Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0

# Conflicts: # core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
2023-03-01 19:59:48 +08:00
parent e00fb594ae 15f0d4d27d
commit 314e8b9c77
27 changed files with 836 additions and 411 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -53,20 +53,18 @@ import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
-import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhidao.support.adas.high.common.ProtocolStatus
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
 import function_state_management.FunctionStates
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
-import mogo.v2x.ObuWarningEvent
 import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
@@ -89,12 +87,12 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //车前引导线
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
        if (HdMapBuildConfig.isMapLoaded) {
@@ -106,16 +104,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //感知物体
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onTrackedObjects(
-            header: MessagePad.Header,
-            trackedObjects: MessagePad.TrackedObjects
+        header: MessagePad.Header,
+        trackedObjects: MessagePad.TrackedObjects
    ) {
        if (HdMapBuildConfig.isMapLoaded) {
            invokeAutopilotIdentifyDataUpdate(trackedObjects.objsList as List<TrackedObject>?)
@@ -124,12 +122,12 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //自车定位信息
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
@@ -140,9 +138,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
                //CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
                // 同步更新经纬度和系统时间至 AutoPilotStatusListener
                CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
-                        gnssInfo.satelliteTime,
-                        gnssInfo.longitude,
-                        gnssInfo.latitude
+                    gnssInfo.satelliteTime,
+                    gnssInfo.longitude,
+                    gnssInfo.latitude
                )
            }
        }
@@ -158,14 +156,17 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param vehicleState 数据
     */
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
-    override fun onVehicleState(header: MessagePad.Header, vehicleState: VehicleStateOuterClass.VehicleState?) {
+    override fun onVehicleState(
+        header: MessagePad.Header,
+        vehicleState: VehicleStateOuterClass.VehicleState?
+    ) {
        if (vehicleState != null) {
            //转向灯数据
            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
@@ -191,9 +192,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
            //清扫车（福田）清扫控制系统状态
            vehicleState.sweeperFutianCleanSystemState?.also { sweeperState ->
                val bytes: ByteArray = sweeperState.toByteArray()
-                val cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? = ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)
+                val cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates? =
+                    ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)
                cleanSystemState?.let {
-                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(
+                        it
+                    )
                }
            }
            //金旅M1
@@ -214,14 +218,17 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param vehicleState 数据
     */
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
-    override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
+    override fun onChassisStates(
+        header: MessagePad.Header,
+        chassisStates: ChassisStatesOuterClass.ChassisStates?
+    ) {
        if (chassisStates != null) {
            chassisStates.bcmSystemStates?.let { bcmSystemStates ->
                bcmSystemStates.turnLightState?.let {
@@ -260,7 +267,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
            chassisStates.taskSystemStates?.let { taskSystemStates ->
                taskSystemStates.sweeperFutianTaskSystemStates?.let {
                    //清扫车（福田）清扫控制系统状态
-                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(
+                        it
+                    )
                }
            }
        } else {
@@ -270,16 +279,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //自动驾驶状态
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onAutopilotState(
-            header: MessagePad.Header,
-            autopilotState: MessagePad.AutopilotState?
+        header: MessagePad.Header,
+        autopilotState: MessagePad.AutopilotState?
    ) {
        if (autopilotState != null) {
            //工控机模拟时间
@@ -303,7 +312,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
                AdasManager.getInstance().carConfig?.let {
                    autopilotStatusInfo.dockVersion = it.dockVersion
                }
-                CallerLogger.d("Upgrade", "origin = ${autopilotStatusInfo.connectStatus} -----now = ${AppConfigInfo.isConnectAutopilot} ")
+                CallerLogger.d(
+                    "Upgrade",
+                    "origin = ${autopilotStatusInfo.connectStatus} -----now = ${AppConfigInfo.isConnectAutopilot} "
+                )
                AppConfigInfo.isConnectAutopilot = autopilotStatusInfo.connectStatus
                AppConfigInfo.connectStatusDescribe = autopilotStatusInfo.connectStatusDescribe
                invokeAutoPilotStatus()
@@ -313,16 +325,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //监控
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onReportMessage(
-            header: MessagePad.Header,
-            mogoReportMessage: MogoReportMsg.MogoReportMessage?
+        header: MessagePad.Header,
+        mogoReportMessage: MogoReportMsg.MogoReportMessage?
    ) {
        if (HdMapBuildConfig.isMapLoaded) {
            invokeAutopilotGuardian(mogoReportMessage)
@@ -331,28 +343,28 @@ 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"
+        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?
+        header: MessagePad.Header?,
+        trafficLights: TrafficLightOuterClass.TrafficLights?
    ) {
        if (trafficLights != null) {
            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
-                    trafficLights
+                trafficLights
            )
        }
    }

    //他车轨迹预测
    override fun onPredictionObstacleTrajectory(
-            header: MessagePad.Header?,
-            predictionObjects: Prediction.mPredictionObjects?
+        header: MessagePad.Header?,
+        predictionObjects: Prediction.mPredictionObjects?
    ) {
        //他车轨迹预测
    }
@@ -364,16 +376,16 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //planning障碍物
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onPlanningObjects(
-            header: MessagePad.Header?,
-            planningObjects: MessagePad.PlanningObjects
+        header: MessagePad.Header?,
+        planningObjects: MessagePad.PlanningObjects
    ) {
        if (HdMapBuildConfig.isMapLoaded) {
            invokeAutopilotIdentifyPlanningObj(planningObjects.objsList as List<MessagePad.PlanningObject>)
@@ -382,24 +394,24 @@ class MoGoAdasListenerImpl : OnAdasListener {

    // 自动驾驶设备基础信息请求
    override fun onBasicInfoReq(
-            header: MessagePad.Header,
-            basicInfoReq: MessagePad.BasicInfoReq?
+        header: MessagePad.Header,
+        basicInfoReq: MessagePad.BasicInfoReq?
    ) {
        invokeAutopilotSNRequest()
    }

    //工控机基础配置信息
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onCarConfigResp(
-            header: MessagePad.Header,
-            carConfigResp: MessagePad.CarConfigResp?
+        header: MessagePad.Header,
+        carConfigResp: MessagePad.CarConfigResp?
    ) {
        if (carConfigResp != null) {
            AppConfigInfo.dockerVersion = carConfigResp.dockVersion
@@ -413,34 +425,32 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //全局路径规划
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onGlobalPathResp(
-            header: MessagePad.Header,
-            globalPathResp: MessagePad.GlobalPathResp?
+        header: MessagePad.Header,
+        globalPathResp: MessagePad.GlobalPathResp?
    ) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            invokeAutopilotRotting(globalPathResp)
-        }
+        invokeAutopilotRotting(globalPathResp)
    }

    //数据采集，badCase
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onRecordResult(
-            header: MessagePad.Header,
-            recordPanel: RecordPanelOuterClass.RecordPanel?
+        header: MessagePad.Header,
+        recordPanel: RecordPanelOuterClass.RecordPanel?
    ) {
        if (recordPanel != null) {
            invokeAutopilotRecordResult(recordPanel)
@@ -462,34 +472,32 @@ class MoGoAdasListenerImpl : OnAdasListener {

    //到站回调
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onArrivalNotification(
-            header: MessagePad.Header,
-            arrivalNotification: MessagePad.ArrivalNotification?
+        header: MessagePad.Header,
+        arrivalNotification: MessagePad.ArrivalNotification?
    ) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            invokeArriveAtStation(arrivalNotification)
-        }
+        invokeArriveAtStation(arrivalNotification)
    }

    //状态查询应答
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onStatusQueryResp(
-            header: MessagePad.Header?,
-            statusInfo: SystemStatusInfo.StatusInfo?
+        header: MessagePad.Header?,
+        statusInfo: SystemStatusInfo.StatusInfo?
    ) {
        invokeAutopilotStatusRespByQuery(statusInfo)
    }
@@ -498,8 +506,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * 数据采集配置应答
     */
    override fun onRecordDataConfigResp(
-            header: MessagePad.Header?,
-            config: MessagePad.RecordDataConfig?
+        header: MessagePad.Header?,
+        config: MessagePad.RecordDataConfig?
    ) {
        if (config != null) {
            invokeAutopilotRecordConfig(config)
@@ -510,16 +518,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * planning决策状态, 透传
     */
    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
    )
    override fun onPlanningActionMsg(
-            header: MessagePad.Header?,
-            planningActionMsg: MessagePad.PlanningActionMsg?
+        header: MessagePad.Header?,
+        planningActionMsg: MessagePad.PlanningActionMsg?
    ) {
        planningActionMsg?.let {
            invokePNCActions(it)
@@ -532,16 +540,23 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header          头
     * @param spatWarningData 数据
     */
-    override fun onObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
+    override fun onObuSpatWarning(
+        header: MessagePad.Header?,
+        spatWarningData: ObuScene.SpatWarningData?
+    ) {
        CallerObuWarningSpatListenerManager.invokeObuSpatWarning(spatWarningData!!)
    }
+
    /**
     * OBU RSI预警信息
     *
     * @param header         头
     * @param rsiWarningData 数据
     */
-    override fun onObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
+    override fun onObuRsiWarning(
+        header: MessagePad.Header?,
+        rsiWarningData: ObuScene.RsiWarningData?
+    ) {
        CallerObuWarningRsiListenerManager.invokeObuRsiWarning(rsiWarningData!!)
    }

@@ -551,9 +566,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header         头
     * @param rsmWarningData 数据
     */
-    override fun onObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
+    override fun onObuRsmWarning(
+        header: MessagePad.Header?,
+        rsmWarningData: ObuScene.RsmWarningData?
+    ) {
        CallerObuWarningRsmListenerManager.invokeObuRsmWarning(rsmWarningData!!)
    }
+
    /**
     * OBU 地图匹配结果
     *
@@ -570,7 +589,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header         头
     * @param functionStates 头
     */
-    override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
+    override fun onFunctionStates(
+        header: MessagePad.Header?,
+        functionStates: FunctionStates.FSMFunctionStates?
+    ) {

    }
    /**
@@ -592,7 +614,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param header     头
     * @param bagManager 数据
     */
-    override fun onBagManagerCmd(header: MessagePad.Header?, bagManager: BagManagerOuterClass.BagManager?) {
+    override fun onBagManagerCmd(
+        header: MessagePad.Header?,
+        bagManager: BagManagerOuterClass.BagManager?
+    ) {
    }

    /**
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -13,10 +13,7 @@ import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
-import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuSaveMessageListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
+import com.mogo.eagle.core.function.call.obu.*
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
@@ -57,7 +54,6 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {

    private var mObuStatusInfo = CallerObuConnectListenerManager.getObuStatusInfo()
    private var mContext: Context? = null
-    var mVersionName: String? = null

    fun connectObu(context: Context, obuIpAddress: String, padIpAddress: String) {
        ObuManager.getInstance().registerObuListener(mogoObuListener)
@@ -113,7 +109,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
    override fun onCurrentVersion(version: MogoObuSystemBConfigData) {
        CallerLogger.d("$M_OBU${MogoObuConst.TAG_UPGRADE_OBU}", "onCurrentVersion version = ${version.version}")
        if (!version.version.isNullOrEmpty()) {
-            mVersionName = version.version
+            CallerObuInfoListenerManager.invokeObuVersionName(version.version)
            CallerDevaToolsManager.queryObuUpgrade(version.version)
        }
    }