Merge remote-tracking branch 'origin/dev_robobus-m1-p-app-module_1.1.0_230112_1.1.0' into dev_robobus-m1-p-app-module_1.1.0_230112_1.1.0

OCH/mogo-och-bus-passenger/src/m2/AndroidManifest.xml

@@ -1,5 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="com.mogo.och.bus.passenger">
+    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS"/>
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
 
 </manifest>

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/constant/M2Const.kt

@@ -1,9 +1,5 @@
 package com.mogo.och.bus.passenger.constant
 
-import com.mogo.commons.debug.DebugConfig
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
-
 /**
  * Created on 2021/12/6
  */

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt

@@ -101,7 +101,7 @@ class PM2DrivingModel private constructor() {
 
         // 定位监听
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener)
-        CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2)//设置2hz, 1s返回2次
+//        CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2)//设置2hz, 1s返回2次
 
         //司乘屏通信监听
         CallerTelematicListenerManager.addListener(TAG,mReceivedMsgListener)

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/video/AdvanceGSYVideoPlayer.kt

@@ -84,11 +84,13 @@ class AdvanceGSYVideoPlayer: StandardGSYVideoPlayer {
     //失去焦点声音压低
     override fun onLossTransientCanDuck() {
 //        setStreamVolume(0.2f)
+        setNeedMute(true)
     }
 
     //获取焦点声音恢复
     override fun onGankAudio() {
 //        setStreamVolume(5.0f)
+        setNeedMute(false)
     }
 
     private fun setStreamVolume(percent: Float){
@@ -100,4 +102,8 @@ class AdvanceGSYVideoPlayer: StandardGSYVideoPlayer {
         }
         mAudioManager.setStreamVolume(AudioManager.STREAM_MUSIC,volume,0)
     }
+
+    private fun setNeedMute(isMute: Boolean){
+        gsyVideoManager?.player?.setNeedMute(isMute)
+    }
 }

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/video/AdvanceVideoView.kt

@@ -2,24 +2,23 @@ package com.mogo.och.bus.passenger.ui.widget.video
 
 import android.annotation.SuppressLint
 import android.content.Context
+import android.os.Environment
 import android.util.AttributeSet
 import android.widget.ImageView
 import android.widget.RelativeLayout
+import com.alibaba.idst.nui.FileUtil
 import com.bumptech.glide.Glide
 import com.bumptech.glide.request.RequestOptions
-import com.mogo.eagle.core.utilcode.breakpoint.Config
 import com.mogo.eagle.core.utilcode.breakpoint.bean.ThreadBean
 import com.mogo.eagle.core.utilcode.breakpoint.callback.IDownload
 import com.mogo.eagle.core.utilcode.breakpoint.utils.DownloadUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
-import com.mogo.eagle.core.utilcode.util.BitmapHelper
-import com.mogo.eagle.core.utilcode.util.FileUtils
-import com.mogo.eagle.core.utilcode.util.ThreadPoolService
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.och.bus.passenger.R
-import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.shuyu.gsyvideoplayer.builder.GSYVideoOptionBuilder
 import com.shuyu.gsyvideoplayer.listener.GSYSampleCallBack
+import java.io.File
+import java.io.FilenameFilter
 import java.lang.Exception
 
 /**
@@ -38,8 +37,10 @@ class AdvanceVideoView @JvmOverloads constructor(
     private var downloadVideoName = ""
     private var fileNetPath: String? = ""
     private var cacheImageUrl: String? = ""
+    private var mVideoDirPath: String? = ""
 
     init {
+        mVideoDirPath = context.getExternalFilesDir(Environment.DIRECTORY_DOWNLOADS)?.absolutePath + File.separator
         initView()
     }
 
@@ -110,8 +111,12 @@ class AdvanceVideoView @JvmOverloads constructor(
 
     fun clearLocalErrorVideo(){
         if (downloadVideoName.isNotEmpty()
-            && FileUtils.isFileExists(Config.downLoadPath + downloadVideoName)){
-            FileUtils.delete(Config.downLoadPath + downloadVideoName)
+            && FileUtil.isFileExist(mVideoDirPath + downloadVideoName)){
+            FileUtil.delete(mVideoDirPath + downloadVideoName,object: FilenameFilter{
+                override fun accept(dir: File?, name: String?): Boolean {
+                    return true
+                }
+            })
         }
     }
 
@@ -131,7 +136,11 @@ class AdvanceVideoView @JvmOverloads constructor(
         mOnCompletionListener = onCompletionListener
         //判断是否已经下载
         if (downloadVideoName.isNotEmpty()){
-            if (FileUtils.isFileExists(Config.downLoadPath + downloadVideoName)){
+            Logger.d(ImageAndVideoRotation.TAG,
+                "video local url = $mVideoDirPath$downloadVideoName"
+            )
+            var file = File(mVideoDirPath,downloadVideoName)
+            if (file.exists()){
                 Logger.d(ImageAndVideoRotation.TAG, "have cache startPlay")
                 startPlay()
                 return
@@ -143,7 +152,7 @@ class AdvanceVideoView @JvmOverloads constructor(
     private fun startDownLoadVideo(){
         //下载视频， 下载成功后再播放
         Logger.d(ImageAndVideoRotation.TAG, "startDownLoadVideo")
-        DownloadUtils.downLoad(context,fileNetPath, Config.downLoadPath
+        DownloadUtils.downLoad(context,fileNetPath,mVideoDirPath
             ,downloadVideoName,5,downListener)
     }
 
@@ -151,7 +160,7 @@ class AdvanceVideoView @JvmOverloads constructor(
         try {
             Logger.d(ImageAndVideoRotation.TAG, "startPlay")
             gsyVideoOptionBuilder = GSYVideoOptionBuilder()
-            gsyVideoOptionBuilder?.setUrl("file:///mnt/sdcard/downloads/$downloadVideoName")
+            gsyVideoOptionBuilder?.setUrl("file://$mVideoDirPath$downloadVideoName") //  "/data/user/0/com.mogo.launcher.f/files/downloads/"
                 ?.setPlayTag(downloadVideoName)
                 ?.setCacheWithPlay(false)
                 ?.setThumbPlay(false)
@@ -192,7 +201,7 @@ class AdvanceVideoView @JvmOverloads constructor(
         }
 
         override fun onProgress(url: String?, length: Int) {
-//            Logger.d(ImageAndVideoRotation.TAG, "download-onProgress")
+            Logger.d(ImageAndVideoRotation.TAG, "download-onProgress== $length")
         }
 
         override fun onFinished(url: String?, threadBean: ThreadBean?) {

OCH/mogo-och-bus-passenger/src/m2/res/layout/p_m2_driving_info_fragment.xml

@@ -119,7 +119,7 @@
             app:layout_constraintLeft_toLeftOf="@+id/speed_tv"
             android:textColor="@color/m2_line_during_tv_color"/>
 
-        <com.mogo.och.common.module.wigets.MarqueeTextView
+        <com.mogo.och.common.module.wigets.MoreFocusMarqueeTextView
             android:id="@+id/station_name_tv"
             android:layout_width="0dp"
             android:layout_height="wrap_content"
@@ -164,7 +164,7 @@
             app:layout_constraintStart_toStartOf="@+id/speed_tv"
             app:layout_constraintEnd_toEndOf="@+id/img_line_location_bg"/>
 
-        <androidx.appcompat.widget.AppCompatTextView
+        <TextView
             android:id="@+id/no_line_tv"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
@@ -176,7 +176,8 @@
             app:layout_constraintLeft_toLeftOf="@+id/speed_tv"
             android:textColor="@color/m2_no_line_tv_color"/>
 
-        <com.mogo.och.common.module.wigets.MarqueeTextView
+
+        <com.mogo.och.common.module.wigets.MoreFocusMarqueeTextView
             android:id="@+id/line_name_tv"
             android:layout_width="0dp"
             android:layout_height="wrap_content"

OCH/mogo-och-bus/src/shuttle/java/com/mogo/och/bus/model/OrderModel.java

@@ -156,7 +156,7 @@ public class OrderModel {
         loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation();
         // 定位监听
         CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
-        CallerChassisLocationGCJ02ListenerManager.INSTANCE.setListenerHz(TAG,5);//设置5hz, 1s返回一次
+//        CallerChassisLocationGCJ02ListenerManager.INSTANCE.setListenerHz(TAG,2);//设置5hz, 1s返回一次
 
         MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 

OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/fragment/DriverM1Fragment.kt

@@ -75,7 +75,11 @@ class DriverM1Fragment : CharterBaseFragment<DriverM1Fragment?, DriverM1Presente
     }
 
     fun updateCountDown(minutes: Long) {
-        startCountDownTimer(minutes,LOOP_PERIOD_60S)
+        if (minutes + LOOP_PERIOD_60S >= 0){
+            startCountDownTimer(minutes + LOOP_PERIOD_60S,LOOP_PERIOD_60S)
+        }else{
+            clearCountDownTimer()
+        }
     }
 
     override fun onDestroyView() {
@@ -165,10 +169,7 @@ class DriverM1Fragment : CharterBaseFragment<DriverM1Fragment?, DriverM1Presente
 
 
     private fun startCountDownTimer(total: Long, countDownInterval:Long){
-        if (countDownTimer != null){
-            countDownTimer?.cancel()
-            countDownTimer = null
-        }
+        clearCountDownTimer()
         countDownTimer = object : CountDownTimer(total,countDownInterval){
             override fun onTick(millisUntilFinished: Long) {
                 var minute = millisUntilFinished/1000/60
@@ -189,4 +190,11 @@ class DriverM1Fragment : CharterBaseFragment<DriverM1Fragment?, DriverM1Presente
 
         }.start()
     }
+
+    private fun clearCountDownTimer() {
+        if (countDownTimer != null){
+            countDownTimer?.cancel()
+            countDownTimer = null
+        }
+    }
 }

OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt

@@ -107,7 +107,7 @@ class DriverM1Model {
         mContext = context
         // 定位监听
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, mMapLocationListener)
-        CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2)
+//        CallerChassisLocationGCJ02ListenerManager.setListenerHz(TAG,2)
 
         //开启自驾后 异常信息返回
         OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(mAdasStartFailureListener)
@@ -655,9 +655,7 @@ class DriverM1Model {
                     }
                     d(SceneConstant.M_CHARTER_D,"checkOrderCountDown = "+ GsonUtils.toJson(data.data))
                     val  gap = data.data.endTime - data.data.currentTime
-                    if (gap >= 0){
-                        mOrderCallback?.updateOverCountDown(gap)
-                    }
+                    mOrderCallback?.updateOverCountDown(gap)
                 }
 
                 override fun onFail(code: Int, msg: String?) {

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/MoreFocusMarqueeTextView.java

@@ -0,0 +1,58 @@
+package com.mogo.och.common.module.wigets;
+
+import android.content.Context;
+import android.graphics.Rect;
+import android.text.TextUtils;
+import android.util.AttributeSet;
+import android.view.ViewDebug;
+
+
+public class MoreFocusMarqueeTextView extends androidx.appcompat.widget.AppCompatTextView{
+
+    public MoreFocusMarqueeTextView(Context context) {
+        this(context, null);
+    }
+
+    public MoreFocusMarqueeTextView(Context context, AttributeSet attrs) {
+        this(context, attrs, 0);
+    }
+
+    public MoreFocusMarqueeTextView(Context context, AttributeSet attrs, int defStyle) {
+        super(context, attrs, defStyle);
+
+        //设置文字内容超过textView宽度时候以跑马灯的形式
+        setEllipsize(TextUtils.TruncateAt.MARQUEE);
+        //设置焦点
+        setFocusable(true);
+        //设置触摸模式下是否可以获得焦点
+        setFocusableInTouchMode(true);
+        //设置跑马灯循环次数 -1为always 无限循环  3就是3次 4就是4次  0没试过
+        setMarqueeRepeatLimit(-1);
+    }
+
+    @Override
+    @ViewDebug.ExportedProperty(category = "focus")
+    public boolean isFocused() {
+        return true;
+    }
+
+    @Override
+    protected void onFocusChanged(boolean focused, int direction, Rect previouslyFocusedRect) {
+        if (focused)
+            super.onFocusChanged(true, direction, previouslyFocusedRect);
+
+    }
+
+    @Override
+    public void onWindowFocusChanged(boolean hasWindowFocus) {
+        if (hasWindowFocus){}
+        super.onWindowFocusChanged(true);
+    }
+
+    @Override
+    @ViewDebug.ExportedProperty
+    public boolean isSelected() {
+        return true;
+    }
+
+}

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -117,8 +117,8 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private IOCHTaxiPassengerADASStatusCallback mADASStatusCallback; //Model->Presenter：自动驾驶状态相关
     private IOCHTaxiPassengerAutopilotPlanningCallback mAutopilotPlanningCallback; //Model->Presenter：自动驾驶线路规划
 
-    private Map<String,IOCHTaxiPassengerOrderStatusCallback> mOrderStatusCallbackMap = new ConcurrentHashMap<>();
-    private Map<String,IOCHTaxiPassengerControllerStatusCallback> mControllerStatusCallbackMap = new ConcurrentHashMap<>();
+    private final Map<String,IOCHTaxiPassengerOrderStatusCallback> mOrderStatusCallbackMap = new ConcurrentHashMap<>();
+    private final Map<String,IOCHTaxiPassengerControllerStatusCallback> mControllerStatusCallbackMap = new ConcurrentHashMap<>();
 
     private ITaxiPassengerVeloctityCallback mVeloctityCallback;//道路限速返回
 
@@ -130,7 +130,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private double mLongitude, mLatitude;
     private MogoLocation mLocation = null;
 
-    private List<MogoLocation> mLocationsModels = new ArrayList<>();
+    private final List<MogoLocation> mLocationsModels = new ArrayList<>();
 
     private TaxiPassengerModel() {
     }
@@ -517,7 +517,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
 
         @Override
         public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-            if (autopilotStatusInfo == null) return;
             int state = autopilotStatusInfo.getState();
 //            CallerLogger.INSTANCE.d( M_TAXI_P + TAG, "state = %s", state );
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {

app/build.gradle

@@ -149,6 +149,7 @@ android {
     packagingOptions {
         exclude 'META-INF/proguard/coroutines.pro'
         exclude 'META-INF/*'
+        exclude "/lib/armeabi-v7a/*.so"
     }
 
     signingConfigs {

app_ipc_monitoring/build.gradle

@@ -130,6 +130,7 @@ dependencies {
     androidTestImplementation 'androidx.test.ext:junit:1.1.3'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
     implementation rootProject.ext.dependencies.gson
+    implementation 'com.github.bumptech.glide:glide:4.11.0'
     implementation project(':libraries:mogo-adas')
     implementation project(':libraries:mogo-adas-data')
     implementation project(':libraries:mogo-obu')

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java

@@ -9,7 +9,6 @@ import com.zhidao.adas.client.bean.ObuMap;
 import com.zhidao.adas.client.bean.ObuRsi;
 import com.zhidao.adas.client.bean.ObuRsm;
 import com.zhidao.adas.client.bean.ObuSpat;
-import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
 import com.zhidao.adas.client.log.LogSave;
 import com.zhidao.adas.client.utils.Constants;
@@ -109,6 +108,7 @@ public class DataDistribution {
     public final List<DataShow> listPlanningDecisionState = new ArrayList<>();
     public final List<DataShow> listChassisStates = new ArrayList<>();
     public final List<DataShow> listFSMFunctionStates = new ArrayList<>();
+    public final List<DataShow> listBackCameraVideo = new ArrayList<>();
     public final List<DataShow> listRoboSweeperTaskIndex = new ArrayList<>();
     public final List<DataShow> listBagManagerCmd = new ArrayList<>();
     public final List<DataShow> listObuSpat = new ArrayList<>();
@@ -136,6 +136,7 @@ public class DataDistribution {
     private long listPlanningDecisionStateSize = 0;
     private long listChassisStatesSize = 0;
     private long listFSMFunctionStatesSize = 0;
+    private long listBackCameraVideoSize = 0;
     private long listRoboSweeperTaskIndexSize = 0;
     private long listBagManagerCmdSize = 0;
     private long listObuSpatSize = 0;
@@ -165,6 +166,7 @@ public class DataDistribution {
         listPlanningDecisionStateSize = 1;
         listChassisStatesSize = 1;
         listFSMFunctionStatesSize = 1;
+        listBackCameraVideoSize = 1;
         listRoboSweeperTaskIndexSize = 1;
         listBagManagerCmdSize = 1;
         listObuSpatSize = 1;
@@ -192,14 +194,6 @@ public class DataDistribution {
                 if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) {
                     listener.second.onRefresh();
                 }
-            } else if (data instanceof OriginalPointCloudData) {
-                listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
-                if (listOriginalPointCloud.size() > LIST_SIZE) {
-                    listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
-                }
-                if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
-                    listener.second.onRefresh();
-                }
             }
         } else {
             MessagePad.MessageType messageType = data.header.getMsgType();
@@ -359,6 +353,22 @@ public class DataDistribution {
                 if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) {
                     listener.second.onRefresh();
                 }
+            } else if (messageType == MessagePad.MessageType.MsgTypePointCloud) {
+                listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
+                if (listOriginalPointCloud.size() > LIST_SIZE) {
+                    listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
+                }
+                if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
+                    listener.second.onRefresh();
+                }
+            } else if (messageType == MessagePad.MessageType.MsgTypeBackCameraVideo) {
+                listBackCameraVideo.add(0, new DataShow(listBackCameraVideoSize++, time + str));
+                if (listBackCameraVideo.size() > LIST_SIZE) {
+                    listBackCameraVideo.remove(listBackCameraVideo.size() - 1);
+                }
+                if (listener != null && Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(listener.first)) {
+                    listener.second.onRefresh();
+                }
             } else if (data instanceof PerceptionTrafficLight) {
                 listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str));
                 if (listPerceptionTrafficLight.size() > LIST_SIZE) {

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java

@@ -18,7 +18,11 @@ public abstract class BaseInfo {
         this.action = action;
         this.payloadLen = len;
         nowTime = System.currentTimeMillis();
-        this.len = 8 + header.getSerializedSize() + len;
+        int headerSize = 0;
+        if (header != null) {
+            headerSize = header.getSerializedSize();
+        }
+        this.len = 8 + headerSize + len;
         this.header = header;
         this.sdf = sdf;
     }
@@ -33,8 +37,12 @@ public abstract class BaseInfo {
 
     @Override
     public String toString() {
-        return "原始数据长度：" + len + "\tPayload数据长度：" + payloadLen + "\nHeader:[" + "MessageID:" + header.getMsgID() +
-                " MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
-                + " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
+        String str = "原始数据长度：" + len + "\tPayload数据长度：" + payloadLen + '\n';
+        if (header != null) {
+            str += "Header:[" + "MessageID:" + header.getMsgID() +
+                    " MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
+                    + " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
+        }
+        return str;
     }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java

@@ -15,6 +15,6 @@ public class ErrorData extends BaseInfo {
 
     @Override
     public String toString() {
-        return status + "\n原始数据：" + ByteUtil.byteArrToHex(bytes);
+        return super.toString() + status + "\n原始数据：" + ByteUtil.byteArrToHex(bytes);
     }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java

@@ -1,24 +0,0 @@
-package com.zhidao.adas.client.bean;
-
-import com.google.protobuf.TextFormat;
-
-import java.text.SimpleDateFormat;
-
-import mogo.telematics.pad.MessagePad;
-import rule_segement.MogoPointCloudOuterClass;
-
-public class MyPointCloud extends BaseInfo {
-    public final MogoPointCloudOuterClass.MogoPointCloud bean;
-
-    public MyPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud bean, SimpleDateFormat sdf) {
-        super("接收", bean.getSerializedSize(), header, sdf);
-        this.bean = bean;
-    }
-
-
-    @Override
-    public String toString() {
-        return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
-    }
-
-}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java

@@ -1,17 +0,0 @@
-package com.zhidao.adas.client.bean;
-
-import com.zhidao.support.adas.high.common.ByteUtil;
-
-public class OriginalPointCloudData extends BaseInfo {
-    private final byte[] pointCloud;
-
-    public OriginalPointCloudData(byte[] pointCloud) {
-        super("接收", pointCloud.length);
-        this.pointCloud = pointCloud;
-    }
-
-    @Override
-    public String toString() {
-        return "\n" + ByteUtil.byteArrToHex(pointCloud);
-    }
-}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java

@@ -0,0 +1,23 @@
+package com.zhidao.adas.client.bean;
+
+import com.zhidao.support.adas.high.common.ByteUtil;
+
+import java.text.SimpleDateFormat;
+
+import mogo.telematics.pad.MessagePad;
+
+public class ReceiveBytesData extends BaseInfo {
+    public final byte[] data;
+
+    public ReceiveBytesData(MessagePad.Header header, byte[] data, SimpleDateFormat sdf) {
+        super("接收", data.length, header, sdf);
+        this.data = data;
+    }
+
+
+    @Override
+    public String toString() {
+        return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(data);
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java

@@ -0,0 +1,201 @@
+package com.zhidao.adas.client.ui;
+
+import android.app.Activity;
+import android.graphics.PixelFormat;
+import android.os.Handler;
+import android.os.Message;
+import android.util.DisplayMetrics;
+import android.view.Gravity;
+import android.view.LayoutInflater;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.WindowManager;
+import android.widget.ImageView;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.utils.SysBarUtil;
+import com.zhidao.adas.client.utils.image.ImageLoaderManager;
+
+import java.lang.ref.WeakReference;
+
+/**
+ * 摄像头数据展示
+ *
+ * @author xuxinchao
+ * @description
+ * @since: 2022/4/20
+ */
+public class BackCameraFloatWindow implements View.OnTouchListener {
+
+    private final Activity mContext;
+    private WindowManager.LayoutParams mWindowParams;
+    private WindowManager mWindowManager;
+
+    private View mFloatLayout;
+    private float mInViewX;
+    private float mInViewY;
+    private float mDownInScreenX;
+    private float mDownInScreenY;
+    private float mInScreenX;
+    private float mInScreenY;
+    private ImageView image_view;
+
+    public BackCameraFloatWindow(Activity context) {
+        this.mContext = context;
+        initHandler();
+        initFloatWindow();
+    }
+
+
+    private void initFloatWindow() {
+        LayoutInflater inflater = LayoutInflater.from(mContext);
+        if (inflater == null)
+            return;
+        mFloatLayout = (View) inflater.inflate(R.layout.layout_back_camera, null);
+        image_view = mFloatLayout.findViewById(R.id.image_view);
+        mFloatLayout.setOnTouchListener(this);
+        mWindowParams = new WindowManager.LayoutParams();
+//        mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
+//        if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
+//        }else{
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
+//        }
+
+        mWindowManager = mContext.getWindowManager();
+
+        mWindowParams.format = PixelFormat.RGBA_8888;
+        mWindowParams.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
+        mWindowParams.gravity = Gravity.START | Gravity.TOP;
+//        mWindowParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+//        mWindowParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+        mWindowParams.width = 1280;
+        mWindowParams.height = 720;
+//        mWindowParams.alpha = 0.9F;
+    }
+
+    @Override
+    public boolean onTouch(View view, MotionEvent motionEvent) {
+        return floatLayoutTouch(motionEvent);
+    }
+
+    private boolean floatLayoutTouch(MotionEvent motionEvent) {
+        switch (motionEvent.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.getX();
+                mInViewY = motionEvent.getY();
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = motionEvent.getRawX();
+                mDownInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
+                mInScreenX = motionEvent.getRawX();
+                mInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
+                break;
+            case MotionEvent.ACTION_MOVE:
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.getRawX();
+                mInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
+                mWindowParams.x = (int) (mInScreenX - mInViewX);
+                mWindowParams.y = (int) (mInScreenY - mInViewY);
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager.updateViewLayout(mFloatLayout, mWindowParams);
+                break;
+            case MotionEvent.ACTION_UP:
+                // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+                if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
+
+                }
+                break;
+        }
+        return true;
+    }
+
+    public void showFloatWindow(float y) {
+        if (mFloatLayout.getParent() == null) {
+            DisplayMetrics metrics = new DisplayMetrics();
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager.getDefaultDisplay().getMetrics(metrics);
+            mWindowParams.x = metrics.widthPixels;
+            mWindowParams.y = (int) (y);
+            mWindowManager.addView(mFloatLayout, mWindowParams);
+        }
+    }
+
+
+    public void hideFloatWindow() {
+        if (mFloatLayout.getParent() != null)
+            mWindowManager.removeView(mFloatLayout);
+    }
+
+    public void setFloatLayoutAlpha(boolean alpha) {
+        if (alpha)
+            mFloatLayout.setAlpha((float) 0.5);
+        else
+            mFloatLayout.setAlpha(1);
+    }
+
+
+    public void onBackCameraVideo(byte[] data) {
+        Message msg = Message.obtain();
+        msg.obj = data;
+        msg.what = 1;
+        getHandler().sendMessage(msg);
+
+
+    }
+
+
+    private BaseHandler mBaseHandler;
+
+
+    /**
+     * 初始化一个Handler，如果需要使用Handler，先调用此方法，
+     * 然后可以使用postRunnable(Runnable runnable)，
+     * sendMessage在handleMessage（Message msg）中接收msg
+     */
+    public void initHandler() {
+        mBaseHandler = new BaseHandler(this);
+    }
+
+    /**
+     * 返回Handler，在此之前确定已经调用initHandler（）
+     *
+     * @return Handler
+     */
+    public Handler getHandler() {
+        return mBaseHandler;
+    }
+
+
+    /**
+     * 同Handler 的 handleMessage，
+     * getHandler.sendMessage,发送的Message在此接收
+     * 在此之前确定已经调用initHandler（）
+     *
+     * @param msg
+     */
+    protected void handleMessage(Message msg) {
+        switch (msg.what) {
+            case 1:
+                ImageLoaderManager.loadByteImage(mContext, (byte[]) msg.obj, image_view);
+                break;
+        }
+    }
+
+
+    protected static class BaseHandler extends Handler {
+        private final WeakReference<BackCameraFloatWindow> mObjects;
+
+        public BaseHandler(BackCameraFloatWindow mPresenter) {
+            mObjects = new WeakReference<BackCameraFloatWindow>(mPresenter);
+        }
+
+        @Override
+        public void handleMessage(Message msg) {
+            BackCameraFloatWindow mPresenter = mObjects.get();
+            if (mPresenter != null)
+                mPresenter.handleMessage(msg);
+        }
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java

@@ -32,6 +32,7 @@ public class InfoFragment extends BaseFragment {
     private DataShowAdapter adapter;
     private TextView tvTitle;
     private String subTitle;
+    private BackCameraFloatWindow backCameraFloatWindow;
 
     public InfoFragment() {
     }
@@ -65,6 +66,27 @@ public class InfoFragment extends BaseFragment {
         }
     }
 
+    @Override
+    public void onPause() {
+        super.onPause();
+        hideFloatWindow();
+    }
+
+    @Override
+    public void onHiddenChanged(boolean hidden) {
+        super.onHiddenChanged(hidden);
+        if (hidden) {
+            hideFloatWindow();
+        }
+    }
+
+    private void hideFloatWindow() {
+        if (backCameraFloatWindow != null) {
+            backCameraFloatWindow.hideFloatWindow();
+            backCameraFloatWindow = null;
+        }
+    }
+
     private void initView(View view) {
         tvTitle = view.findViewById(R.id.tv_title);
         RecyclerView rvInfo = view.findViewById(R.id.rv_info);
@@ -76,6 +98,23 @@ public class InfoFragment extends BaseFragment {
             subTitle = null;
         }
         tvTitle.setGravity(Gravity.CENTER);
+        if (Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(title)) {
+            Button button = view.findViewById(R.id.btn_render);
+            button.setVisibility(View.VISIBLE);
+            button.setOnClickListener(new View.OnClickListener() {
+                @Override
+                public void onClick(View v) {
+                    if (backCameraFloatWindow == null) {
+                        backCameraFloatWindow = new BackCameraFloatWindow(getActivity());
+                        final int[] location = new int[2];
+                        button.getLocationOnScreen(location);
+                        backCameraFloatWindow.showFloatWindow(location[1]);
+                    } else {
+                        hideFloatWindow();
+                    }
+                }
+            });
+        }
         //创建默认的线性LayoutManager  横向的GridLayoutManager
         MyLinearLayoutManager linearLayoutManager = new MyLinearLayoutManager(this.getContext());
 //        linearLayoutManager.setStackFromEnd(true);//列表再底部开始展示，反转后由上面开始展示
@@ -164,6 +203,8 @@ public class InfoFragment extends BaseFragment {
             adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
         } else if (Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listFSMFunctionStates);
+        } else if (Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listBackCameraVideo);
         } else if (Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listRoboSweeperTaskIndex);
         } else {
@@ -199,4 +240,10 @@ public class InfoFragment extends BaseFragment {
             adapter.refreshView();
         }
     }
+
+    public void onBackCameraVideo(byte[] data) {
+        if (backCameraFloatWindow != null) {
+            backCameraFloatWindow.onBackCameraVideo(data);
+        }
+    }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -57,8 +57,8 @@ import com.zhidao.adas.client.bean.ObuMap;
 import com.zhidao.adas.client.bean.ObuRsi;
 import com.zhidao.adas.client.bean.ObuRsm;
 import com.zhidao.adas.client.bean.ObuSpat;
-import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.ReceiveBytesData;
 import com.zhidao.adas.client.bean.ReceiveData;
 import com.zhidao.adas.client.bean.SpecialVehicleBean;
 import com.zhidao.adas.client.log.ConnectStatusSave;
@@ -80,6 +80,8 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
+import org.jetbrains.annotations.NotNull;
+
 import java.net.Inet4Address;
 import java.net.InetAddress;
 import java.net.NetworkInterface;
@@ -642,6 +644,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSM);
         titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_MAP);
         titleFragmentData.add(Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO);
         titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
         titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
 
@@ -917,25 +920,31 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 ////        LogSave.getInstance().saveLog("转换数据=" + data);
 //    }
 
+    //    @Override
+//    public void onPointCloud(byte[] pointCloud) {
+////        try {
+////            MogoPointCloudOuterClass.MogoPointCloud pointCloud1 = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
+////            HeaderOuterClass.Time time = pointCloud1.getHeader().getStamp();
+////            int s = time.getSec();
+////            int ns = time.getNsec();
+////            long t = (long) (s * 1000L) + (long) (ns / 1000000.d);
+////            Log.i(TAG, "PointCloud=" + sdf.format(new Date(t)));
+////        } catch (InvalidProtocolBufferException e) {
+////            e.printStackTrace();
+////        }
+////        try {
+////            MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
+////            Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
+////        } catch (InvalidProtocolBufferException e) {
+////            e.printStackTrace();
+////        }
+//        ReceiveBytesData base = new ReceiveBytesData(null, pointCloud, sdf);
+//        DataDistribution.getInstance().addData(base);
+//    }
+//
     @Override
-    public void onPointCloud(byte[] pointCloud) {
-//        try {
-//            MogoPointCloudOuterClass.MogoPointCloud pointCloud1 = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
-//            HeaderOuterClass.Time time = pointCloud1.getHeader().getStamp();
-//            int s = time.getSec();
-//            int ns = time.getNsec();
-//            long t = (long) (s * 1000L) + (long) (ns / 1000000.d);
-//            Log.i(TAG, "PointCloud=" + sdf.format(new Date(t)));
-//        } catch (InvalidProtocolBufferException e) {
-//            e.printStackTrace();
-//        }
-//        try {
-//            MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
-//            Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
-//        } catch (InvalidProtocolBufferException e) {
-//            e.printStackTrace();
-//        }
-        OriginalPointCloudData base = new OriginalPointCloudData(pointCloud);
+    public void onPointCloud(MessagePad.Header header, byte[] pointCloud) {
+        ReceiveBytesData base = new ReceiveBytesData(header, pointCloud, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
@@ -1039,6 +1048,16 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onBackCameraVideo(@NotNull MessagePad.Header header, @NotNull byte[] data) {
+        if (fromFragment instanceof InfoFragment) {
+            InfoFragment fragment = (InfoFragment) fromFragment;
+            fragment.onBackCameraVideo(data);
+        }
+        ReceiveBytesData base = new ReceiveBytesData(header, data, sdf);
+        DataDistribution.getInstance().addData(base);
+    }
+
     @Override
     public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
         ReceiveData base = new ReceiveData(header, roboSweeperTaskIndex, sdf);

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java

@@ -154,6 +154,7 @@ public class Constants {
         String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
         String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
         String RECEIVE_FUNCTION_STATES = MessageType.TYPE_RECEIVE_FUNCTION_STATES.desc;
+        String RECEIVE_BACK_CAMERA_VIDEO = MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO.desc;
         String RECEIVE_REPORT_MESSAGE = MessageType.TYPE_RECEIVE_REPORT_MESSAGE.desc;
         String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;
         String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java

@@ -0,0 +1,99 @@
+package com.zhidao.adas.client.utils.image;
+
+
+/**
+ * Copyright (C) 2018 Wasabeef
+ * <p>
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * <p>
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * <p>
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+
+import androidx.annotation.NonNull;
+
+import com.bumptech.glide.load.engine.bitmap_recycle.BitmapPool;
+import com.bumptech.glide.load.resource.bitmap.BitmapTransformation;
+
+import java.security.MessageDigest;
+
+/**
+ * 高斯模糊
+ */
+public class BlurTransformation extends BitmapTransformation {
+
+    private static final int VERSION = 1;
+    private static final String ID ="com.zhidao.adas.client.utils.image.BlurTransformation." + VERSION;
+    private static int MAX_RADIUS = 25;
+    private static int DEFAULT_DOWN_SAMPLING = 1;
+
+    private int radius;
+    private int sampling;
+
+    public BlurTransformation() {
+        this(MAX_RADIUS, DEFAULT_DOWN_SAMPLING);
+    }
+
+
+    public BlurTransformation(int radius) {
+        this(radius, DEFAULT_DOWN_SAMPLING);
+    }
+
+    public BlurTransformation(int radius, int sampling) {
+        this.radius = radius;
+        this.sampling = sampling;
+    }
+
+    @Override
+    public String toString() {
+        return "BlurTransformation(radius=" + radius + ", sampling=" + sampling + ")";
+    }
+
+    @Override
+    protected Bitmap transform(@NonNull BitmapPool pool, @NonNull Bitmap toTransform, int outWidth, int outHeight) {
+        int width = toTransform.getWidth();
+        int height = toTransform.getHeight();
+        int scaledWidth = width / sampling;
+        int scaledHeight = height / sampling;
+
+        Bitmap bitmap = pool.get(scaledWidth, scaledHeight, Bitmap.Config.ARGB_4444);
+
+        Canvas canvas = new Canvas(bitmap);
+        canvas.scale(1 / (float) sampling, 1 / (float) sampling);
+        Paint paint = new Paint();
+        paint.setFlags(Paint.FILTER_BITMAP_FLAG);
+        canvas.drawBitmap(toTransform, 0, 0, paint);
+
+        bitmap = FastBlur.blur(bitmap, radius, true);
+
+        return bitmap;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        return o instanceof BlurTransformation &&
+                ((BlurTransformation) o).radius == radius &&
+                ((BlurTransformation) o).sampling == sampling;
+    }
+
+    @Override
+    public int hashCode() {
+        return ID.hashCode() + radius * 1000 + sampling * 10;
+    }
+
+    @Override
+    public void updateDiskCacheKey(@NonNull MessageDigest messageDigest) {
+        messageDigest.update((ID + radius + sampling).getBytes(CHARSET));
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java

@@ -0,0 +1,257 @@
+package com.zhidao.adas.client.utils.image;
+
+import android.graphics.Bitmap;
+
+/**
+ * Copyright (C) 2018 Wasabeef
+ * <p>
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * <p>
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * <p>
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+public class FastBlur {
+
+    public static Bitmap blur(Bitmap sentBitmap, int radius, boolean canReuseInBitmap) {
+
+        // Stack Blur v1.0 from
+        // http://www.quasimondo.com/StackBlurForCanvas/StackBlurDemo.html
+        //
+        // Java Author: Mario Klingemann <mario at quasimondo.com>
+        // http://incubator.quasimondo.com
+        // created Feburary 29, 2004
+        // Android port : Yahel Bouaziz <yahel at kayenko.com>
+        // http://www.kayenko.com
+        // ported april 5th, 2012
+
+        // This is a compromise between Gaussian Blur and Box blur
+        // It creates much better looking blurs than Box Blur, but is
+        // 7x faster than my Gaussian Blur implementation.
+        //
+        // I called it Stack Blur because this describes best how this
+        // filter works internally: it creates a kind of moving stack
+        // of colors whilst scanning through the image. Thereby it
+        // just has to add one new block of color to the right side
+        // of the stack and remove the leftmost color. The remaining
+        // colors on the topmost layer of the stack are either added on
+        // or reduced by one, depending on if they are on the right or
+        // on the left side of the stack.
+        //
+        // If you are using this algorithm in your code please add
+        // the following line:
+        //
+        // Stack Blur Algorithm by Mario Klingemann <mario@quasimondo.com>
+
+        Bitmap bitmap;
+        if (canReuseInBitmap) {
+            bitmap = sentBitmap;
+        } else {
+            bitmap = sentBitmap.copy(sentBitmap.getConfig(), true);
+        }
+
+        if (radius < 1) {
+            return (null);
+        }
+
+        int w = bitmap.getWidth();
+        int h = bitmap.getHeight();
+
+        int[] pix = new int[w * h];
+        bitmap.getPixels(pix, 0, w, 0, 0, w, h);
+
+        int wm = w - 1;
+        int hm = h - 1;
+        int wh = w * h;
+        int div = radius + radius + 1;
+
+        int r[] = new int[wh];
+        int g[] = new int[wh];
+        int b[] = new int[wh];
+        int rsum, gsum, bsum, x, y, i, p, yp, yi, yw;
+        int vmin[] = new int[Math.max(w, h)];
+
+        int divsum = (div + 1) >> 1;
+        divsum *= divsum;
+        int dv[] = new int[256 * divsum];
+        for (i = 0; i < 256 * divsum; i++) {
+            dv[i] = (i / divsum);
+        }
+
+        yw = yi = 0;
+
+        int[][] stack = new int[div][3];
+        int stackpointer;
+        int stackstart;
+        int[] sir;
+        int rbs;
+        int r1 = radius + 1;
+        int routsum, goutsum, boutsum;
+        int rinsum, ginsum, binsum;
+
+        for (y = 0; y < h; y++) {
+            rinsum = ginsum = binsum = routsum = goutsum = boutsum = rsum = gsum = bsum = 0;
+            for (i = -radius; i <= radius; i++) {
+                p = pix[yi + Math.min(wm, Math.max(i, 0))];
+                sir = stack[i + radius];
+                sir[0] = (p & 0xff0000) >> 16;
+                sir[1] = (p & 0x00ff00) >> 8;
+                sir[2] = (p & 0x0000ff);
+                rbs = r1 - Math.abs(i);
+                rsum += sir[0] * rbs;
+                gsum += sir[1] * rbs;
+                bsum += sir[2] * rbs;
+                if (i > 0) {
+                    rinsum += sir[0];
+                    ginsum += sir[1];
+                    binsum += sir[2];
+                } else {
+                    routsum += sir[0];
+                    goutsum += sir[1];
+                    boutsum += sir[2];
+                }
+            }
+            stackpointer = radius;
+
+            for (x = 0; x < w; x++) {
+
+                r[yi] = dv[rsum];
+                g[yi] = dv[gsum];
+                b[yi] = dv[bsum];
+
+                rsum -= routsum;
+                gsum -= goutsum;
+                bsum -= boutsum;
+
+                stackstart = stackpointer - radius + div;
+                sir = stack[stackstart % div];
+
+                routsum -= sir[0];
+                goutsum -= sir[1];
+                boutsum -= sir[2];
+
+                if (y == 0) {
+                    vmin[x] = Math.min(x + radius + 1, wm);
+                }
+                p = pix[yw + vmin[x]];
+
+                sir[0] = (p & 0xff0000) >> 16;
+                sir[1] = (p & 0x00ff00) >> 8;
+                sir[2] = (p & 0x0000ff);
+
+                rinsum += sir[0];
+                ginsum += sir[1];
+                binsum += sir[2];
+
+                rsum += rinsum;
+                gsum += ginsum;
+                bsum += binsum;
+
+                stackpointer = (stackpointer + 1) % div;
+                sir = stack[(stackpointer) % div];
+
+                routsum += sir[0];
+                goutsum += sir[1];
+                boutsum += sir[2];
+
+                rinsum -= sir[0];
+                ginsum -= sir[1];
+                binsum -= sir[2];
+
+                yi++;
+            }
+            yw += w;
+        }
+        for (x = 0; x < w; x++) {
+            rinsum = ginsum = binsum = routsum = goutsum = boutsum = rsum = gsum = bsum = 0;
+            yp = -radius * w;
+            for (i = -radius; i <= radius; i++) {
+                yi = Math.max(0, yp) + x;
+
+                sir = stack[i + radius];
+
+                sir[0] = r[yi];
+                sir[1] = g[yi];
+                sir[2] = b[yi];
+
+                rbs = r1 - Math.abs(i);
+
+                rsum += r[yi] * rbs;
+                gsum += g[yi] * rbs;
+                bsum += b[yi] * rbs;
+
+                if (i > 0) {
+                    rinsum += sir[0];
+                    ginsum += sir[1];
+                    binsum += sir[2];
+                } else {
+                    routsum += sir[0];
+                    goutsum += sir[1];
+                    boutsum += sir[2];
+                }
+
+                if (i < hm) {
+                    yp += w;
+                }
+            }
+            yi = x;
+            stackpointer = radius;
+            for (y = 0; y < h; y++) {
+                // Preserve alpha channel: ( 0xff000000 & pix[yi] )
+                pix[yi] = (0xff000000 & pix[yi]) | (dv[rsum] << 16) | (dv[gsum] << 8) | dv[bsum];
+
+                rsum -= routsum;
+                gsum -= goutsum;
+                bsum -= boutsum;
+
+                stackstart = stackpointer - radius + div;
+                sir = stack[stackstart % div];
+
+                routsum -= sir[0];
+                goutsum -= sir[1];
+                boutsum -= sir[2];
+
+                if (x == 0) {
+                    vmin[y] = Math.min(y + r1, hm) * w;
+                }
+                p = x + vmin[y];
+
+                sir[0] = r[p];
+                sir[1] = g[p];
+                sir[2] = b[p];
+
+                rinsum += sir[0];
+                ginsum += sir[1];
+                binsum += sir[2];
+
+                rsum += rinsum;
+                gsum += ginsum;
+                bsum += binsum;
+
+                stackpointer = (stackpointer + 1) % div;
+                sir = stack[stackpointer];
+
+                routsum += sir[0];
+                goutsum += sir[1];
+                boutsum += sir[2];
+
+                rinsum -= sir[0];
+                ginsum -= sir[1];
+                binsum -= sir[2];
+
+                yi += w;
+            }
+        }
+
+        bitmap.setPixels(pix, 0, w, 0, 0, w, h);
+
+        return (bitmap);
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java

@@ -0,0 +1,199 @@
+package com.zhidao.adas.client.utils.image;
+
+import android.content.Context;
+import android.widget.ImageView;
+
+import com.bumptech.glide.Glide;
+import com.bumptech.glide.Priority;
+import com.bumptech.glide.load.engine.DiskCacheStrategy;
+import com.bumptech.glide.load.resource.bitmap.CenterCrop;
+import com.bumptech.glide.load.resource.bitmap.CircleCrop;
+import com.bumptech.glide.load.resource.bitmap.RoundedCorners;
+import com.bumptech.glide.load.resource.drawable.DrawableTransitionOptions;
+import com.bumptech.glide.request.RequestOptions;
+
+import java.io.File;
+
+/**
+ * create by libo
+ * create on 2018/12/26
+ * description Glide图片加载工具类
+ */
+public class ImageLoaderManager {
+
+    /**
+     * 默认加载方式
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     */
+    public static void loadImage(Context context, String url, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .dontAnimate();
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载圆形图片
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     */
+    public static void loadCircleImage(Context context, String url, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .dontAnimate()
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .bitmapTransform(new CircleCrop());
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载圆角图片
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     * @param radius    圆角大小
+     */
+    public static void loadRoundImage(Context context, String url, ImageView imageView, int radius) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .dontAnimate()
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .transforms(new CenterCrop(), new RoundedCorners(radius));
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载图片指定大小
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     * @param width
+     * @param height
+     */
+    public static void loadSizeImage(Context context, String url, ImageView imageView, int width, int height) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .override(width, height)
+                .diskCacheStrategy(DiskCacheStrategy.RESOURCE);
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载资源文件
+     *
+     * @param context
+     * @param resId
+     * @param imageView
+     */
+    public static void loadImage(Context context, int resId, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .centerCrop();
+
+        Glide.with(context)
+                .load(resId)
+                .apply(requestOptions)
+                .into(imageView);
+    }
+
+    /**
+     * 加载本地图片文件
+     *
+     * @param context
+     * @param file
+     * @param imageView
+     */
+    public static void loadFileImage(Context context, File file, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .centerCrop();
+
+        Glide.with(context)
+                .load(file)
+                .apply(requestOptions)
+                .into(imageView);
+    }
+
+    /**
+     * 加载字节数组
+     *
+     * @param context
+     * @param data
+     * @param imageView
+     */
+    public static void loadByteImage(Context context, byte[] data, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .centerCrop();
+
+        Glide.with(context)
+                .load(data)
+                .apply(requestOptions)
+                .placeholder(imageView.getDrawable())
+                .into(imageView);
+    }
+
+    /**
+     * 加载高斯模糊
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     * @param radius    模糊级数 最大25
+     */
+    public static void loadBlurImage(Context context, String url, ImageView imageView, int radius) {
+        RequestOptions requestOptions = new RequestOptions()
+                .override(300)
+                .transforms(new BlurTransformation(radius));
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载gif图
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     */
+    public static void loadGifImage(Context context, String url, ImageView imageView) {
+        Glide.with(context)
+                .load(url)
+                .into(imageView);
+    }
+}

app_ipc_monitoring/src/main/res/layout/fragment_info.xml

@@ -24,6 +24,21 @@
             android:textSize="16sp"
             android:textStyle="bold" />
 
+
+        <androidx.appcompat.widget.AppCompatButton
+            android:id="@+id/btn_render"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentEnd="true"
+            android:layout_gravity="center_vertical"
+            android:layout_marginEnd="5dp"
+            android:background="@drawable/btn_bg"
+            android:text="渲染"
+            android:textColor="@color/colorWhile"
+            android:textSize="16dp"
+            android:textStyle="bold"
+            android:visibility="gone" />
+
     </RelativeLayout>
 
     <LinearLayout

app_ipc_monitoring/src/main/res/layout/layout_back_camera.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ImageView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/image_view"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:background="#000" />

app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java

@@ -26,6 +26,7 @@ import android.widget.RadioGroup;
 import android.widget.TextView;
 import android.widget.Toast;
 
+import androidx.annotation.NonNull;
 import androidx.appcompat.app.AlertDialog;
 import androidx.appcompat.widget.AppCompatButton;
 import androidx.recyclerview.widget.GridLayoutManager;
@@ -45,11 +46,13 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
+
+import org.jetbrains.annotations.NotNull;
 
 import java.net.Inet4Address;
 import java.net.InetAddress;
@@ -498,7 +501,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
 
     @Override
-    public void onPointCloud(byte[] pointCloud) {
+    public void onPointCloud(MessagePad.Header header, byte[] pointCloud) {
     }
 
     @Override
@@ -571,6 +574,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     }
 
+    @Override
+    public void onBackCameraVideo(@NonNull MessagePad.Header header, @NonNull byte[] data) {
+
+    }
+
     @Override
     public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
 

config.gradle

@@ -226,9 +226,9 @@ ext {
             commonIndependentAmapApiValue  : "1c3fbc5f5e183619ffb1e7bc01e6751f",
             compileSdkVersion              : 29,
             buildToolsVersion              : "29.0.2",
-            minSdkVersion                  : 27,
+            minSdkVersion                  : 23,
             targetSdkVersion               : 27,
-            minSdkVersionPadLenovo         : 27,
+            minSdkVersionPadLenovo         : 23,
             targetSdkVersionPadLenovo      : 27,
             koomxhook                    : "com.kuaishou.koom:xhook-static:2.2.0",
     ]

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt

@@ -14,7 +14,7 @@ interface IDispatchAdasApiService {
      * @return [BaseData]
      */
     @FormUrlEncoded
-    @POST("eagle-eye-dns/eagle-eye-dns/dataService/autoDriver/receiveCarPreSetPath")
+    @POST("eagle-eye-dns/dataService/autoDriver/receiveCarPreSetPath")
     fun uploadAutopilotRoute(@FieldMap parameters: Map<String, String>): Observable<BaseData>
 
     /**

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/ILineUploadApi.kt

@@ -10,7 +10,7 @@ import retrofit2.http.POST
 interface ILineUploadApi {
 
     @Headers("Content-type:application/json;charset=UTF-8" )
-    @POST( "/yycp-data-center-service/carTrack/receiveCarTrack/" )
+    @POST( "eagle-eye-dns/yycp-data-center-service/carTrack/receiveCarTrack/" )
     fun uploadLineId(@Body lineId: LineUploadData): Observable<BaseData>
 
 }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt

@@ -3,6 +3,7 @@ package com.mogo.eagle.function.biz.v2x.road
 import android.content.Context
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.HostConst.DATA_CENTER_HOST
+import com.mogo.commons.constants.HostConst.getEagleHost
 import com.mogo.eagle.core.data.v2x.LineUploadData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -54,7 +55,7 @@ class LineUploadManager private constructor(context: Context) : IMoGoAutopilotSt
 
     private fun uploadLine(lineId: Long) {
         val lineUploadData = LineUploadData(lineId, MoGoAiCloudClientConfig.getInstance().sn)
-        disposable = MoGoRetrofitFactory.getInstance(DATA_CENTER_HOST)
+        disposable = MoGoRetrofitFactory.getInstance(getEagleHost())
             .create(ILineUploadApi::class.java)
             .uploadLineId(lineUploadData)
             .subscribeOn(Schedulers.io())

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt

@@ -159,9 +159,6 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                 handleWarningTargetEvent(event.data)
             }
             is V2XEvent.RoadAI -> {
-                if (FunctionBuildConfig.isV2NFromCar) {
-                    return
-                }
                 handleRoadMarkerEvent(event.data.toRoadMarker())
             }
             is V2XEvent.RoadEventX -> {
@@ -173,12 +170,16 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
         }
     }
 
-    @SuppressLint("NewApi")
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CLOUD_V2N,
+        linkCode = CHAIN_LINK_CLOUD,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_V2N,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
     override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
         super.onAutopilotIdentifyPlanningObj(planningObjects)
-        if (!FunctionBuildConfig.isV2NFromCar) {
-            return
-        }
         planningObjects?.let {
             if (it.isNotEmpty()) {
                 val first = it.stream()

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/aicloud/AiCloudSocketBizProvider.kt

@@ -12,6 +12,7 @@ class AiCloudSocketBizProvider : IMoGoFunctionServerProvider {
         get() = "AiCloudSocketBizProvider"
 
     override fun init(context: Context?) {
+        //todo bus加载
         context?.let {
             SocketManager.getInstance().init(it, 0.0, 0.0)
             SocketManager.getInstance().registerOnMessageListener(401012, V2XMessageListener401012())

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

@@ -134,8 +134,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
         if (gnssInfo != null) {
             if (1 == FunctionBuildConfig.gpsProvider) {
-                // 同步给MAP地图
-                //CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
                 // 同步更新经纬度和系统时间至 AutoPilotStatusListener
                 CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
                     gnssInfo.satelliteTime,
@@ -146,7 +144,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
-
     /**
      * 老底盘信息,透传底盘状态，pb参考底盘
      * TODO 目前由于M1车型不会在新底盘PB添加新的字段 所以临时保留
@@ -369,7 +366,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         //他车轨迹预测
     }
 
-    override fun onPointCloud(pointCloud: ByteArray?) {
+    override fun onPointCloud(header: MessagePad.Header, pointCloud: ByteArray?) {
         //点云数据透传
         CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud)
     }
@@ -596,6 +593,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     }
 
+    /**
+     * 清扫车后部摄像头视频 10Hz
+     *
+     * @param header 头
+     * @param data   数据
+     */
+    override fun onBackCameraVideo(header: MessagePad.Header, data: ByteArray) {
+        CallerSweeperFutianBackCameraVideoListenerManager.invokeSweeperFutianBackCameraVideo(data)
+    }
+
     /**
      * 清扫车指标数据
      *

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt

@@ -50,9 +50,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     private var mContext: Context? = null
 
     //是否有AI获取红绿灯灯态
+    @Volatile
     private var hasAiLightStatus: Boolean = false
 
     //obu数据
+    @Volatile
     private var hasObuLightStatus: Boolean = false
 
     fun initServer(context: Context) {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt

@@ -86,10 +86,18 @@ class BindingCarNetWorkManager private constructor() {
                             SharedPrefsConstants.CAR_INFO,
                             GsonUtils.toJson(info.getData())
                         )
+                    } else {
+                        SharedPrefsMgr.getInstance(context).putString(
+                            SharedPrefsConstants.CAR_INFO, "null")
+                        e(
+                            SceneConstant.M_BINDING + TAG, "getBindingCarInfo data = null "
+                        )
                     }
                 }
 
                 override fun onError(e: Throwable) {
+                    SharedPrefsMgr.getInstance(context).putString(
+                        SharedPrefsConstants.CAR_INFO, e.message.toString())
                     e(
                         SceneConstant.M_BINDING + TAG,
                         "getBindingCarInfo onError e = " + e.toString() + "---e.getMessage = " + e.message

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/report/IPCReportManager.kt

@@ -10,6 +10,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import mogo_msg.MogoReportMsg
 
@@ -69,29 +70,30 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
      *工控机监控节点上报
      */
     override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
-        guardianInfo?.let{
-            if(it.resultList.contains(RESULT_AUTOPILOT_DISABLE)
-                || it.resultList.contains(RESULT_AUTOPILOT_SYSTEM_UNSTARTED)
-                || it.resultList.contains(RESULT_REMOTEPILOT_DISABLE)
-                || it.resultList.contains(RESULT_AUTOPILOT_INFERIOR)
-                || it.resultList.contains(RESULT_SHOW_WARNING)
-                || it.resultList.contains(RESULT_REMOTEPILOT_INFERIOR)){
-                val reportEntity = ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
-                    it.src,it.level,it.msg,it.code,it.resultList,it.actionsList)
-                CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.REPORT, reportEntity))
-            }
+        ThreadUtils.runOnUiThread {
+            guardianInfo?.let{
+                if(it.resultList.contains(RESULT_AUTOPILOT_DISABLE)
+                    || it.resultList.contains(RESULT_AUTOPILOT_SYSTEM_UNSTARTED)
+                    || it.resultList.contains(RESULT_REMOTEPILOT_DISABLE)
+                    || it.resultList.contains(RESULT_AUTOPILOT_INFERIOR)
+                    || it.resultList.contains(RESULT_SHOW_WARNING)
+                    || it.resultList.contains(RESULT_REMOTEPILOT_INFERIOR)){
+                    val reportEntity = ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
+                        it.src,it.level,it.msg,it.code,it.resultList,it.actionsList)
+                    CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.REPORT, reportEntity))
+                }
 
-            if (reportList.size > 49) {
-                reportList.removeLast()
-            }
-            reportList.add(
-                0,
-                ReportEntity(
-                    TimeUtils.millis2String(System.currentTimeMillis()),
-                    it.src, it.level, it.msg, it.code, it.resultList, it.actionsList
+                if (reportList.size > 49) {
+                    reportList.removeLast()
+                }
+                reportList.add(
+                    0,
+                    ReportEntity(
+                        TimeUtils.millis2String(System.currentTimeMillis()),
+                        it.src, it.level, it.msg, it.code, it.resultList, it.actionsList
+                    )
                 )
-            )
-            reportListFloatWindow?.refreshData(reportList)
+                reportListFloatWindow?.refreshData(reportList)
 
 //            //Error 弹窗并有提示音
 //            if(it.resultList.contains(RESULT_AUTOPILOT_DISABLE)
@@ -128,6 +130,7 @@ class IPCReportManager : IMoGoAutopilotStatusListener {
 //                    }
 //                }
 //            }
+            }
         }
     }
 

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt

@@ -83,7 +83,7 @@ class SceneManager {
                 }
             }
             //call back
-            CallerDevaToolsListenerManager.invokeDevaToolsModuleLogChanges(sceneModuleTAG.map)
+//            CallerDevaToolsListenerManager.invokeDevaToolsModuleLogChanges(sceneModuleTAG.map)
         }
     }
 

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

@@ -1,8 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.upgrade
 
-import android.app.NotificationManager
 import android.content.Context
-import androidx.core.app.NotificationCompat
 import com.elegant.utils.UiThreadHandler
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.function.api.devatools.IMogoDevaToolsUpgradeListener
@@ -128,31 +126,20 @@ class UpgradeManager : IDownload {
     }
 
     /**
-     * 鹰眼app下载监听 liyz
+     * 鹰眼app下载监听
      */
     fun updateUpgradeProgress(context: Context) {
-        val builder = NotificationCompat.Builder(context)
-        //        builder.setSmallIcon(R.mipmap.icon1001);//todo emArrow 更换图标，去除地图下载图标的依赖关系
-        builder.setContentTitle("下载")
-        builder.setContentText("正在下载")
-        val manager = context.getSystemService(Context.NOTIFICATION_SERVICE) as NotificationManager
         CallerDevaToolsUpgradeListenerManager.addListener(
             TAG,
             object : IMogoDevaToolsUpgradeListener {
                 override fun onStart(url: String?) {}
                 override fun onPause(url: String?) {}
                 override fun onProgress(url: String?, length: Int) {
-                    builder.setProgress(100, length, false)
-                    manager.notify(0x3, builder.build())
-                    //下载进度提示
-                    builder.setContentText("已下载$length%")
                     updateStatusBarDownloadView(true, "download", length)
                 }
 
                 override fun onFinished(url: String?) {
-                    builder.setContentText("已下载" + 100 + "%")
                     UiThreadHandler.postDelayed({
-                        manager.cancel(0x3)
                         updateStatusBarDownloadView(false, "download", 100)
                     }, 1000)
                 }

core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml

@@ -98,20 +98,20 @@
 
         </activity>
 
-        <activity
-            android:name="com.mogo.eagle.core.function.main.VideoAdAtc"
-            android:configChanges="mcc|mnc|locale|touchscreen|keyboard|keyboardHidden|navigation|screenLayout|fontScale|uiMode|orientation|screenSize|smallestScreenSize"
-            android:enabled="true"
-            android:exported="true"
-            android:process=":video_ad"
-            android:resizeableActivity="false"
-            android:resumeWhilePausing="true"
-            android:screenOrientation="landscape"
-            android:stateNotNeeded="true"
-            android:theme="@style/Main"
-            android:windowSoftInputMode="adjustPan|stateHidden">
+<!--        <activity-->
+<!--            android:name="com.mogo.eagle.core.function.main.VideoAdAtc"-->
+<!--            android:configChanges="mcc|mnc|locale|touchscreen|keyboard|keyboardHidden|navigation|screenLayout|fontScale|uiMode|orientation|screenSize|smallestScreenSize"-->
+<!--            android:enabled="true"-->
+<!--            android:exported="true"-->
+<!--            android:process=":video_ad"-->
+<!--            android:resizeableActivity="false"-->
+<!--            android:resumeWhilePausing="true"-->
+<!--            android:screenOrientation="landscape"-->
+<!--            android:stateNotNeeded="true"-->
+<!--            android:theme="@style/Main"-->
+<!--            android:windowSoftInputMode="adjustPan|stateHidden">-->
 
-        </activity>
+<!--        </activity>-->
 
         <activity
             android:name="com.mogo.eagle.core.function.main.AppListActivity"

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

@@ -21,6 +21,7 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.app.AppConfigInfo
@@ -117,6 +118,7 @@ internal class DebugSettingView @JvmOverloads constructor(
     private var logInfoView: LogInfoView? = null
     private var logViewAttach = false
 
+    @Volatile
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
     private var mGnssInfo: MogoLocation? = null
 
@@ -126,15 +128,19 @@ internal class DebugSettingView @JvmOverloads constructor(
     private var accelerationThresholdNum: Double = 0.0
 
     // 感知识别「已知类型」数据个数
+    @Volatile
     private var mIdentifyDataSize = 0
 
     // 感知识别「未知类型」数据个数
+    @Volatile
     private var mUnknownIdentifyDataSize = 0
 
     // 引导线点个数
+    @Volatile
     private var mTrajectoryInfoSize = 0
 
     // 全局路径规划点个数
+    @Volatile
     private var mRouteInfoSize = 0
 
     //日志过滤标签集合
@@ -202,7 +208,6 @@ internal class DebugSettingView @JvmOverloads constructor(
         CallerChassisGearStateListenerManager.addListener(TAG, this)
         CallerChassisSteeringStateListenerManager.addListener(TAG, this)
         CallerChassisThrottleStateListenerManager.addListener(TAG, this)
-
         //添加 开发套件工具接口 监听
         CallerDevaToolsListenerManager.addListener(TAG, this)
         //添加 底盘灯光数据 监听
@@ -253,6 +258,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         CallerChassisLamplightListenerManager.removeListener(TAG)
         // 移除 obu获取信息 监听
         CallerObuInfoListenerManager.removeListener(TAG)
+
         // 移除 业务配置监听
         CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener(
             FuncBizConfig.FOUNDATION,
@@ -365,6 +371,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                 swDevelopMode.visibility = View.GONE
             }
         }
+
         /**
          * 开发者模式
          */
@@ -638,12 +645,6 @@ internal class DebugSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isBeautyMode = isChecked
         }
 
-        tbV2NFromCar.isChecked = FunctionBuildConfig.isV2NFromCar
-        //v2n车端预警
-        tbV2NFromCar.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isV2NFromCar = isChecked
-        }
-
         tbDrawAiCloudFusion.isChecked = FunctionBuildConfig.isDrawAiCloudFusion
         //云端感知绘制
         tbDrawAiCloudFusion.setOnCheckedChangeListener { _, isChecked ->
@@ -1601,6 +1602,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tvAutopilotInfo.text = autopilotJson
         tvIpcInfo.text = autopilotJson
         tvIpcInfoKey.text = autopilotJson
+        tvCmdbCarInfoContent.text = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.CAR_INFO)
 
         tvCarInfo.text =
             "GPS时间：${(mGnssInfo?.satelliteTime?.times(1000))?.toLong()}\n" +
@@ -2058,4 +2060,5 @@ internal class DebugSettingView @JvmOverloads constructor(
     override fun onObuDeviceId(obuDeviceId: String) {
         mObuDeviceId = obuDeviceId
     }
+
 }

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

@@ -27,6 +27,7 @@ class SpeedPanelView @JvmOverloads constructor(
 
     var mContext: Context
     var mSpeedChartView: SpeedChartView
+    @Volatile
     var mLatLng: MogoLocation? = null
 
     init {

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

@@ -11,19 +11,19 @@ import com.mogo.eagle.core.widget.TextureVideoView
  */
 class VideoAdAtc : AppCompatActivity() {
 
-    private lateinit var svpFrame: TextureVideoView
-
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        setContentView(R.layout.activity_video_ad_atc)
-
-        svpFrame = findViewById(R.id.svp_frame)
-
-        val url = "android.resource://" + packageName + "/" + R.raw.mogo_ad
-        svpFrame.videoPath = url
-        svpFrame.start()
-
-        BarUtils.hideStatusBarAndSticky(this.window)
-    }
+//    private lateinit var svpFrame: TextureVideoView
+//
+//    override fun onCreate(savedInstanceState: Bundle?) {
+//        super.onCreate(savedInstanceState)
+//        setContentView(R.layout.activity_video_ad_atc)
+//
+//        svpFrame = findViewById(R.id.svp_frame)
+//
+//        val url = "android.resource://" + packageName + "/" + R.raw.mogo_ad
+//        svpFrame.videoPath = url
+//        svpFrame.start()
+//
+//        BarUtils.hideStatusBarAndSticky(this.window)
+//    }
 
 }

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

@@ -207,6 +207,29 @@
                 android:layout_height="1dp"
                 android:background="#F0F0F0" />
 
+            <TextView
+                android:id="@+id/tvCmdbCarInfo"
+                style="@style/DebugSettingText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="车辆信息: " />
+
+            <View
+                android:layout_width="match_parent"
+                android:layout_height="1dp"
+                android:background="#F0F0F0" />
+            <TextView
+                android:id="@+id/tvCmdbCarInfoContent"
+                style="@style/DebugSettingText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:minLines="5" />
+
+            <View
+                android:layout_width="match_parent"
+                android:layout_height="1dp"
+                android:background="#F0F0F0" />
+
             <ToggleButton
                 android:id="@+id/tbIsDemoMode"
                 android:layout_width="match_parent"
@@ -243,18 +266,6 @@
                 android:textOn="关闭感知优化模式"
                 android:textSize="@dimen/dp_24" />
 
-            <ToggleButton
-                android:id="@+id/tbV2NFromCar"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="@dimen/dp_10"
-                android:padding="@dimen/dp_20"
-                android:background="@drawable/radio_button_normal_background_right"
-                android:textColor="#000"
-                android:textOff="开启车端V2N预警"
-                android:textOn="关闭车端V2N预警"
-                android:textSize="@dimen/dp_24" />
-
             <ToggleButton
                 android:id="@+id/tbDrawAiCloudFusion"
                 android:layout_width="match_parent"

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

@@ -217,8 +217,8 @@
         android:scaleY="1.2"
         android:scaleX="1.2"
         app:layout_constraintTop_toBottomOf="@id/tbObuWeaknessTrafficSop"
-        app:layout_constraintLeft_toRightOf="@id/verticalGuideLine"
-        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/verticalGuideLine"
+        app:layout_constraintLeft_toLeftOf="parent"
         />
 
     <TextView
@@ -226,7 +226,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toBottomOf="@id/tbCloudWeaknessTrafficSop"
+        app:layout_constraintTop_toBottomOf="@id/tbIPCReport"
         android:text="变道速度阈值："
         android:textSize="@dimen/dp_36"
         android:textColor="#1A1A1A"

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java

@@ -23,7 +23,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener
 
     private final static String TAG = "SpeedLimitDataManager";
     private static volatile SpeedLimitDataManager instance;
-    private MogoLocation mLocation;
+    private volatile MogoLocation mLocation;
 
     private SpeedLimitDataManager() {
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.business.ai.net
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.constants.HostConst
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.END_METRE
@@ -27,7 +28,7 @@ class AiCloudIdentifyNetWorkModel {
         return host
     }
 
-    private fun getNetWorkApi(baseUrl: String = getHost()): IAiCloudIdentifyApiService {
+    private fun getNetWorkApi(baseUrl: String = HostConst.getEagleHost()): IAiCloudIdentifyApiService {
         return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
             .create(IAiCloudIdentifyApiService::class.java)
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt

@@ -8,6 +8,6 @@ import retrofit2.http.POST
 interface IAiCloudIdentifyApiService {
 
     @Headers("Content-type:application/json;charset=UTF-8")
-    @POST("yycp-c-v2x-service/dataFusion/remoteDrivingSet")
+    @POST("eagle-eye-dns/yycp-c-v2x-service/dataFusion/remoteDrivingSet")
     suspend fun identifyRange(@Body map: MutableMap<String, Any>): BaseResponse<Any>
 }

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

@@ -49,14 +49,6 @@ object FunctionBuildConfig {
     @JvmField
     var detouringSpeed = 3
 
-    /**
-     * 是否从车端融合过来的v2n事件
-     * 默认关闭，开启后接收车端融合预警，关闭云端长链V2N
-     */
-    @Volatile
-    @JvmField
-    var isV2NFromCar = false
-
     /**
      * 是否是感知优化模式
      * 默认开启

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

@@ -0,0 +1,11 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+/**
+ * 清扫车（福田）后摄像头视频数据
+ */
+interface IMoGoSweeperFutianBackCameraVideoListener {
+    /**
+     * 清扫车（福田）后摄像头视频数据 10Hz 每一帧为一张图片
+     */
+    fun onSweeperFutianBackCameraVideo(data: ByteArray)
+}

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

@@ -0,0 +1,23 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import chassis.ChassisStatesOuterClass
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 清扫车（福田）后摄像头视频数据
+ */
+object CallerSweeperFutianBackCameraVideoListenerManager : CallerBase<IMoGoSweeperFutianBackCameraVideoListener>() {
+
+    /**
+     * 后摄像头视频数据
+     */
+    fun invokeSweeperFutianBackCameraVideo(data: ByteArray) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperFutianBackCameraVideo(data)
+        }
+    }
+}

foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java

@@ -14,7 +14,7 @@ public class MogoLocationInfoServices {
     private static final String TAG = "MogoLocationInfoServices-sdk";
 
     private static volatile MogoLocationInfoServices sInstance;
-    private MogoLocation mLocation;
+    private volatile MogoLocation mLocation;
 
     private MogoLocationInfoServices() {
     }

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -6,7 +6,7 @@ import "geometry.proto";
 enum ProtocolVersion
 {
     Defaultver = 0;
-    CurrentVersion = 10; //每次修改proto文件增加1
+    CurrentVersion = 12; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -30,6 +30,7 @@ enum MessageType
     MsgTypeOBU = 0x1000a; //OBU
     MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
     MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
+    MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 10hz
 
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
     MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -60,6 +61,7 @@ enum MessageType
     MsgTypeTripInfoEvent = 0x1011a; //行程信息
     MsgTypeBagManagerCmd = 0x1011b; //bag管理
     MsgTypePlanningCmd = 0x1011c; //给planning的指令
+    MsgTypeSetParamReqV2 = 0x1011d; //设置参数命令V2
 }
 
 message Header
@@ -139,9 +141,16 @@ message TrackedObject
     string strUuid = 101;//String类型车辆ID
 }
 
+message BlindAreaData
+{
+    float angleResolution = 1;
+    repeated int32 distances = 2;
+}
+
 message TrackedObjects
 {
     repeated TrackedObject objs = 1;
+    BlindAreaData blindAreaData = 2;
 }
 
 // message definition for MsgTypeGnssInfo
@@ -598,4 +607,8 @@ message PlanningCmd
     PullOverCmd pullOverCmd = 1;
 }
 
+//message definition for MsgTypeSetParamReqV2
+//refer to param_set_cmd.proto for details
 
+//message definition for MsgTypeBackCameraVideo
+//payload:jpeg data 

libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto

@@ -0,0 +1,20 @@
+syntax = "proto3";
+package mogo.telematics;
+
+enum ParamSetType 
+{
+    ParamSetTypeNone = 0;
+    ParamSetTypeBlindArea = 1;
+}
+
+message ParamSetCmd
+{
+    uint32 src = 1; // 0: none, 1:pad, 2:aicloud
+    ParamSetType type = 2;
+    oneof Value {
+        bool boolValue = 3;
+        int64 intValue = 4;
+        double floatValue = 5;
+        string stringValue = 6;
+    }
+}

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

@@ -21,7 +21,6 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.google.protobuf.InvalidProtocolBufferException;
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.ByteUtil;
@@ -45,6 +44,7 @@ import com.zhidao.support.adas.high.socket.FpgaSocket;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 import com.zhidao.support.adas.high.thread.DispatchHandler;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhjt.service.chain.ChainLog;
 import com.zhjt.service.chain.TracingConstants;
 
@@ -251,7 +251,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this));
         //Planning决策状态
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypePlanningDecisionState, new DispatchHandler(MessagePad.MessageType.MsgTypePlanningDecisionState, this));
-
+        //清扫车后摄像头数据
+        dispatchHandlers.put(MessagePad.MessageType.MsgTypeBackCameraVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeBackCameraVideo, this));
     }
 
     /**
@@ -446,32 +447,17 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     public void onDispatchRaw(MessagePad.MessageType type, RawData raw) {
 //        CupidLogUtils.i(TAG, "onDispatchRaw=" + Thread.currentThread().getName() + " TID=" + android.os.Process.myTid());
         try {
-            //分发点云原始数据
-            if (type == MessagePad.MessageType.MsgTypePointCloud) {
-                int len = raw.getPackageLengthValue() - raw.getOffsetValue();
-                byte[] bytes = new byte[len];
-                System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
-                calculateTimeConsumingOnDispatchRaw("3D点云", raw.receiveTime);
-                long nowTime = 0;
-                if (CupidLogUtils.isEnableLog())
-                    nowTime = SystemClock.elapsedRealtime();
-                mAdasListener.onPointCloud(bytes);
-                calculateTimeConsumingBusiness("3D点云", nowTime);
-            } else {
-                if (rawUnpack != null) {
-                    if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
-                        MessagePad.Header header = raw.getHeader();
-                        MessagePad.MessageType messageType = header.getMsgType();
-                        IMsg iMsg = myMessageFactory.createMessage(messageType);
-                        if (iMsg == null) {
-                            callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
-                            return;
-                        }
-                        iMsg.handlerMsg(raw, mAdasListener);
-                    } else {
-                        callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
-                    }
+            if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
+                MessagePad.Header header = raw.getHeader();
+                MessagePad.MessageType messageType = header.getMsgType();
+                IMsg iMsg = myMessageFactory.createMessage(messageType);
+                if (iMsg == null) {
+                    callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
+                    return;
                 }
+                iMsg.handlerMsg(raw, mAdasListener);
+            } else {
+                callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
             }
         } catch (Exception e) {
             callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());

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

@@ -1,15 +1,16 @@
 package com.zhidao.support.adas.high;
 
 import com.mogo.support.obu.ObuScene;
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
+
+import org.jetbrains.annotations.NotNull;
 
 import bag_manager.BagManagerOuterClass;
 import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
-import mogo.v2x.ObuWarningEvent;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
@@ -108,9 +109,10 @@ public interface OnAdasListener {
     /**
      * 透传的点云数据
      *
+     * @param header     头
      * @param pointCloud 原始数据 只包含PointCloud数据
      */
-    void onPointCloud(byte[] pointCloud);
+    void onPointCloud(MessagePad.Header header, byte[] pointCloud);
 
     /**
      * planning障碍物
@@ -231,10 +233,18 @@ public interface OnAdasListener {
      * 重构后的功能状态
      *
      * @param header         头
-     * @param functionStates 头
+     * @param functionStates 数据
      */
     void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates);
 
+    /**
+     * 清扫车后部摄像头视频 10Hz
+     *
+     * @param header 头
+     * @param data   数据
+     */
+    void onBackCameraVideo(@NotNull MessagePad.Header header, @NotNull byte[] data);
+
     /**
      * 清扫车指标数据
      *

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

@@ -25,6 +25,7 @@ public enum MessageType {
     TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
     TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
     TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
+    TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "清扫车后摄像头"),
 
     TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
     TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

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

@@ -0,0 +1,33 @@
+package com.zhidao.support.adas.high.msg;
+
+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.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+/**
+ * 清扫车后摄像头
+ */
+public class BackCameraVideoMessage extends MyAbstractMessageHandler {
+
+    public BackCameraVideoMessage() {
+    }
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        int len = raw.getPackageLengthValue() - raw.getOffsetValue();
+        byte[] data = new byte[len];
+        System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("清扫车后摄像头", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onBackCameraVideo(raw.getHeader(), data);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("清扫车后摄像头", nowTime);
+    }
+}

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

@@ -36,6 +36,8 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg functionStatesMessage;//重构后的功能状态
     private IMsg sweeperTaskIndexDataMessage;//清扫车指标数据
     private IMsg bagManagerMessage;//Bag管理应答
+    private IMsg backCameraVideoMessage;//清扫车后摄像头
+    private IMsg pointCloudMessage;//3D点云
 
     private final AutopilotReview autopilotReview;
 
@@ -99,6 +101,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 predictionObstacleTrajectoryMessage = new PredictionObstacleTrajectoryMessage();
             }
             return predictionObstacleTrajectoryMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
+            //3D点云
+            if (pointCloudMessage == null) {
+                pointCloudMessage = new PointCloudMessage();
+            }
+            return pointCloudMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode) {
             //planning障碍物
             if (planningObjectsMessage == null) {
@@ -183,6 +191,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 bagManagerMessage = new BagManagerMessage();
             }
             return bagManagerMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO.typeCode) {
+            //清扫车后摄像头
+            if (backCameraVideoMessage == null) {
+                backCameraVideoMessage = new BackCameraVideoMessage();
+            }
+            return backCameraVideoMessage;
         } else {
             //MessageType.TYPE_DEFAULT.typeCode
             return null;

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

@@ -0,0 +1,34 @@
+package com.zhidao.support.adas.high.msg;
+
+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.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+/**
+ * 3D点云原始数据
+ */
+public class PointCloudMessage extends MyAbstractMessageHandler {
+
+    public PointCloudMessage() {
+    }
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        int len = raw.getPackageLengthValue() - raw.getOffsetValue();
+        byte[] data = new byte[len];
+        System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("3D点云", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onPointCloud(raw.getHeader(), data);
+
+        }
+        AdasChannel.calculateTimeConsumingBusiness("3D点云", nowTime);
+    }
+}