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

# Conflicts:
#	OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CallerLoggerUtils.kt
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
#	app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt
#	core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
#	core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoHandAdasMsgManager.java
#	core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
#	core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
#	core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
#	core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
#	core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
#	core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
#	core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
#	gradle.properties
#	libraries/mogo-map/src/main/java/com/mogo/map/CustomMapApiBuilder.java

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

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter
 
+import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -58,6 +59,7 @@ import com.zhidao.support.adas.high.bean.AutopilotStatistics
 import com.zhidao.support.adas.high.common.ProtocolStatus
 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_msg.MogoReportMsg
@@ -139,38 +141,66 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
-    //自车状态(底盘)，车灯等。
-    @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"
-    )
+    /**
+     * 老底盘
+     * TODO 老地盘数据会转发到新地盘
+     * TODO　鹰眼不要用此接口展示页面相关，可以用来记录链路日志
+     *
+     * @param header       头
+     * @param vehicleState 数据
+     */
     override fun onVehicleState(
             header: MessagePad.Header,
             vehicleState: VehicleStateOuterClass.VehicleState?
     ) {
 
-        if (vehicleState != null) {
-            //转向灯数据
-            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
-            //刹车灯数据
-            CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
-            //方向盘转向角数据
-            CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
-            //挂挡档位数据
-            CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
-            //加速度
-            CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
-            //油门
-            CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
-            //刹车
-            CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
-            //清扫车（福田）清扫控制系统状态
-            vehicleState.sweeperFutianCleanSystemState?.also {
-                CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+    }
+
+    @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"
+    )
+    override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
+        if (chassisStates != null) {
+            chassisStates.bcmSystemStates?.let { bcmSystemStates ->
+                bcmSystemStates.turnLightState?.let {
+                    //转向灯数据
+                    CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
+                }
+                //刹车灯数据
+                CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
+            }
+            chassisStates.steerSystemStates?.let {
+                //方向盘转向角数据
+                CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(it.steeringWheelAngle)
+            }
+            chassisStates.gearSystemStates?.let { gearSystemStates ->
+                gearSystemStates.gearPosition?.let {
+                    //挂挡档位数据
+                    CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
+                }
+            }
+            chassisStates.vehicleMotionStates?.let {
+                //加速度
+                CallerChassisAccStateListenerManager.invokeAutopilotAcc(it.acceleration)
+            }
+            chassisStates.drivingSystemStates?.let {
+                //油门
+                CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
+            }
+            chassisStates.brakeSystemStates?.let {
+                //刹车
+                CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
+            }
+            chassisStates.taskSystemStates?.let { taskSystemStates ->
+                taskSystemStates.sweeperFutianTaskSystemStates?.let {
+                    //清扫车（福田）清扫控制系统状态
+                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+                }
             }
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
@@ -434,7 +464,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
             invokePNCActions(it)
         }
     }
+    /**
+     * 重构后的功能状态
+     *
+     * @param header         头
+     * @param functionStates 头
+     */
+    override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
 
+    }
 
     /**
      * 是否可以启动自动驾驶

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt

@@ -332,7 +332,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
             // 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 - BarUtils.getStatusBarHeight() - 350
+            mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()-950
             mWindowManager!!.addView(mFloatLayout, mWindowParams)
         }
     }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt

@@ -343,7 +343,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
             // 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 - BarUtils.getStatusBarHeight() - 950
+            mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()-950
             mWindowManager!!.addView(mFloatLayout, mWindowParams)
             //开启录包
             if (recordCaseEntity != null) {

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

@@ -16,6 +16,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OLD_ROUTE
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OTHER
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_SWEEPER
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI_P
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
@@ -38,6 +39,7 @@ class SceneManager {
         private const val NET = "NET"
         private const val BUS = "BUS"
         private const val TAXI = "TAXI"
+        private const val SWEEPER = "SWEEPER"
         private const val TAXI_P = "TAXI_P"
         private const val OTHER = "OTHER"
 
@@ -63,6 +65,7 @@ class SceneManager {
         sceneModuleTAG.map[BUS] = SceneModule(true, M_BUS)
         sceneModuleTAG.map[TAXI] = SceneModule(true, M_TAXI)
         sceneModuleTAG.map[TAXI_P] = SceneModule(true, M_TAXI_P)
+        sceneModuleTAG.map[SWEEPER] = SceneModule(true, M_SWEEPER)
         sceneModuleTAG.map[OTHER] = SceneModule(false, M_OTHER)
 
         sceneLogTAG.map[TAXI] = SceneTAG(false)
@@ -160,6 +163,15 @@ class SceneManager {
                 sceneCache[M_OLD_ROUTE]?.logger = logger
                 scene.updateSceneCache(sceneCache)
             }
+            SWEEPER -> {
+                sceneCache[M_SWEEPER]?.logger = logger
+                sceneCache[M_NETWORK]?.logger = logger
+                sceneCache[M_ADAS_IMPL]?.logger = logger
+                sceneCache[M_HMI]?.logger = logger
+                sceneCache[M_DEVA]?.logger = logger
+                sceneCache[M_OLD_ROUTE]?.logger = logger
+                scene.updateSceneCache(sceneCache)
+            }
         }
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
@@ -105,7 +105,7 @@ internal class CanImpl(ctx: Context) :
         timeOutCheck()
     }
 
-    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
         send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }

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

@@ -18,7 +18,7 @@ import androidx.core.content.ContextCompat
 import androidx.core.view.*
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
@@ -1251,6 +1251,8 @@ class DebugSettingView @JvmOverloads constructor(
                     SceneConstant.M_TAXI -> cbTaxiLog.isChecked = log
                     //TAXI_P日志标签
                     SceneConstant.M_TAXI_P -> cbTaxiPLog.isChecked = log
+                    //清扫车日志
+                    SceneConstant.M_SWEEPER -> cbSweeperPLog.isChecked = log
                     //其他模块日志(暂未区分具体模块)
                     SceneConstant.M_OTHER -> cbOtherLog.isChecked = log
                 }
@@ -1381,6 +1383,12 @@ class DebugSettingView @JvmOverloads constructor(
             sceneMap[SceneConstant.M_TAXI_P] = taxiPModule
             CallerDevaToolsManager.updateModuleTAG(sceneMap)
         }
+        //清扫车日志标签
+        cbTaxiPLog.setOnCheckedChangeListener { _, isChecked ->
+            val sweeperModule = SceneModule(isChecked, SceneConstant.M_SWEEPER)
+            sceneMap[SceneConstant.M_SWEEPER] = sweeperModule
+            CallerDevaToolsManager.updateModuleTAG(sceneMap)
+        }
         //其他未分类模块日志
         cbOtherLog.setOnCheckedChangeListener { _, isChecked ->
             val otherModule = SceneModule(isChecked, SceneConstant.M_OTHER)
@@ -2145,7 +2153,7 @@ class DebugSettingView @JvmOverloads constructor(
     /**
      * 清扫车（福田）清扫控制系统状态
      */
-    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
 
     }
 

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

@@ -2146,6 +2146,13 @@
                         android:layout_height="wrap_content"
                         android:checked="false"
                         android:text="乘客屏日志" />
+                    <CheckBox
+                        android:id="@+id/cbSweeperPLog"
+                        style="@style/DebugSettingText"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:checked="false"
+                        android:text="清扫车日志" />
 
                     <CheckBox
                         android:id="@+id/cbOtherLog"

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java

@@ -1,5 +1,7 @@
 package com.mogo.eagle.core.function.smp;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP;
+
 import android.content.Context;
 import android.os.Bundle;
 import android.view.View;
@@ -16,8 +18,10 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.map.R;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 
 import org.jetbrains.annotations.NotNull;
@@ -67,6 +71,7 @@ public class SmallMapFragment extends BaseFragment
         mSmallMapDirectionView = mRootView.findViewById(R.id.smallMapDirectionView);
         mSmallMapDirectionView.onCreateView(savedInstanceState);
         CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, this);
+        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG,this);
     }
 
     @Override
@@ -86,8 +91,13 @@ public class SmallMapFragment extends BaseFragment
     @Override
     public void drawablePolyline(List<MogoLatLng> coordinates) {
         if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.convert(coordinates);
-            UiThreadHandler.post(() -> mSmallMapDirectionView.drawablePolyline());
+            UiThreadHandler.post(new Runnable() {
+                @Override
+                public void run() {
+                    mSmallMapDirectionView.convert(coordinates);
+                    mSmallMapDirectionView.drawablePolyline();
+                }
+            });
         }
     }
 
@@ -127,9 +137,12 @@ public class SmallMapFragment extends BaseFragment
     @Override
     public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
         int  tempStatus =   autoPilotStatusInfo.getPilotmode();
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" autoPilotStatus:"+autoPilotStatus);
         if (tempStatus != 1) {
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" clearPolyline");
             clearPolyline();
         }else if (tempStatus  == 1 && autoPilotStatus == 0){
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
             CallerAutoPilotManager.INSTANCE.getGlobalPath();
         }
         autoPilotStatus = tempStatus;
@@ -156,16 +169,21 @@ public class SmallMapFragment extends BaseFragment
 
     @Override
     public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting");
         if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
             return;
         }
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+globalPathResp.getWayPointsList().size());
+
         List<MogoLatLng> latLngList = new ArrayList<>();
         for (MessagePad.Location routeModel : globalPathResp.getWayPointsList()) {
             latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
         }
         if (latLngList.size() > 0) {
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+"drawablePolyline");
             drawablePolyline(latLngList);
         } else {
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+"clearPolyline");
             clearPolyline();
         }
     }