayout.visibility = View.VISIBLE

        headerTitleContainer.visibility = View.VISIBLE
-        taskTitleTv.text = data.grayLineBean.lineName
+        taskTitleTv.text = data.grayLineBean?.lineName

        btnChooseTask.visibility = View.GONE
        btnStartTask.visibility = View.VISIBLE
        btnStartTask.setOnClickListener {
-            mViewModel.sendUiIntent(TaxiRoutingUiIntent.StartTaskAction)
+            mViewModel.sendUiIntent(TaxiRoutingUiIntent.StartTaskAction(data))
        }
        finishSubmitIssueGroup.visibility = View.GONE
+
+        naviToStart.visibility = View.VISIBLE
+        naviToEnd.visibility = View.INVISIBLE
+
+        data.grayLineBean?.startSite?.also {
+            initStartNaviToStationParam(
+                false,
+                it.gcjLat,
+                it.gcjLon
+            )
+            naviToStart.setOnClickListener {
+                showNaviToEndStationFragment(true)
+            }
+        }
+
+        startStationName.text = data.grayLineBean?.startSite?.siteName
+        endStationName.text = data.grayLineBean?.endSite?.siteName
    }

-    private fun showFinishTaskView() {
+    private fun showFinishTaskView(routingTask: RoutingUIState.RoutingTask) {
        btnChooseTask.visibility = View.GONE
        btnStartTask.visibility = View.GONE
        finishSubmitIssueGroup.visibility = View.VISIBLE
        btnFinishTask.setOnClickListener {
-            mViewModel.sendUiIntent(TaxiRoutingUiIntent.ShowFeedbackDialog)
+            mViewModel.sendUiIntent(
+                TaxiRoutingUiIntent.ShowFeedbackDialog(
+                    routingTask.grayId ?: -1
+                )
+            )
+        }
+        btnSummitIssue.setOnClickListener {
+            mViewModel.sendUiIntent(
+                TaxiRoutingUiIntent.SubmitGrayLineIssueLocation(
+                    routingTask.grayId ?: -1L
+                )
+            )
+        }
+
+        naviToStart.visibility = View.INVISIBLE
+        naviToEnd.visibility = View.VISIBLE
+        routingTask.grayLineBean?.endSite?.also {
+            initStartNaviToStationParam(
+                false,
+                it.gcjLat,
+                it.gcjLon
+            )
+            naviToEnd.setOnClickListener {
+                showNaviToEndStationFragment(true)
+            }
        }
    }

-    private fun showFeedbackDialog() {
-        val builder: TaxiRoutingFeedbackDialog.Builder = TaxiRoutingFeedbackDialog.Builder()
-        builder.cancelStr(
-            MainMoGoApplication.getApp()
-                .getString(R.string.routing_feedback_result_btn_not_sure)
-        )
-            .confirmStr(
+    private fun showFeedbackDialog(grayId: Long) {
+        if (mFeedbackDialog == null) {
+            val builder: TaxiRoutingFeedbackDialog.Builder = TaxiRoutingFeedbackDialog.Builder()
+            builder.cancelStr(
+                MainMoGoApplication.getApp()
+                    .getString(R.string.routing_feedback_result_btn_not_sure)
+            ).confirmStr(
                MainMoGoApplication.getApp()
                    .getString(R.string.routing_feedback_result_btn_sure)
-            )
-            .tips(MainMoGoApplication.getApp().getString(R.string.routing_feedback_result_hint))
-        activity?.also {
-            builder.build(it)?.showDialog()
+            ).tips(MainMoGoApplication.getApp().getString(R.string.routing_feedback_result_hint))
+                .clickListener(object :
+                    TaxiRoutingFeedbackDialog.TaxiRoutingFeedBackDialogClickListener {
+                    override fun confirm() {
+                        mViewModel.sendUiIntent(
+                            TaxiRoutingUiIntent.SubmitEndTask(
+                                grayId,
+                                EndGrayTaskFeedbackType.USABLE_YES
+                            )
+                        )
+                    }
+
+                    override fun cancel() {
+                        mViewModel.sendUiIntent(
+                            TaxiRoutingUiIntent.SubmitEndTask(
+                                grayId,
+                                EndGrayTaskFeedbackType.USABLE_NO
+                            )
+                        )
+                    }
+                })
+            activity?.also {
+                mFeedbackDialog = builder.build(it)
+                mFeedbackDialog?.showDialog()
+            }
+        } else {
+            activity?.also {
+                mFeedbackDialog?.showDialog()
+            }
        }
    }
+
+    private fun hideFeedbackDialog() {
+        mFeedbackDialog?.hideDialog()
+    }
+
+    /**
+     * 显示/隐藏 前往任务目的地的导航
+     *
+     * @param isShow
+     */
+    private fun showNaviToEndStationFragment(isShow: Boolean) {
+//        FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_START_NAVI_TO_END_STATION)
+//            .post(this.lifecycleScope, isShow)
+        TaxiRoutingModel.startNaviToEndStationByAMap(isShow)
+    }
+
+    private fun initStartNaviToStationParam(
+        isVoicePlay: Boolean,
+        stationLat: Double,
+        stationLng: Double
+    ) {
+        AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
+        val mCurLatitude =
+            CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().latitude
+        val mCurLongitude =
+            CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().longitude
+        CallerLogger.d(
+            TAG,
+            "currentLocation, lat=$mCurLatitude, lon=$mCurLongitude"
+        )
+        val startNaviLatLng = NaviLatLng(mCurLatitude, mCurLongitude)
+        val endNaviLatLng = NaviLatLng(stationLat, stationLng)
+        AmapNaviToDestinationModel.getInstance(context).initAMapNavi(startNaviLatLng, endNaviLatLng)
+        AmapNaviToDestinationModel.getInstance(context).setVoiceIsMute(isVoicePlay)
+        AmapNaviToDestinationModel.getInstance(context).setTaxiNaviChangedCallback(this)
+    }
+
+    override fun onCurrentNaviDistAndTimeChanged(meters: Int, timeInSecond: Long) {
+        updateCurrentTaskTripInfo(meters.toLong(), timeInSecond)
+    }
+
+    override fun reInitNaviAmap(isPlay: Boolean, isRestart: Boolean) {
+        CallerLogger.d(TAG, "isPlay = $isPlay, isRestart=$isRestart")
+        if (!isRestart) {
+//            FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT)
+//                .post(this.lifecycleScope, false)
+            TaxiRoutingModel.startNaviToEndStationByAMap(false)
+            return
+        }
+    }
+
+    /**
+     * 剩余里程和剩余时间
+     * @param meters 米
+     * @param timeInSecond 秒
+     */
+    private fun updateCurrentTaskTripInfo(meters: Long, timeInSecond: Long) {
+        UiThreadHandler.post {
+            CallerLogger.d(
+                TAG,
+                "updateCurrentTaskTripInfo, taskUtil, ${
+                    TaskUtils.getCurrentTaskTripHtml(
+                        meters,
+                        timeInSecond
+                    )
+                }"
+            )
+            taskTripInfo.text = TaskUtils.getCurrentTaskTripHtml(meters, timeInSecond)
+        }
+    }
+
+    override fun onDestroyView() {
+        AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
+        super.onDestroyView()
+    }
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
@@ -3,16 +3,26 @@ package com.mogo.och.taxi.ui.routing
 import android.content.Context
 import android.content.Intent
 import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.taxi.base.BaseViewModel
 import com.mogo.och.taxi.base.IUiIntent
+import com.mogo.och.taxi.bean.GrayLineBean
+import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp
+import com.mogo.och.taxi.callback.ITaxiRoutingCallback

-class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRoutingUiIntent>() {
+class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRoutingUiIntent>(),
+    ITaxiRoutingCallback {

    companion object {
        const val TAG = SceneConstant.M_TAXI + "TaxiRoutingFragmentViewModel"
    }

+    init {
+        TaxiRoutingModel.addTaxiRoutingListener(TAG, this)
+    }
+
    private val mContext: Context
        get() = AbsMogoApplication.getApp().applicationContext

@@ -41,13 +51,88 @@ class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRouti
            }

            is TaxiRoutingUiIntent.StartTaskAction -> {
-                //TODO 启动自动驾驶
+                val grayLineBean = intent.routingTask.grayLineBean
+                val contrailBean = intent.routingTask.contrailBean
+                if (grayLineBean == null || contrailBean == null) {
+                    ToastUtils.showShort("灰度线路或轨迹信息异常，请稍后再试")
+                    return
+                }
+                TaxiRoutingModel.startAutoPilot(grayLineBean!!, contrailBean!!)
                sendUiState {
                    copy(
-                        routingUiState = RoutingUIState.ShowFinishTaskButton
+                        routingUiState = RoutingUIState.ShowFinishTaskButton(intent.routingTask)
                    )
                }
            }
+
+            is TaxiRoutingUiIntent.SubmitGrayLineIssueLocation -> {
+                val grayId = intent.grayId
+                val currentLocation =
+                    CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+                TaxiRoutingModel.submitGrayLineIssueLocation(
+                    grayId,
+                    currentLocation.longitude,
+                    currentLocation.latitude
+                )
+            }
+
+            is TaxiRoutingUiIntent.ShowFeedbackDialog -> {
+                sendUiState {
+                    copy(
+                        routingUiState = RoutingUIState.ShowFeedbackDialog(
+                            intent.grayId,
+                            System.currentTimeMillis()
+                        )
+                    )
+                }
+            }
+
+            is TaxiRoutingUiIntent.SubmitEndTask -> {
+                TaxiRoutingModel.endGrayTask(intent.grayId, intent.type)
+            }
        }
    }
+
+    override fun onQueryRoutingGrayLineListSuccess(data: MutableList<GrayLineBean>) {
+    }
+
+    override fun onQueryRoutingGrayLineListFailed(errorStr: String) {
+    }
+
+    override fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) {
+    }
+
+    override fun onStartGrayTaskAndQueryContrailFailed(errorStr: String) {
+    }
+
+    override fun onSubmitGrayLineIssueLocationSuccess() {
+        ToastUtils.showShort("上报问题打点成功")
+    }
+
+    override fun onSubmitGrayLineIssueLocationFailed(errorStr: String) {
+        ToastUtils.showShort("上报问题打点失败：$errorStr")
+    }
+
+    override fun onSubmitEndTaskSuccess() {
+        ToastUtils.showLong("结束任务成功")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.Init
+            )
+        }
+    }
+
+    override fun onSubmitEndTaskFailed(errorStr: String) {
+        ToastUtils.showLong("结束任务失败")
+        sendUiState {
+            copy(
+                routingUiState = RoutingUIState.DismissFeedbackDialog
+            )
+        }
+    }
+
+    override fun onCleared() {
+        TaxiRoutingModel.removeTaxiRoutingListener(TAG)
+        super.onCleared()
+    }
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingModel.kt
@@ -1,19 +1,34 @@
 package com.mogo.och.taxi.ui.routing

 import android.content.Context
+import android.text.TextUtils
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.AbsMogoApplication
+import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.network.utils.GsonUtil
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
+import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
+import com.mogo.och.taxi.bean.ContrailBean
+import com.mogo.och.taxi.bean.EndGrayContrailTaskReq
+import com.mogo.och.taxi.bean.EndGrayTaskFeedbackType
 import com.mogo.och.taxi.bean.GrayLineBean
 import com.mogo.och.taxi.bean.QueryGrayContrailListRsp
 import com.mogo.och.taxi.bean.StartGrayAndQueryContrailRsp
+import com.mogo.och.taxi.bean.SubmitGrayLineIssueLocationReq
+import com.mogo.och.taxi.callback.ITaxiControllerStatusCallback
+import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback
 import com.mogo.och.taxi.callback.ITaxiRoutingCallback
+import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.network.TaxiRoutingServiceManager
+import com.mogo.och.taxi.ui.debug.DebugView
 import java.util.concurrent.ConcurrentHashMap

 object TaxiRoutingModel {
@@ -25,7 +40,6 @@ object TaxiRoutingModel {
    private val mTaxiRoutingCallbackMap: ConcurrentHashMap<String, ITaxiRoutingCallback> =
        ConcurrentHashMap()

-
    fun addTaxiRoutingListener(tag: String, listener: ITaxiRoutingCallback) {
        if (mTaxiRoutingCallbackMap.containsKey(tag)) {
            return
@@ -40,6 +54,18 @@ object TaxiRoutingModel {
        mTaxiRoutingCallbackMap.remove(tag)
    }

+    private var mControllerStatusCallback: ITaxiControllerStatusCallback? = null
+
+    fun setControllerStatusCallback(callback: ITaxiControllerStatusCallback?) {
+        mControllerStatusCallback = callback
+    }
+
+    private var mOrderStatusCallback: ITaxiOrderStatusCallback? = null
+
+    fun setOrderStatusCallback(callback: ITaxiOrderStatusCallback?) {
+        mOrderStatusCallback = callback
+    }
+
    fun queryRoutingGrayLineList() {
        TaxiRoutingServiceManager.queryRoutingGrayLineList(mContext,
            object : OchCommonServiceCallback<QueryGrayContrailListRsp> {
@@ -77,10 +103,8 @@ object TaxiRoutingModel {
                    var hintStr = ""
                    if (!NetworkUtils.isConnected(mContext)) {
                        hintStr = "网络出现异常,请稍后重试"
-                        ToastUtils.showShort(hintStr)
                    } else {
                        hintStr = "查询灰度线路列表异常, 请稍后重试"
-                        ToastUtils.showShort(hintStr)
                    }
                    CallerLogger.d(
                        TAG,
@@ -134,10 +158,8 @@ object TaxiRoutingModel {
                    var hintStr = ""
                    if (!NetworkUtils.isConnected(mContext)) {
                        hintStr = "网络出现异常,请稍后重试"
-                        ToastUtils.showShort(hintStr)
                    } else {
                        hintStr = "开始任务并查询轨迹详情异常, 请稍后重试"
-                        ToastUtils.showShort(hintStr)
                    }
                    CallerLogger.d(
                        TAG,
@@ -151,4 +173,204 @@ object TaxiRoutingModel {
            }
        )
    }
+
+    fun submitGrayLineIssueLocation(grayId: Long, gcjLon: Double, gcjLat: Double) {
+        val submit = SubmitGrayLineIssueLocationReq(grayId, gcjLon, gcjLat)
+        TaxiRoutingServiceManager.submitGrayLineIssueLocation(
+            mContext,
+            submit,
+            object : OchCommonServiceCallback<BaseData> {
+                override fun onSuccess(data: BaseData?) {
+                    CallerLogger.d(
+                        TAG,
+                        "submitGrayLineIssueLocation onSuccess:  data=${
+                            GsonUtils.toJson(
+                                data
+                            )
+                        }"
+                    )
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitGrayLineIssueLocationSuccess()
+                    }
+                }
+
+                override fun onFail(code: Int, msg: String?) {
+                    CallerLogger.d(
+                        TAG,
+                        "submitGrayLineIssueLocation onFail: code=$code, msg=$msg"
+                    )
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitGrayLineIssueLocationFailed(
+                            msg ?: "submitGrayLineIssueLocation onFail"
+                        )
+                    }
+                }
+
+                override fun onError() {
+                    super.onError()
+                    var hintStr = ""
+                    if (!NetworkUtils.isConnected(mContext)) {
+                        hintStr = "网络出现异常,请稍后重试"
+                    } else {
+                        hintStr = "上报问题打点异常, 请稍后重试"
+                    }
+                    CallerLogger.d(
+                        TAG,
+                        "submitGrayLineIssueLocation onError, msg=$hintStr"
+                    )
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitGrayLineIssueLocationFailed(hintStr)
+                    }
+                }
+            }
+        )
+    }
+
+    fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType) {
+        val submit = EndGrayContrailTaskReq(grayId, type.type)
+        TaxiRoutingServiceManager.endGrayTask(
+            mContext,
+            submit,
+            object : OchCommonServiceCallback<BaseData> {
+                override fun onSuccess(data: BaseData?) {
+                    CallerLogger.d(
+                        TAG,
+                        "endGrayTask onSuccess:  data=${
+                            GsonUtils.toJson(
+                                data
+                            )
+                        }"
+                    )
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitEndTaskSuccess()
+                    }
+                }
+
+                override fun onFail(code: Int, msg: String?) {
+                    CallerLogger.d(
+                        TAG,
+                        "endGrayTask onFail: code=$code, msg=$msg"
+                    )
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitEndTaskFailed(
+                            msg ?: "endGrayTask onFail"
+                        )
+                    }
+                }
+
+                override fun onError() {
+                    super.onError()
+                    var hintStr = ""
+                    if (!NetworkUtils.isConnected(mContext)) {
+                        hintStr = "网络出现异常,请稍后重试"
+                    } else {
+                        hintStr = "上报结束任务异常, 请稍后重试"
+                    }
+                    CallerLogger.d(
+                        TAG,
+                        "endGrayTask onError, msg=$hintStr"
+                    )
+                    mTaxiRoutingCallbackMap.forEach {
+                        val listener = it.value
+                        listener.onSubmitEndTaskFailed(hintStr)
+                    }
+                }
+            })
+    }
+
+    fun startAutoPilot(grayLineBean: GrayLineBean, contrailBean: ContrailBean) {
+        if (grayLineBean.startSite == null || grayLineBean.endSite == null) {
+            CallerLogger.e(TAG, "start site or end site is null")
+            DebugView.printErrorMsg("[启自驾] 当前订单不存在或异常！")
+            ToastUtils.showShort("当前订单不存在或异常！")
+            return
+        }
+        //根据开关和后台是否发布轨迹启动自驾
+        if (FunctionBuildConfig.isPassStartAutopilotCommand && TextUtils.isEmpty(
+                contrailBean.csvFileUrl
+            )
+        ) {
+            ToastUtils.showLong("无发布轨迹, 请发布后重试")
+            DebugView.printErrorMsg("[启自驾] 无发布轨迹, 请发布后重试")
+            CallerLogger.e(
+                TAG, "isPassStartAutopilotCommand = " +
+                        FunctionBuildConfig.isPassStartAutopilotCommand
+                        + "busRoutesResult.csvFileUrl = " + contrailBean.csvFileUrl
+            )
+            return
+        }
+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+            DebugView.printErrorMsg("[启自驾] ${OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason}")
+            ToastUtils.showLong(
+                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
+                        ", 请稍候重试"
+            )
+            return
+        }
+
+        val parameters = initAutopilotControlParameters(grayLineBean, contrailBean)
+        if (null == parameters) {
+            CallerLogger.e(TAG, "AutopilotControlParameters is empty.")
+            return
+        }
+
+        CallerAutoPilotControlManager.startAutoPilot(parameters)
+        DebugView.printInfoMsg("[启自驾] 调用成功")
+        CallerLogger.d(
+            TAG, "start autopilot with parameter: %s",
+            GsonUtil.jsonFromObject(parameters)
+        )
+        mControllerStatusCallback?.startOpenAutopilot()
+    }
+
+    private fun initAutopilotControlParameters(
+        grayLineBean: GrayLineBean,
+        contrailBean: ContrailBean
+    ): AutopilotControlParameters? {
+        val parameters = AutopilotControlParameters()
+        val startWgsLon = grayLineBean.startSite!!.wgs84Lon
+        val startWgsLat = grayLineBean.startSite!!.wgs84Lat
+        val endWgsLon = grayLineBean.endSite!!.wgs84Lon
+        val endWgsLat = grayLineBean.endSite!!.wgs84Lat
+        parameters.vehicleType = TaxiUnmannedConst.BUSINESSTYPE
+        parameters.startName =
+            grayLineBean.startSite!!.siteName // 8.10 拼音首字母大写 改为直接传中文
+        parameters.endName =
+            grayLineBean.endSite!!.siteName // 8.10 拼音首字母大写 改为直接传中文
+        parameters.startLatLon =
+            AutopilotControlParameters.AutoPilotLonLat(startWgsLat, startWgsLon)
+        parameters.endLatLon = AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon)
+        if (parameters.autoPilotLine == null) {
+            parameters.autoPilotLine = AutopilotControlParameters.AutoPilotLine(
+                contrailBean.lineId,
+                contrailBean.lineName,
+                contrailBean.csvFileUrl,
+                contrailBean.csvFileMd5,
+                contrailBean.txtFileUrl,
+                contrailBean.txtFileMd5,
+                contrailBean.contrailSaveTime,
+                TaxiUnmannedConst.BUSINESSTYPE.toString(),
+                contrailBean.csvFileUrlDPQP,
+                contrailBean.csvFileMd5DPQP,
+                contrailBean.txtFileUrlDPQP,
+                contrailBean.txtFileMd5DPQP,
+                contrailBean.contrailSaveTimeDPQP
+            )
+        }
+        return parameters
+    }
+
+    /**
+     * 显示/隐藏 前往任务目的地的导航
+     *
+     * @param isShow
+     */
+    fun startNaviToEndStationByAMap(isShow: Boolean) {
+        mOrderStatusCallback?.onNaviToEnd(true, isShow)
+    }
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiIntent.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiIntent.kt
@@ -1,6 +1,7 @@
 package com.mogo.och.taxi.ui.routing

 import com.mogo.och.taxi.base.IUiIntent
+import com.mogo.och.taxi.bean.EndGrayTaskFeedbackType
 import com.mogo.och.taxi.bean.GrayLineBean

 sealed class TaxiRoutingUiIntent : IUiIntent {
@@ -19,8 +20,15 @@ sealed class TaxiRoutingUiIntent : IUiIntent {
        TaxiRoutingUiIntent()

    //开始任务
-    object StartTaskAction : TaxiRoutingUiIntent()
+    data class StartTaskAction(val routingTask: RoutingUIState.RoutingTask) : TaxiRoutingUiIntent()
+
+    //问题打点
+    data class SubmitGrayLineIssueLocation(val grayId: Long) : TaxiRoutingUiIntent()

    //展示结束任务反馈弹框
-    object ShowFeedbackDialog : TaxiRoutingUiIntent()
+    data class ShowFeedbackDialog(val grayId: Long) : TaxiRoutingUiIntent()
+
+    //结束任务
+    data class SubmitEndTask(val grayId: Long, val type: EndGrayTaskFeedbackType) :
+        TaxiRoutingUiIntent()
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiState.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/routing/TaxiRoutingUiState.kt
@@ -9,15 +9,25 @@ data class TaxiRoutingUiState(val routingUiState: RoutingUIState) : IUiState
 sealed class RoutingUIState {
    object Init : RoutingUIState()

+    data class ShowGrayLineList(var data: MutableList<GrayLineBean>) : RoutingUIState()
+
+    data class HideChooseLineLoading(var isCosePage: Boolean) : RoutingUIState()
+
+    data class PostRoutingTaskResult(
+        val grayLineBean: GrayLineBean?,
+        val contrailBean: ContrailBean?,
+        val grayId: Long?
+    ) : RoutingUIState()
+
    data class RoutingTask(
        val grayLineBean: GrayLineBean?,
        val contrailBean: ContrailBean?,
        val grayId: Long?
    ) : RoutingUIState()

-    object ShowFinishTaskButton : RoutingUIState()
-    object ShowFeedbackDialog : RoutingUIState()
-    data class ShowGrayLineList(var data: MutableList<GrayLineBean>) : RoutingUIState()
+    data class ShowFinishTaskButton(val routingTask: RoutingTask) : RoutingUIState()
+    data class ShowFeedbackDialog(val grayId: Long, val currentTimestamp: Long) : RoutingUIState()
+    object DismissFeedbackDialog : RoutingUIState()
 }