Merge branch 'dev_robotaxi-d-app-module_270_220510_2.7.0' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_270_220510_2.7.0

 Conflicts:

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

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

@@ -12,6 +12,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_MULTI_CONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
@@ -42,6 +43,7 @@ import com.mogo.telematic.server.netty.NettyTcpServer
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.AdasOptions
 import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
+import com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
@@ -100,10 +102,7 @@ class MoGoAutopilotProvider :
                                             platNumberArray.size, platNumberArray
                                         ), channel
                                     ) {
-                                        CallerLogger.d(
-                                            "$M_ADAS_IMPL$TAG",
-                                            "司机端发送车牌号到乘客端是否成功：${it.isSuccess}"
-                                        )
+                                        invokeNettyConnResult("司机屏发送车牌号到乘客屏是否成功：${it.isSuccess}")
                                     }
                                 } else {
                                     CallerAutoPilotManager.getCarConfig()
@@ -117,10 +116,12 @@ class MoGoAutopilotProvider :
 
                 override fun onStartServer() {
                     ToastUtils.showShort("司机端服务启动成功!")
+                    invokeNettyConnResult("司机端服务启动成功!")
                 }
 
                 override fun onStopServer() {
                     ToastUtils.showLong("司机端服务停止!")
+                    invokeNettyConnResult("司机端服务停止!")
                 }
 
                 override fun onChannelConnect(channel: Channel?) {
@@ -142,6 +143,10 @@ class MoGoAutopilotProvider :
                 override fun onChannelDisConnect(channel: Channel?) {
                     CallerLogger.d("$M_ADAS_IMPL$TAG", "onChannelDisConnect")
                 }
+
+                override fun onReceiveClientSign(channel: Channel?, sn: String?) {
+
+                }
             }, MoGoAiCloudClientConfig.getInstance().sn)
         } else {
             // 乘客端默认接收绘制全局路径+引导线
@@ -249,7 +254,7 @@ class MoGoAutopilotProvider :
     }
 
     override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
-        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+        if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
             val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
             invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
         } else {
@@ -285,9 +290,6 @@ class MoGoAutopilotProvider :
         )
     }
 
-    override fun sendMessageToAutopilot(jsonString: String) {
-    }
-
     override fun cancelAutoPilot() {
         if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
@@ -472,50 +474,51 @@ class MoGoAutopilotProvider :
     }
 
     private fun handleMsgFromServer(msg: MogoProtocolMsg?, channel: Channel) {
-        try {
-            msg?.let {
-                when (it.protocolType) {
-                    NORMAL_DATA -> AdasManager.getInstance().decoderRaw(it.body)
-                    SYNC_MODE_STATUS -> {
-                        FunctionBuildConfig.isDemoMode = when (it.body[0].toInt()) {
-                            1 -> true
-                            else -> false
-                        }
-                        setDemoMode(FunctionBuildConfig.isDemoMode)
-                    }
-                    REQ_CAR_NUMBER -> {
-                        AppConfigInfo.plateNumber = String(msg.body)
-                    }
-                    else -> {
+        msg?.let {
+            when (it.protocolType) {
+                NORMAL_DATA -> {
+                    try {
+                        AdasManager.getInstance().decoderRaw(it.body)
+                    } catch (e: Exception) {
+                        e.printStackTrace()
+                        CallerLogger.e("$M_ADAS_IMPL$TAG", "乘客屏解析数据过程中出现异常：${e.message}")
                     }
                 }
+                SYNC_MODE_STATUS -> {
+                    FunctionBuildConfig.isDemoMode = when (it.body[0].toInt()) {
+                        1 -> true
+                        else -> false
+                    }
+                    setDemoMode(FunctionBuildConfig.isDemoMode)
+                }
+                REQ_CAR_NUMBER -> {
+                    AppConfigInfo.plateNumber = String(msg.body)
+                    invokeNettyConnResult("司机屏发送给乘客屏车牌号为:${AppConfigInfo.plateNumber}")
+                }
+                else -> {
+                }
             }
-        } catch (e: Exception) {
-            e.printStackTrace()
-            CallerLogger.e("$M_ADAS_IMPL$TAG", "乘客屏解析数据流程中出现异常：${e.message}")
         }
     }
 
     private fun handleConnStatusWithServer(statusCode: Int, sign: String?) {
         when (statusCode) {
             ConnectState.STATUS_CONNECT_SUCCESS -> {
-                CallerLogger.d("$M_ADAS_IMPL$TAG", "乘客端连接司机端服务成功! sign is:${sign}")
+                ToastUtils.showShort("连接司机屏成功!")
+                invokeNettyConnResult("乘客屏连接司机屏成功，司机屏SN为：$sign")
                 // 连接成功后，乘客屏没拿到车牌号就像司机屏请求
                 if (AppConfigInfo.plateNumber.isNullOrEmpty()) {
                     var byteArray = byteArrayOf(0)
                     NSDNettyManager.getInstance().sendMogoProtocolMsgToServer(
                         MogoProtocolMsg(REQ_CAR_NUMBER, byteArray.size, byteArray)
                     ) {
-                        CallerLogger.d("$M_ADAS_IMPL$TAG", "请求车牌号数据发送是否成功：${it}")
+                        invokeNettyConnResult("乘客屏请求车牌号数据发送是否成功：${it}")
                     }
                 }
             }
             else -> {
                 ToastUtils.showLong("和司机端连接异常!")
-                CallerLogger.d(
-                    "$M_ADAS_IMPL$TAG",
-                    "client statusCode is:${statusCode}"
-                )
+                invokeNettyConnResult("乘客屏和司机屏连接异常，状态码为：$statusCode")
             }
         }
     }
@@ -523,5 +526,18 @@ class MoGoAutopilotProvider :
     override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
         // 乘客屏才监听
         AppConfigInfo.plateNumber = carConfigResp.plateNumber
+        invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber}")
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_MULTI_CONNECT,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
+    private fun invokeNettyConnResult(status: String) {
+        CallerLogger.d("$M_ADAS_IMPL$TAG", status)
     }
 }

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

@@ -8,6 +8,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
@@ -15,6 +16,8 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -25,6 +28,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
@@ -110,7 +114,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     //自车定位信息
     @ChainLog(
-        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
         linkCode = CHAIN_LINK_ADAS,
         endpoint = PAD,
         nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
@@ -220,11 +224,23 @@ class MoGoAdasListenerImpl : OnAdasListener {
     }
 
     //感知红绿灯
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAFFIC_LIGHT,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
     override fun onPerceptionTrafficLight(
         header: MessagePad.Header?,
         trafficLights: TrafficLightOuterClass.TrafficLights?
     ) {
-
+        if(trafficLights != null){
+            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
+                trafficLights
+            )
+        }
     }
 
     override fun onPredictionObstacleTrajectory(
@@ -326,14 +342,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     }
 
-//    override fun onSSHResult(info: com.zhidao.adas.client.ssh.SSHResult?) {
-//        if (info != null && "docker restart autocar_default_1" == info.cmd) {
-//            showDockerRebootResult(info.code, info.msg)
-//        } else {
-//            CallerLogger.w("$M_ADAS_IMPL$TAG", "onSSHResult : result info is null")
-//        }
-//    }
-
     override fun onError(status: ProtocolStatus, bytes: ByteArray) {
 
     }

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

@@ -75,6 +75,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
             CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 找不到可用IP 传入的IP不可用或固定IP列表中所有IP不可用")
         }
+        CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().ipcConnStatus = ipcConnectionStatus
         CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatusDescribe=reason
         CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
     }

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

@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.bindingcar;
 
 import android.content.Context;
-import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
@@ -10,6 +9,7 @@ import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingcarProvider;
 import com.mogo.eagle.core.function.bindingcar.network.BindingcarNetWorkManager;
+import com.mogo.eagle.core.function.ipcupgrade.IPCUpgradeManager;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 
 import org.jetbrains.annotations.NotNull;
@@ -34,12 +34,13 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
 
     @Override
     public void onDestroy() {
-
+        IPCUpgradeManager.Companion.getINSTANCE().destroy();
     }
 
     @Override
     public void init(Context context) {
         mContext = context;
+        IPCUpgradeManager.Companion.getINSTANCE().initServer(context);
     }
 
     /**
@@ -50,18 +51,14 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
     @Override
     public void getBindingcarInfo(String macAddress) {
         mAddress = macAddress;
-        if (HmiBuildConfig.isShowSnBindingView) {
-            if (getScreenType() == 1) {
-                BindingcarNetWorkManager.getInstance().getBindingcarInfo(mContext, macAddress, getScreenType());
-            }
+        if (HmiBuildConfig.isShowSnBindingView) { //TODO 需要验证
+//            BindingcarNetWorkManager.getInstance().getBindingcarInfo(mContext, macAddress, getScreenType());
         }
     }
 
     @Override
     public void modifyCarInfo(BindingcarCallBack callBack) {
-        if (getScreenType() == 1) {
-            BindingcarNetWorkManager.getInstance().modifyBindingcar(mAddress, callBack, getScreenType());
-        }
+//        BindingcarNetWorkManager.getInstance().modifyBindingcar(mAddress, callBack, getScreenType());
     }
 
 
@@ -71,9 +68,9 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
             screenType = 1; //司机屏
         }
 
-//        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-//            screenType = 2; //乘客屏
-//        }
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            screenType = 2; //乘客屏
+        }
         return screenType;
     }
 

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

@@ -4,6 +4,7 @@ import android.content.Context;
 import android.util.Log;
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.constants.SharedPrefsConstants;
 import com.mogo.eagle.core.data.bindingcar.BindingcarInfo;
 import com.mogo.eagle.core.data.bindingcar.CarInfo;
@@ -14,6 +15,7 @@ import com.mogo.eagle.core.network.MoGoRetrofitFactory;
 import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.util.DeviceIdUtils;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.module.common.constants.HostConst;
 
@@ -37,7 +39,7 @@ public class BindingcarNetWorkManager {
     private static final String TAG = "BindingcarNetWorkManager";
 
     private BindingcarNetWorkManager() {
-        mBindingcarApiService = MoGoRetrofitFactory.getInstance(HostConst.BINDING_SN_HOST)
+        mBindingcarApiService = MoGoRetrofitFactory.getInstance(HostConst.BINDING_SN_HOST_TEST)
                 .create(BindingcarApiService.class);
     }
 
@@ -54,12 +56,17 @@ public class BindingcarNetWorkManager {
 
 
     /**
-     * 获取绑定的车辆信息
+     * 获取绑定的车辆信息 TODO
      *
      * @param macAddress mac地址
      */
     public void getBindingcarInfo(Context context, String macAddress, int screenType) {
-        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        String sn = DeviceIdUtils.getWidevineIDWithMd5(AbsMogoApplication.getApp());
+//        String macAddress = "48:b0:2d:3a:bc:7";
+//        String sn = "X20202203105S688HZ";
+//        int screenType = 1;
+
+        Log.d("liyz", "getBindingcarInfo --- sn = " + sn + "--macAddress = " +macAddress + "--screenType = " + screenType);
         BindingcarRequest request = new BindingcarRequest(macAddress, sn, screenType);
         RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
         mBindingcarApiService.getBindingcarInfo(token, requestBody)
@@ -75,13 +82,13 @@ public class BindingcarNetWorkManager {
                         if (info != null && info.getData() != null) {
                             CallerLogger.INSTANCE.d(TAG, "getBindingcarInfo onNext info.getData() =" + info.getData().toString());
                             Log.d("liyz", "getBindingcarInfo onNext info.getData() =" + info.getData().toString() + "--compare = " + info.getData().getCompare());
-                            if (info.getData().getCompare() == 0) {
+                            if (info.getData().getCompare().equals(0)) {
                                 CallerHmiManager.INSTANCE.showBindingcarDialog();
-                            } else if (info.getData().getCompare() == 3) {
+                            } else if (info.getData().getCompare().equals(3)) {
                                 CallerHmiManager.INSTANCE.showModifyBindingcarDialog();
                             }
 
-                            SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.CAR_INFO, GsonUtils.toJson(info.data));
+                            SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.CAR_INFO, GsonUtils.toJson(info.getData()));
                         }
                     }
 
@@ -93,6 +100,7 @@ public class BindingcarNetWorkManager {
 
                     @Override
                     public void onComplete() {
+                        Log.d("liyz", "getBindingcarInfo onComplete -------- ");
                     }
                 });
 
@@ -103,7 +111,9 @@ public class BindingcarNetWorkManager {
      * mac: 48:b0:2d:3a:9c:19
      */
     public void modifyBindingcar(String macAddress, BindingcarCallBack callBack, int screenType) {
-        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+//        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        String sn = DeviceIdUtils.getWidevineIDWithMd5(AbsMogoApplication.getApp());
+        Log.d("liyz", "modifyBindingcar --- sn = " + sn + "---macAddress = " + macAddress);
         BindingcarRequest request = new BindingcarRequest(macAddress, sn, screenType);
         RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
         mBindingcarApiService.modifyBindingcarInfo(token, requestBody)
@@ -120,6 +130,8 @@ public class BindingcarNetWorkManager {
                             callBack.callBackResult(info);
                             CallerLogger.INSTANCE.d(TAG, "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString());
                             Log.d("liyz", "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString());
+                        } else {
+                            Log.e("liyz", "modifyBindingcar  info == null");
                         }
                     }
 

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/ipcupgrade/IPCUpgradeManager.kt

@@ -0,0 +1,64 @@
+package com.mogo.eagle.core.function.ipcupgrade
+
+import android.content.Context
+import android.util.Log
+import com.mogo.aicloud.services.socket.IMogoOnMessageListener
+import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+
+/**
+ * @author XuXinChao
+ * @description 工控机镜像版本升级管理
+ * @since: 2022/5/12
+ */
+class IPCUpgradeManager: IMogoOnMessageListener<IPCUpgradeStateInfo> ,
+    IMoGoAutopilotStatusListener {
+
+    companion object{
+        const val TAG ="IPCUpgradeManager"
+        const val IPC_UPGRADE_MSG_TYPE = 50000
+        val INSTANCE: IPCUpgradeManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED){
+            IPCUpgradeManager()
+        }
+    }
+
+    private var mContext: Context? = null
+
+    fun initServer(context: Context){
+        mContext = context
+        //添加长链接监听
+        MogoAiCloudSocketManager.getInstance(context)
+            .registerOnMessageListener(IPC_UPGRADE_MSG_TYPE, this)
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    override fun target(): Class<IPCUpgradeStateInfo> {
+        return IPCUpgradeStateInfo::class.java
+    }
+
+    override fun onMsgReceived(obj: IPCUpgradeStateInfo?) {
+
+    }
+
+    /**
+     * 自动驾驶状态信息
+     * @param autoPilotStatusInfo 状态信息
+     */
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+
+    }
+
+    fun destroy(){
+        //注销长链接监听
+        MogoAiCloudSocketManager.getInstance(mContext)
+            .unregisterLifecycleListener(IPC_UPGRADE_MSG_TYPE)
+        // 移除 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        mContext = null
+    }
+
+}

core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/check/VehicleMonitoringManager.kt

@@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.check.net.CheckNetWork.checkNetWork
 import com.mogo.eagle.core.function.check.net.CheckResultData
 import com.mogo.eagle.core.function.check.view.CheckActivity
 import com.mogo.eagle.core.function.check.view.CheckDialog
+import com.mogo.eagle.core.function.report.IPCReportManager
 import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.module.common.MogoApisHandler
 import com.mogo.service.statusmanager.IMogoStatusChangedListener
@@ -31,6 +32,10 @@ class VehicleMonitoringManager : ICheckProvider, IMogoStatusChangedListener {
     private val mListeners: ConcurrentHashMap<String, IMogoCheckListener> = ConcurrentHashMap()
     private var hasTipShow = false //是否已经弹框提示
     var dialog: CheckDialog? = null
+
+    override val functionName: String
+        get() = "VehicleMonitoringManager"
+
     override fun init(context: Context) {
         mContext = context
         MogoApisHandler.getInstance().apis.statusManagerApi.registerStatusChangedListener(
@@ -38,6 +43,8 @@ class VehicleMonitoringManager : ICheckProvider, IMogoStatusChangedListener {
                 StatusDescriptor.MAIN_PAGE_RESUME,
                 this
         )
+        //开启工控机监控节点上报服务
+        IPCReportManager.INSTANCE.initServer()
     }
 
     override fun registerVehicleMonitoringListener(module: String, listener: IMogoCheckListener) {
@@ -113,4 +120,10 @@ class VehicleMonitoringManager : ICheckProvider, IMogoStatusChangedListener {
             }
         }
     }
+
+    override fun onDestroy() {
+        //停止工控机监控节点上报服务
+        IPCReportManager.INSTANCE.destroy()
+    }
+
 }

core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/report/IPCReportManager.kt

@@ -0,0 +1,58 @@
+package com.mogo.eagle.core.function.report
+
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.report.ReportEntity
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import mogo_msg.MogoReportMsg
+
+/**
+ * @author XuXinChao
+ * @description 工控机监控节点信息上报管理
+ * @since: 2022/5/12
+ */
+class IPCReportManager : IMoGoAutopilotStatusListener {
+
+    private var ipcReportList = arrayListOf<ReportEntity>()
+
+    companion object{
+        const val TAG ="IPCReportManager"
+        val INSTANCE: IPCReportManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            IPCReportManager()
+        }
+    }
+
+    fun initServer(){
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    /**
+     *工控机监控节点上报
+     */
+    override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
+        guardianInfo?.let{
+            if(it.level=="error"){
+                if(ipcReportList.size>20){
+                    ipcReportList.removeLast()
+                }
+                ipcReportList.add(0,
+                    ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
+                        it.src,it.level,it.msg,it.code,it.resultList,it.actionsList))
+                //当前不处于美化模式时，展示监控节点上报
+                if(!FunctionBuildConfig.isDemoMode){
+                    CallerHmiManager.showIPCReportWindow(ipcReportList)
+                }
+            }
+        }
+    }
+
+    fun destroy(){
+        // 移除 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+}

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchConst.kt

@@ -24,5 +24,10 @@ class MogoLogCatchConst {
          * 本应用设置，关闭日志
          */
         const val LOCAL_CONFIG_CLOSE_LOG = 4
+
+        /**
+         * 上传本地缓存链路日志
+         */
+        const val CACHE_TRACE_UPLOAD = 5
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt

@@ -27,6 +27,7 @@ import com.zhidao.loglib.bean.RemoteLogPushContent
 import com.zhidao.loglib.call.LogInfoManagerFactory
 import com.zhidao.loglib.core.ILogListener
 import com.zhidao.loglib.core.LogInfoManager
+import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companion.CACHE_TRACE_UPLOAD
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companion.LOCAL_CONFIG_CLOSE_LOG
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companion.LOCAL_CONFIG_OPEN_LOG
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companion.LOG_PUSH_TYPE
@@ -103,6 +104,10 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
                         TipToast.longTip("云端下发关闭日志开关")
                         closeLoggerLevel()
                     }
+                    CACHE_TRACE_UPLOAD -> {
+                        TipToast.longTip("上传本地缓存链路日志")
+
+                    }
                     else -> {
                     }
                 }
@@ -233,7 +238,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
         val file = File(filePath)
         if (file.isFile) {
             CallerLogger.d("$M_DEVA$TAG", "uploadFile path : $filePath")
-//            LogInfoManagerFactory.handleSingleUploadFile(filePath)
+            LogInfoManagerFactory.handleSingleUploadFile(filePath)
         }else{
             CallerLogger.d("$M_DEVA$TAG", "file absPath : ${file.absolutePath}")
         }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt

@@ -4,7 +4,10 @@ import android.content.Context
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainLogParam
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.eagle.core.utilcode.util.Utils
@@ -33,20 +36,26 @@ class TraceManager {
 
         // Trace过程中进行日志抓取，对日志进行配置
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
-            FwBuild(true, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_INIT)
+            FwBuild(true, -1,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_INIT)
+        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO] =
+            FwBuild(true, -1,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_GNSS)
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT] =
-            FwBuild(true, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_AUTO)
+            FwBuild(true, -1,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_AUTO)
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED] =
-            FwBuild(false, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_DATA_TRACK)
+            FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_DATA_TRACK)
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY] =
-            FwBuild(false, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAJECTORY)
+            FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAJECTORY)
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE] =
-            FwBuild(false, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_VEHICLE)
+            FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_VEHICLE)
+        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT] =
+            FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT)
 
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
             ChainLogParam(true, "ADAS连接状态")
+        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO] =
+            ChainLogParam(true, "ADAS自车定位")
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT] =
-            ChainLogParam(true, "ADAS自动驾驶链路(包含: 定位,自动驾驶状态,全局路径,到站提醒,节点状态,异常上报)")
+            ChainLogParam(true, "ADAS自动驾驶链路(包含: 自动驾驶状态交互,全局路径,到站提醒,节点状态,异常上报)")
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED] =
             ChainLogParam(false, "ADAS感知物体")
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY] =
@@ -56,6 +65,14 @@ class TraceManager {
 
         FileWriteManager.getInstance()
             .init(context, MoGoAiCloudClientConfig.getInstance().sn, pkgName, fwBuildMap)
+        FileWriteManager.getInstance().registerListener { type ->
+            val param = traceInfoCache[type]
+            param?.let {
+                it.record = false
+                traceInfoCache[type] = it
+            }
+            CallerDevaToolsListenerManager.invokeDevaToolsFwThreadClose()
+        }
     }
 
     fun setTraceLogEnable(enable:Boolean){

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

@@ -11,9 +11,9 @@ import android.view.WindowManager.LayoutParams
 import android.view.animation.*
 import androidx.lifecycle.lifecycleScope
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.voice.AIAssist
-import com.mogo.eagle.core.data.autopilot.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.camera.CameraEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
@@ -47,6 +47,7 @@ import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
 import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
+import com.mogo.eagle.core.function.hmi.ui.setting.IPCReportWindow
 import com.mogo.eagle.core.function.hmi.ui.setting.ReportListFloatWindow
 import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
 import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
@@ -62,6 +63,7 @@ import kotlinx.coroutines.*
 import mogo_msg.MogoReportMsg
 import record_cache.RecordPanelOuterClass
 import java.util.*
+import kotlin.collections.ArrayList
 
 
 /**
@@ -112,6 +114,8 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     private var reportList = arrayListOf<ReportEntity>()
     //工控机上报列表悬浮窗
     private var reportListFloatWindow: ReportListFloatWindow?=null
+    private var ipcReportWindow: IPCReportWindow?=null
+
 
     override fun vipIdentification(visible: Boolean) {
         ThreadUtils.runOnUiThread {
@@ -210,13 +214,28 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                 ToastUtils.showShort("重启成功")
             } else {
                 //重启失败
-                msg?.let {
+                msg.let {
                     ToastUtils.showShort(it)
                 }
             }
         }
     }
 
+    /**
+     * 展示工控机监控上报数据
+     * @param reportList 上报数据列表
+     */
+    override fun showIPCReportWindow(reportList: ArrayList<ReportEntity>) {
+        ThreadUtils.runOnUiThread{
+            if(ipcReportWindow==null){
+                ipcReportWindow= activity?.let { IPCReportWindow(it) }
+                ipcReportWindow?.showFloatWindow()
+                AIAssist.getInstance(AbsMogoApplication.getApp()).speakTTSVoice("嘟")
+            }
+            ipcReportWindow?.refreshData(reportList)
+        }
+    }
+
     /**
      * 设置 V2X 通知 代理View
      */

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

@@ -51,7 +51,8 @@ class ModifyBindingCarDialog(context: Context) : BaseFloatDialog(context), Lifec
      */
     fun modifyBindingcar() {
         CallerBindingcarManager.getBindingcarProvider().modifyCarInfo {
-            if (it.code == 200) {
+            Log.e("liyz", "it.code == ${it.code}" )
+            if (it.code != 205) {
                 TipToast.shortTip("修改绑定成功")
             } else {
                 TipToast.shortTip("修改绑定失败")

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

@@ -50,7 +50,7 @@ class ToBindingCarDialog(context: Context) : BaseFloatDialog(context), Lifecycle
      */
     fun toBindingcar() {
         CallerBindingcarManager.getBindingcarProvider().modifyCarInfo {
-            if (it.code == 200) {
+            if (it.code != 205) {
                 TipToast.shortTip("绑定成功")
             } else {
                 TipToast.shortTip("绑定失败")

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

@@ -2,6 +2,8 @@ package com.mogo.eagle.core.function.hmi.ui.setting
 
 import android.annotation.SuppressLint
 import android.app.Activity
+import android.content.ClipData
+import android.content.ClipboardManager
 import android.content.Context
 import android.graphics.Color
 import android.os.Build
@@ -12,6 +14,7 @@ import android.view.View
 import androidx.annotation.RequiresApi
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
+import androidx.core.content.ContextCompat.getSystemService
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
 import com.mogo.cloud.passport.MoGoAiCloudClient
@@ -48,8 +51,6 @@ import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.logcatch.ILogViewListener
 import com.mogo.eagle.core.function.hmi.ui.logcatch.LogInfoView
-import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
-import com.mogo.eagle.core.function.hmi.ui.tools.DockerRebootDialog
 import com.mogo.eagle.core.function.hmi.ui.upgrade.UpgradeListAdapter
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -83,8 +84,8 @@ class DebugSettingView @JvmOverloads constructor(
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
     IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
     IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
-    IMoGoAutopilotPlanningListener, IMoGoAutopilotCarConfigListener
-    ,IMoGoAutopilotVehicleStateListener{
+    IMoGoAutopilotPlanningListener, IMoGoAutopilotCarConfigListener,
+    IMoGoAutopilotVehicleStateListener {
 
     private val TAG = "DebugSettingView"
 
@@ -94,7 +95,7 @@ class DebugSettingView @JvmOverloads constructor(
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
     private var mGnssInfo: MessagePad.GnssInfo? = null
 
-    private var accelerationFloatWindow: AccelerationFloatWindow?=null
+    private var accelerationFloatWindow: AccelerationFloatWindow? = null
     private var accelerationList = arrayListOf<AccelerationEntity>()
     private var accelerationIsShow: Boolean = false //实时加速度面板是否展示
     private var accelerationThresholdNum: Double = 0.0
@@ -114,19 +115,6 @@ class DebugSettingView @JvmOverloads constructor(
     //日志过滤标签集合
     private val sceneMap = mutableMapOf<String, SceneModule>()
 
-    private var dockerRebootDialog: DockerRebootDialog? = null  //docker重启对话框
-    private var adUpgradeDialog: AdUpgradeDialog? = null //工控机升级对话框
-    private var upgradeMode: Int = -1 //升级模式
-    private var downloadStatus: Int = -1 //下载状态
-    private var currentProgress: Int = -1 //当前已下载包体大小
-    private var previousProgress: Int = -1 //前一秒的下载进度，用于计算下载剩余时间
-    private var totalProgress: Int = -1 //包体总大小
-    private var downloadVersion: String? = null //工控机docker版本
-    private var upgradeStatus: Int = -1 //升级状态
-
-    //ADAS连接状态
-    private var adasConnectStatus: Boolean = false
-
     //OBU连接状态
     private var obuConnectStatus: Boolean = false
 
@@ -134,9 +122,9 @@ class DebugSettingView @JvmOverloads constructor(
     private var onlineSelected: Boolean = true
     private var qaSelected: Boolean = true
 
-    private var upgradeListAdapter: UpgradeListAdapter?=null
+    private var upgradeListAdapter: UpgradeListAdapter? = null
 
-    private val upgradeVersionList by lazy{
+    private val upgradeVersionList by lazy {
         ArrayList<UpgradeVersionEntity>()
     }
 
@@ -148,6 +136,9 @@ class DebugSettingView @JvmOverloads constructor(
 
     private var clickListener: ClickListener? = null
 
+    //剪切板
+    private var clipboardManager: ClipboardManager ?= null
+
     init {
         LayoutInflater.from(context).inflate(R.layout.view_debug_setting, this, true)
         initView()
@@ -182,7 +173,7 @@ class DebugSettingView @JvmOverloads constructor(
         // 添加 工控机基础信息回调 监听
         CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
         //添加 车辆底盘数据回调 监听
-        CallerAutopilotVehicleStateListenerManager.addListener(TAG,this)
+        CallerAutopilotVehicleStateListenerManager.addListener(TAG, this)
         if (logInfoView != null) {
             logInfoView!!.onEnterForeground()
         }
@@ -280,23 +271,41 @@ class DebugSettingView @JvmOverloads constructor(
             if (isChecked) {
                 buttonView.setCompoundDrawables(null, null, iconDown, null)
                 //展示控制中心
-                controlCenterLayout.visibility = View.VISIBLE
+//                controlCenterLayout.visibility = View.VISIBLE
+                commonLayout.visibility = View.VISIBLE
+                swDevelopMode.visibility = View.VISIBLE
+                swDevelopMode.isChecked = false
             } else {
                 buttonView.setCompoundDrawables(null, null, iconRight, null)
                 //隐藏控制中心
                 controlCenterLayout.visibility = View.GONE
+                commonLayout.visibility = View.GONE
+                swDevelopMode.visibility = View.GONE
             }
         }
+        /**
+         * 开发者模式
+         */
+        swDevelopMode.setOnCheckedChangeListener { _, isChecked ->
+            if(isChecked){
+                controlCenterLayout.visibility = View.VISIBLE
+                commonLayout.visibility = View.GONE
+            }else{
+                controlCenterLayout.visibility = View.GONE
+                commonLayout.visibility = View.VISIBLE
+            }
+
+        }
 
         /**
          * 鹰眼参数配置
          */
         tbEagleEyeController.setOnCheckedChangeListener { buttonView, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                 buttonView.setCompoundDrawables(null, null, iconDown, null)
                 //展示参数配置
                 eagleEyeControllerLayout.visibility = View.VISIBLE
-            }else{
+            } else {
                 buttonView.setCompoundDrawables(null, null, iconRight, null)
                 //隐藏参数配置
                 eagleEyeControllerLayout.visibility = View.GONE
@@ -326,19 +335,21 @@ class DebugSettingView @JvmOverloads constructor(
                 buttonView.setCompoundDrawables(null, null, iconDown, null)
                 //展示OBU控制中心
                 obuControllerLayout.visibility = View.VISIBLE
-
+                tbVehicleStateController.isChecked  = true
             } else {
                 buttonView.setCompoundDrawables(null, null, iconRight, null)
                 //隐藏OBU控制中心
                 obuControllerLayout.visibility = View.GONE
+                tbVehicleStateController.isChecked  = false
             }
         }
 
+
         /**
          * 车辆状态控制中心
          */
         tbVehicleStateController.setOnCheckedChangeListener { buttonView, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                 buttonView.setCompoundDrawables(null, null, iconDown, null)
                 //展示车辆状态中心
                 vehicleStateLayout.visibility = View.VISIBLE
@@ -398,7 +409,7 @@ class DebugSettingView @JvmOverloads constructor(
          * 应用包管理中心
          */
         btnApkCenter.setOnCheckedChangeListener { buttonView, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                 buttonView.setCompoundDrawables(null, null, iconDown, null)
                 //展示应用包管理中心
                 apkCenterLayout.visibility = View.VISIBLE
@@ -491,6 +502,7 @@ class DebugSettingView @JvmOverloads constructor(
         //工控机配置信息
         tvAutopilotInfo.text =
             CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString()
+        tvIpcInfo.text = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString()
 
         // 绘制应用基本信息
         drawAppInfo()
@@ -598,7 +610,7 @@ class DebugSettingView @JvmOverloads constructor(
         }
 
         //初始化切换自车按钮文本（Bus版本默认显示：切换自车为出租车）
-        if(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
             tbChangeCurrentCarIcon.isChecked = true
         }
 
@@ -610,32 +622,66 @@ class DebugSettingView @JvmOverloads constructor(
             clickListener?.showReportListWindow(isChecked)
         }
 
+        //SN复制按钮
+        tvPadSnClip.setOnClickListener {
+            if(clipboardManager==null){
+                //获取剪贴板管理器：
+                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+            }
+            // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
+            clipboardManager?.setPrimaryClip(ClipData.newPlainText("MoGoSN",AppConfigInfo.mogoSN))
+            ToastUtils.showLong("SN复制成功")
+        }
+
+        //工控机镜像复制按钮
+        tvIpcVersionInfoClip.setOnClickListener{
+            if(clipboardManager==null){
+                //获取剪贴板管理器：
+                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+            }
+            // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
+            clipboardManager?.setPrimaryClip(ClipData.newPlainText("DockVersion",mAutoPilotStatusInfo?.dockVersion))
+            ToastUtils.showLong("docker版本复制成功")
+        }
+
+        //经纬度复制按钮
+        tvCarInfoCopyClip.setOnClickListener{
+            if(clipboardManager==null){
+                //获取剪贴板管理器：
+                clipboardManager = context.getSystemService(Context.CLIPBOARD_SERVICE) as ClipboardManager
+            }
+            // 创建普通字符型ClipData ,将ClipData内容放到系统剪贴板里
+            clipboardManager?.setPrimaryClip(ClipData.newPlainText("LonAndLat","${mGnssInfo?.longitude},${mGnssInfo?.latitude}"))
+            ToastUtils.showLong("经纬度复制成功")
+        }
+
     }
 
     /**
      * 设置鹰眼本地参数配置监听
      */
-    private fun setEagleEyeConfigListener(){
+    private fun setEagleEyeConfigListener() {
         //初始化刹车加速度阈值信息
         val brakeThreshold = SharedPrefsMgr.getInstance(context)
-            .getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD,-2.5F)
+            .getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5F)
         etInputBrakeThreshold.setText(brakeThreshold.toString())
         etInputBrakeThreshold.text?.let { etInputBrakeThreshold.setSelection(brakeThreshold.toString().length) }
         //设置刹车加速度阈值信息
         btnBrakeThreshold.setOnClickListener {
             val thresholdStr = etInputBrakeThreshold.text.toString()
-            if(thresholdStr.isEmpty()){
+            if (thresholdStr.isEmpty()) {
                 ToastUtils.showShort("请输入正确的判定刹车加速度阈值")
-            }else{
-                try{
+            } else {
+                try {
                     val thresholdStrFloat = thresholdStr.toFloat()
-                    if(thresholdStrFloat<0){
-                        SharedPrefsMgr.getInstance(context).putFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD,thresholdStrFloat)
+                    if (thresholdStrFloat < 0) {
+                        SharedPrefsMgr.getInstance(context)
+                            .putFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, thresholdStrFloat)
                         ToastUtils.showShort("刹车阈值设置成功")
-                    }else{
+                    } else {
                         ToastUtils.showShort("刹车阈值加速度值应小于0")
                     }
-                }catch (e: Exception){
+                } catch (e: Exception) {
                     ToastUtils.showShort("判定刹车加速度阈值格式设置不正确")
                 }
             }
@@ -677,41 +723,6 @@ class DebugSettingView @JvmOverloads constructor(
             CallerAutoPilotManager.disconnectIpc()
         }
 
-        updateSpeedSettingViews()
-
-        /**
-         * 设置最大速度
-         */
-        btnSetAutopilotSpeed.onClick {
-            if (AppConfigInfo.isConnectAutopilot) {
-                val speedStr = etInputSpeed.text?.toString()
-                try {
-                    if (speedStr.isNullOrEmpty()) {
-                        ToastUtils.showShort("请输入最大车速")
-                    }
-                    val speed = speedStr?.toInt()
-                    if (speed != null && speed > 0 && speed < 60) {
-                        // 设置自动驾驶速度
-                        val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speed)
-                        when {
-                            isSuccess -> {
-                                ToastUtils.showShort("车速设置成功，立即生效")
-                            }
-                            else -> {
-                                ToastUtils.showShort("设置车速失败，请启动域控制器")
-                            }
-                        }
-                    } else {
-                        ToastUtils.showShort("最大车速应大于0且小于60")
-                    }
-                } catch (e: Exception) {
-                    ToastUtils.showShort("车速设置失败，请正确设置车速")
-                }
-            } else {
-                ToastUtils.showShort("设置车速失败，请启动域控制器")
-            }
-        }
-
         /**
          * 录制Bag包
          */
@@ -731,152 +742,24 @@ class DebugSettingView @JvmOverloads constructor(
                 CallerAutoPilotManager.recordPackage()
             }
         }
-
-        /**
-         * 工控机升级
-         */
-        btnSystemUpgrade.onClick {
-            if (AppConfigInfo.isConnectAutopilot) {
-                Logger.i(
-                    TAG,
-                    "upgradeMode=" + upgradeMode + " downloadStatus=" + downloadStatus + " upgradeStatus=" + upgradeStatus
-                )
-                if (AdUpgradeStateHelper.isDownloading(downloadStatus)) {
-                    //点击Toast提示：下载剩余时间
-                    ToastUtils.showShort(
-                        "预计" + AdUpgradeStateHelper.getRemainingTime(
-                            totalProgress,
-                            previousProgress,
-                            currentProgress
-                        ) + "下载完成"
-                    )
-                } else if (AdUpgradeStateHelper.getUpgradeStatus()) {
-                    //工控机状态为“升级中”
-                    ToastUtils.showShort("新版本升级中，预计5分钟升级完成")
-                } else if (AdUpgradeStateHelper.isUpgradeFailed(upgradeStatus)) {
-                    //如果升级失败，则Toast提示：升级失败，请联系运维人员
-                    ToastUtils.showShort("升级失败，请联系运维人员")
-                } else if (AdUpgradeStateHelper.isHintUpgradeMode(upgradeMode) && AdUpgradeStateHelper.isDownloadFinish(
-                        downloadStatus,
-                        upgradeStatus
-                    )
-                ) {
-                    //如果升级模式为“提示升级”，并且下载状态为已经下载完成，点击弹出升级确认弹窗
-                    if (adUpgradeDialog == null) {
-                        adUpgradeDialog = AdUpgradeDialog(context)
-                        adUpgradeDialog?.setClickListener(object : AdUpgradeDialog.ClickListener {
-                            override fun confirm() {
-                                if (mAutoPilotStatusInfo?.state == 2) {
-                                    //当前处于自动驾驶状态，不可进行升级，Toast提示
-                                    ToastUtils.showShort("升级前请先退出自动驾驶模式")
-                                } else {
-                                    //确认升级
-                                    Logger.i(TAG, "upgrade confirm")
-                                    //设置当前状态为“升级中”
-                                    AdUpgradeStateHelper.setUpgradeStatus(true)
-                                    CallerAutoPilotManager.setIPCUpgradeAffirm()
-                                }
-                            }
-
-                            override fun cancel() {
-                                //取消升级
-                                Logger.i(TAG, "upgrade cancel")
-                                //取消升级命令不下发
-//                            CallerAutoPilotManager.setIPCUpgradeCancel()
-                            }
-
-                        })
-                    }
-                    adUpgradeDialog?.showUpgradeDialog()
+        btnRecordBag.onClick {
+            val recordTimeStr = etInputRecordBagTime.text?.toString()
+            try {
+                if (recordTimeStr.isNullOrEmpty()) {
+                    CallerAutoPilotManager.recordPackage()
+                }
+                val recordTime = recordTimeStr?.toInt()
+                if (recordTime != null && recordTime > 0) {
+                    CallerAutoPilotManager.recordPackage(recordTime)
                 } else {
-                    ToastUtils.showShort("当前工控机处于最新版本状态，不可升级")
+                    CallerAutoPilotManager.recordPackage()
                 }
-            } else {
-                ToastUtils.showShort("域控制器未连接")
-            }
-
-
-        }
-
-        /**
-         * 重启系统
-         */
-        btnSystemRestart.onClick {
-            if (AppConfigInfo.isConnectAutopilot) {
-                if (dockerRebootDialog == null) {
-                    dockerRebootDialog = DockerRebootDialog(context)
-                    dockerRebootDialog?.setClickListener(object : DockerRebootDialog.ClickListener {
-                        override fun confirm() {
-                            if (mAutoPilotStatusInfo?.state == 2) {
-                                //当前处于自动驾驶状态，不可进行重启，Toast提示
-                                ToastUtils.showShort("请先退出自动驾驶状态")
-                            } else if (AdUpgradeStateHelper.showCannotReboot(
-                                    downloadStatus,
-                                    upgradeStatus
-                                )
-                            ) {
-                                //当工控机处于下载或者升级状态，需要先进行升级
-                                ToastUtils.showShort("请先完成新自动驾驶系统的下载/升级")
-                            } else {
-                                //确认重启
-                                Logger.i(TAG, "reboot confirm")
-                                CallerAutoPilotManager.setIPCReboot()
-                            }
-                        }
-
-                        override fun cancel() {
-                            //取消重启
-                            Logger.i(TAG, "reboot cancel")
-                        }
-
-                    })
-                }
-                dockerRebootDialog?.showUpgradeDialog()
-            } else {
-                ToastUtils.showShort("域控制器未连接")
-            }
-
-
-        }
-
-    }
-
-    /**
-     * Bus不可设置自动驾驶速度，而Taxi可以
-     */
-    private fun updateSpeedSettingViews() {
-        when {
-            AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) -> {
-                btnSetAutopilotSpeed.visibility = View.GONE
-                llSpeedLayout.visibility = View.GONE
-            }
-            else -> {
-                btnSetAutopilotSpeed.visibility = View.VISIBLE
-                llSpeedLayout.visibility = View.VISIBLE
+            } catch (e: Exception) {
+                CallerAutoPilotManager.recordPackage()
             }
         }
-    }
 
-    /**
-     * 设置工控机下载、升级状态信息
-     * @param upgradeMode 升级模式（提示升级、静默升级）
-     * @param downloadStatus 下载状态
-     * @param currentProgress 当前已经下载包体大小
-     * @param totalProgress 下载包体总大小
-     * @param downloadVersion 下载版本
-     * @param upgradeStatus 升级状态
-     */
-    fun setAdUpgradeInfo(
-        upgradeMode: Int, downloadStatus: Int, currentProgress: Int, totalProgress: Int,
-        downloadVersion: String, upgradeStatus: Int
-    ) {
-        this.upgradeMode = upgradeMode
-        this.downloadStatus = downloadStatus
-        this.previousProgress = this.currentProgress
-        this.currentProgress = currentProgress
-        this.totalProgress = totalProgress
-        this.downloadVersion = downloadVersion
-        this.upgradeStatus = upgradeStatus
+
     }
 
     /**
@@ -976,13 +859,13 @@ class DebugSettingView @JvmOverloads constructor(
          * 实时加速度面板控制
          */
         tbOpenAcceleration.setOnCheckedChangeListener { _, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                 //打开实时加速度面板
                 accelerationFloatWindow = context?.let { AccelerationFloatWindow(it as Activity) }
                 accelerationFloatWindow?.showFloatWindow()
                 etThreshold.visibility = View.VISIBLE
                 btnThresholdDefine.visibility = View.VISIBLE
-            }else{
+            } else {
                 //关闭实时加速度面板
                 accelerationFloatWindow?.hideFloatWindow()
                 etThreshold.visibility = View.GONE
@@ -992,9 +875,9 @@ class DebugSettingView @JvmOverloads constructor(
         }
 
         btnThresholdDefine.setOnClickListener {
-            try{
+            try {
                 accelerationThresholdNum = etThreshold.text.toString().toDouble()
-            }catch(e:java.lang.Exception){
+            } catch (e: java.lang.Exception) {
                 ToastUtils.showShort("请输入正确的阈值")
             }
         }
@@ -1198,6 +1081,10 @@ class DebugSettingView @JvmOverloads constructor(
                     }
                 }
 
+                override fun fwThreadClose() {
+                    refreshTraceInfo()
+                }
+
                 override fun moduleLogChanged(moduleTag: MutableMap<String, SceneModule>) {
                     //模块日志 tag 发生变化，需要更新对应 UI
                     setLogCheckedChangeListener()
@@ -1207,12 +1094,16 @@ class DebugSettingView @JvmOverloads constructor(
                     //版本信息更新
                     urls?.let {
                         upgradeVersionList.clear()
-                        it.iterator().forEach {map ->
-                            val name = if(map.key.contains("{")) map.key.replace("{","") else map.key
-                            val url = if(map.value.contains("}")) map.value.replace("}","") else map.value
-                            upgradeVersionList.add(UpgradeVersionEntity(name.trim(),url))
+                        it.iterator().forEach { map ->
+                            val name =
+                                if (map.key.contains("{")) map.key.replace("{", "") else map.key
+                            val url = if (map.value.contains("}")) map.value.replace(
+                                "}",
+                                ""
+                            ) else map.value
+                            upgradeVersionList.add(UpgradeVersionEntity(name.trim(), url))
                         }
-                        upgradeVersionList.sortByDescending { upgradeVersionEntity ->upgradeVersionEntity.name  }
+                        upgradeVersionList.sortByDescending { upgradeVersionEntity -> upgradeVersionEntity.name }
                         upgradeListAdapter?.setDada(dataFilter(upgradeVersionList))
                         upgradeListAdapter?.notifyDataSetChanged()
                     }
@@ -1242,23 +1133,8 @@ class DebugSettingView @JvmOverloads constructor(
             }
         }
 
-        val traceInfoMap =  CallerDevaToolsManager.getTraceInfo()
-        val autopilot = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT]
-        autopilot?.let{
-            cbAdasAutoPilot.isChecked = it.record
-        }
-        val dataTrack = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED]
-        dataTrack?.let {
-            cbAdasDataTrack.isChecked = it.record
-        }
-        val trajectory = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY]
-        trajectory?.let {
-            cbAdasTrajectory.isChecked = it.record
-        }
-        val vehicle = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE]
-        vehicle?.let {
-            cbAdasVehicle.isChecked = it.record
-        }
+        // 更新链路信息
+        refreshTraceInfo()
 
         /**
          * ADAS自动驾驶链路
@@ -1313,24 +1189,46 @@ class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    private fun refreshTraceInfo() {
+        val traceInfoMap = CallerDevaToolsManager.getTraceInfo()
+        val autopilot = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT]
+        autopilot?.let {
+            cbAdasAutoPilot.isChecked = it.record
+        }
+        val dataTrack = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED]
+        dataTrack?.let {
+            cbAdasDataTrack.isChecked = it.record
+        }
+        val trajectory = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY]
+        trajectory?.let {
+            cbAdasTrajectory.isChecked = it.record
+        }
+        val vehicle = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE]
+        vehicle?.let {
+            cbAdasVehicle.isChecked = it.record
+        }
+    }
+
     /**
      * APK包管理
      */
-    private fun setApkCenterListener(){
-        val layoutManager: LinearLayoutManager = object : LinearLayoutManager(context,
-            VERTICAL, false) {
+    private fun setApkCenterListener() {
+        val layoutManager: LinearLayoutManager = object : LinearLayoutManager(
+            context,
+            VERTICAL, false
+        ) {
             override fun canScrollVertically(): Boolean {
                 // 直接禁止垂直滑动
                 return false
             }
         }
-        rvUpgradeVersionList.layoutManager =layoutManager
+        rvUpgradeVersionList.layoutManager = layoutManager
 
-        upgradeListAdapter = UpgradeListAdapter(context,upgradeVersionList,
-            object:UpgradeListAdapter.ClickListener{
-                override fun downloadApk(name: String,url: String) {
+        upgradeListAdapter = UpgradeListAdapter(context, upgradeVersionList,
+            object : UpgradeListAdapter.ClickListener {
+                override fun downloadApk(name: String, url: String) {
                     //下载包
-                    CallerDevaToolsManager.downLoadPackage(name,url)
+                    CallerDevaToolsManager.downLoadPackage(name, url)
                     ToastUtils.showLong("开始下载APK,稍后可前往downloads文件夹查看")
                 }
 
@@ -1340,9 +1238,9 @@ class DebugSettingView @JvmOverloads constructor(
 
         ivApkSearch.setOnClickListener {
             val searchStr = etApkSearch.text.toString()
-            if(searchStr.isEmpty()){
+            if (searchStr.isEmpty()) {
                 ToastUtils.showShort("请输入正确的搜索关键字")
-            }else{
+            } else {
                 CallerDevaToolsManager.getUpgradeVersionUrls(searchStr)
             }
 
@@ -1370,11 +1268,11 @@ class DebugSettingView @JvmOverloads constructor(
     private fun dataFilter(list: ArrayList<UpgradeVersionEntity>): ArrayList<UpgradeVersionEntity> {
         val tempList = ArrayList<UpgradeVersionEntity>()
         list.let {
-            it.iterator().forEach { entity->
-                if(onlineSelected && entity.name.contains("online")){
+            it.iterator().forEach { entity ->
+                if (onlineSelected && entity.name.contains("online")) {
                     tempList.add(entity)
                 }
-                if(qaSelected && entity.name.contains("qa")){
+                if (qaSelected && entity.name.contains("qa")) {
                     tempList.add(entity)
                 }
             }
@@ -1435,7 +1333,8 @@ class DebugSettingView @JvmOverloads constructor(
                 AppConfigInfo.isConnectedNetty = CallerTelematicManager.getClientConnStatus()
                 AppConfigInfo.serverIp = CallerTelematicManager.getServerIp()
             }
-            else -> {}
+            else -> {
+            }
         }
 
         /**
@@ -1453,11 +1352,12 @@ class DebugSettingView @JvmOverloads constructor(
         tvAppVersionName.text = "鹰眼版本名：${AppUtils.getAppVersionName()}"
         tvAutopilotProtocolVersionInfo.text =
             "Autopilot协议版本：${CallerAutoPilotManager.getProtocolVersion()}"
-        if(AppConfigInfo.protocolVersionNumber==0){
-            tvIpcProtocolVersionInfo.text="工控机协议版本：未知"
-        }else{
+        if (AppConfigInfo.protocolVersionNumber == 0) {
+            tvIpcProtocolVersionInfo.text = "工控机协议版本：未知"
+        } else {
             tvIpcProtocolVersionInfo.text = "工控机协议版本：${AppConfigInfo.protocolVersionNumber}"
         }
+        tvIpcVersionInfo.text = "工控机镜像：${mAutoPilotStatusInfo?.dockVersion}"
         tvMoGoMapVersion.text = "HD-Map版本：${MogoMap.getInstance().mogoMap.mapVersion}"
         tvGitBranchInfo.text = "Git分支：${AppConfigInfo.workingBranchName}"
         tvAppBuildTimeInfo.text = "版本构建时间：${AppConfigInfo.appBuildTime}"
@@ -1517,9 +1417,25 @@ class DebugSettingView @JvmOverloads constructor(
                     "<font color='blue'>正常"
                 } else {
                     "<font color='red'>异常 原因：${
-                        if(AppConfigInfo.connectStatusDescribe.isNullOrEmpty()){
+                        if (AppConfigInfo.connectStatusDescribe.isNullOrEmpty()) {
                             "主动断开连接"
-                        }else{
+                        } else {
+                            AppConfigInfo.connectStatusDescribe
+                        }
+                    }"
+                }
+            }"
+        )
+
+        tvIpcConnectStatus.text = Html.fromHtml(
+            "工控机连接状态：${
+                if (AppConfigInfo.isConnectAutopilot) {
+                    "<font color='blue'>正常"
+                } else {
+                    "<font color='red'>异常 原因：${
+                        if (AppConfigInfo.connectStatusDescribe.isNullOrEmpty()) {
+                            "主动断开连接"
+                        } else {
                             AppConfigInfo.connectStatusDescribe
                         }
                     }"
@@ -1562,7 +1478,7 @@ class DebugSettingView @JvmOverloads constructor(
         )
 
         tvLocationEnabled.text = Html.fromHtml(
-            "定位服务开启状态：${
+            "Pad定位服务开启状态：${
                 if (DeviceUtils.isLocationEnabled()) {
                     "<font color='blue'>正常"
                 } else {
@@ -1573,18 +1489,31 @@ class DebugSettingView @JvmOverloads constructor(
 
 
         tvAutopilotInfo.text = GsonUtils.toJson(mAutoPilotStatusInfo)
+        tvIpcInfo.text = GsonUtils.toJson(mAutoPilotStatusInfo)
 
         tvCarInfo.text =
             "GPS时间：${(mGnssInfo?.satelliteTime?.times(1000))?.toLong()}\n" +
                     "自车经纬度：\n${mGnssInfo?.longitude}\n${mGnssInfo?.latitude}\n"
+        tvCarInfoCopy.text =
+            "GPS时间：${(mGnssInfo?.satelliteTime?.times(1000))?.toLong()}\n" +
+                    "自车经纬度：\n${mGnssInfo?.longitude}\n${mGnssInfo?.latitude}\n"
 
         tvIdentifyInfo.text =
             "「有效类型」感知数据个数：${mIdentifyDataSize}\n" +
                     "「未知类型」感知数据个数：${mUnknownIdentifyDataSize}\n"
+        tvIdentifyInfoCopy.text =
+            "「有效类型」感知数据个数：${mIdentifyDataSize}\n" +
+                    "「未知类型」感知数据个数：${mUnknownIdentifyDataSize}\n"
+
         tvTrajectoryInfoSize.text =
             "引导线点个数：${mTrajectoryInfoSize}"
+        tvTrajectoryInfoSizeCopy.text =
+            "引导线点个数：${mTrajectoryInfoSize}"
+
         tvRouteInfoSize.text =
             "全局路径规划点个数：${mRouteInfoSize}"
+        tvRouteInfoSizeCopy.text =
+            "全局路径规划点个数：${mRouteInfoSize}"
 
 
         // 用完之后重制为0，防止节点回掉突然没数据，导致页面显示还是之前的数据情况
@@ -1621,30 +1550,40 @@ class DebugSettingView @JvmOverloads constructor(
         AppConfigInfo.isConnectAutopilot = autoPilotStatusInfo.connectStatus
         AppConfigInfo.connectStatusDescribe = autoPilotStatusInfo.connectStatusDescribe
 
-//        if (autoPilotStatusInfo.connectStatus) {
-//            adasConnectStatus = true
-//        }
-        //ADAS断开连接，提示异常
-//        if (adasConnectStatus && !autoPilotStatusInfo.connectStatus) {
-//            adasConnectStatus = false
-//            toastMsg("工控机连接断开")
-//        }
     }
 
     override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
         mGnssInfo = gnssInfo
         //实时加速度列表
-        ThreadUtils.runOnUiThread{
-            if(accelerationIsShow){
-                if(accelerationList.size > 9){
+        ThreadUtils.runOnUiThread {
+            if (accelerationIsShow) {
+                if (accelerationList.size > 9) {
                     accelerationList.removeLast()
                 }
                 gnssInfo?.acceleration?.let {
-                    if(accelerationList.isEmpty()){
-                        accelerationList.add(AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
+                    if (accelerationList.isEmpty()) {
+                        accelerationList.add(
+                            AccelerationEntity(
+                                TimeUtils.millis2String(
+                                    System.currentTimeMillis(),
+                                    TimeUtils.getHourMinSecondFormat()
+                                ), it.toString()
+                            )
+                        )
                     }
-                    if(abs(it.minus(accelerationList.first().acceleration.toDouble())) > abs(accelerationThresholdNum)){
-                        accelerationList.add(0, AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
+                    if (abs(it.minus(accelerationList.first().acceleration.toDouble())) > abs(
+                            accelerationThresholdNum
+                        )
+                    ) {
+                        accelerationList.add(
+                            0,
+                            AccelerationEntity(
+                                TimeUtils.millis2String(
+                                    System.currentTimeMillis(),
+                                    TimeUtils.getHourMinSecondFormat()
+                                ), it.toString()
+                            )
+                        )
                     }
 
                     accelerationFloatWindow?.refreshData(accelerationList)
@@ -1703,13 +1642,15 @@ class DebugSettingView @JvmOverloads constructor(
                 tvReportCode.text = "code:${it.code}"
                 var resultStr = "result:"
                 for (result in it.resultList) {
-                    resultStr = "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                    resultStr =
+                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
                 }
                 tvReportResult.text = resultStr
 
                 var actionStr = "action:"
                 for (action in it.actionsList) {
-                    actionStr = "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                    actionStr =
+                        "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
                 }
                 tvReportActions.text = actionStr
 
@@ -1749,7 +1690,7 @@ class DebugSettingView @JvmOverloads constructor(
      * 时延显示
      */
     override fun onObuV2iDelayTime(delayTime: Long) {
-        ThreadUtils.runOnUiThread{
+        ThreadUtils.runOnUiThread {
             tvObuDelay.text = "obu时延：" + delayTime.toString()
         }
     }
@@ -1775,7 +1716,7 @@ class DebugSettingView @JvmOverloads constructor(
      * @param steering 方向盘转向角
      */
     override fun onAutopilotSteeringData(steering: Float) {
-        ThreadUtils.runOnUiThread{
+        ThreadUtils.runOnUiThread {
             tvSteeringInfo.text = "方向盘转向角：${steering}"
         }
     }
@@ -1785,7 +1726,7 @@ class DebugSettingView @JvmOverloads constructor(
      * @param gear 档位
      */
     override fun onAutopilotGearData(gear: Chassis.GearPosition) {
-        ThreadUtils.runOnUiThread{
+        ThreadUtils.runOnUiThread {
             tvGearInfo.text = "挂挡档位：${gear}"
         }
     }
@@ -1804,7 +1745,7 @@ class DebugSettingView @JvmOverloads constructor(
         this.clickListener = clickListener
     }
 
-    interface ClickListener{
+    interface ClickListener {
         fun showReportListWindow(show: Boolean)
     }
 

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

@@ -0,0 +1,60 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.TextView
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.report.ReportEntity
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.hmi.R
+
+/**
+ * @author XuXinChao
+ * @description 工控机异常节点上报适配器
+ * @since: 2022/5/12
+ */
+class IPCReportAdapter: RecyclerView.Adapter<IPCReportAdapter.IPCReportHolder>(){
+
+    private var data:List<ReportEntity>? = null
+
+    fun setData( data: List<ReportEntity>?){
+        this.data = data
+    }
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): IPCReportHolder {
+        val view = LayoutInflater.from(parent.context)
+            .inflate(R.layout.item_ipc_report, parent, false)
+        return IPCReportHolder(view)
+    }
+
+    override fun onBindViewHolder(holder: IPCReportHolder, position: Int) {
+        data?.let {it ->
+            val reportEntity = it[position]
+            reportEntity.let {
+                holder.tvReportTimeContent.text = it.time
+                var resultStr = "发生异常"
+                for (result in it.resultList){
+                    resultStr = "${resultStr}-${CallerAutoPilotManager.getReportResultDesc(result)}"
+                }
+                holder.tvReportResultContent.text = resultStr
+                holder.tvReportMsgContent.text = it.msg
+                var actionStr = ""
+                for (action in it.actionsList){
+                    actionStr = "${actionStr}-${CallerAutoPilotManager.getReportActionDesc(action)}"
+                }
+                holder.tvReportActionContent.text = actionStr
+            }
+        }
+    }
+
+    override fun getItemCount() = data?.size ?: 0
+
+    class IPCReportHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
+        var tvReportTimeContent: TextView = itemView.findViewById(R.id.tvReportTimeContent)
+        var tvReportResultContent: TextView = itemView.findViewById(R.id.tvReportResultContent)
+        var tvReportMsgContent: TextView = itemView.findViewById(R.id.tvReportMsgContent)
+        var tvReportActionContent: TextView = itemView.findViewById(R.id.tvReportActionContent)
+    }
+
+}

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

@@ -0,0 +1,126 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.app.Activity
+import android.graphics.PixelFormat
+import android.util.DisplayMetrics
+import android.view.*
+import androidx.recyclerview.widget.LinearLayoutManager
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.report.ReportEntity
+import com.mogo.eagle.core.function.hmi.R
+import java.lang.reflect.Field
+
+/**
+ * @author XuXinChao
+ * @description 工控机异常节点上报
+ * @since: 2022/5/12
+ */
+class IPCReportWindow constructor(activity: Activity) : View.OnTouchListener{
+
+    private var mActivity: Activity = activity
+    private var mWindowParams: WindowManager.LayoutParams? = null
+    private var mWindowManager: WindowManager? = null
+    private lateinit var rvIPCReport: RecyclerView
+    private var ipcReportAdapter: IPCReportAdapter?=null
+
+    private lateinit var mFloatLayout: View
+    private var mInViewX = 0f
+    private var mInViewY = 0f
+    private var mDownInScreenX = 0f
+    private var mDownInScreenY = 0f
+    private var mInScreenX = 0f
+    private var mInScreenY = 0f
+
+    init {
+        initFloatWindow();
+    }
+
+    private fun initFloatWindow(){
+        mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_ipc_report, null) as View
+        mFloatLayout.setOnTouchListener(this)
+        rvIPCReport= mFloatLayout.findViewById(R.id.rv_ipc_report)
+        mWindowParams = WindowManager.LayoutParams()
+        mWindowManager = mActivity.windowManager
+        mWindowParams?.let {
+            it.format = PixelFormat.RGBA_8888
+            it.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
+            it.gravity = Gravity.START or Gravity.TOP
+            it.width = 800
+            it.height = 1000
+            it.alpha = 0.9f
+        }
+        ipcReportAdapter = IPCReportAdapter()
+        rvIPCReport.layoutManager = LinearLayoutManager(mActivity,
+            LinearLayoutManager.VERTICAL,false)
+        rvIPCReport.adapter = ipcReportAdapter
+    }
+
+    fun refreshData(data:List<ReportEntity>){
+        ipcReportAdapter?.setData(data)
+        ipcReportAdapter?.notifyDataSetChanged()
+    }
+
+    override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
+        when (motionEvent?.action) {
+            MotionEvent.ACTION_DOWN -> {
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.x
+                mInViewY = motionEvent.y
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = motionEvent.rawX
+                mDownInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+            }
+            MotionEvent.ACTION_MOVE -> {
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
+                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
+            }
+//            MotionEvent.ACTION_UP ->                 // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+//                if (mDownInScreenX === mInScreenX && mDownInScreenY === mInScreenY) {
+//                }
+        }
+        return true
+    }
+
+    fun showFloatWindow() {
+        if (mFloatLayout.parent == null) {
+            val metrics = DisplayMetrics()
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager!!.defaultDisplay.getMetrics(metrics)
+            mWindowParams!!.x = metrics.widthPixels
+            mWindowParams!!.y = metrics.heightPixels / 2 - getSysBarHeight(mActivity)
+            mWindowManager!!.addView(mFloatLayout, mWindowParams)
+        }
+    }
+
+    fun hideFloatWindow() {
+        if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
+    }
+
+    // 获取系统状态栏高度
+    private fun getSysBarHeight(activity: Activity): Int {
+        val c: Class<*>
+        val obj: Any
+        val field: Field
+        val x: Int
+        var sbar = 0
+        try {
+            c = Class.forName("com.android.internal.R\$dimen")
+            obj = c.newInstance()
+            field = c.getField("status_bar_height")
+            x = field.get(obj).toString().toInt()
+            sbar = activity.resources.getDimensionPixelSize(x)
+        } catch (e1: Exception) {
+            e1.printStackTrace()
+        }
+        return sbar
+    }
+
+
+}

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

@@ -56,6 +56,7 @@ class CircularProgressView @JvmOverloads constructor(
         mProgPaint.isDither = true // 设置抖动
         mProgPaint.strokeWidth = typedArray.getDimension(R.styleable.CircularProgressView_progWidth, 10.0f)
         mProgPaint.color = typedArray.getColor(R.styleable.CircularProgressView_progColor, Color.BLUE)
+//        mProgPaint.setPathEffect()
         // 初始化进度圆环渐变色
         val startColor = typedArray.getColor(R.styleable.CircularProgressView_progStartColor, -1)
         val firstColor = typedArray.getColor(R.styleable.CircularProgressView_progFirstColor, -1)
@@ -64,8 +65,6 @@ class CircularProgressView @JvmOverloads constructor(
         } else {
             mColorArray = null
         }
-
-
         typedArray.recycle();
     }
 
@@ -102,6 +101,12 @@ class CircularProgressView @JvmOverloads constructor(
 
     }
 
+    fun setBlurMaskFilter(blur: BlurMaskFilter.Blur, radius: Float) {
+        var blur: BlurMaskFilter = BlurMaskFilter(radius, blur)
+        mProgPaint.setMaskFilter(blur)
+        invalidate()
+    }
+
     /**
      * 获取当前进度
      * @return 当前进度（0-100）

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

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.hmi.ui.widget;
 
 import android.content.Context;
+import android.graphics.BlurMaskFilter;
 import android.util.AttributeSet;
 import android.util.Log;
 import android.view.LayoutInflater;
@@ -75,13 +76,14 @@ public class SteeringWheelView extends ConstraintLayout {
         tapPositionView = findViewById(R.id.tap_position);
         steeringCircularV = findViewById(R.id.steering_circular);
         steeringCircularV.setBackWidth(8);
-        steeringCircularV.setBackColor(R.color.hmi_light_blue_00);
+        steeringCircularV.setBackColor(R.color.hmi_light_back_bg);
         steeringCircularV.setProgColor(R.color.hmi_light_blue, R.color.hmi_dark_blue);
         steeringCircularV.setProgress((int) (180 * 100) / 360, 1000);
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
             steeringCircularVAlpha = findViewById(R.id.steering_circular_alpha);
-            steeringCircularVAlpha.setAlpha(0.4f);
-            steeringCircularVAlpha.setBackColor(R.color.hmi_light_blue_00);
+            steeringCircularVAlpha.setBackWidth(12);
+            steeringCircularVAlpha.setBlurMaskFilter(BlurMaskFilter.Blur.NORMAL, 12);
+            steeringCircularVAlpha.setBackColor(R.color.hmi_clear_00);
             steeringCircularVAlpha.setProgColor(R.color.hmi_light_blue_alpha);
             steeringCircularVAlpha.setProgress((int) (180 * 100) / 360, 1000);
         }

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

@@ -104,6 +104,7 @@ class SystemVersionView @JvmOverloads constructor(
                                 CallerLogger.i("$M_HMI$$TAG", "upgrade confirm")
                                 //设置当前状态为“升级中”
                                 AdUpgradeStateHelper.setUpgradeStatus(true)
+                                //TODO
                                 CallerAutoPilotManager.setIPCUpgradeAffirm()
                                 //将角标设为升级中
                                 ivAdStatus?.setImageResource(R.drawable.icon_upgrading)

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

@@ -91,6 +91,7 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
     private RecyclerView mConnectInfoRV;
     private ConnInfoAdapter mConnAdapter;
     private List<AutopilotStatusInfo> dataList = new ArrayList<>();
+    private int mLastStatus = 0x00;
     private boolean isFloatingLayerHidden = false;
 
     @Override
@@ -372,22 +373,31 @@ public class MainActivity extends MvpActivity<MainView, MainPresenter> implement
 
     @Override
     public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
-        mConnectInfoRV.post(() -> updateConnectInfoView(autoPilotStatusInfo));
+        int status = autoPilotStatusInfo.getIpcConnStatus();
+        if (mLastStatus != status) {
+            AutopilotStatusInfo statusInfo = autoPilotStatusInfo.clone();
+            mConnectInfoRV.post(() -> updateConnectInfoView(statusInfo));
+            mLastStatus = status;
+        }
     }
 
     @Override
-    public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {}
+    public void onAutopilotArriveAtStation(@Nullable MessagePad.ArrivalNotification arrivalNotification) {
+    }
 
     @Override
-    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {}
+    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
+    }
 
     @Override
-    public void onAutopilotSNRequest() {}
+    public void onAutopilotSNRequest() {
+    }
 
     private void updateConnectInfoView(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
         if (!isFloatingLayerHidden) {// 遮罩层显示的时候
             mConnAdapter.updateData(autoPilotStatusInfo);
             mConnectInfoRV.scrollToPosition(mConnAdapter.getItemCount() - 1);
+            mLastStatus = autoPilotStatusInfo.getIpcConnStatus();
         } else {// 遮罩层隐藏的时候
             CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(TAG);
         }

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

@@ -17,20 +17,6 @@
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
-    <!--底层默认进度条,无进度值改变动作-->
-    <ProgressBar
-        android:id="@+id/blue_circle"
-        android:layout_width="@dimen/dp_260"
-        android:layout_height="@dimen/dp_260"
-        android:layout_centerHorizontal="true"
-        android:layout_marginLeft="@dimen/dp_85"
-        android:layout_marginTop="@dimen/dp_130"
-        android:layout_marginRight="@dimen/dp_85"
-        android:indeterminateDrawable="@drawable/bg_steering_outer_taxi"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
     <TextView
         android:id="@+id/steering_tv_left"
         android:layout_width="wrap_content"
@@ -61,12 +47,12 @@
     <!--进度值改变状态进度条-->
     <com.mogo.eagle.core.function.hmi.ui.widget.CircularProgressView
         android:id="@+id/steering_circular"
-        android:layout_width="@dimen/dp_260"
-        android:layout_height="@dimen/dp_260"
+        android:layout_width="@dimen/dp_278"
+        android:layout_height="@dimen/dp_278"
         android:layout_alignParentTop="true"
         android:layout_centerHorizontal="true"
-        android:layout_marginTop="@dimen/dp_130"
-        android:outlineAmbientShadowColor="#1EBBCFF6"
+        android:layout_marginTop="@dimen/dp_122"
+        android:padding="@dimen/dp_12"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent"
@@ -76,15 +62,15 @@
     <!--状态条阴影-->
     <com.mogo.eagle.core.function.hmi.ui.widget.CircularProgressView
         android:id="@+id/steering_circular_alpha"
-        android:layout_width="@dimen/dp_274"
-        android:layout_height="@dimen/dp_274"
+        android:layout_width="@dimen/dp_280"
+        android:layout_height="@dimen/dp_280"
         android:layout_alignParentTop="true"
         android:layout_centerHorizontal="true"
-        android:layout_marginTop="@dimen/dp_122"
+        android:layout_marginTop="@dimen/dp_120"
+        android:padding="@dimen/dp_12"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent"
-        app:progWidth="22px"
         app:progress="0" />
 
     <ImageView
@@ -104,6 +90,6 @@
         android:layout_marginTop="@dimen/dp_30"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/blue_circle" />
+        app:layout_constraintTop_toBottomOf="@+id/steering_circular" />
 
 </androidx.constraintlayout.widget.ConstraintLayout>

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

@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <TextView
+        android:id="@+id/tvReportTimeTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        />
+
+    <TextView
+        android:id="@+id/tvReportTimeContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/tvReportTimeTitle"
+        />
+
+    <TextView
+        android:id="@+id/tvReportResultTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvReportTimeTitle"
+        />
+
+    <TextView
+        android:id="@+id/tvReportResultContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/tvReportResultTitle"
+        app:layout_constraintLeft_toRightOf="@id/tvReportResultTitle"
+        android:minLines="1"
+        />
+
+    <TextView
+        android:id="@+id/tvReportMsgTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toBottomOf="@id/tvReportResultContent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        />
+
+    <TextView
+        android:id="@+id/tvReportMsgContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/tvReportMsgTitle"
+        app:layout_constraintLeft_toRightOf="@id/tvReportMsgTitle"
+        android:minLines="1"
+        />
+
+    <TextView
+        android:id="@+id/tvReportActionTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvReportMsgContent"
+        />
+
+    <TextView
+        android:id="@+id/tvReportActionContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/tvReportActionTitle"
+        app:layout_constraintLeft_toRightOf="@id/tvReportActionTitle"
+        android:minLines="1"
+        />
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#F0F0F0"
+        app:layout_constraintTop_toBottomOf="@id/tvReportActionContent"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>

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

@@ -89,8 +89,10 @@
 
     <androidx.recyclerview.widget.RecyclerView
         android:id="@+id/rvConnectInfo"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
+        android:layout_width="1200px"
+        android:layout_height="680px"
+        android:layout_gravity="bottom"
+
         />
 
 </FrameLayout>

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

@@ -166,6 +166,29 @@
             android:layout_height="match_parent"
             android:orientation="vertical">
 
+            <TextView
+                android:id="@+id/tvIpcConnectStatus"
+                style="@style/DebugSettingText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:minLines="3"/>
+
+            <View
+                android:layout_width="match_parent"
+                android:layout_height="1dp"
+                android:background="#F0F0F0" />
+
+            <ToggleButton
+                android:id="@+id/tbIsDemoMode"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:textColor="#000"
+                android:textOff="开启美化模式"
+                android:textOn="关闭美化模式"
+                android:textSize="@dimen/dp_24"
+                android:background="@drawable/radio_button_normal_background_right"/>
+
             <ToggleButton
                 android:id="@+id/tbDeviceBind"
                 android:layout_width="match_parent"
@@ -184,11 +207,32 @@
                 android:orientation="vertical"
                 android:visibility="gone">
 
-                <TextView
-                    android:id="@+id/tvPadSn"
-                    style="@style/DebugSettingText"
+                <LinearLayout
                     android:layout_width="match_parent"
-                    android:layout_height="wrap_content" />
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tvPadSn"
+                        style="@style/DebugSettingText"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content" />
+
+                    <TextView
+                        android:id="@+id/tvPadSnClip"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:text="复制"
+                        android:layout_margin="@dimen/dp_10"
+                        android:paddingStart="10dp"
+                        android:paddingEnd="10dp"
+                        android:textSize="14sp"
+                        android:textColor="#0000FF"
+                        />
+
+                </LinearLayout>
+
+
 
                 <View
                     android:layout_width="match_parent"
@@ -288,6 +332,35 @@
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content" />
 
+                <View
+                    android:layout_width="match_parent"
+                    android:layout_height="1dp"
+                    android:background="#F0F0F0" />
+
+                <LinearLayout
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:orientation="horizontal">
+
+                    <TextView
+                        android:id="@+id/tvIpcVersionInfo"
+                        style="@style/DebugSettingText"
+                        android:layout_width="@dimen/dp_600"
+                        android:layout_height="wrap_content" />
+
+                    <TextView
+                        android:id="@+id/tvIpcVersionInfoClip"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:text="复制"
+                        android:textSize="14sp"
+                        android:textColor="#0000FF"
+                        android:layout_gravity="center"
+                        android:gravity="center"
+                        />
+
+                </LinearLayout>
+
                 <View
                     android:layout_width="match_parent"
                     android:layout_height="1dp"
@@ -437,6 +510,135 @@
                 android:textOff="控制中心"
                 android:textOn="控制中心" />
 
+            <androidx.appcompat.widget.SwitchCompat
+                android:id="@+id/swDevelopMode"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_gravity="end"
+                android:text="开发者模式"
+                style="@style/DebugSettingText"
+                android:visibility="gone"
+                />
+
+            <androidx.constraintlayout.widget.ConstraintLayout
+                android:id="@+id/commonLayout"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:visibility="gone"
+                tools:visibility="visible">
+
+                <TextView
+                    android:id="@+id/tvIpcInfo"
+                    style="@style/DebugSettingText"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:minLines="7"
+                    app:layout_constraintTop_toTopOf="parent" />
+
+                <View
+                    android:id="@+id/tvIpcInfoDivider"
+                    android:layout_width="match_parent"
+                    android:layout_height="1dp"
+                    android:background="#F0F0F0"
+                    app:layout_constraintTop_toBottomOf="@id/tvIpcInfo"
+                    />
+
+                <Button
+                    android:id="@+id/btnRecordBag"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:padding="@dimen/dp_5"
+                    android:text="录制Bag包"
+                    android:textSize="@dimen/dp_24"
+                    app:layout_constraintLeft_toLeftOf="parent"
+                    app:layout_constraintTop_toBottomOf="@id/tvIpcInfoDivider"/>
+
+                <androidx.appcompat.widget.LinearLayoutCompat
+                    android:layout_width="0dp"
+                    android:layout_height="0dp"
+                    android:layout_marginStart="@dimen/dp_30"
+                    android:layout_marginTop="@dimen/dp_10"
+                    android:layout_marginEnd="@dimen/dp_30"
+                    android:layout_marginBottom="@dimen/dp_10"
+                    android:background="@drawable/debug_setting_edit_bg"
+                    android:focusable="true"
+                    android:focusableInTouchMode="true"
+                    android:orientation="horizontal"
+                    app:layout_constraintBottom_toBottomOf="@id/btnRecordBag"
+                    app:layout_constraintLeft_toRightOf="@id/btnRecordBag"
+                    app:layout_constraintRight_toRightOf="parent"
+                    app:layout_constraintTop_toTopOf="@id/btnRecordBag">
+
+                    <androidx.appcompat.widget.AppCompatEditText
+                        android:id="@+id/etInputRecordBagTime"
+                        style="@style/DebugSettingText"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_marginStart="90px"
+                        android:layout_weight="1"
+                        android:background="@null"
+                        android:gravity="center"
+                        tools:ignore="SpeakableTextPresentCheck" />
+
+                    <TextView
+                        style="@style/DebugSettingText"
+                        android:layout_width="93px"
+                        android:layout_height="match_parent"
+                        android:gravity="center_vertical"
+                        android:text="秒" />
+
+                </androidx.appcompat.widget.LinearLayoutCompat>
+
+                <View
+                    android:id="@+id/recordBagDivider"
+                    android:layout_width="match_parent"
+                    android:layout_height="1dp"
+                    android:background="#F0F0F0"
+                    app:layout_constraintTop_toBottomOf="@id/btnRecordBag" />
+
+                <TextView
+                    android:id="@+id/tvCarInfoCopy"
+                    style="@style/DebugSettingText"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    app:layout_constraintTop_toBottomOf="@id/recordBagDivider" />
+
+                <TextView
+                    android:id="@+id/tvCarInfoCopyClip"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:text="复制经纬度"
+                    android:layout_marginStart="@dimen/dp_10"
+                    android:textSize="14sp"
+                    android:textColor="#0000FF"
+                    app:layout_constraintTop_toBottomOf="@id/tvCarInfoCopy"
+                    />
+
+                <TextView
+                    android:id="@+id/tvIdentifyInfoCopy"
+                    style="@style/DebugSettingText"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    app:layout_constraintTop_toBottomOf="@id/tvCarInfoCopyClip" />
+
+                <TextView
+                    android:id="@+id/tvTrajectoryInfoSizeCopy"
+                    style="@style/DebugSettingText"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    app:layout_constraintTop_toBottomOf="@id/tvIdentifyInfoCopy" />
+
+                <TextView
+                    android:id="@+id/tvRouteInfoSizeCopy"
+                    style="@style/DebugSettingText"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    app:layout_constraintTop_toBottomOf="@id/tvTrajectoryInfoSizeCopy" />
+
+
+            </androidx.constraintlayout.widget.ConstraintLayout>
+
             <LinearLayout
                 android:id="@+id/controlCenterLayout"
                 android:layout_width="match_parent"
@@ -468,7 +670,7 @@
                         style="@style/DebugSettingText"
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content"
-                        android:minLines="6"
+                        android:minLines="7"
                         app:layout_constraintTop_toTopOf="parent" />
 
                     <View
@@ -528,61 +730,6 @@
                         android:background="#F0F0F0"
                         app:layout_constraintTop_toBottomOf="@id/btnSetAutopilotIP" />
 
-                    <Button
-                        android:id="@+id/btnSetAutopilotSpeed"
-                        android:layout_width="wrap_content"
-                        android:layout_height="wrap_content"
-                        android:gravity="center"
-                        android:padding="@dimen/dp_5"
-                        android:text="设置最大速度"
-                        android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toLeftOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/autopilotIPDivider" />
-
-                    <androidx.appcompat.widget.LinearLayoutCompat
-                        android:id="@+id/llSpeedLayout"
-                        android:layout_width="0dp"
-                        android:layout_height="0dp"
-                        android:layout_marginStart="@dimen/dp_30"
-                        android:layout_marginTop="@dimen/dp_10"
-                        android:layout_marginEnd="@dimen/dp_30"
-                        android:layout_marginBottom="@dimen/dp_10"
-                        android:background="@drawable/debug_setting_edit_bg"
-                        android:focusable="true"
-                        android:focusableInTouchMode="true"
-                        android:orientation="horizontal"
-                        app:layout_constraintBottom_toBottomOf="@id/btnSetAutopilotSpeed"
-                        app:layout_constraintLeft_toRightOf="@id/btnSetAutopilotSpeed"
-                        app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toTopOf="@id/btnSetAutopilotSpeed">
-
-                        <androidx.appcompat.widget.AppCompatEditText
-                            android:id="@+id/etInputSpeed"
-                            style="@style/DebugSettingText"
-                            android:layout_width="0dp"
-                            android:layout_height="match_parent"
-                            android:layout_marginStart="90px"
-                            android:layout_weight="1"
-                            android:background="@null"
-                            android:gravity="center"
-                            tools:ignore="SpeakableTextPresentCheck" />
-
-                        <TextView
-                            style="@style/DebugSettingText"
-                            android:layout_width="93px"
-                            android:layout_height="match_parent"
-                            android:gravity="center_vertical"
-                            android:text="km/h" />
-
-                    </androidx.appcompat.widget.LinearLayoutCompat>
-
-                    <View
-                        android:id="@+id/autopilotSpeedDivider"
-                        android:layout_width="match_parent"
-                        android:layout_height="1dp"
-                        android:background="#F0F0F0"
-                        app:layout_constraintTop_toBottomOf="@id/btnSetAutopilotSpeed" />
-
                     <Button
                         android:id="@+id/btnRecordPackage"
                         android:layout_width="wrap_content"
@@ -592,7 +739,7 @@
                         android:text="录制Bag包"
                         android:textSize="@dimen/dp_24"
                         app:layout_constraintLeft_toLeftOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/autopilotSpeedDivider" />
+                        app:layout_constraintTop_toBottomOf="@id/autopilotIPDivider" />
 
                     <androidx.appcompat.widget.LinearLayoutCompat
                         android:layout_width="0dp"
@@ -636,36 +783,13 @@
                         android:layout_height="1dp"
                         android:background="#F0F0F0"
                         app:layout_constraintTop_toBottomOf="@id/btnRecordPackage" />
-
-                    <Button
-                        android:id="@+id/btnSystemUpgrade"
-                        android:layout_width="0dp"
-                        android:layout_height="wrap_content"
-                        android:text="升级系统"
-                        android:visibility="gone"
-                        app:layout_constraintLeft_toLeftOf="parent"
-                        app:layout_constraintRight_toLeftOf="@id/btnSystemRestart"
-                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
-                        tools:visibility="visible" />
-
-                    <Button
-                        android:id="@+id/btnSystemRestart"
-                        android:layout_width="0dp"
-                        android:layout_height="wrap_content"
-                        android:text="重启系统"
-                        android:visibility="gone"
-                        app:layout_constraintLeft_toRightOf="@id/btnSystemUpgrade"
-                        app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
-                        tools:visibility="visible" />
-
-
+                    
                     <TextView
                         android:id="@+id/tvCarInfo"
                         style="@style/DebugSettingText"
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content"
-                        app:layout_constraintTop_toBottomOf="@id/btnSystemUpgrade" />
+                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider" />
 
                     <TextView
                         android:id="@+id/tvIdentifyInfo"
@@ -1304,20 +1428,6 @@
                         app:layout_constraintRight_toRightOf="parent"
                         app:layout_constraintTop_toBottomOf="@id/btnOpenObuFusion" />
 
-                    <ToggleButton
-                        android:id="@+id/tbIsDemoMode"
-                        android:layout_width="0dp"
-                        android:layout_height="wrap_content"
-                        android:layout_margin="2dp"
-                        android:padding="@dimen/dp_10"
-                        android:textColor="#000"
-                        android:textOff="开启美化模式"
-                        android:textOn="关闭美化模式"
-                        android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toLeftOf="parent"
-                        app:layout_constraintRight_toLeftOf="@id/tbIsDrawAutopilotTrajectoryData"
-                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawIdentifyData" />
-
                     <ToggleButton
                         android:id="@+id/tbIsDrawAutopilotTrajectoryData"
                         android:layout_width="0dp"
@@ -1328,9 +1438,9 @@
                         android:textOff="强制绘制引导线"
                         android:textOn="强制绘制引导线"
                         android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toRightOf="@id/tbIsDemoMode"
-                        app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toTopOf="@id/tbIsDemoMode" />
+                        app:layout_constraintLeft_toLeftOf="parent"
+                        app:layout_constraintRight_toLeftOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawIdentifyData" />
 
                     <ToggleButton
                         android:layout_width="0dp"
@@ -1341,9 +1451,9 @@
                         android:textOff="强制绘制路径规划"
                         android:textOn="强制绘制路径规划"
                         android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toLeftOf="@id/tbIsDemoMode"
-                        app:layout_constraintRight_toRightOf="@id/tbIsDemoMode"
-                        app:layout_constraintTop_toBottomOf="@id/tbIsDemoMode" />
+                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintLeft_toRightOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawIdentifyData"/>
 
                     <ToggleButton
                         android:id="@+id/tbChangeAutoPilotStatus"
@@ -1354,9 +1464,9 @@
                         android:textOff="开启模拟自动驾驶中"
                         android:textOn="关闭模拟自动驾驶中"
                         android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toRightOf="@id/tbIsDemoMode"
-                        app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/tbIsDemoMode" />
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        app:layout_constraintLeft_toLeftOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        app:layout_constraintRight_toRightOf="@id/tbIsDrawAutopilotTrajectoryData"/>
 
                     <RadioGroup
                         android:id="@+id/rgGpsProvider"

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

@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="840px"
+    android:layout_height="584px"
+    android:orientation="vertical">
+
+    <ImageView
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:src="@drawable/icon_drag"
+        android:padding="15dp"
+        android:layout_gravity="center_horizontal"
+        />
+
+    <com.mogo.eagle.core.widget.RoundConstraintLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:background="@color/dialog_bg_color"
+        app:roundLayoutRadius="10dp">
+
+        <androidx.recyclerview.widget.RecyclerView
+            android:id="@+id/rv_ipc_report"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"/>
+
+    </com.mogo.eagle.core.widget.RoundConstraintLayout>
+
+</LinearLayout>

core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml

@@ -56,6 +56,7 @@
     <color name="hmi_traffic_light_yellow_color_down">#FFFF9B00</color>
     <color name="hmi_light_blue">#45D3FF</color>
     <color name="hmi_dark_blue">#1B5BFF</color>
-    <color name="hmi_light_blue_00">#0045D3FF</color>
-    <color name="hmi_light_blue_alpha">#666C79C4</color>
+    <color name="hmi_light_back_bg">#1EBBCFF6</color>
+    <color name="hmi_light_blue_alpha">#6C79C4</color>
+    <color name="hmi_clear_00">#0045D3FF</color>
 </resources>

core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml

@@ -37,7 +37,7 @@
     <string name="application_upgrade_confirm">是否将应用升级至最新版本？</string>
     <string name="application_upgrade_tips">注意！升级时需退出自动驾驶，支持在人工驾驶时升级，升级时不可中途断电。</string>
     <string name="confirm">确认</string>
-    <string name="cancel">取消</string>
+    <string name="cancel">稍后升级</string>
 
     <!--绑定车机-->
     <string name="bindingcar_title">绑定车机</string>

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt

@@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightManager
 import com.mogo.eagle.core.function.v2x.events.V2XEventManager
 import com.mogo.eagle.core.function.v2x.redlightwarning.RedLightWarningManager
 import com.mogo.eagle.core.function.v2x.speedlimit.SpeedLimitDataManager
+import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightDispatcher
 import com.mogo.eagle.core.function.v2x.vip.VipCarManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 
@@ -22,6 +23,7 @@ class V2XProvider : IMoGoFunctionServerProvider {
         CallTrafficLightManager.getTrafficLightProvider().initTrafficLightServer(context)
         VipCarManager.INSTANCE.initServer(context)
         SpeedLimitDataManager.getInstance().start()
+        TrafficLightDispatcher.INSTANCE.initServer(context)
 
         if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             //不处理
@@ -34,7 +36,7 @@ class V2XProvider : IMoGoFunctionServerProvider {
 
     override fun onDestroy() {
         VipCarManager.INSTANCE.destroy()
-
+        TrafficLightDispatcher.INSTANCE.destroy()
         if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             //不处理
         } else {

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/MogoTrafficLightManager.kt

@@ -49,10 +49,10 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
         mThreadHandler =
             TrafficLightThreadHandler(Looper.getMainLooper(), {
                 //查询路口时，如果红绿灯显示，则隐藏掉
-                if (TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()) {
-                    TrafficLightHMIManager.INSTANCE.hideTrafficLight()
-                    CallTrafficLightListenerManager.resetTrafficLightData()
-                }
+//                if (TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()) {
+//                    TrafficLightHMIManager.INSTANCE.hideTrafficLight()
+//                    CallTrafficLightListenerManager.resetTrafficLightData()
+//                }
                 mLocation?.let { it ->
                     val tileId = CallerMapUIServiceManager.getMapUIController()?.getTileId(it.longitude, it.latitude) ?: 0
                     trafficLightNetWorkModel.requestRoadID(
@@ -78,7 +78,7 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
                     trafficLightNetWorkModel.requestTrafficLight(
                         it.latitude, it.longitude, it.bearing.toDouble(), road, { result ->
                             trafficLightResult = result
-                            TrafficLightHMIManager.INSTANCE.updateTrafficLight(result)
+//                            TrafficLightHMIManager.INSTANCE.updateTrafficLight(result)
                             CallTrafficLightListenerManager.invokeTrafficLightStatus(result)
                         },
                         { errorMsg ->
@@ -99,6 +99,10 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
                                     2_000L
                                 )
                             }
+                            if (TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()) {
+                                TrafficLightHMIManager.INSTANCE.hideTrafficLight()
+                                CallTrafficLightListenerManager.resetTrafficLightData()
+                            }
                         })
                 }
             }, {

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

@@ -0,0 +1,112 @@
+package com.mogo.eagle.core.function.v2x.trafficlight.core
+
+import android.content.Context
+import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
+import perception.TrafficLightOuterClass
+import perception.TrafficLightOuterClass.TrafficLight
+
+/**
+ * @author XuXinChao
+ * @description 对多个红绿灯信号来源进行统一调度（AI云、工控机）
+ * @since: 2022/4/28
+ */
+class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLightListener {
+
+    companion object{
+        const val TAG = "TrafficLightDispatcher"
+        val INSTANCE: TrafficLightDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED){
+            TrafficLightDispatcher()
+        }
+
+    }
+
+    private var mContext: Context? = null
+    //是否有AI获取红绿灯灯态
+    private var hasAiLightStatus: Boolean = false
+
+    fun initServer(context: Context){
+        mContext = context
+        //注册监听AI云获取红绿灯状态
+        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        //注册监听AI云进入路口
+        CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
+        //注册监听工控机感知红绿灯
+        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+    }
+
+    /**
+     * 工控机感知红绿灯
+     * @param trafficLights 感知红绿灯
+     */
+    override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
+        if(!hasAiLightStatus){
+            trafficLights?.let { it ->
+                var light :TrafficLight?= null
+                if(it.hasStraight()){
+                    light = it.straight
+                }else if(it.hasLeft()){
+                    light = it.left
+                }else if(it.hasRight()){
+                    light = it.right
+                }else if(it.hasUTurn()){
+                    light = it.uTurn
+                }
+                if(light == null){
+                    //隐藏红绿灯显示
+                    CallerHmiManager.showWarningTrafficLight(0)
+                }else{
+                    when (light.state) {
+                        TrafficLightOuterClass.LightState.STATE_RED -> {
+                            //红灯
+                            CallerHmiManager.showWarningTrafficLight(1)
+                            CallerHmiManager.changeCountdownGreen(0)
+                        }
+                        TrafficLightOuterClass.LightState.STATE_YELLOW -> {
+                            //黄灯
+                            CallerHmiManager.showWarningTrafficLight(2)
+                            CallerHmiManager.changeCountdownGreen(0)
+                        }
+                        TrafficLightOuterClass.LightState.STATE_GREEN -> {
+                            //绿灯
+                            CallerHmiManager.showWarningTrafficLight(3)
+                            CallerHmiManager.changeCountdownGreen(0)
+                        }
+                        else -> {}
+                    }
+                }
+
+            }
+        }
+    }
+
+    /**
+     * AI云获取红绿灯状态
+     */
+    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
+        TrafficLightHMIManager.INSTANCE.updateTrafficLight(trafficLightResult)
+        hasAiLightStatus = true
+    }
+
+    /**
+     * 车辆进入路口
+     */
+    override fun onEnterCrossRoad(enter: Boolean) {
+        hasAiLightStatus = enter
+    }
+
+    fun destroy(){
+        //取消注册监听AI云获取红绿灯状态
+        CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
+        //取消注册监听工控机感知红绿灯
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        //取消注册监听AI云进入路口
+        CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
+    }
+
+}