From 78fc224455ccb0d472901754e12b9749bd1851b0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=91=A3=E5=AE=8F=E5=AE=87?= <martindhy@gmail.com>
Date: Wed, 21 Apr 2021 15:54:29 +0800
Subject: [PATCH 01/10] =?UTF-8?q?=E9=85=8D=E7=BD=AE=E4=BA=86ADAS=E6=A8=A1?=
 =?UTF-8?q?=E5=9D=97=EF=BC=8C=E7=94=A8=E6=9D=A5=E5=B0=86ADAS=20App?=
 =?UTF-8?q?=E4=B8=AD=E7=9A=84=E6=95=B0=E6=8D=AE=E9=93=BE=E8=B7=AF=E8=9E=8D?=
 =?UTF-8?q?=E5=90=88=E8=BF=9B=E6=9D=A5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .idea/gradle.xml                              |  1 +
 app/build.gradle                              |  1 +
 .../com/mogo/launcher/MogoApplication.java    |  2 +
 config.gradle                                 |  1 +
 gradle.properties                             |  1 +
 modules/mogo-module-adas/.gitignore           |  1 +
 modules/mogo-module-adas/build.gradle         | 62 +++++++++++++++++++
 modules/mogo-module-adas/consumer-rules.pro   |  0
 modules/mogo-module-adas/gradle.properties    |  3 +
 modules/mogo-module-adas/proguard-rules.pro   | 21 +++++++
 .../ExampleInstrumentedTest.java              | 26 ++++++++
 .../src/main/AndroidManifest.xml              |  5 ++
 .../com/mogo/module/adas/AdasProvider.java    | 25 ++++++++
 .../com/mogo/module/adas/占位文件可删除.java  | 30 +++++++++
 .../mogo_module_adas/ExampleUnitTest.java     | 17 +++++
 .../com/mogo/service/MogoServicePaths.java    |  5 ++
 settings.gradle                               |  1 +
 17 files changed, 202 insertions(+)
 create mode 100644 modules/mogo-module-adas/.gitignore
 create mode 100644 modules/mogo-module-adas/build.gradle
 create mode 100644 modules/mogo-module-adas/consumer-rules.pro
 create mode 100644 modules/mogo-module-adas/gradle.properties
 create mode 100644 modules/mogo-module-adas/proguard-rules.pro
 create mode 100644 modules/mogo-module-adas/src/androidTest/java/com/amap/navi/mogo_module_adas/ExampleInstrumentedTest.java
 create mode 100644 modules/mogo-module-adas/src/main/AndroidManifest.xml
 create mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
 create mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/占位文件可删除.java
 create mode 100644 modules/mogo-module-adas/src/test/java/com/amap/navi/mogo_module_adas/ExampleUnitTest.java

diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index b3a159f443..9e8bf0c826 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -41,6 +41,7 @@
             <option value="$PROJECT_DIR$/main-extensions/mogo-module-main-independent" />
             <option value="$PROJECT_DIR$/main-extensions/mogo-module-main-launcher" />
             <option value="$PROJECT_DIR$/modules" />
+            <option value="$PROJECT_DIR$/modules/mogo-module-adas" />
             <option value="$PROJECT_DIR$/modules/mogo-module-apps" />
             <option value="$PROJECT_DIR$/modules/mogo-module-authorize" />
             <option value="$PROJECT_DIR$/modules/mogo-module-back" />
diff --git a/app/build.gradle b/app/build.gradle
index a38e3c40c6..bf748dadb0 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -612,6 +612,7 @@ dependencies {
         implementation project(':modules:mogo-module-extensions')
         implementation project(':modules:mogo-module-map')
         implementation project(':modules:mogo-module-smp')
+        implementation project(':modules:mogo-module-adas')
         implementation project(':foudations:httpdns-mogo')
     }
 
diff --git a/app/src/main/java/com/mogo/launcher/MogoApplication.java b/app/src/main/java/com/mogo/launcher/MogoApplication.java
index dd46fdd897..9eca1700a2 100644
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -102,6 +102,8 @@ public class MogoApplication extends AbsMogoApplication {
 
         // 小地图模块
         MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_SMALL_MAP, "IMogoSmallMapProvider"));
+        // ADAS模块
+        MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_ADAS, "AdasProvider"));
         //前方碰撞预警
         MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_V2X_FRONT_CRASH_WARNING, "IV2XManagerProvider"));
 
diff --git a/config.gradle b/config.gradle
index 52674386cc..6a81146063 100644
--- a/config.gradle
+++ b/config.gradle
@@ -113,6 +113,7 @@ ext {
             // V2X
             moduleV2x                  : "com.mogo.module:module-v2x:${MOGO_MODULE_V2X_VERSION}",
             moduleSmallMap             : "com.mogo.module:module-small-map:${MOGO_MODULES_SMALL_MAP}",
+            moduleADAS                 : "com.mogo.module:mogo-module-adas:${MOGO_MODULES_ADAS}",
             modulemedia                : "com.mogo.module:module-media:${MOGO_MODULE_MEDIA_VERSION}",
             modulesearch               : "com.mogo.module:module-search:${MOGO_MODULE_SEARCH_VERSION}",
             // push
diff --git a/gradle.properties b/gradle.properties
index c263dde2c6..be6fdf2923 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -131,6 +131,7 @@ TTS_NOOP_VERSION=2.0.12
 MAP_CUSTOM_VERSION=2.0.12
 #MOGO_MODULES_MVISION_VERSION=2.0.12
 MOGO_MODULES_SMALL_MAP=1.0.0
+MOGO_MODULES_ADAS=1.0.0
 # httpdns
 HTTPDNS_TENCENT_VERSION = 2.0.12
 HTTPDNS_MOGO_VERSION=2.0.12
diff --git a/modules/mogo-module-adas/.gitignore b/modules/mogo-module-adas/.gitignore
new file mode 100644
index 0000000000..42afabfd2a
--- /dev/null
+++ b/modules/mogo-module-adas/.gitignore
@@ -0,0 +1 @@
+/build
\ No newline at end of file
diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
new file mode 100644
index 0000000000..79248e29cd
--- /dev/null
+++ b/modules/mogo-module-adas/build.gradle
@@ -0,0 +1,62 @@
+apply plugin: 'com.android.library'
+apply plugin: 'com.alibaba.arouter'
+
+android {
+    compileSdkVersion rootProject.ext.android.compileSdkVersion
+    // buildToolsVersion rootProject.ext.android.buildToolsVersion
+    defaultConfig {
+        minSdkVersion rootProject.ext.android.minSdkVersion
+        targetSdkVersion rootProject.ext.android.targetSdkVersion
+        versionCode Integer.valueOf(VERSION_CODE)
+        versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
+
+        javaCompileOptions {
+            annotationProcessorOptions {
+                arguments = [AROUTER_MODULE_NAME: project.getName()]
+            }
+        }
+
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+        consumerProguardFiles 'consumer-rules.pro'
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+}
+
+dependencies {
+
+    implementation rootProject.ext.dependencies.androidxappcompat
+    implementation rootProject.ext.dependencies.androidxconstraintlayout
+    implementation rootProject.ext.dependencies.arouter
+
+
+    annotationProcessor rootProject.ext.dependencies.aroutercompiler
+
+    // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
+    compileOnly rootProject.ext.dependencies.adasapi
+
+    annotationProcessor rootProject.ext.dependencies.aroutercompiler
+    if (Boolean.valueOf(RELEASE)) {
+        api rootProject.ext.dependencies.mogoutils
+        api rootProject.ext.dependencies.mogocommons
+        api rootProject.ext.dependencies.mogoserviceapi
+        implementation rootProject.ext.dependencies.modulecommon
+    } else {
+        api project(":foudations:mogo-utils")
+        api project(":foudations:mogo-commons")
+        api project(':services:mogo-service-api')
+        implementation project(':modules:mogo-module-common')
+    }
+}
+
+apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
\ No newline at end of file
diff --git a/modules/mogo-module-adas/consumer-rules.pro b/modules/mogo-module-adas/consumer-rules.pro
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/modules/mogo-module-adas/gradle.properties b/modules/mogo-module-adas/gradle.properties
new file mode 100644
index 0000000000..1c2efc6a15
--- /dev/null
+++ b/modules/mogo-module-adas/gradle.properties
@@ -0,0 +1,3 @@
+GROUP=com.mogo.module
+POM_ARTIFACT_ID=mogo-module-adas
+VERSION_CODE=1
diff --git a/modules/mogo-module-adas/proguard-rules.pro b/modules/mogo-module-adas/proguard-rules.pro
new file mode 100644
index 0000000000..481bb43481
--- /dev/null
+++ b/modules/mogo-module-adas/proguard-rules.pro
@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
\ No newline at end of file
diff --git a/modules/mogo-module-adas/src/androidTest/java/com/amap/navi/mogo_module_adas/ExampleInstrumentedTest.java b/modules/mogo-module-adas/src/androidTest/java/com/amap/navi/mogo_module_adas/ExampleInstrumentedTest.java
new file mode 100644
index 0000000000..b6f9063bd3
--- /dev/null
+++ b/modules/mogo-module-adas/src/androidTest/java/com/amap/navi/mogo_module_adas/ExampleInstrumentedTest.java
@@ -0,0 +1,26 @@
+package com.amap.navi.mogo_module_adas;
+
+import android.content.Context;
+
+import androidx.test.platform.app.InstrumentationRegistry;
+import androidx.test.ext.junit.runners.AndroidJUnit4;
+
+import org.junit.Test;
+import org.junit.runner.RunWith;
+
+import static org.junit.Assert.*;
+
+/**
+ * Instrumented test, which will execute on an Android device.
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+@RunWith(AndroidJUnit4.class)
+public class ExampleInstrumentedTest {
+    @Test
+    public void useAppContext() {
+        // Context of the app under test.
+        Context appContext = InstrumentationRegistry.getInstrumentation().getTargetContext();
+        assertEquals("com.amap.navi.mogo_module_adas.test", appContext.getPackageName());
+    }
+}
\ No newline at end of file
diff --git a/modules/mogo-module-adas/src/main/AndroidManifest.xml b/modules/mogo-module-adas/src/main/AndroidManifest.xml
new file mode 100644
index 0000000000..592a5f5be0
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/AndroidManifest.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.mogo.module.adas">
+
+</manifest>
\ No newline at end of file
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
new file mode 100644
index 0000000000..dc3c629b41
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -0,0 +1,25 @@
+package com.mogo.module.adas;
+
+import android.content.Context;
+import android.util.Log;
+
+import com.alibaba.android.arouter.facade.annotation.Route;
+import com.alibaba.android.arouter.facade.template.IProvider;
+import com.mogo.service.MogoServicePaths;
+
+/**
+ * ADAS 模块
+ *
+ * @author
+ * @date 4/21/21 3:39 PM
+ */
+@Route(path = MogoServicePaths.PATH_ADAS)
+public class AdasProvider implements IProvider {
+    private final String TAG = "AdasProvider";
+
+    @Override
+    public void init(Context context) {
+        Log.d(TAG, "初始化 ADAS 模块");
+
+    }
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/占位文件可删除.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/占位文件可删除.java
new file mode 100644
index 0000000000..5d869e103a
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/占位文件可删除.java
@@ -0,0 +1,30 @@
+package com.mogo.module.adas;
+
+/**
+ * @author donghongyu
+ * @date 4/21/21 2:52 PM
+ */
+public class 占位文件可删除 {
+    /** TODO 本模块提供能力范围
+     * 1、与工控机数据交互，具体能力与 @宋克难 沟通
+     *  a、建立车机与工控机的数据通路
+     *  b、保证数据通路的稳定性
+     *
+     * 2、暴露API接口共上层业务使用
+     *  a、上层业务可主动订阅、取消订阅数据
+     *  b、自动驾驶控制下发
+     *  b、自动驾驶状态获取
+     *  c、自动驾驶规划路径下发
+     *  e、ADAS识别报警
+     *
+     *  3、项目中已经使用到的ADAS数据的业务如下，可参考下面业务层使用情况来封装本模块的API
+     *     AdasControlCommandParameter
+     *     AdasLogWriter
+     *     AdasObjectUtils
+     *     CarModelInfoNetApiServices
+     *     LogWriter
+     *     MogoADASController
+     *     OnAdasListenerAdapter
+     */
+
+}
diff --git a/modules/mogo-module-adas/src/test/java/com/amap/navi/mogo_module_adas/ExampleUnitTest.java b/modules/mogo-module-adas/src/test/java/com/amap/navi/mogo_module_adas/ExampleUnitTest.java
new file mode 100644
index 0000000000..9cf84459a3
--- /dev/null
+++ b/modules/mogo-module-adas/src/test/java/com/amap/navi/mogo_module_adas/ExampleUnitTest.java
@@ -0,0 +1,17 @@
+package com.amap.navi.mogo_module_adas;
+
+import org.junit.Test;
+
+import static org.junit.Assert.*;
+
+/**
+ * Example local unit test, which will execute on the development machine (host).
+ *
+ * @see <a href="http://d.android.com/tools/testing">Testing documentation</a>
+ */
+public class ExampleUnitTest {
+    @Test
+    public void addition_isCorrect() {
+        assertEquals(4, 2 + 2);
+    }
+}
\ No newline at end of file
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java b/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
index 3bb2845be5..70ddff1453 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
@@ -311,6 +311,11 @@ public class MogoServicePaths {
      */
     public static final String PATH_SMALL_MAP = "/small_map/api";
 
+    /**
+     * ADAS 模块
+     */
+    public static final String PATH_ADAS = "/adas/api";
+
     /*
     *前方碰撞预警  未碰撞
     * */
diff --git a/settings.gradle b/settings.gradle
index 15dea58ada..5de8179d63 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,3 +1,4 @@
+include ':modules:mogo-module-adas'
 include ':foudations:mogo-aicloud-services-sdk'
 include ':foudations:mogo-aicloud-services-apk'
 include ':foudations:httpdns-mogo'

From d1f35e97ff95a2cb5ba579c147a09ffae15a7a6f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=91=A3=E5=AE=8F=E5=AE=87?= <martindhy@gmail.com>
Date: Wed, 21 Apr 2021 15:57:54 +0800
Subject: [PATCH 02/10] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86ADAS=E6=95=B0?=
 =?UTF-8?q?=E6=8D=AE=E9=9C=80=E6=B1=82WIKI=E5=9C=B0=E5=9D=80?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../src/main/java/com/mogo/module/adas/AdasProvider.java         | 1 +
 1 file changed, 1 insertion(+)

diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
index dc3c629b41..1f1044c85e 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -12,6 +12,7 @@ import com.mogo.service.MogoServicePaths;
  *
  * @author
  * @date 4/21/21 3:39 PM
+ * wiki：http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52840459
  */
 @Route(path = MogoServicePaths.PATH_ADAS)
 public class AdasProvider implements IProvider {

From b40635b221b2d9ce3b4f768db9531d0f8a148427 Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Wed, 28 Apr 2021 16:06:17 +0800
Subject: [PATCH 03/10] =?UTF-8?q?ADAS=E6=95=B0=E6=8D=AE=E9=80=9A=E8=B7=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../mogo/module/adas/AdasEventManager.java    | 72 +++++++++++++++++++
 .../mogo/module/adas/IAdasEventListener.java  |  7 ++
 2 files changed, 79 insertions(+)
 create mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
 create mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java

diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
new file mode 100644
index 0000000000..b32696cc7c
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -0,0 +1,72 @@
+package com.mogo.module.adas;
+
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+
+/**
+ * Created by XuYong on 2021/4/25 14:43
+ */
+public class AdasListenerManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
+    @Override
+    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
+
+    }
+
+    @Override
+    public void onVideoSize(int width, int height) {
+
+    }
+
+    @Override
+    public void onRectData(RectInfo rectInfo) {
+
+    }
+
+    @Override
+    public void onCarStateData(CarStateInfo carStateInfo) {
+
+    }
+
+    @Override
+    public void onLightStateData(LightStatueInfo lightStatueInfo) {
+
+    }
+
+    @Override
+    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
+
+    }
+
+    @Override
+    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
+
+    }
+
+    @Override
+    public void autopilotStatus(AutopilotStatus autopilotStatus) {
+
+    }
+
+    @Override
+    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
+
+    }
+
+    @Override
+    public void onWebSocketConnectSuccess() {
+
+    }
+
+    @Override
+    public void onWebSocketConnectFailed() {
+
+    }
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java
new file mode 100644
index 0000000000..00280c3224
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java
@@ -0,0 +1,7 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 2021/4/25 16:52
+ */
+public class IAdasEventListener {
+}

From aef41d6a1e9fd77a0e2042119d49259c4f5addb1 Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Mon, 10 May 2021 14:34:37 +0800
Subject: [PATCH 04/10] =?UTF-8?q?adas=E6=95=B0=E6=8D=AE=E8=8E=B7=E5=8F=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .idea/misc.xml                                |   2 +-
 .idea/runConfigurations.xml                   |   1 +
 config.gradle                                 |   2 +-
 gradle.properties                             |   2 +
 modules/mogo-module-adas/build.gradle         |   4 +
 .../mogo/module/adas/AdasEventManager.java    | 106 ++++++++++++++++--
 .../mogo/module/adas/AdasListenerAdapter.java |  53 +++++++++
 .../com/mogo/module/adas/AdasProvider.java    |  35 +++++-
 .../mogo/module/adas/AdasStatusListener.java  |  14 +++
 .../mogo/module/adas/IAdasEventListener.java  |   7 --
 services/mogo-service/build.gradle            |   2 +-
 .../service/impl/adas/MogoADASController.java |  27 ++++-
 .../impl/adas/OnAdasListenerAdapter.java      |   1 +
 13 files changed, 226 insertions(+), 30 deletions(-)
 create mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java
 create mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasStatusListener.java
 delete mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java

diff --git a/.idea/misc.xml b/.idea/misc.xml
index 97b9126cee..09cc32c567 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -8,7 +8,7 @@
     <asm skipDebug="false" skipFrames="false" skipCode="false" expandFrames="false" />
     <groovy codeStyle="LEGACY" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="JDK" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/runConfigurations.xml b/.idea/runConfigurations.xml
index 7f68460d8b..e497da9998 100644
--- a/.idea/runConfigurations.xml
+++ b/.idea/runConfigurations.xml
@@ -3,6 +3,7 @@
   <component name="RunConfigurationProducerService">
     <option name="ignoredProducers">
       <set>
+        <option value="com.android.tools.idea.compose.preview.runconfiguration.ComposePreviewRunConfigurationProducer" />
         <option value="org.jetbrains.plugins.gradle.execution.test.runner.AllInPackageGradleConfigurationProducer" />
         <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestClassGradleConfigurationProducer" />
         <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestMethodGradleConfigurationProducer" />
diff --git a/config.gradle b/config.gradle
index 6a81146063..5c339af80c 100644
--- a/config.gradle
+++ b/config.gradle
@@ -240,7 +240,7 @@ ext {
             mogoaicloudlive            : "com.mogo.cloud:live:${MOGO_LIVE_VERSION}",
             mogoaicloudrealtime        : "com.mogo.cloud:realtime:${MOGO_REALTIME_VERSION}",
             mogoaicloudtanlu           : "com.mogo.cloud:tanlu:${MOGO_TANLU_VERSION}",
-            mogoaicloudtrafficlive     : "com.mogo.cloud:trafficlive:${MOGO_TRAFFICLIVE_VERSION}",
+            mogoaicloudtrafficlive     : "com.zhidao.support.adas:high:${MOGO_ADASHIGH_VERSION}"
     ]
 
 }
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index be6fdf2923..7e7a40d117 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -169,6 +169,8 @@ MOGO_TANLU_VERSION=1.0.71
 MOGO_LIVE_VERSION=1.0.71
 # 直播拉流
 MOGO_TRAFFICLIVE_VERSION=1.0.71
+#ADAS HIGHT
+MOGO_ADASHIGH_VERSION = '1.1.3'
 
 ######## Foundation MogoAiCloud Module
 # mogoAiCloud apk services
diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index 79248e29cd..bf4074dd9f 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -45,17 +45,21 @@ dependencies {
     // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
     compileOnly rootProject.ext.dependencies.adasapi
 
+    api "com.zhidao.support.adas:high:1.1.5.9"
+
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     if (Boolean.valueOf(RELEASE)) {
         api rootProject.ext.dependencies.mogoutils
         api rootProject.ext.dependencies.mogocommons
         api rootProject.ext.dependencies.mogoserviceapi
+        api
         implementation rootProject.ext.dependencies.modulecommon
     } else {
         api project(":foudations:mogo-utils")
         api project(":foudations:mogo-commons")
         api project(':services:mogo-service-api')
         implementation project(':modules:mogo-module-common')
+
     }
 }
 
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
index b32696cc7c..9071feb282 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -1,5 +1,6 @@
 package com.mogo.module.adas;
 
+import com.mogo.utils.logger.Logger;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
 import com.zhidao.support.adas.high.bean.AutopilotStatus;
@@ -11,62 +12,143 @@ import com.zhidao.support.adas.high.bean.ObstaclesInfo;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
+import java.util.ArrayList;
+
 /**
  * Created by XuYong on 2021/4/25 14:43
  */
-public class AdasListenerManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
+public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
+
+    private final String TAG = "AdasEventManager";
+    private ArrayList<AdasListenerAdapter> iAdasEventListeners;
+    private ArrayList<AdasStatusListener> iAdasStatusListeners;
+
+    public void addEventListener(AdasListenerAdapter listener) {
+        Logger.d(TAG,"添加adas事件监听");
+        if (iAdasEventListeners == null) {
+            iAdasEventListeners = new ArrayList<AdasListenerAdapter>();
+        }
+        iAdasEventListeners.add(listener);
+    }
+
+    public void removeEventListener(AdasListenerAdapter listener) {
+        Logger.d(TAG,"注销adas事件监听");
+        if (iAdasEventListeners != null && iAdasEventListeners.contains(listener)) {
+            iAdasEventListeners.remove(listener);
+        }
+    }
+
+    public void addStatusListener(AdasStatusListener listener) {
+        Logger.d(TAG,"添加adas状态事件监听");
+        if (iAdasStatusListeners == null) {
+            iAdasStatusListeners = new ArrayList<AdasStatusListener>();
+        }
+        iAdasStatusListeners.add(listener);
+    }
+
+    public void removeStatusListener(AdasStatusListener listener) {
+        Logger.d(TAG,"注销adas状态事件监听");
+        if (iAdasEventListeners != null && iAdasEventListeners.contains(listener)) {
+            iAdasEventListeners.remove(listener);
+        }
+    }
+
     @Override
     public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-
+        Logger.d(TAG,"onWarnMessage");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.onWarnMessage(warnMessageInfo);
+            }
+        }
     }
 
     @Override
     public void onVideoSize(int width, int height) {
-
+        Logger.d(TAG,"onVideoSize");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.onVideoSize(width, height);
+            }
+        }
     }
 
     @Override
     public void onRectData(RectInfo rectInfo) {
-
+        Logger.d(TAG,"onRectData");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.onRectData(rectInfo);
+            }
+        }
     }
 
     @Override
     public void onCarStateData(CarStateInfo carStateInfo) {
-
+        Logger.d(TAG,"onCarStateData");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.onCarStateData(carStateInfo);
+            }
+        }
     }
 
     @Override
     public void onLightStateData(LightStatueInfo lightStatueInfo) {
-
+        Logger.d(TAG,"onLightStateData");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.onLightStateData(lightStatueInfo);
+            }
+        }
     }
 
     @Override
     public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
-
+        Logger.d(TAG,"onObstaclesInfo");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.onObstaclesInfo(obstaclesInfo);
+            }
+        }
     }
 
     @Override
     public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
-
+        Logger.d(TAG,"onCarLaneInfo");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.onCarLaneInfo(carLaneInfo);
+            }
+        }
     }
 
     @Override
     public void autopilotStatus(AutopilotStatus autopilotStatus) {
-
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.autopilotStatus(autopilotStatus);
+            }
+        }
     }
 
     @Override
     public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
-
+        Logger.d(TAG,"autopilotArrive");
+        for (AdasListenerAdapter listener:iAdasEventListeners) {
+            if (listener != null) {
+                listener.autopilotArrive(autopilotWayArrive);
+            }
+        }
     }
 
     @Override
     public void onWebSocketConnectSuccess() {
-
+        Logger.d(TAG,"websocket连接成功");
     }
 
     @Override
     public void onWebSocketConnectFailed() {
-
+        Logger.d(TAG,"websocket连接失败");
     }
 }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java
new file mode 100644
index 0000000000..a0db14063d
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java
@@ -0,0 +1,53 @@
+package com.mogo.module.adas;
+
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+
+/**
+ * Created by XuYong on 2021/4/25 16:52
+ */
+public abstract class AdasListenerAdapter implements OnAdasListener {
+
+    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
+
+    };
+
+    public void onVideoSize(int width, int height) {
+
+    };
+
+    public void onRectData(RectInfo rectInfo) {
+
+    };
+
+    public void onCarStateData(CarStateInfo carStateInfo){
+
+    };
+
+    public void onLightStateData(LightStatueInfo lightStatueInfo){
+
+    };
+
+    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
+
+    };
+
+    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
+
+    };
+
+    public void autopilotStatus(AutopilotStatus autopilotStatus) {
+
+    };
+
+    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
+
+    };
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
index 1f1044c85e..cbc909f35c 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -1,11 +1,12 @@
 package com.mogo.module.adas;
 
 import android.content.Context;
-import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.service.MogoServicePaths;
+import com.mogo.utils.logger.Logger;
+import com.zhidao.support.adas.high.AdasManager;
 
 /**
  * ADAS 模块
@@ -17,10 +18,40 @@ import com.mogo.service.MogoServicePaths;
 @Route(path = MogoServicePaths.PATH_ADAS)
 public class AdasProvider implements IProvider {
     private final String TAG = "AdasProvider";
+    private AdasEventManager adasEventManager;
 
     @Override
     public void init(Context context) {
-        Log.d(TAG, "初始化 ADAS 模块");
+        Logger.d(TAG, "初始化 ADAS 模块");
 
+        adasEventManager = new AdasEventManager();
+        initAdas(context, adasEventManager);
     }
+
+    private void initAdas(Context context, AdasEventManager adasEventManager) {
+        AdasManager.getInstance().create(context);
+        AdasManager.getInstance().setOnAdasListener(adasEventManager);
+        AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
+    }
+
+    public void addAdasEventListener(AdasListenerAdapter listener) {
+        adasEventManager.addEventListener(listener);
+    }
+
+    public void removeAdasEventListener(AdasListenerAdapter listener) {
+        adasEventManager.removeEventListener(listener);
+    }
+
+    public void addAdaStatusListener(AdasStatusListener listener) {
+        adasEventManager.addStatusListener(listener);
+    }
+
+    public void removeAdasStatusListener(AdasStatusListener listener) {
+        adasEventManager.removeStatusListener(listener);
+    }
+
+    public void sendWsMessage(String msg) {
+        AdasManager.getInstance().aiCloudToAdasData(msg);
+    }
+
 }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasStatusListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasStatusListener.java
new file mode 100644
index 0000000000..3eb1ff12d4
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasStatusListener.java
@@ -0,0 +1,14 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 4/28/21 16:19
+ */
+public abstract class AdasStatusListener {
+
+    public void onServiceConnected() {
+
+    };
+    public void onServiceDisconnected() {
+
+    };
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java
deleted file mode 100644
index 00280c3224..0000000000
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasEventListener.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package com.mogo.module.adas;
-
-/**
- * Created by XuYong on 2021/4/25 16:52
- */
-public class IAdasEventListener {
-}
diff --git a/services/mogo-service/build.gradle b/services/mogo-service/build.gradle
index 22268036f0..6c0a4d07b8 100644
--- a/services/mogo-service/build.gradle
+++ b/services/mogo-service/build.gradle
@@ -42,7 +42,7 @@ dependencies {
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     implementation rootProject.ext.dependencies.adasapi
     implementation rootProject.ext.dependencies.adasconfigapi
-    implementation "com.zhidao.support.adas:high:1.1.5.9"
+    implementation project(':modules:mogo-module-adas')
     if (Boolean.valueOf(RELEASE)) {
         api rootProject.ext.dependencies.mogomap
         implementation rootProject.ext.dependencies.mogomapapi
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 63e3371371..572a52f807 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -10,11 +10,15 @@ import android.text.TextUtils;
 import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
+import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.network.SubscribeImpl;
 import com.mogo.commons.network.Utils;
 import com.mogo.map.uicontroller.EnumMapUI;
+import com.mogo.module.adas.AdasListenerAdapter;
+import com.mogo.module.adas.AdasProvider;
+import com.mogo.module.adas.AdasStatusListener;
 import com.mogo.realtime.entity.ADASRecognizedResult;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.adas.IMogoADASController;
@@ -50,7 +54,6 @@ import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
 import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
-import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 import com.zhidao.support.adas.high.msg.MyMessageFactory;
@@ -58,9 +61,7 @@ import com.zhidao.support.adas.high.msg.MyMessageFactory;
 import org.json.JSONException;
 import org.json.JSONObject;
 
-import java.text.SimpleDateFormat;
 import java.util.ArrayList;
-import java.util.Date;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -157,7 +158,8 @@ public class MogoADASController implements IMogoADASController {
         }
     };
 
-    private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
+    //private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
+    private final AdasListenerAdapter mOnAdasListener = new AdasListenerAdapter() {
 
         @Override
         public void onRectData( RectInfo rectInfo ) {
@@ -294,7 +296,20 @@ public class MogoADASController implements IMogoADASController {
         }
         Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
         init( AbsMogoApplication.getApp() );
-        AutopilotServiceManage.getInstance().registerAutopilotServiceStatusListener( new IAutopilotServiceStatusListener() {
+        AdasProvider adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
+        adasProvider.addAdaStatusListener(new AdasStatusListener() {
+            @Override
+            public void onServiceConnected() {
+                super.onServiceConnected();
+                invokeShowADASOperation();
+            }
+
+            @Override
+            public void onServiceDisconnected() {
+                super.onServiceDisconnected();
+            }
+        });
+        /*AutopilotServiceManage.getInstance().registerAutopilotServiceStatusListener( new IAutopilotServiceStatusListener() {
             @Override
             public void onServiceConnected() {
                 invokeShowADASOperation();
@@ -304,7 +319,7 @@ public class MogoADASController implements IMogoADASController {
             public void onServiceDisconnected() {
 
             }
-        } );
+        } );*/
         invokeShowADASOperation();
 
         if ( mAutopolitDataCallBack == null ) {
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
index 9e878c3d5d..e50c9ed60e 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
@@ -1,5 +1,6 @@
 package com.mogo.service.impl.adas;
 
+import com.mogo.module.adas.AdasListenerAdapter;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.AutopilotStatus;
 import com.zhidao.support.adas.high.bean.AutopilotWayArrive;

From 13b134f3a949b3cea5894581d6c5a249c17c854d Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Tue, 11 May 2021 14:30:04 +0800
Subject: [PATCH 05/10] =?UTF-8?q?adas=E6=95=B0=E6=8D=AE=E9=80=9A=E8=B7=AF?=
 =?UTF-8?q?=E5=AE=8C=E5=96=84?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 config.gradle                                 |   2 +-
 modules/mogo-module-adas/build.gradle         |   2 +-
 ...enerAdapter.java => AdasDataListener.java} |  44 ++++-
 .../mogo/module/adas/AdasEventManager.java    |  91 +++++++---
 .../com/mogo/module/adas/AdasProvider.java    |   7 +-
 .../mogo/module/adas/WarnMessageModel.java    |  31 ++++
 .../service/impl/adas/MogoADASController.java | 164 +++++++++++++++++-
 .../impl/adas/OnAdasListenerAdapter.java      |   1 -
 8 files changed, 301 insertions(+), 41 deletions(-)
 rename modules/mogo-module-adas/src/main/java/com/mogo/module/adas/{AdasListenerAdapter.java => AdasDataListener.java} (51%)
 create mode 100644 modules/mogo-module-adas/src/main/java/com/mogo/module/adas/WarnMessageModel.java

diff --git a/config.gradle b/config.gradle
index 323c9b974a..ffb6655a0b 100644
--- a/config.gradle
+++ b/config.gradle
@@ -240,7 +240,7 @@ ext {
             mogoaicloudlive            : "com.mogo.cloud:live:${MOGO_LIVE_VERSION}",
             mogoaicloudrealtime        : "com.mogo.cloud:realtime:${MOGO_REALTIME_VERSION}",
             mogoaicloudtanlu           : "com.mogo.cloud:tanlu:${MOGO_TANLU_VERSION}",
-            mogoaicloudtrafficlive     : "com.zhidao.support.adas:high:${MOGO_ADASHIGH_VERSION}"
+            mogoaicloudtrafficlive     : "com.mogo.cloud:trafficlive:${MOGO_TRAFFICLIVE_VERSION}",
     ]
 
 }
\ No newline at end of file
diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index bf4074dd9f..cacf6404ca 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -45,7 +45,7 @@ dependencies {
     // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
     compileOnly rootProject.ext.dependencies.adasapi
 
-    api "com.zhidao.support.adas:high:1.1.5.9"
+    api "com.zhidao.support.adas:high:1.1.7.4"
 
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     if (Boolean.valueOf(RELEASE)) {
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java
similarity index 51%
rename from modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java
rename to modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java
index a0db14063d..f32aa8f0f3 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasListenerAdapter.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java
@@ -1,5 +1,9 @@
 package com.mogo.module.adas;
 
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
+import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
+import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.AutopilotStatus;
 import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
@@ -10,11 +14,47 @@ import com.zhidao.support.adas.high.bean.ObstaclesInfo;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
+import java.util.List;
+
 /**
  * Created by XuYong on 2021/4/25 16:52
  */
-public abstract class AdasListenerAdapter implements OnAdasListener {
+public abstract class AdasDataListener {
+    public  void sendMsg( String msg ) {
 
+    }
+
+    public void cameraEyeDetectResult( String detectResult ) {
+    }
+
+    public void selectCarModelUrl( String carStyleUrl ) {
+    }
+
+    public void requestGetCarModelListInfo() {
+    }
+
+    public void clickSettingBack() {
+    }
+
+    public void showToast( String msg ) {
+
+    }
+
+    public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
+    }
+
+    public void ownerCarStateInfo( String ownerCarStateInfo ) {
+    }
+
+    public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
+    }
+
+    public void notifyAutopilotState( AdasAIDLAutopilotStateModel autopilotStateModel ) {
+    }
+
+    public void notifyOwnerCarRect( List<AdasAIDLOwnerCarRectModel> ownerCarStateRectList ) {
+    }
+/*
     public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
 
     };
@@ -49,5 +89,5 @@ public abstract class AdasListenerAdapter implements OnAdasListener {
 
     public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
 
-    };
+    };*/
 }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
index 9071feb282..559b83797c 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -1,6 +1,10 @@
 package com.mogo.module.adas;
 
+import com.google.gson.Gson;
 import com.mogo.utils.logger.Logger;
+import com.mogo.utils.network.utils.GsonUtil;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
 import com.zhidao.support.adas.high.bean.AutopilotStatus;
@@ -11,6 +15,7 @@ import com.zhidao.support.adas.high.bean.LightStatueInfo;
 import com.zhidao.support.adas.high.bean.ObstaclesInfo;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.common.MsgActionType;
 
 import java.util.ArrayList;
 
@@ -20,18 +25,25 @@ import java.util.ArrayList;
 public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
 
     private final String TAG = "AdasEventManager";
-    private ArrayList<AdasListenerAdapter> iAdasEventListeners;
+
+    private Gson gson;
+
+    private ArrayList<AdasDataListener> iAdasEventListeners;
     private ArrayList<AdasStatusListener> iAdasStatusListeners;
 
-    public void addEventListener(AdasListenerAdapter listener) {
+    public AdasEventManager() {
+        gson =  GsonUtil.getGson();
+    }
+
+    public void addEventListener(AdasDataListener listener) {
         Logger.d(TAG,"添加adas事件监听");
         if (iAdasEventListeners == null) {
-            iAdasEventListeners = new ArrayList<AdasListenerAdapter>();
+            iAdasEventListeners = new ArrayList<AdasDataListener>();
         }
         iAdasEventListeners.add(listener);
     }
 
-    public void removeEventListener(AdasListenerAdapter listener) {
+    public void removeEventListener(AdasDataListener listener) {
         Logger.d(TAG,"注销adas事件监听");
         if (iAdasEventListeners != null && iAdasEventListeners.contains(listener)) {
             iAdasEventListeners.remove(listener);
@@ -56,9 +68,16 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
         Logger.d(TAG,"onWarnMessage");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
+        //报警model
+        WarnMessageModel warnMessageModel = null;
+        for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
-                listener.onWarnMessage(warnMessageInfo);
+                if (warnMessageModel == null) {
+                    warnMessageModel = new WarnMessageModel();
+                    warnMessageModel.setAction(MsgActionType.ACTION_WS_MSG_WARNING_TYPE.getmActionType());
+                }
+                warnMessageModel.setValues(warnMessageInfo);
+                listener.cameraEyeDetectResult(gson.toJson(warnMessageModel));
             }
         }
     }
@@ -66,9 +85,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onVideoSize(int width, int height) {
         Logger.d(TAG,"onVideoSize");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
+        for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
-                listener.onVideoSize(width, height);
             }
         }
     }
@@ -76,9 +94,10 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onRectData(RectInfo rectInfo) {
         Logger.d(TAG,"onRectData");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
+
+        for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
-                listener.onRectData(rectInfo);
+                listener.cameraEyeDetectResult(gson.toJson(rectInfo));
             }
         }
     }
@@ -86,9 +105,9 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onCarStateData(CarStateInfo carStateInfo) {
         Logger.d(TAG,"onCarStateData");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
+        for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
-                listener.onCarStateData(carStateInfo);
+                listener.ownerCarStateInfo(gson.toJson(carStateInfo));
             }
         }
     }
@@ -96,9 +115,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onLightStateData(LightStatueInfo lightStatueInfo) {
         Logger.d(TAG,"onLightStateData");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
+        for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
-                listener.onLightStateData(lightStatueInfo);
             }
         }
     }
@@ -106,9 +124,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
         Logger.d(TAG,"onObstaclesInfo");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
+        for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
-                listener.onObstaclesInfo(obstaclesInfo);
             }
         }
     }
@@ -116,28 +133,54 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
         Logger.d(TAG,"onCarLaneInfo");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
+        for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
-                listener.onCarLaneInfo(carLaneInfo);
             }
         }
     }
 
     @Override
     public void autopilotStatus(AutopilotStatus autopilotStatus) {
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
-            if (listener != null) {
-                listener.autopilotStatus(autopilotStatus);
+        AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
+        AutopilotStatus.ValuesBean mAutopilotStatus;
+
+
+        if (autopilotStatusValues != null) {
+            AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel=new AdasAIDLAutopilotStateModel();
+            adasAIDLAutopilotStateModel.setReason(autopilotStatusValues.getReason());
+            mAutopilotStatus = autopilotStatusValues;
+            int state = autopilotStatusValues.getState();
+            float speed = autopilotStatusValues.getSpeed();
+            adasAIDLAutopilotStateModel.setState(state);
+            adasAIDLAutopilotStateModel.setSpeed(speed);
+
+            for (AdasDataListener listener:iAdasEventListeners) {
+                if (listener != null) {
+                    listener.notifyAutopilotState(adasAIDLAutopilotStateModel);
+                }
             }
         }
+
     }
 
     @Override
     public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
         Logger.d(TAG,"autopilotArrive");
-        for (AdasListenerAdapter listener:iAdasEventListeners) {
-            if (listener != null) {
-                listener.autopilotArrive(autopilotWayArrive);
+        if (autopilotWayArrive != null) {
+            AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
+            if (result != null) {
+                AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
+                if (endLatLon != null) {
+                    AdasAIDLAutopilotArriveModel adasAIDLAutopilotArriveModel = new AdasAIDLAutopilotArriveModel();
+                    adasAIDLAutopilotArriveModel.setCarType(result.getCarType());
+                    adasAIDLAutopilotArriveModel.setLat(endLatLon.getLat());
+                    adasAIDLAutopilotArriveModel.setLon(endLatLon.getLon());
+                    for (AdasDataListener listener:iAdasEventListeners) {
+                        if (listener != null) {
+                            listener.autopilotArrive(adasAIDLAutopilotArriveModel);
+                        }
+                    }
+                }
             }
         }
     }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
index cbc909f35c..96e9e280a1 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -8,6 +8,7 @@ import com.mogo.service.MogoServicePaths;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.support.adas.high.AdasManager;
 
+
 /**
  * ADAS 模块
  *
@@ -22,7 +23,7 @@ public class AdasProvider implements IProvider {
 
     @Override
     public void init(Context context) {
-        Logger.d(TAG, "初始化 ADAS 模块");
+        Logger.d(TAG, "初始化 AdasProvider 模块");
 
         adasEventManager = new AdasEventManager();
         initAdas(context, adasEventManager);
@@ -34,11 +35,11 @@ public class AdasProvider implements IProvider {
         AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
     }
 
-    public void addAdasEventListener(AdasListenerAdapter listener) {
+    public void addAdasEventListener(AdasDataListener listener) {
         adasEventManager.addEventListener(listener);
     }
 
-    public void removeAdasEventListener(AdasListenerAdapter listener) {
+    public void removeAdasEventListener(AdasDataListener listener) {
         adasEventManager.removeEventListener(listener);
     }
 
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/WarnMessageModel.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/WarnMessageModel.java
new file mode 100644
index 0000000000..451c20d381
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/WarnMessageModel.java
@@ -0,0 +1,31 @@
+package com.mogo.module.adas;
+
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+
+/**
+ * @author nie yunlong
+ * @des
+ * @date 2020/10/22
+ */
+public class WarnMessageModel {
+
+    private String action;
+
+    private WarnMessageInfo values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public WarnMessageInfo getValues() {
+        return values;
+    }
+
+    public void setValues(WarnMessageInfo values) {
+        this.values = values;
+    }
+}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 256973c0e0..1e57e4f15d 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -16,7 +16,7 @@ import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.network.SubscribeImpl;
 import com.mogo.commons.network.Utils;
 import com.mogo.map.uicontroller.EnumMapUI;
-import com.mogo.module.adas.AdasListenerAdapter;
+import com.mogo.module.adas.AdasDataListener;
 import com.mogo.module.adas.AdasProvider;
 import com.mogo.module.adas.AdasStatusListener;
 import com.mogo.realtime.entity.ADASRecognizedResult;
@@ -48,12 +48,12 @@ import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
 import com.zhidao.adasconfig.common.config.EnumCarHeading;
 import com.zhidao.adasconfig.common.config.EnumSkinStyle;
 import com.zhidao.autopilot.support.api.AutopilotServiceManage;
-import com.zhidao.autopilot.support.api.IAutopilotServiceStatusListener;
 import com.zhidao.autopilot.support.api.IAutopolitDataCallBack;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
 import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
+import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 import com.zhidao.support.adas.high.msg.MyMessageFactory;
@@ -94,7 +94,8 @@ public class MogoADASController implements IMogoADASController {
 
     private boolean mIsReleased = true;
 
-    private IAutopolitDataCallBack mAutopolitDataCallBack;
+    //private IAutopolitDataCallBack mAutopolitDataCallBack;
+    private AdasDataListener mAdasDataListener;
 
     /**
      * 获取adas前车距离
@@ -123,9 +124,9 @@ public class MogoADASController implements IMogoADASController {
         public void handleMessage( Message msg ) {
             super.handleMessage( msg );
             if ( msg.obj instanceof List ) {
-                mAutopolitDataCallBack.notifyOwnerCarRect( ( List< AdasAIDLOwnerCarRectModel > ) msg.obj );
+                mAdasDataListener.notifyOwnerCarRect( ( List< AdasAIDLOwnerCarRectModel > ) msg.obj );
             } else if(msg.obj == null ){
-                mAutopolitDataCallBack.notifyOwnerCarRect( null );
+                mAdasDataListener.notifyOwnerCarRect( null );
             }
         }
     };
@@ -158,8 +159,7 @@ public class MogoADASController implements IMogoADASController {
         }
     };
 
-    //private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
-    private final AdasListenerAdapter mOnAdasListener = new AdasListenerAdapter() {
+    private final OnAdasListener mOnAdasListener = new OnAdasListenerAdapter() {
 
         @Override
         public void onRectData( RectInfo rectInfo ) {
@@ -325,6 +325,7 @@ public class MogoADASController implements IMogoADASController {
         } );*/
         invokeShowADASOperation();
 
+        /*
         if ( mAutopolitDataCallBack == null ) {
             mAutopolitDataCallBack = new IAutopolitDataCallBack() {
                 @Override
@@ -468,6 +469,151 @@ public class MogoADASController implements IMogoADASController {
                 }
             };
             AutopilotServiceManage.getInstance().registerAutopilotDataListener( mAutopolitDataCallBack );
+         */
+
+        if ( mAdasDataListener == null ) {
+            mAdasDataListener = new AdasDataListener() {
+                @Override
+                public void sendMsg( String msg ) {
+                    for ( IMogoAdasDataCallback callback : mAdasDataCallbackList ) {
+                        try {
+                            callback.onAdasDataCallback( msg );
+                        } catch ( Exception e ) {
+                            Logger.e( TAG, e, "sendMsg" );
+                        }
+                    }
+                }
+
+                @Override
+                public void cameraEyeDetectResult( String detectResult ) {
+
+                    try {
+                        JSONObject jsonObjectWs = new JSONObject( detectResult );
+                        String action = jsonObjectWs.optString( "action" );
+                        if ( TextUtils.isEmpty( action ) ) {
+                            Logger.w( TAG, "--->action is null" );
+                            return;
+                        }
+                        //识别的他车移动操作
+                        mAdasMessageFactory.createMessage( action ).handlerMsg( GsonUtil.getGson(), mOnAdasListener, detectResult );
+                    } catch ( JSONException e ) {
+                        e.printStackTrace();
+                    }
+                }
+
+                @Override
+                public void selectCarModelUrl( String carStyleUrl ) {
+                    Logger.d( TAG, "selectCarModelUrl: " + carStyleUrl );
+                    needEmphasizeMyLocation = true;
+                    // 修改自车图标展示
+                    SharedPrefsMgr.getInstance( context ).putString( "MY_LOCATION_CONFIG", carStyleUrl );
+                    SingletonsHolder.get( IMogoDataManager.class ).syncData( "ADAS", carStyleUrl );
+                }
+
+                @Override
+                public void requestGetCarModelListInfo() {
+                    if ( DebugConfig.isMapBased() ) {
+                        Logger.d( TAG, "requestGetCarModelListInfo" );
+                        // 向adas发送车模list
+                        String carModelList = SharedPrefsMgr.getInstance( context ).getString( "CAR_MODEL_LIST", "" );
+                        if ( carModelList != null && !carModelList.isEmpty() ) {
+                            AutopilotServiceManage.getInstance().settingCarModelListInfo( carModelList );
+                        }
+                        // 此处进行网络请求，请求成功后再通知一次adas
+                        requestCarModelList();
+                    }
+                }
+
+                @Override
+                public void clickSettingBack() {
+                    if ( needEmphasizeMyLocation ) {
+                        SingletonsHolder.get( IMogoDataManager.class ).syncData( "ADAS", null );
+                    }
+                    needEmphasizeMyLocation = false;
+
+                    useTestSn = !useTestSn;
+                }
+
+                @Override
+                public void showToast( String msg ) {
+                    UiThreadHandler.post( () -> TipToast.tip( msg ) );
+                }
+
+                @Override
+                public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
+                    if ( autopilotArriveModel == null ) {
+                        return;
+                    }
+                    if ( mAdasOCHCallback != null ) {
+                        mAdasOCHCallback.onArriveAt( new AdasOCHData(
+                                autopilotArriveModel.getCarType(),
+                                autopilotArriveModel.getLon(),
+                                autopilotArriveModel.getLat() )
+                        );
+                    }
+                }
+
+                @Override
+                public void ownerCarStateInfo( String ownerCarStateInfo ) {
+                    Message message = mAdasLocationRecHandler.obtainMessage();
+                    message.obj = ownerCarStateInfo;
+                    message.sendToTarget();
+                }
+
+                @Override
+                public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
+                    ADASCarStateInfo stateInf = new ADASCarStateInfo();
+                    stateInf.setAction( "state" );
+                    ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();
+                    bean.setSatelliteTime( ownerCarStateModel.getSatelliteTime() );
+                    bean.setAcceleration( ownerCarStateModel.getAcceleration() );
+                    bean.setAlt( ownerCarStateModel.getAlt() );
+                    bean.setGnss_speed( ownerCarStateModel.getGnss_speed() );
+                    bean.setHeading( ownerCarStateModel.getHeading() );
+                    bean.setLat( ownerCarStateModel.getLat() );
+                    bean.setLon( ownerCarStateModel.getLon() );
+                    bean.setReceiverDataTime( ownerCarStateModel.getReceiverDataTime() );
+                    bean.setSystemTime( ownerCarStateModel.getSystemTime() );
+                    bean.setYaw_rate( ownerCarStateModel.getYaw_rate() );
+                    stateInf.setValues( bean );
+                    mLastLon = ownerCarStateModel.getLon();
+                    mLastLat = ownerCarStateModel.getLat();
+                    mSpeed = ownerCarStateModel.getGnss_speed();
+                    if ( mMogoAdasCarDataCallback != null ) {
+                        mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInf );
+                    }
+                }
+
+                @Override
+                public void notifyAutopilotState( AdasAIDLAutopilotStateModel autopilotStateModel ) {
+                    Logger.d( TAG, "notifyAutopilotState: " + autopilotStateModel );
+                    DebugConfig.setAutoPilotStatus( autopilotStateModel.getState() + "" );
+                    if ( mAdasOCHCallback != null ) {
+                        mAdasOCHCallback.onStateChanged( autopilotStateModel.getState(), autopilotStateModel.getReason() );
+                    }
+                }
+
+                @Override
+                public void notifyOwnerCarRect( List< AdasAIDLOwnerCarRectModel > ownerCarStateRectList ) {
+                    // 物体识别返回
+                    Logger.d( TAG, "ADAS-REC-received data: size = %s", ownerCarStateRectList == null ? 0 : ownerCarStateRectList.size() );
+                    final long start = System.currentTimeMillis();
+                    // 仅在 vr 模式下显示 adas 识别车辆
+                    if ( !SingletonsHolder.get( IMogoStatusManager.class ).isVrMode() ) {
+                        return;
+                    }
+                    if ( !SingletonsHolder.get( IMogoStatusManager.class ).isMainPageLaunched() ) {
+                        return;
+                    }
+                    try {
+                        handleAdasRecognizedData( ownerCarStateRectList );
+                    } catch ( Exception e ) {
+                        e.printStackTrace();
+                    }
+                    Logger.i( "ADAS-REC-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
+                }
+            };
+            adasProvider.addAdasEventListener(mAdasDataListener);
         }
     }
 
@@ -693,7 +839,7 @@ public class MogoADASController implements IMogoADASController {
     @Override
     public void release() {
         mIsReleased = true;
-        AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
+        //AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
         AutopilotServiceManage.getInstance().release();
     }
 
@@ -861,6 +1007,6 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void mockAdasRecognized( String json ) {
-        mAutopolitDataCallBack.cameraEyeDetectResult( json );
+        mAdasDataListener.cameraEyeDetectResult( json );
     }
 }
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
index e50c9ed60e..9e878c3d5d 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java
@@ -1,6 +1,5 @@
 package com.mogo.service.impl.adas;
 
-import com.mogo.module.adas.AdasListenerAdapter;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.bean.AutopilotStatus;
 import com.zhidao.support.adas.high.bean.AutopilotWayArrive;

From a864dcb0ca3cff77fd15de0954eb738fdf1c9e67 Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Thu, 13 May 2021 16:31:03 +0800
Subject: [PATCH 06/10] =?UTF-8?q?=E5=88=A0=E9=99=A4=E6=95=B0=E6=8D=AE?=
 =?UTF-8?q?=E7=9B=91=E5=90=AC=E6=B3=A8=E5=86=8C?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../mogo/module/adas/AdasDataListener.java    |  37 +---
 .../service/impl/adas/MogoADASController.java | 162 +-----------------
 2 files changed, 5 insertions(+), 194 deletions(-)

diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java
index f32aa8f0f3..fff4dfc621 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasDataListener.java
@@ -20,6 +20,7 @@ import java.util.List;
  * Created by XuYong on 2021/4/25 16:52
  */
 public abstract class AdasDataListener {
+
     public  void sendMsg( String msg ) {
 
     }
@@ -54,40 +55,4 @@ public abstract class AdasDataListener {
 
     public void notifyOwnerCarRect( List<AdasAIDLOwnerCarRectModel> ownerCarStateRectList ) {
     }
-/*
-    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-
-    };
-
-    public void onVideoSize(int width, int height) {
-
-    };
-
-    public void onRectData(RectInfo rectInfo) {
-
-    };
-
-    public void onCarStateData(CarStateInfo carStateInfo){
-
-    };
-
-    public void onLightStateData(LightStatueInfo lightStatueInfo){
-
-    };
-
-    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
-
-    };
-
-    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
-
-    };
-
-    public void autopilotStatus(AutopilotStatus autopilotStatus) {
-
-    };
-
-    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
-
-    };*/
 }
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 1e57e4f15d..4068ba4914 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -96,6 +96,8 @@ public class MogoADASController implements IMogoADASController {
 
     //private IAutopolitDataCallBack mAutopolitDataCallBack;
     private AdasDataListener mAdasDataListener;
+    private AdasProvider adasProvider;
+
 
     /**
      * 获取adas前车距离
@@ -299,7 +301,6 @@ public class MogoADASController implements IMogoADASController {
         }
         Logger.d( TAG, Log.getStackTraceString( new Throwable() ) );
         init( AbsMogoApplication.getApp() );
-        AdasProvider adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
         adasProvider.addAdaStatusListener(new AdasStatusListener() {
             @Override
             public void onServiceConnected() {
@@ -312,165 +313,8 @@ public class MogoADASController implements IMogoADASController {
                 super.onServiceDisconnected();
             }
         });
-        /*AutopilotServiceManage.getInstance().registerAutopilotServiceStatusListener( new IAutopilotServiceStatusListener() {
-            @Override
-            public void onServiceConnected() {
-                invokeShowADASOperation();
-            }
-
-            @Override
-            public void onServiceDisconnected() {
-
-            }
-        } );*/
         invokeShowADASOperation();
 
-        /*
-        if ( mAutopolitDataCallBack == null ) {
-            mAutopolitDataCallBack = new IAutopolitDataCallBack() {
-                @Override
-                public void sendMsg( String msg ) {
-                    for ( IMogoAdasDataCallback callback : mAdasDataCallbackList ) {
-                        try {
-                            callback.onAdasDataCallback( msg );
-                        } catch ( Exception e ) {
-                            Logger.e( TAG, e, "sendMsg" );
-                        }
-                    }
-                }
-
-                @Override
-                public void cameraEyeDetectResult( String detectResult ) {
-
-                    try {
-                        JSONObject jsonObjectWs = new JSONObject( detectResult );
-                        String action = jsonObjectWs.optString( "action" );
-                        if ( TextUtils.isEmpty( action ) ) {
-                            Logger.w( TAG, "--->action is null" );
-                            return;
-                        }
-                        //识别的他车移动操作
-                        mAdasMessageFactory.createMessage( action ).handlerMsg( GsonUtil.getGson(), mOnAdasListener, detectResult );
-                    } catch ( JSONException e ) {
-                        e.printStackTrace();
-                    }
-                }
-
-                @Override
-                public void selectCarModelUrl( String carStyleUrl ) {
-                    Logger.d( TAG, "selectCarModelUrl: " + carStyleUrl );
-                    needEmphasizeMyLocation = true;
-                    // 修改自车图标展示
-                    SharedPrefsMgr.getInstance( context ).putString( "MY_LOCATION_CONFIG", carStyleUrl );
-                    SingletonsHolder.get( IMogoDataManager.class ).syncData( "ADAS", carStyleUrl );
-                }
-
-                @Override
-                public void requestGetCarModelListInfo() {
-                    if ( DebugConfig.isMapBased() ) {
-                        Logger.d( TAG, "requestGetCarModelListInfo" );
-                        // 向adas发送车模list
-                        String carModelList = SharedPrefsMgr.getInstance( context ).getString( "CAR_MODEL_LIST", "" );
-                        if ( carModelList != null && !carModelList.isEmpty() ) {
-                            AutopilotServiceManage.getInstance().settingCarModelListInfo( carModelList );
-                        }
-                        // 此处进行网络请求，请求成功后再通知一次adas
-                        requestCarModelList();
-                    }
-                }
-
-                @Override
-                public void clickSettingBack() {
-                    if ( needEmphasizeMyLocation ) {
-                        SingletonsHolder.get( IMogoDataManager.class ).syncData( "ADAS", null );
-                    }
-                    needEmphasizeMyLocation = false;
-
-                    useTestSn = !useTestSn;
-                }
-
-                @Override
-                public void showToast( String msg ) {
-                    UiThreadHandler.post( () -> TipToast.tip( msg ) );
-                }
-
-                @Override
-                public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
-                    if ( autopilotArriveModel == null ) {
-                        return;
-                    }
-                    if ( mAdasOCHCallback != null ) {
-                        mAdasOCHCallback.onArriveAt( new AdasOCHData(
-                                autopilotArriveModel.getCarType(),
-                                autopilotArriveModel.getLon(),
-                                autopilotArriveModel.getLat() )
-                        );
-                    }
-                }
-
-                @Override
-                public void ownerCarStateInfo( String ownerCarStateInfo ) {
-                    Message message = mAdasLocationRecHandler.obtainMessage();
-                    message.obj = ownerCarStateInfo;
-                    message.sendToTarget();
-                }
-
-                @Override
-                public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
-                    ADASCarStateInfo stateInf = new ADASCarStateInfo();
-                    stateInf.setAction( "state" );
-                    ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();
-                    bean.setSatelliteTime( ownerCarStateModel.getSatelliteTime() );
-                    bean.setAcceleration( ownerCarStateModel.getAcceleration() );
-                    bean.setAlt( ownerCarStateModel.getAlt() );
-                    bean.setGnss_speed( ownerCarStateModel.getGnss_speed() );
-                    bean.setHeading( ownerCarStateModel.getHeading() );
-                    bean.setLat( ownerCarStateModel.getLat() );
-                    bean.setLon( ownerCarStateModel.getLon() );
-                    bean.setReceiverDataTime( ownerCarStateModel.getReceiverDataTime() );
-                    bean.setSystemTime( ownerCarStateModel.getSystemTime() );
-                    bean.setYaw_rate( ownerCarStateModel.getYaw_rate() );
-                    stateInf.setValues( bean );
-                    mLastLon = ownerCarStateModel.getLon();
-                    mLastLat = ownerCarStateModel.getLat();
-                    mSpeed = ownerCarStateModel.getGnss_speed();
-                    if ( mMogoAdasCarDataCallback != null ) {
-                        mMogoAdasCarDataCallback.onAdasCarDataCallback( stateInf );
-                    }
-                }
-
-                @Override
-                public void notifyAutopilotState( AdasAIDLAutopilotStateModel autopilotStateModel ) {
-                    Logger.d( TAG, "notifyAutopilotState: " + autopilotStateModel );
-                    DebugConfig.setAutoPilotStatus( autopilotStateModel.getState() + "" );
-                    if ( mAdasOCHCallback != null ) {
-                        mAdasOCHCallback.onStateChanged( autopilotStateModel.getState(), autopilotStateModel.getReason() );
-                    }
-                }
-
-                @Override
-                public void notifyOwnerCarRect( List< AdasAIDLOwnerCarRectModel > ownerCarStateRectList ) {
-                    // 物体识别返回
-                    Logger.d( TAG, "ADAS-REC-received data: size = %s", ownerCarStateRectList == null ? 0 : ownerCarStateRectList.size() );
-                    final long start = System.currentTimeMillis();
-                    // 仅在 vr 模式下显示 adas 识别车辆
-                    if ( !SingletonsHolder.get( IMogoStatusManager.class ).isVrMode() ) {
-                        return;
-                    }
-                    if ( !SingletonsHolder.get( IMogoStatusManager.class ).isMainPageLaunched() ) {
-                        return;
-                    }
-                    try {
-                        handleAdasRecognizedData( ownerCarStateRectList );
-                    } catch ( Exception e ) {
-                        e.printStackTrace();
-                    }
-                    Logger.i( "ADAS-REC-timer", "cost " + ( System.currentTimeMillis() - start ) + "ms" );
-                }
-            };
-            AutopilotServiceManage.getInstance().registerAutopilotDataListener( mAutopolitDataCallBack );
-         */
-
         if ( mAdasDataListener == null ) {
             mAdasDataListener = new AdasDataListener() {
                 @Override
@@ -708,6 +552,7 @@ public class MogoADASController implements IMogoADASController {
         AutopilotServiceManage.getInstance().init( context );
         mIsReleased = false;
         mAdasMessageFactory = new MyMessageFactory();
+        adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
         this.context = context;
     }
 
@@ -840,6 +685,7 @@ public class MogoADASController implements IMogoADASController {
     public void release() {
         mIsReleased = true;
         //AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
+        adasProvider.removeAdasEventListener(mAdasDataListener);
         AutopilotServiceManage.getInstance().release();
     }
 

From eebf438322e1a31341aa5e35e24d25e45006e14d Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Tue, 18 May 2021 19:43:12 +0800
Subject: [PATCH 07/10] =?UTF-8?q?=E5=A2=9E=E5=8A=A0Log?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modules/mogo-module-adas/build.gradle             |  2 +-
 .../service/impl/adas/MogoADASController.java     |  1 +
 test/crashreport/src/main/AndroidManifest.xml     |  5 -----
 .../test/crashreport/CrashReportConstants.java    | 15 ---------------
 4 files changed, 2 insertions(+), 21 deletions(-)
 delete mode 100644 test/crashreport/src/main/AndroidManifest.xml
 delete mode 100644 test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java

diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index cacf6404ca..69de80c052 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -45,7 +45,7 @@ dependencies {
     // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
     compileOnly rootProject.ext.dependencies.adasapi
 
-    api "com.zhidao.support.adas:high:1.1.7.4"
+    api "com.zhidao.support.adas:high:1.1.8.3"
 
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     if (Boolean.valueOf(RELEASE)) {
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 4068ba4914..914d1d29ce 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -305,6 +305,7 @@ public class MogoADASController implements IMogoADASController {
             @Override
             public void onServiceConnected() {
                 super.onServiceConnected();
+                AutopilotServiceManage.getInstance().aiCloudToAdasData(Utils.getSn());
                 invokeShowADASOperation();
             }
 
diff --git a/test/crashreport/src/main/AndroidManifest.xml b/test/crashreport/src/main/AndroidManifest.xml
deleted file mode 100644
index 855745505b..0000000000
--- a/test/crashreport/src/main/AndroidManifest.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.mogo.test.crashreport">
-
-    /
-</manifest>
\ No newline at end of file
diff --git a/test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java b/test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java
deleted file mode 100644
index a2a1057fae..0000000000
--- a/test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package com.mogo.test.crashreport;
-
-public
-/**
- * @author congtaowang
- * @since 2020/9/9
- * <p>
- * 描述
- */
-class CrashReportConstants {
-
-    public static final String PATH = "/crashreport/api";
-
-    public static final String NAME = "CrashReportApi";
-}

From e513eba5aea2ed2c3e9b2262d9eec4ade90e1170 Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Wed, 19 May 2021 14:30:42 +0800
Subject: [PATCH 08/10] =?UTF-8?q?Revert=20"=E5=A2=9E=E5=8A=A0Log"?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

This reverts commit eebf438322e1a31341aa5e35e24d25e45006e14d.
---
 modules/mogo-module-adas/build.gradle             |  2 +-
 .../service/impl/adas/MogoADASController.java     |  1 -
 test/crashreport/src/main/AndroidManifest.xml     |  5 +++++
 .../test/crashreport/CrashReportConstants.java    | 15 +++++++++++++++
 4 files changed, 21 insertions(+), 2 deletions(-)
 create mode 100644 test/crashreport/src/main/AndroidManifest.xml
 create mode 100644 test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java

diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index 69de80c052..cacf6404ca 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -45,7 +45,7 @@ dependencies {
     // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
     compileOnly rootProject.ext.dependencies.adasapi
 
-    api "com.zhidao.support.adas:high:1.1.8.3"
+    api "com.zhidao.support.adas:high:1.1.7.4"
 
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     if (Boolean.valueOf(RELEASE)) {
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 914d1d29ce..4068ba4914 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -305,7 +305,6 @@ public class MogoADASController implements IMogoADASController {
             @Override
             public void onServiceConnected() {
                 super.onServiceConnected();
-                AutopilotServiceManage.getInstance().aiCloudToAdasData(Utils.getSn());
                 invokeShowADASOperation();
             }
 
diff --git a/test/crashreport/src/main/AndroidManifest.xml b/test/crashreport/src/main/AndroidManifest.xml
new file mode 100644
index 0000000000..855745505b
--- /dev/null
+++ b/test/crashreport/src/main/AndroidManifest.xml
@@ -0,0 +1,5 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.mogo.test.crashreport">
+
+    /
+</manifest>
\ No newline at end of file
diff --git a/test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java b/test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java
new file mode 100644
index 0000000000..a2a1057fae
--- /dev/null
+++ b/test/crashreport/src/main/java/com/mogo/test/crashreport/CrashReportConstants.java
@@ -0,0 +1,15 @@
+package com.mogo.test.crashreport;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/9/9
+ * <p>
+ * 描述
+ */
+class CrashReportConstants {
+
+    public static final String PATH = "/crashreport/api";
+
+    public static final String NAME = "CrashReportApi";
+}

From 33a59ed8840d064e84e2661ef4a8df8500a1b554 Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Thu, 20 May 2021 10:41:56 +0800
Subject: [PATCH 09/10] =?UTF-8?q?adas=E7=89=88=E6=9C=AC=E5=8D=87=E7=BA=A7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modules/mogo-module-adas/build.gradle           |  2 +-
 .../com/mogo/module/adas/AdasEventManager.java  | 17 +++++++++--------
 .../service/impl/adas/MogoADASController.java   | 10 +++++++++-
 3 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index cacf6404ca..69de80c052 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -45,7 +45,7 @@ dependencies {
     // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
     compileOnly rootProject.ext.dependencies.adasapi
 
-    api "com.zhidao.support.adas:high:1.1.7.4"
+    api "com.zhidao.support.adas:high:1.1.8.3"
 
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     if (Boolean.valueOf(RELEASE)) {
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
index 559b83797c..1e94b4749c 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -24,7 +24,7 @@ import java.util.ArrayList;
  */
 public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
 
-    private final String TAG = "AdasEventManager";
+    private final String TAG = "\\";
 
     private Gson gson;
 
@@ -67,7 +67,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-        Logger.d(TAG,"onWarnMessage");
+        Logger.d(TAG,"onWarnMessage " + warnMessageInfo);
         //报警model
         WarnMessageModel warnMessageModel = null;
         for (AdasDataListener listener:iAdasEventListeners) {
@@ -93,7 +93,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void onRectData(RectInfo rectInfo) {
-        Logger.d(TAG,"onRectData");
+        Logger.d(TAG,"onRectData " + rectInfo);
 
         for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
@@ -104,7 +104,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void onCarStateData(CarStateInfo carStateInfo) {
-        Logger.d(TAG,"onCarStateData");
+        Logger.d(TAG,"onCarStateData " + carStateInfo);
         for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
                 listener.ownerCarStateInfo(gson.toJson(carStateInfo));
@@ -114,7 +114,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void onLightStateData(LightStatueInfo lightStatueInfo) {
-        Logger.d(TAG,"onLightStateData");
+        Logger.d(TAG,"onLightStateData " + lightStatueInfo);
         for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
             }
@@ -123,7 +123,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
-        Logger.d(TAG,"onObstaclesInfo");
+        Logger.d(TAG,"onObstaclesInfo " + obstaclesInfo);
         for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
             }
@@ -132,7 +132,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
-        Logger.d(TAG,"onCarLaneInfo");
+        Logger.d(TAG,"onCarLaneInfo " + carLaneInfo);
         for (AdasDataListener listener:iAdasEventListeners) {
             if (listener != null) {
             }
@@ -141,6 +141,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void autopilotStatus(AutopilotStatus autopilotStatus) {
+        Logger.d(TAG,"autopilotStatus " + autopilotStatus);
         AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
         AutopilotStatus.ValuesBean mAutopilotStatus;
 
@@ -165,7 +166,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
-        Logger.d(TAG,"autopilotArrive");
+        Logger.d(TAG,"autopilotArrive " + autopilotWayArrive);
         if (autopilotWayArrive != null) {
             AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
             if (result != null) {
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 4068ba4914..8d9ef6d66d 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -305,11 +305,14 @@ public class MogoADASController implements IMogoADASController {
             @Override
             public void onServiceConnected() {
                 super.onServiceConnected();
+                Logger.d( TAG, "adas statuslistener connected & send sn");
+                AutopilotServiceManage.getInstance().aiCloudToAdasData(Utils.getSn());
                 invokeShowADASOperation();
             }
 
             @Override
             public void onServiceDisconnected() {
+                Logger.d( TAG, "adas statuslistener disconnected");
                 super.onServiceDisconnected();
             }
         });
@@ -319,6 +322,7 @@ public class MogoADASController implements IMogoADASController {
             mAdasDataListener = new AdasDataListener() {
                 @Override
                 public void sendMsg( String msg ) {
+                    Logger.d( TAG, "adas AdasDataListener sendmsg " + msg);
                     for ( IMogoAdasDataCallback callback : mAdasDataCallbackList ) {
                         try {
                             callback.onAdasDataCallback( msg );
@@ -330,7 +334,7 @@ public class MogoADASController implements IMogoADASController {
 
                 @Override
                 public void cameraEyeDetectResult( String detectResult ) {
-
+                    Logger.d( TAG, "detectResult " + detectResult);
                     try {
                         JSONObject jsonObjectWs = new JSONObject( detectResult );
                         String action = jsonObjectWs.optString( "action" );
@@ -356,6 +360,7 @@ public class MogoADASController implements IMogoADASController {
 
                 @Override
                 public void requestGetCarModelListInfo() {
+                    Logger.d( TAG, "requestGetCarModelListInfo ");
                     if ( DebugConfig.isMapBased() ) {
                         Logger.d( TAG, "requestGetCarModelListInfo" );
                         // 向adas发送车模list
@@ -385,6 +390,7 @@ public class MogoADASController implements IMogoADASController {
 
                 @Override
                 public void autopilotArrive( AdasAIDLAutopilotArriveModel autopilotArriveModel ) {
+                    Logger.d( TAG, "autopilotArriveModel " + autopilotArriveModel);
                     if ( autopilotArriveModel == null ) {
                         return;
                     }
@@ -399,6 +405,7 @@ public class MogoADASController implements IMogoADASController {
 
                 @Override
                 public void ownerCarStateInfo( String ownerCarStateInfo ) {
+                    Logger.d( TAG, "ownerCarStateInfo " + ownerCarStateInfo);
                     Message message = mAdasLocationRecHandler.obtainMessage();
                     message.obj = ownerCarStateInfo;
                     message.sendToTarget();
@@ -406,6 +413,7 @@ public class MogoADASController implements IMogoADASController {
 
                 @Override
                 public void notifyOwnerCarState( AdasAIDLOwnerCarStateModel ownerCarStateModel ) {
+                    Logger.d( TAG, "AdasAIDLOwnerCarStateModel " + ownerCarStateModel);
                     ADASCarStateInfo stateInf = new ADASCarStateInfo();
                     stateInf.setAction( "state" );
                     ADASCarStateInfo.ValuesBean bean = new ADASCarStateInfo.ValuesBean();

From 008e405eef9200ea08752dc70a07954c85f6f3c8 Mon Sep 17 00:00:00 2001
From: suyong <suyong@mogoauto.com>
Date: Thu, 20 May 2021 13:50:03 +0800
Subject: [PATCH 10/10] =?UTF-8?q?=E5=88=86=E4=BD=93=E6=9C=BASN=E4=B8=8A?=
 =?UTF-8?q?=E4=BC=A0=E5=B7=A5=E6=8E=A7=E6=9C=BA=E4=BF=AE=E6=94=B9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../java/com/mogo/service/impl/adas/MogoADASController.java     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 8d9ef6d66d..8bbad5a69a 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -306,7 +306,7 @@ public class MogoADASController implements IMogoADASController {
             public void onServiceConnected() {
                 super.onServiceConnected();
                 Logger.d( TAG, "adas statuslistener connected & send sn");
-                AutopilotServiceManage.getInstance().aiCloudToAdasData(Utils.getSn());
+                AutopilotServiceManage.getInstance().aiCloudToAdasData(Utils.getSn()+"xavier");
                 invokeShowADASOperation();
             }