Merge branch 'dev/dev_eagle_architecture_upgrade' into dev/dev_eagle_wuhan_sikua_obu

.idea/misc.xml

@@ -20,7 +20,9 @@
         <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_traffic_light_vr.xml" value="1.0" />
         <entry key="modules/mogo-module-adas/src/main/res/drawable/module_adas_left_corner_bg.xml" value="0.22125" />
         <entry key="modules/mogo-module-adas/src/main/res/layout/dialog_adas_dispatch_remind.xml" value="0.22658490296325878" />
+        <entry key="modules/mogo-module-apps/src/main/res/layout/module_apps_fragment_apps.xml" value="0.28125" />
         <entry key="modules/mogo-module-apps/src/main/res/layout/module_apps_fragment_apps_navigator.xml" value="0.27395833333333336" />
+        <entry key="modules/mogo-module-apps/src/main/res/layout/module_apps_item_app.xml" value="0.28125" />
         <entry key="modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml" value="0.375" />
         <entry key="modules/mogo-module-hmi/src/main/res/layout/fragment_warning.xml" value="0.34427083333333336" />
         <entry key="modules/mogo-module-hmi/src/main/res/layout/module_hmi_warning_v2x.xml" value="0.246875" />

app/build.gradle

@@ -203,6 +203,11 @@ dependencies {
         implementation project(':core:function-impl:mogo-core-function-obu-mogo')
         implementation project(':core:function-impl:mogo-core-function-smp')
         implementation project(':core:function-impl:mogo-core-function-hmi')
+        implementation project(':core:function-impl:mogo-core-function-autopilot')
+        implementation project(':core:function-impl:mogo-core-function-check')
+        implementation project(':core:function-impl:mogo-core-function-map')
+        implementation project(':core:function-impl:mogo-core-function-notice')
+        implementation project(':core:function-impl:mogo-core-function-v2x')
 
     }
 

app/src/main/java/com/mogo/launcher/MogoApplication.java

@@ -39,8 +39,6 @@ import com.mogo.utils.ProcessUtils;
 import com.mogo.utils.logger.LogLevel;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.storage.SharedPrefsMgr;
-//import com.squareup.leakcanary.LeakCanary;
-//import com.squareup.leakcanary.RefWatcher;
 import com.zhidao.boot.persistent.lib.PersistentManager;
 import com.zhidao.mogo.module.left.panel.LeftPanelConst;
 
@@ -288,25 +286,30 @@ public class MogoApplication extends AbsMogoApplication {
         MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_STRATEGY_SHARE, "StrategyShare"));
         MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_GAODE_AIMLESS_SHARE, "GaoDeAimlessShare"));
         MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_MOGO_MONITOR, "MogoMonitor"));
+
+        // 域控制器模块（新）
+        MogoModulePaths.addModuleFunction(new MogoModule(MogoServicePaths.PATH_AUTO_PILOT, "IMoGoAutoPilotProvider"));
+        // OBU 模块
+        MogoModulePaths.addModuleFunction(new MogoModule(MogoServicePaths.PATH_V2X_OBU_MOGO, "IMoGoObuProvider"));
+        // 小地图模块
+        MogoModulePaths.addModuleFunction(new MogoModule(MogoServicePaths.PATH_SMALL_MAP, "IMogoSmallMapProvider"));
+        // widgets 模块
+        MogoModulePaths.addModuleFunction(new MogoModule(MogoServicePaths.PATH_V2X_WARNING, "IMoGoWaringProvider"));
+
         // 自动驾驶系统检测模块
         MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_CHECK, "CheckProvider"));
         // 推送模块
         MogoModulePaths.addModule(new MogoModule(PushUIConstants.PATH, PushUIConstants.NAME));
         // 碰撞报警模块
-        MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_CRASH_WARNING, "CrashWarning"));
+        MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_CRASH_WARNING, "IMogoCrashWarnProvider"));
-        // OBU 模块
+        // ADAS模块（旧，慢慢被 域控制器模块 替换掉）
-        MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_V2X_OBU_MOGO, "IMoGoObuProvider"));
-        // 小地图模块
-        MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_SMALL_MAP, "IMogoSmallMapProvider"));
-        // widgets 模块
-        MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_V2X_WARNING, "IMoGoWaringProvider"));
-        // ADAS模块
         MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_ADAS, "AdasProvider"));
         // 前方碰撞预警
         MogoModulePaths.addModule(new MogoModule(MogoServicePaths.PATH_V2X_FRONT_CRASH_WARNING, "IV2XManagerProvider"));
         // 全局语音唤醒
         MogoModulePaths.addBaseModule(new MogoModule(MogoServicePaths.PATH_GLOBAL_UNWAKE, "GlobalUnwake"));
 
+
         if (!DebugConfig.isLauncher()) {
             PersistentManager.getInstance().initManager(this);
             Intent intent = new Intent(this, MogoMainService.class);

config.gradle

@@ -111,7 +111,7 @@ ext {
             callchatprovider           : "com.mogo.module.carchatout:module-carchatting-provider:${CARCHATTINGPROVIDER_VERSION}",
 
             guideshow                  : "com.mogo.module:module-guide:${MOGO_MODULE_GUIDESHOW_VERSION}",
-            mogomodulecheck             : "com.mogo.module:mogo-module-check:${MOGO_MODULE_CHECK_VERSION}",
+            mogomodulecheck            : "com.mogo.module:mogo-module-check:${MOGO_MODULE_CHECK_VERSION}",
             // V2X
             moduleV2x                  : "com.mogo.module:module-v2x:${MOGO_MODULE_V2X_VERSION}",
             moduleSmallMap             : "com.mogo.module:module-small-map:${MOGO_MODULE_SMP_VERSION}",
@@ -130,7 +130,7 @@ ext {
             // OBU
             moduleobu                  : "com.mogo.module:module-obu:${MOGO_MODULE_OBU_VERSION}",
             moduleobumogo              : "com.mogo.module:module-obu:${MOGO_MODULE_OBU_MOGO_VERSION}",
-            carmanager               : "com.zhidao.carmanager:common:1.0.30@aar",
+            carmanager                 : "com.zhidao.carmanager:common:1.0.30@aar",
 
             //
             jetbrainsannotationsjava5  : "org.jetbrains:annotations-java5:15.0",
@@ -166,9 +166,9 @@ ext {
 
             // obu sdk
             obusdk                     : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
-//            mebulaobu                  : 'com.zhidao.support.nebulaobu:nebulaobu:1.0.0.3',
             mogoobu                    : 'com.zhidao.support.obu:mogoobu:1.0.0.15',
             mogoami                    : 'com.zhidao.support.obu.ami:mogoami:1.0.0.3',
+            adasHigh                    : 'com.zhidao.support.adas:high:1.2.0.4',
 
             // 左侧面板
             moduleleftpanel            : "com.mogo.module:module-left-panel:${MOGO_MODULE_LEFT_PANEL_VERSION}",

core/function-impl/mogo-core-function-autopilot/build.gradle

@@ -51,7 +51,7 @@ dependencies {
 
     kapt rootProject.ext.dependencies.aroutercompiler
 
-    implementation "com.zhidao.support.adas:high:1.2.0.2"
+    implementation rootProject.ext.dependencies.adasHigh
 
     if (Boolean.valueOf(RELEASE)) {
 

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

@@ -16,8 +16,20 @@ import com.zhidao.support.adas.high.AdasManager
  */
 @Route(path = MogoServicePaths.PATH_AUTO_PILOT)
 class MoGoAutoPilotProvider : IMoGoAutoPilotProvider {
-    override fun init(context: Context) {}
+
-    override fun connectAutoPilot() {}
+    override fun init(context: Context) {
+        // 初始化ADAS 域控制器
+        AdasManager.getInstance().create(context)
+
+    }
+
+
+    override fun connectAutoPilot() {
+
+
+    }
+
+
     override fun startAutoPilot(result: AutoPilotControlParameters) {
         if (AdasManager.getInstance().isSocketConnect) {
             val parameter =
@@ -49,6 +61,11 @@ class MoGoAutoPilotProvider : IMoGoAutoPilotProvider {
         return 0
     }
 
+
+    override fun recordPackage(): Boolean {
+        return AdasManager.getInstance().recordPackage()
+    }
+
     companion object {
         private const val TAG = "MogoAutoPilotProvider"
     }

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

@@ -14,7 +14,6 @@ import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.notification.WarningFloat
 import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
 import com.mogo.eagle.core.function.hmi.notification.enums.SidePattern
-import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
 import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
 import com.mogo.module.common.enums.EventTypeEnum
 import com.mogo.utils.logger.Logger
@@ -29,48 +28,9 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
     MoGoWarningContract.View {
 
     var mWarningFloat: WarningFloat.Builder? = null
-    var mDebugSettingViewFloat: WarningFloat.Builder? = null
 
     override fun initViews() {
-        autopilotStatus.setOnLongClickListener {
-            activity?.let {
-                val debugSettingView = DebugSettingView(it)
 
-                if (mDebugSettingViewFloat != null) {
-                    WarningFloat.dismiss(mDebugSettingViewFloat!!.config.floatTag, false)
-                    mDebugSettingViewFloat = null
-                } else {
-                    mDebugSettingViewFloat = WarningFloat.with(it)
-                        .setTag("DebugSettingView")
-                        .setLayout(debugSettingView)
-                        .setSidePattern(SidePattern.RIGHT)
-                        .setGravity(Gravity.RIGHT, offsetY = 70)
-                        .setImmersionStatusBar(true)
-                        .setAnimator(object : DefaultAnimator() {
-                            override fun enterAnim(
-                                view: View,
-                                params: WindowManager.LayoutParams,
-                                windowManager: WindowManager,
-                                sidePattern: SidePattern
-                            ): Animator? =
-                                super.enterAnim(view, params, windowManager, sidePattern)?.apply {
-                                    interpolator = OvershootInterpolator()
-                                }
-
-                            override fun exitAnim(
-                                view: View,
-                                params: WindowManager.LayoutParams,
-                                windowManager: WindowManager,
-                                sidePattern: SidePattern
-                            ): Animator? =
-                                super.exitAnim(view, params, windowManager, sidePattern)
-                                    ?.setDuration(200)
-                        })
-                        .show()
-                }
-            }
-            false
-        }
     }
 
     override fun getLayoutId(): Int {

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

@@ -13,6 +13,7 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
+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.obu.CallerOBUManager
 import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
@@ -92,6 +93,11 @@ class DebugSettingView @JvmOverloads constructor(
                 ToastUtils.showShort("请输入正确的IP地址")
             }
         }
+
+        // 域控制器
+        btnRecordPackage.setOnClickListener {
+            CallerAutoPilotManager.recordPackage()
+        }
     }
 
     /**

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

@@ -1,22 +1,27 @@
 package com.mogo.eagle.core.function.hmi.ui.widget
 
+import android.animation.Animator
 import android.content.Context
-import android.content.Intent
 import android.graphics.Color
 import android.location.Location
 import android.util.AttributeSet
 import android.util.Log
 import android.view.Gravity
 import android.view.View
+import android.view.WindowManager
+import android.view.animation.OvershootInterpolator
 import android.widget.FrameLayout
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.commons.debug.DebugConfig
-import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.data.map.MogoLatLng
-import com.mogo.map.navi.IMogoCarLocationChangedListener2
-import com.mogo.module.common.MogoApisHandler
-import com.mogo.service.IMogoServiceApis
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.map.MogoLatLng
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.function.hmi.notification.WarningFloat
+import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
+import com.mogo.eagle.core.function.hmi.notification.enums.SidePattern
+import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
+import com.mogo.map.navi.IMogoCarLocationChangedListener2
+import com.mogo.service.IMogoServiceApis
 import com.mogo.service.statusmanager.IMogoStatusChangedListener
 import com.mogo.service.statusmanager.StatusDescriptor
 
@@ -38,6 +43,7 @@ class SpeedPanelView @JvmOverloads constructor(
 
     var mContext: Context
     var mSpeedChartView: SpeedChartView
+    var mDebugSettingViewFloat: WarningFloat.Builder? = null
 
     init {
         setBackgroundResource(R.drawable.yi_biao_pan_bg_nor)
@@ -54,12 +60,45 @@ class SpeedPanelView @JvmOverloads constructor(
 
         if (DebugConfig.isDebug()) {
             mSpeedChartView.isLongClickable = true
-            mSpeedChartView.setOnLongClickListener { v ->
+            mSpeedChartView.setOnLongClickListener {
                 Log.d(TAG, "长按显示状态工具栏")
-                val intent = Intent()
+                context.let {
-                intent.putExtra("oper", 52)
+                    val debugSettingView = DebugSettingView(it)
-                MogoApisHandler.getInstance().apis.intentManagerApi
+
-                    .invoke("com.mogo.mock", intent)
+                    if (mDebugSettingViewFloat != null) {
+                        WarningFloat.dismiss(mDebugSettingViewFloat!!.config.floatTag, false)
+                        mDebugSettingViewFloat = null
+                    } else {
+                        mDebugSettingViewFloat = WarningFloat.with(it)
+                            .setTag("DebugSettingView")
+                            .setLayout(debugSettingView)
+                            .setSidePattern(SidePattern.RIGHT)
+                            .setGravity(Gravity.RIGHT, offsetY = 70)
+                            .setImmersionStatusBar(true)
+                            .setAnimator(object : DefaultAnimator() {
+                                override fun enterAnim(
+                                    view: View,
+                                    params: WindowManager.LayoutParams,
+                                    windowManager: WindowManager,
+                                    sidePattern: SidePattern
+                                ): Animator? =
+                                    super.enterAnim(view, params, windowManager, sidePattern)
+                                        ?.apply {
+                                            interpolator = OvershootInterpolator()
+                                        }
+
+                                override fun exitAnim(
+                                    view: View,
+                                    params: WindowManager.LayoutParams,
+                                    windowManager: WindowManager,
+                                    sidePattern: SidePattern
+                                ): Animator? =
+                                    super.exitAnim(view, params, windowManager, sidePattern)
+                                        ?.setDuration(200)
+                            })
+                            .show()
+                    }
+                }
                 true
             }
         }

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

@@ -97,6 +97,15 @@
                     android:textSize="@dimen/dp_34"
                     android:textStyle="bold" />
 
+                <Button
+                    android:id="@+id/btnRecordPackage"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:gravity="center"
+                    android:padding="@dimen/dp_5"
+                    android:text="录制Bag包"
+                    android:textSize="@dimen/dp_34" />
+
                 <TextView
                     android:id="@+id/tvAutopilotInfo"
                     android:layout_width="match_parent"

core/function-impl/mogo-core-function-map/build.gradle

@@ -51,7 +51,7 @@ dependencies {
 
     kapt rootProject.ext.dependencies.aroutercompiler
 
-    implementation "com.zhidao.support.adas:high:1.2.0.2"
+    implementation rootProject.ext.dependencies.adasHigh
 
     if (Boolean.valueOf(RELEASE)) {
 

core/function-impl/mogo-core-function-v2x/build.gradle

@@ -51,7 +51,7 @@ dependencies {
 
     kapt rootProject.ext.dependencies.aroutercompiler
 
-    implementation "com.zhidao.support.adas:high:1.2.0.2"
+    implementation rootProject.ext.dependencies.adasHigh
 
     if (Boolean.valueOf(RELEASE)) {
 

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutoPilotStatusInfo.kt

@@ -10,8 +10,9 @@ class AutoPilotStatusInfo {
     /**
      * 当前链接的IP地址, 默认地址 192.168.1.102
      */
-    var connectIP: String = "192.168.1.102"
+    var connectIP: String = "0.0.0.0"
     var connectStatus = false
+    var version: String = "v0.0"
 
     /**
      * 定位是否可用

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java

@@ -34,4 +34,11 @@ public interface IMoGoAutoPilotProvider extends IMoGoFunctionServerProvider {
      */
     int getAutopilotStatus();
 
+    /**
+     * 开启域控制器录制bag包
+     *
+     * @return true-成功,false-失败
+     */
+    boolean recordPackage();
+
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt

@@ -0,0 +1,23 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotProvider
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ *@author        xiaoyuzhou
+ *@date          2021/10/14 2:15 下午
+ * 域控制器管理
+ */
+object CallerAutoPilotManager {
+    private val providerApi: IMoGoAutoPilotProvider
+        get() = CallerBase.getApiInstance(
+            IMoGoAutoPilotProvider::class.java,
+            MogoServicePaths.PATH_AUTO_PILOT
+        )
+
+    fun recordPackage() {
+        providerApi.recordPackage()
+    }
+
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerOBUManager.kt

@@ -7,6 +7,7 @@ import com.mogo.eagle.core.function.call.base.CallerBase
 /**
  *@author        xiaoyuzhou
  *@date          2021/10/11 8:30 下午
+ * 自研OBU管理
  */
 object CallerOBUManager {
     private val providerApi: IMoGoObuProvider

modules/mogo-module-adas/build.gradle

@@ -45,7 +45,7 @@ dependencies {
     // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
     compileOnly rootProject.ext.dependencies.adasapi
 
-    api "com.zhidao.support.adas:high:1.2.0.2"
+    api rootProject.ext.dependencies.adasHigh
     implementation rootProject.ext.dependencies.mogoami
 
     annotationProcessor rootProject.ext.dependencies.aroutercompiler

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java

@@ -50,7 +50,6 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<DispatchAdas
 
     private DispatchRemindDialog dispatchRemindDialog;
     private LineOverlayManager lineOverlayManager;
-    private MogoLocation mogoLocation;
     private IDispatchResultListener dispatchResultListener;
     private DispatchAdasAutoPilotLocReceiverBean receiverBean;
     private List<MogoLatLng> latLngList;
@@ -197,7 +196,6 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<DispatchAdas
         loc.setAltitude(location.getAltitude());
         loc.setBearing(location.getBearing());
         loc.setProvider(location.getProvider());
-        mogoLocation = loc;
 //        if (drawLine) {
 //            lineOverlayManager.draw(mogoLocation, latLngList);
 //        }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java

@@ -8,6 +8,7 @@ import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
+import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
 import com.zhidao.support.adas.high.bean.AutopilotRoute;
@@ -19,6 +20,7 @@ import com.zhidao.support.adas.high.bean.LightStatueInfo;
 import com.zhidao.support.adas.high.bean.ObstaclesInfo;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
 import com.zhidao.support.obu.ami.AmiClientManager;
 
 import java.util.ArrayList;
@@ -26,7 +28,6 @@ import java.util.concurrent.TimeUnit;
 
 import io.reactivex.Flowable;
 import io.reactivex.android.schedulers.AndroidSchedulers;
-import io.reactivex.disposables.Disposable;
 import io.reactivex.schedulers.Schedulers;
 
 /**
@@ -42,12 +43,10 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     private final Gson gson;
     private final ArrayList<IAdasDataListener> iAdasEventListeners = new ArrayList<>();
     private final ArrayList<IAdasStatusListener> iAdasStatusListeners = new ArrayList<>();
-    private Disposable uploadAutopilotStatus;
     //自动驾驶状态
     private int mCurrentAutopilotStatus = -1;
     //自动驾驶车速度
     private float mCurrentAutopilotSpeed = 0;
-    private Disposable mdDisposable;
     //自动驾驶状态
     private AutopilotStatus.ValuesBean mAutopilotValuesStatus = null;
 
@@ -192,6 +191,9 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
             autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
             autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
             autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
+            // 初始化自动驾驶状态信息
+            autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
+            autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
 
             CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
 
@@ -257,10 +259,18 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         }
     }
 
+    @Override
+    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
+
+    }
+
     @Override
     public void onWebSocketConnectSuccess() {
         Logger.d(TAG, "webSocket 连接成功");
+        // 初始化自动驾驶状态信息
+        CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
         CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(true);
+
         CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
         for (IAdasStatusListener listener : iAdasStatusListeners) {
             listener.onServiceConnected();
@@ -269,8 +279,9 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     }
 
     @Override
-    public void onWebSocketConnectFailed() {
+    public void onWebSocketConnectFailed(String reason) {
-        Logger.d(TAG, "webSocket 连接失败");
+        Logger.d(TAG, "webSocket 连接失败 reason:" + reason);
+        CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
         CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(false);
         CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
         for (IAdasStatusListener listener : iAdasStatusListeners) {
@@ -280,7 +291,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     public void updateDriveStatusTask() {
         Logger.d(TAG, "updateDriveStatusTask");
-        mdDisposable = Flowable.interval(0, 5, TimeUnit.SECONDS)
+        Flowable.interval(0, 5, TimeUnit.SECONDS)
                 .subscribeOn(Schedulers.io())
                 .unsubscribeOn(Schedulers.io())
                 .observeOn(AndroidSchedulers.mainThread())
@@ -295,10 +306,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         AdasServiceModel.getInstance().reportSite(lon, lat);
     }
 
-    public AutopilotStatus.ValuesBean getAutopilotValuesStatus() {
-        return mAutopilotValuesStatus;
-    }
-
     public AdasAIDLAutopilotStateModel autopilotStateCall() {
         AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel = new AdasAIDLAutopilotStateModel();
         if (mAutopilotValuesStatus != null) {

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java

@@ -29,8 +29,6 @@ public class AdasProvider implements IProvider {
         Logger.d(TAG, "初始化 AdasProvider 模块");
         adasEventManager = AdasEventManager.getInstance();
         initAdas(context, adasEventManager);
-//        initAutoPilotBusiness(context);
-
         addAdasStatusListener(new IAdasStatusListener() {
             @Override
             public void onServiceConnected() {
@@ -52,15 +50,7 @@ public class AdasProvider implements IProvider {
         adasEventManager.setProviderBizListener(this::setBasicInfo);
     }
 
-    private void initAutoPilotBusiness(Context context) {
+    public void setBasicInfo() {
-        AdasAutoPilotManager.getInstance().initSocket(context);
-        AdasAutoPilotManager.getInstance().addIDispatchResult(json -> {
-            Logger.d(TAG,"aiCloudToAdasData json : " + json);
-            AdasManager.getInstance().aiCloudToAdasData(json);
-        });
-    }
-
-    public void setBasicInfo(){
         BasicInfo info = new BasicInfo();
         info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
         AdasManager.getInstance().setBasicInfo(info);
@@ -78,10 +68,6 @@ public class AdasProvider implements IProvider {
         adasEventManager.addStatusListener(listener);
     }
 
-    public void removeAdasStatusListener(IAdasStatusListener listener) {
-        adasEventManager.removeStatusListener(listener);
-    }
-
     public void removeAdasStatusListener() {
         adasEventManager.removeStatusListener();
     }

modules/mogo-module-common/src/main/java/com/mogo/module/common/MogoModulePaths.java

@@ -15,10 +15,12 @@ import java.util.List;
  */
 public class MogoModulePaths {
 
-    private static final List< MogoModule > mMogoModules = new ArrayList<>();
+    private static final List<MogoModule> mMogoModules = new ArrayList<>();
 
     // 不需要启动APP也能运行的模块
-    private static final List< MogoModule > mMogoBaseModules = new ArrayList<>();
+    private static final List<MogoModule> mMogoBaseModules = new ArrayList<>();
+
+    private static final List<MogoModule> mModuleFunctions = new ArrayList<>();
 
     /**
      * 地图模块 fragment 路径
@@ -36,15 +38,6 @@ public class MogoModulePaths {
      */
     public static final String PATH_ENTRANCE = "/extension/entrance";
 
-    /**
-     * 音乐播放入口
-     */
-    public static final String PATH_MEDIA = "/media/ui";
-
-    /**
-     * 引导页面
-     */
-    public static final String PATH_GUIDE = "/guide/showFragment";
 
     /**
      * 添加卡片模块
@@ -52,8 +45,8 @@ public class MogoModulePaths {
      * @param path
      */
     @Deprecated
-    public static void addModule( String path ) {
+    public static void addModule(String path) {
-        throw new IllegalArgumentException( "this method can't be invoked." );
+        throw new IllegalArgumentException("this method can't be invoked.");
     }
 
     /**
@@ -61,30 +54,46 @@ public class MogoModulePaths {
      *
      * @param module
      */
-    public static void addModule( MogoModule module ) {
+    public static void addModule(MogoModule module) {
-        if ( module == null || TextUtils.isEmpty( module.getPath().replace( " ", "" ) ) ) {
+        if (module == null || TextUtils.isEmpty(module.getPath().replace(" ", ""))) {
-            throw new IllegalArgumentException( "module path can't be empty or null or blank" );
+            throw new IllegalArgumentException("module path can't be empty or null or blank");
         }
-        mMogoModules.add( module );
+        mMogoModules.add(module);
     }
 
     /**
-     * 添加卡片模块
+     * 添加模块功能
+     *
+     * @param module 功能模块
+     */
+    public static void addModuleFunction(MogoModule module) {
+        if (module == null || TextUtils.isEmpty(module.getPath().replace(" ", ""))) {
+            throw new IllegalArgumentException("module path can't be empty or null or blank");
+        }
+        mModuleFunctions.add(module);
+    }
+
+    /**
+     * 添加基础模块
      *
      * @param module
      */
-    public static void addBaseModule( MogoModule module ) {
+    public static void addBaseModule(MogoModule module) {
-        if ( module == null || TextUtils.isEmpty( module.getPath().replace( " ", "" ) ) ) {
+        if (module == null || TextUtils.isEmpty(module.getPath().replace(" ", ""))) {
-            throw new IllegalArgumentException( "module path can't be empty or null or blank" );
+            throw new IllegalArgumentException("module path can't be empty or null or blank");
         }
-        mMogoBaseModules.add( module );
+        mMogoBaseModules.add(module);
     }
 
-    public static List< MogoModule > getModules() {
+    public static List<MogoModule> getModules() {
         return mMogoModules;
     }
 
-    public static List< MogoModule > getBaseModules() {
+    public static List<MogoModule> getBaseModules() {
         return mMogoBaseModules;
     }
+
+    public static List<MogoModule> getModuleFunctions() {
+        return mModuleFunctions;
+    }
 }

modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java

@@ -52,6 +52,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.check.IMogoCheckListener;
 import com.mogo.eagle.core.function.call.check.CallerCheckManager;
 import com.mogo.map.listener.IMogoMapListener;
+import com.mogo.map.listener.MogoMapListenerHandler;
 import com.mogo.map.location.IMogoLocationClient;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.navi.IMogoAimlessModeListener;
@@ -715,6 +716,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         Logger.d(TAG, "进入vr模式");
         mMApUIController.changeMapMode(EnumMapUI.Type_VR);
         MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode(TAG, true);
+        MogoMapListenerHandler.getInstance().onMapModeChanged(EnumMapUI.Type_VR);
 
     }
 
@@ -850,6 +852,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
 
     @Override
     public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
+        Logger.d(TAG, "descriptor=" + descriptor + " isTrue=" + isTrue);
         if (mUploadRoadCondition == null) {
             return;
         }

modules/mogo-module-main/src/main/java/com/mogo/module/main/cards/MogoModulesManager.java

@@ -108,7 +108,7 @@ public class MogoModulesManager implements MogoModulesHandler {
 
     @Override
     public void loadFunctionModules() {
-        final List< MogoModule > modules = MogoModulePaths.getModules();
+        final List< MogoModule > modules = MogoModulePaths.getModuleFunctions();
         if ( modules != null && !modules.isEmpty() ) {
             for ( MogoModule module : modules ) {
                 Logger.d( TAG, "module.getPath():" + module.getPath() + "     name: " + module.getName() );

modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java

@@ -934,9 +934,17 @@ public class MogoServices implements IMogoMapListener,
 
     private boolean mLastStatusIsVr = false;
 
+    public boolean isLastStatusIsVr() {
+        return mLastStatusIsVr;
+    }
+
+    public void setLastStatusIsVr(boolean lastStatusIsVr) {
+        this.mLastStatusIsVr = lastStatusIsVr;
+    }
+
     @Override
     public void onMapModeChanged( EnumMapUI ui ) {
-        Log.i(TAG, "onMapModeChanged:" + ui);
+        Log.i(TAG, "onMapModeChanged:" + ui + " mLastStatusIsVr：" + mLastStatusIsVr);
         clearAllData();
         if ( ui == EnumMapUI.Type_VR ) {
             if ( !mLastStatusIsVr ) {

test/crashreport-upgrade/src/main/AndroidManifest.xml

@@ -1,4 +1,5 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
     package="com.mogo.test.crashreport.upgrade">
 
     <application>
@@ -6,6 +7,7 @@
             android:name="androidx.core.content.FileProvider"
             android:authorities="${applicationId}.fileProvider"
             android:exported="false"
+            tools:replace="android:authorities"
             android:grantUriPermissions="true">
             <meta-data
                 android:name="android.support.FILE_PROVIDER_PATHS"