Merge branch 'dev_robotaxi-d-app-module_270_220510_2.7.0_point' into dev_robotaxi-d-app-module_270_220510_2.7.0

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

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

@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.autopilot.adapter
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
-import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
@@ -33,10 +32,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe
 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
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.zhidao.support.adas.high.AdasManager
@@ -241,6 +241,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     override fun onPointCloud(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
         //点云数据透传
+        //Logger.d("pointCloud","pointCloud"+pointCloud);
+        CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
     }
 
     override fun onBasicInfoReq(

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

@@ -550,6 +550,12 @@ class DebugSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = isChecked
         }
 
+        //TODO
+        tbIsDrawPath.setOnCheckedChangeListener { _, isChecked ->
+
+        }
+
+
         // 初始化 GSP数据源 数据
         rgGpsProvider.check(
             when (FunctionBuildConfig.gpsProvider) {
@@ -603,6 +609,13 @@ class DebugSettingView @JvmOverloads constructor(
 
         }
 
+        //初始化点云数据渲染情况
+        tbDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
+        //是否渲染点云数据
+        tbDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isDrawPointCloudData = isChecked
+        }
+
         // 模拟自动驾驶中
         tbChangeAutoPilotStatus.setOnCheckedChangeListener { _, isChecked ->
             CallerAutoPilotManager.setControlAutopilotCarAuto(isChecked)

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

@@ -1480,6 +1480,21 @@
                         app:layout_constraintLeft_toLeftOf="@id/tbIsDrawAutopilotTrajectoryData"
                         app:layout_constraintRight_toRightOf="@id/tbIsDrawAutopilotTrajectoryData"/>
 
+                    <ToggleButton
+                        android:id="@+id/tbDrawPointCloudData"
+                        android:layout_width="0dp"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
+                        android:padding="@dimen/dp_10"
+                        android:textColor="#000"
+                        android:textOff="开启渲染点云数据"
+                        android:textOn="关闭渲染点云数据"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintRight_toRightOf="parent"
+                        />
+
                     <RadioGroup
                         android:id="@+id/rgGpsProvider"
                         android:layout_width="match_parent"

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

@@ -172,6 +172,7 @@ public class MapFragment extends MvpFragment<MapView, MapPresenter>
 
         // TODO 临时初始化地图监听工控机、OBU等数据监听器，用于感知元素绘制
         MapIdentifySubscriber.Companion.getInstance();
+        MapPointCloudSubscriber.Companion.getInstance();
     }
 
     @Override

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt

@@ -0,0 +1,49 @@
+package com.mogo.eagle.core.function.map
+
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
+import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.zhidao.support.adas.high.common.PointCloudDecoder
+import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
+import mogo.telematics.pad.MessagePad
+import rule_segement.PointCloud
+
+/**
+ * 订阅点云数据
+ * 数据来源：工控机、OBU、云端下发
+ *
+ * @author donghongyu
+ */
+class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
+
+    private val TAG = "MapPointCloudSubscriber"
+
+    init {
+        onCrate()
+    }
+
+    companion object {
+        val instance: MapPointCloudSubscriber by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            MapPointCloudSubscriber()
+        }
+    }
+
+    override fun onCrate() {
+        CallerAutopilotPointCloudListenerManager.addListener(TAG, this)
+
+    }
+
+    override fun onDestroy() {
+        CallerAutopilotPointCloudListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+        // 根据配置动态控制点云是否绘制
+        if (FunctionBuildConfig.isDrawPointCloudData) {
+            val data = PointCloudDecoder.decode(header, pointCloud)
+            val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
+            //Logger.d(TAG, "result=$result")
+        }
+    }
+}