Merge branch 'dev_robotaxi-d_240401_6.4.0' into dev_robotaxi-d_240401_6.4.0_work_order

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

@@ -40,6 +40,7 @@ import com.tencent.matrix.trace.config.TraceConfig
 import com.zhjt.mogo_core_function_devatools.apm.*
 import com.mogo.eagle.core.function.api.upgrade.*
 import com.mogo.weak.network.SdtManager
+import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
 import com.zhjt.mogo_core_function_devatools.adas.PowerOffManager
 import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
@@ -60,6 +61,8 @@ import com.zhjt.mogo_core_function_devatools.perf.MoGoCpuUsageProviderImpl
 import com.zhjt.mogo_core_function_devatools.report.IPCReportManager.Companion.iPCReportManager
 import com.zhjt.mogo_core_function_devatools.scene.SceneManager.Companion.sceneManager
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
+import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
 import com.zhjt.mogo_core_function_devatools.strict.*
 import com.zhjt.mogo_core_function_devatools.trace.TraceManager.Companion.traceManager
 import com.zhjt.mogo_core_function_devatools.tts.TtsManager.Companion.ttsManager
@@ -67,6 +70,9 @@ import com.zhjt.mogo_core_function_devatools.upgrade.UpgradeManager.Companion.up
 import com.zhjt.mogo_core_function_devatools.weaknetwork.DetectResultImpl
 import com.zhjt.mogo_core_function_devatools.weaknetwork.WeakNetworkStrategy
 import com.zhjt.service.chain.ChainLog
+import java.lang.ref.WeakReference
+import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.CopyOnWriteArrayList
 
 @Route(path = MogoServicePaths.PATH_DEVA_TOOLS)
 class DevaToolsProvider : IDevaToolsProvider {
@@ -81,7 +87,6 @@ class DevaToolsProvider : IDevaToolsProvider {
 
     private val strictModeProvider by lazy { StrictModeProviderImpl() }
 
-
     private val lookAroundDataProvider by lazy { MoGoLookAroundProviderImpl() }
 
     private val mofangProvider by lazy { MoGoMoFangProviderImpl() }
@@ -95,6 +100,22 @@ class DevaToolsProvider : IDevaToolsProvider {
     @Volatile
     private var mDockerVersion: String? = null
 
+    private var container: WeakReference<ViewGroup>? = null
+
+    private val downloadCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Int) -> Unit>>() }
+
+    private val statusListener by lazy {
+        object : StatusManager.IStatusListener {
+            override fun onStatusChanged(data: List<com.zhjt.mogo_core_function_devatools.status.entity.Status>, hasException: Boolean) {
+                data.filterIsInstance(RouteDownloadStatus::class.java).forEach { s ->
+                    downloadCallbacks.values.flatten().forEach { listener ->
+                        listener.invoke(s.state.ordinal)
+                    }
+                }
+            }
+        }
+    }
+
     override fun init(context: Context) {
         mContext = context
     }
@@ -135,6 +156,7 @@ class DevaToolsProvider : IDevaToolsProvider {
             block.init(it)
             block.start()
         }
+        StatusManager.addListener(TAG, statusListener)
     }
 
     override fun checkMonitorDb() {
@@ -483,4 +505,29 @@ class DevaToolsProvider : IDevaToolsProvider {
     override fun setNetworkMode(isDebug: Boolean) {
         WeakNetworkStrategy.setDebug(isDebug)
     }
+
+    override fun attachAutopilotStatusView(ctx: Context, group: ViewGroup) {
+        StatusManager.init(ctx)
+        if (group.childCount > 0) {
+            if (group.visibility != View.VISIBLE) {
+                group.visibility = View.VISIBLE
+            }
+            return
+        }
+        this.container = WeakReference(group)
+        val child = AutoPilotLaunchBeforeView(ctx)
+        group.addView(child, ViewGroup.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT, ViewGroup.LayoutParams.MATCH_PARENT))
+    }
+
+    override fun getExceptionStatusBeforeLaunchAutopilot(): Int {
+        return StatusManager.getExceptionStatusBeforeLaunchAutopilot()
+    }
+
+    override fun registerRouteDownloadListener(tag: String, block: (state: Int) -> Unit) {
+        downloadCallbacks.getOrPut(tag) { ArrayList() }.add(block)
+    }
+
+    override fun unRegisterRouteDownloadListener(tag: String) {
+        downloadCallbacks.remove(tag)
+    }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt

@@ -4,6 +4,7 @@ import android.Manifest
 import android.content.*
 import android.content.pm.PackageManager.PERMISSION_GRANTED
 import android.os.Build
+import android.os.Environment
 import android.os.Process
 import android.os.SystemClock
 import android.util.Log
@@ -14,10 +15,13 @@ import com.mogo.commons.AbsMogoApplication
 import com.mogo.core.log.record.*
 import com.mogo.core.log.record.config.*
 import com.mogo.core.log.record.config.crash.CrashConfig
+import com.mogo.core.log.record.config.extra.IExtraFileToUpload
+import com.mogo.core.log.record.config.extra.ToUploadFile
 import com.mogo.core.log.record.config.state.IStateProvider
 import com.mogo.core.log.record.model.UploadError
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.function.api.devatools.logcat.*
+import com.mogo.eagle.core.utilcode.download.DownloadUtils
 import com.zhidao.loglib.bean.RemoteLogPushContent
 import com.zhjt.mogo_core_function_devatools.BuildConfig
 import com.zhjt.mogo_core_function_devatools.logcat.checker.AnrLogChecker
@@ -25,6 +29,7 @@ import com.zhjt.mogo_core_function_devatools.logcat.config.LogRecordConfig
 import com.zhjt.mogo_core_function_devatools.logcat.uploader.*
 import kotlinx.coroutines.*
 import java.io.*
+import java.util.concurrent.TimeUnit
 import java.util.concurrent.TimeUnit.MINUTES
 import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicLong
@@ -45,13 +50,12 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
     private val lastUploadTime by lazy { AtomicLong(0) }
 
     override fun init(context: Context) {
-        val zip = File(context.getExternalFilesDir(null), "logcat/zip")
         val builder = LogcatConfig.Builder().context(context)
             .recordPeriod(MINUTES.toMillis(5)) //  5分钟一个文件
             .maxSizeInLogDir((512 * 1024 * 1024).toLong()) // 512M最大容量
             .recordDir(File(context.getExternalFilesDir(null), "logcat"))
             .pid(Process.myPid())
-            .generateZipDir(zip.absolutePath)
+            .generateZipDir(File(context.getExternalFilesDir(null), "logcat/zip").absolutePath)
             .stateProvider(object : IStateProvider {
                 override fun provide(divider: String?): Map<String, Any?> {
                     return mutableMapOf<String, Any?>().also { itx ->
@@ -104,6 +108,18 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
                         itx["协议版本号"] = AppConfigInfo.protocolVersionNumber
                         itx["${divider}-7"] = divider
                         itx["角色"] = AppConfigInfo.role
+                        val downloads = try {
+                            DownloadUtils.getAllDownloadRecords()
+                        } catch (t: Throwable) {
+                            emptyList()
+                        }
+                        if (downloads.isNotEmpty()) {
+                            itx["${divider}-8"] = divider
+                            itx["下载汇总"] = "(${downloads.size})"
+                            downloads.forEach {
+                                itx[it.first] = "\n\r----------------------------------------------------------${it.second}\n\r"
+                            }
+                        }
                     }
                 }
             })
@@ -114,26 +130,26 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
                 .systemTags("ActivityManager")
                 .checker(AnrLogChecker())
         }
-
-//        if (BuildConfig.DEBUG) {
-//            builder.crashConfig(
-//                CrashConfig.Builder()
-//                    .enabled(true)
-//                    .crashDir(File(context.getExternalFilesDir(null), "logcat/crash"))
-//                    .nativeCrash(true)
-//                    .anr(true)
-//                    .javaCrash(true)
-//                    .build()
-//            )
-//        }
-        LogcatManager.init(builder)
-        scope.launch {
-            try {
-                zip.takeIf { it.exists() }?.deleteRecursively()
-            } catch (t: Throwable) {
-                t.printStackTrace()
-            }
+        if (BuildConfig.DEBUG) {
+            builder.crashConfig(
+                CrashConfig.Builder()
+                    .enabled(true)
+                    .crashDir(File(context.getExternalFilesDir(null), "crash"))
+                    .expireDuration(TimeUnit.DAYS.toMillis(3))
+                    .javaCrash(true)
+                    .nativeCrash(true)
+                    .anr(true)
+                    .build()
+            )
         }
+        builder.extraFilesToUpload(object : IExtraFileToUpload {
+            override fun filesToUpload(): List<ToUploadFile> {
+                return ArrayList<ToUploadFile>().also {
+                    it.add(ToUploadFile(File(Environment.getExternalStorageDirectory(), "MLog")))
+                }
+            }
+        })
+        LogcatManager.init(builder)
     }
 
     override fun target(): Class<RemoteLogPushContent> {
@@ -195,8 +211,8 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
         return LogcatManager.export()
     }
 
-    override fun upload(): Unit = runBlocking {
-        val state = LogcatManager.upload(0, System.currentTimeMillis())
+    override fun upload(startTime: Long, endTime: Long): Unit = runBlocking {
+        val state = LogcatManager.upload(startTime, endTime)
         if (state is UploadError) {
             throw AssertionError(state.toString())
         }

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

@@ -19,10 +19,17 @@ import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.*
-//import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart //import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus
 import com.zhjt.mogo_core_function_devatools.status.model.StatusModel
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import com.zhjt.mogo_core_function_devatools.status.flow.OverViewImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.AcceleratorImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.BrakeImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.DoubleFlashImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.GearImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.RouteDownloadImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SpeedImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SteerImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.gps.GpsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.ipc.IpcImpl
@@ -33,17 +40,24 @@ import kotlinx.coroutines.*
 import kotlinx.coroutines.flow.*
 import java.lang.ref.*
 import java.util.concurrent.*
+import java.util.concurrent.ThreadPoolExecutor.DiscardOldestPolicy
+import java.util.concurrent.atomic.AtomicReference
 
 
 object StatusManager {
 
-    private const val TAG = "StatusManager"
 
     private lateinit var model: StatusModel
     private var hasInit = false
-    private val listeners by lazy { CopyOnWriteArrayList<IStatusListener>() }
+    private val listeners by lazy { ConcurrentHashMap<String, IStatusListener>() }
     private var container: WeakReference<ViewGroup>? = null
 
+    private val last by lazy { AtomicReference<List<Status>>() }
+
+    private val dispatcher by lazy {
+        ThreadPoolExecutor(1, 2, 1, TimeUnit.MINUTES, LinkedBlockingQueue(128), Executors.defaultThreadFactory(), DiscardOldestPolicy()).asCoroutineDispatcher() + CoroutineName("stats-manager-impl")
+    }
+
     private val flows: ArrayList<IFlow<out Status>> by lazy {
         ArrayList()
     }
@@ -77,20 +91,54 @@ object StatusManager {
                 is TracingStatus -> TracingImpl(ctx)
                 is RTKStatus -> RTKImpl(ctx)
                 is OverViewStatus -> OverViewImpl(ctx)
+                is SteerStatus -> SteerImpl(ctx)
+                is AcceleratorStatus -> AcceleratorImpl(ctx)
+                is BrakeStatus -> BrakeImpl(ctx)
+                is DoubleFlashStatus -> DoubleFlashImpl(ctx)
+                is GearStatus -> GearImpl(ctx)
+                is SpeedStatus -> SpeedImpl(ctx)
+                is RouteDownloadStatus -> RouteDownloadImpl(ctx)
             }
         }.also { flows += it }
         for (f in flows) {
-            ctx.lifeCycleScope.launch(Dispatchers.Default) {
+            ctx.lifeCycleScope.launch(dispatcher) {
                 f.asFlow().collect {
                     model.update(it)
                 }
             }
             f.onCreate()
         }
-
-        model.status.observe(ctx.lifeCycleOwner) {
-            listeners.forEach { itx ->
-                itx.onStatusChanged(it.second, it.first != null)
+        ctx.lifeCycleScope.launch(dispatcher) {
+            model.status.asFlow().collect {
+                listeners.values.forEach { itx ->
+                    val current = it.second
+                    val previous = last.get()
+                    val changed = ArrayList<Status>()
+                    if (previous == null) {
+                        changed.addAll(current)
+                    } else {
+                        val l1 = current.size
+                        val l2 = previous.size
+                        var index = 0
+                        while (index < l1 && index < l2) {
+                            val d1 = current[index]
+                            val d2 = previous[index]
+                            if (d1 != d2) {
+                                changed += d1
+                            }
+                            index++
+                        }
+                        while (index < l1) {
+                            changed += current[index++]
+                        }
+                    }
+                    if (changed.isNotEmpty()) {
+                        withContext(Dispatchers.Main) {
+                            itx.onStatusChanged(changed, it.first != null)
+                        }
+                    }
+                    last.set(current)
+                }
             }
         }
     }
@@ -120,6 +168,39 @@ object StatusManager {
         flows.clear()
     }
 
+    fun addListener(tag: String, listener: IStatusListener) {
+        if (listeners.containsKey(tag)) {
+            return
+        }
+        listeners[tag] = listener
+    }
+
+    fun removeListener(tag: String) {
+        listeners.remove(tag)
+    }
+
+    fun getExceptionStatusBeforeLaunchAutopilot(): Int {
+        var ret = 0
+        model.status.value?.second?.filter {
+            it is IAutopilotPreLaunchStatus
+        }?.forEachIndexed { index, status ->
+            val shl = 1 shl index
+            if (status.isException()) {
+                ret = if (status is RouteDownloadStatus) {
+                    if (status.state == RouteStart) {
+                        ret or shl
+                    } else {
+                        ret or (shl shl 1)
+                    }
+                } else  {
+                    ret or shl
+                }
+
+            }
+        }
+        return ret
+    }
+
     interface IStatusListener {
         fun onStatusChanged(data: List<Status>, hasException: Boolean)
     }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt

@@ -1,8 +1,8 @@
 package com.zhjt.mogo_core_function_devatools.status.entity
 
-import com.mogo.eagle.core.data.status.StatusSummaryEntity
-import com.mogo.eagle.core.function.api.autopilot.*
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteNone
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.*
 
@@ -250,7 +250,7 @@ class OverViewStatus(var hasException: Boolean = false): Status() {
 fun String.toState(msg: String?): Tracing? {
     val ss = msg?.split("|")
     var extra: Map<String, String>? = null
-    if (ss != null && ss.isNotEmpty()) {
+    if (!ss.isNullOrEmpty()) {
         val sb = StringBuilder()
         for (element in ss) {
             sb.append(element)
@@ -290,3 +290,199 @@ fun String.toState(msg: String?): Tracing? {
         else -> null
     }
 }
+
+interface IAutopilotPreLaunchStatus
+
+/**
+ * 速度
+ */
+data class SpeedStatus(val speed: Float): Status(), IAutopilotPreLaunchStatus {
+
+
+    override fun isException(): Boolean {
+        return false
+    }
+}
+
+/**
+ * 方向盘转角
+ */
+data class SteerStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+
+
+    override fun isException(): Boolean {
+        return isError
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as SteerStatus
+
+        if (angle != other.angle) return false
+        if (isError != other.isError) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = angle.hashCode()
+        result = 31 * result + isError.hashCode()
+        return result
+    }
+}
+
+/**
+ * 油门
+ */
+data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+
+    override fun isException(): Boolean {
+        return isError
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as AcceleratorStatus
+
+        if (angle != other.angle) return false
+        if (isError != other.isError) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = angle.hashCode()
+        result = 31 * result + isError.hashCode()
+        return result
+    }
+
+
+}
+
+/**
+ * 刹车
+ */
+data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+
+    override fun isException(): Boolean {
+        return isError
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as BrakeStatus
+
+        if (angle != other.angle) return false
+        if (isError != other.isError) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = angle.hashCode()
+        result = 31 * result + isError.hashCode()
+        return result
+    }
+}
+
+
+/**
+ * 双闪
+ */
+data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+
+    override fun isException(): Boolean {
+        return isError
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as DoubleFlashStatus
+
+        if (type != other.type) return false
+        if (isError != other.isError) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = type
+        result = 31 * result + isError.hashCode()
+        return result
+    }
+}
+
+/**
+ * 挡位
+ */
+data class GearStatus(val value: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+
+    override fun isException(): Boolean {
+        return isError
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as GearStatus
+
+        if (value != other.value) return false
+        if (isError != other.isError) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = value
+        result = 31 * result + isError.hashCode()
+        return result
+    }
+}
+
+enum class RouteState {
+    RouteNone,
+    RouteStart,
+    RouteComplete,
+    RouteFailed
+}
+
+
+/**
+ * 轨迹下载状态
+ */
+data class RouteDownloadStatus(val lineId: Long = -1, val state: RouteState = RouteNone): Status(), IAutopilotPreLaunchStatus {
+
+    override fun isException(): Boolean {
+        return state == RouteStart || state == RouteFailed
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as RouteDownloadStatus
+
+        if (lineId != other.lineId) return false
+        if (state != other.state) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = lineId.hashCode()
+        result = 31 * result + state.hashCode()
+        return result
+    }
+}
+
+
+

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

@@ -0,0 +1,57 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
+import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+
+internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMoGoChassisThrottleStateListener, IMoGoAutopilotActionsListener {
+
+
+    companion object {
+        private const val TAG = "AcceleratorImpl"
+    }
+
+    @Volatile
+    private var last: Float? = null
+
+    @Volatile
+    private var isError: Boolean = false
+
+    override fun onCreate() {
+        CallerChassisThrottleStateListenerManager.addListener(TAG, this)
+        CallerAutopilotActionsListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerChassisThrottleStateListenerManager.removeListener(TAG)
+        CallerAutopilotActionsListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotThrottle(throttle: Float) {
+        super.onAutopilotThrottle(throttle)
+        if (last != throttle) {
+            send(AcceleratorStatus(throttle, isError))
+            last = throttle
+        }
+    }
+
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
+        Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
+        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_THROTTLE } != null) {
+            isError = true
+            send(AcceleratorStatus(last ?: 0.0f, true))
+        } else {
+            isError = false
+            send(AcceleratorStatus(last ?: 0.0f, false))
+        }
+    }
+}

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

@@ -0,0 +1,60 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
+import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.AcceleratorImpl.Companion
+
+internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBrakeStateListener, IMoGoAutopilotActionsListener {
+
+    companion object {
+        private const val TAG = "BrakeImpl"
+    }
+
+    @Volatile
+    private var last: Float = 0.0f
+
+    @Volatile
+    private var isError: Boolean = false
+
+    override fun onCreate() {
+        CallerChassisBrakeStateListenerManager.addListener(TAG, this)
+        CallerAutopilotActionsListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerChassisBrakeStateListenerManager.removeListener(TAG)
+        CallerAutopilotActionsListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotBrake(brake: Float) {
+        super.onAutopilotBrake(brake)
+
+        if (last != brake) {
+            send(BrakeStatus(brake, isError))
+            last = brake
+        }
+    }
+
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
+        Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
+        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_BRAKE } != null) {
+            isError = true
+            send(BrakeStatus(last, true))
+        } else {
+            isError = false
+            send(BrakeStatus(last, false))
+        }
+    }
+}

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

@@ -0,0 +1,58 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import chassis.Chassis.LightSwitch
+import chassis.Chassis.LightSwitch.LIGHT_FLASH
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_HAZARD_LIGHTS
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
+import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.DoubleFlashStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+
+internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx), IMoGoChassisLamplightListener, IMoGoAutopilotActionsListener {
+
+    companion object {
+        private const val TAG = "DoubleFlashImpl"
+    }
+
+    @Volatile
+    private var isError: Boolean = false
+
+    override fun onCreate() {
+        CallerChassisLamplightListenerManager.addListener(TAG, this)
+        CallerAutopilotActionsListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerChassisLamplightListenerManager.removeListener(TAG)
+        CallerAutopilotActionsListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
+        super.onAutopilotLightSwitchData(lightSwitch)
+        Logger.d(TAG, "-- onAutopilotLightSwitchData --: $lightSwitch")
+        if (lightSwitch == LIGHT_FLASH) {
+            send(DoubleFlashStatus(lightSwitch.number, isError))
+        }
+
+    }
+
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
+        Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
+        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_HAZARD_LIGHTS } != null) {
+            isError = true
+            send(DoubleFlashStatus(LIGHT_FLASH.number, true))
+        } else {
+            isError = false
+            send(DoubleFlashStatus(LIGHT_FLASH.number, false))
+        }
+    }
+}

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

@@ -0,0 +1,57 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import chassis.Chassis.GearPosition
+import chassis.Chassis.GearPosition.GEAR_NONE
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_GEAR
+import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+
+internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearStateListener, IMoGoAutopilotActionsListener {
+
+    companion object {
+        private const val TAG = "GeerImpl"
+    }
+
+    @Volatile
+    private var last: GearPosition = GEAR_NONE
+
+    @Volatile
+    private var isError: Boolean = false
+
+    override fun onCreate() {
+        CallerChassisGearStateListenerManager.addListener(TAG, this)
+        CallerAutopilotActionsListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerChassisGearStateListenerManager.removeListener(TAG)
+        CallerAutopilotActionsListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotGearData(gear: GearPosition) {
+        if (last != gear) {
+            send(GearStatus(gear.number, isError))
+            last = gear
+        }
+    }
+
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
+        Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
+        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_GEAR } != null) {
+            isError = true
+            send(GearStatus(last.number, true))
+        } else {
+            isError = false
+            send(GearStatus(last.number, false))
+        }
+    }
+}

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

@@ -0,0 +1,90 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.zhjt.mogo.adas.data.bean.MogoReport
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteComplete
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
+import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import mogo_msg.MogoReportMsg.MogoReportMessage
+import java.lang.Exception
+
+
+internal class RouteDownloadImpl(ctx: Context): IFlow<RouteDownloadStatus>(ctx), IMoGoAutopilotStatusListener {
+
+    companion object {
+        private const val TAG = "RouteDownloadImpl"
+    }
+
+    @Volatile
+    private var toDownloadLineId: Long = Long.MIN_VALUE
+
+    override fun onCreate() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotTrajectoryDownloadReq(autoPilotLine: AutoPilotLine, downloadType: Int) {
+        super.onAutopilotTrajectoryDownloadReq(autoPilotLine, downloadType)
+        if (downloadType == 0) {
+            toDownloadLineId = autoPilotLine.lineId
+        }
+    }
+
+    override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
+        super.onAutopilotGuardian(guardianInfo)
+        var lineId = -1L
+        if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING == guardianInfo?.code ||
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT == guardianInfo?.code
+        ) {
+            val msg = guardianInfo.msg
+            try {
+                val regex = Regex("lineid:(\\d+)")
+                val matchResult = regex.find(msg)
+                if (matchResult != null) {
+                    lineId = matchResult.groupValues[1].toLong()
+                }
+            } catch (ignore: Exception) { }
+            if (lineId == -1L) {
+                try {
+                    val regex = Regex("lineID=(\\d+)")
+                    val matchResult = regex.find(msg)
+                    if (matchResult != null) {
+                        lineId = matchResult.groupValues[1].toLong()
+                    }
+                } catch (ignore: Exception) { }
+            }
+        }
+
+        if (toDownloadLineId != lineId) {
+            return
+        }
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters()
+        if (guardianInfo == null || !guardianInfo.hasCode())
+            return
+        when (guardianInfo.code) {
+            "ISYS_INIT_TRAJECTORY_START" -> { // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
+                send(RouteDownloadStatus(lineId, RouteStart))
+            }
+            "ISYS_INIT_TRAJECTORY_SUCCESS" -> { // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
+                send(RouteDownloadStatus(lineId, RouteComplete))
+                toDownloadLineId = Long.MIN_VALUE
+            }
+            "ISYS_INIT_TRAJECTORY_FAILURE" -> { // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
+                send(RouteDownloadStatus(lineId, RouteFailed))
+                toDownloadLineId = Long.MIN_VALUE
+            }
+        }
+    }
+}

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

@@ -0,0 +1,45 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
+import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.SpeedStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+
+internal class SpeedImpl(ctx: Context): IFlow<SpeedStatus>(ctx), IMoGoChassisLocationGCJ02Listener {
+
+
+    companion object {
+        private const val TAG = "SpeedImpl"
+    }
+
+    @Volatile
+    private var last: Float? = null
+
+    override fun onCreate() {
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+    }
+
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        if (last != mogoLocation?.gnssSpeed) {
+            send(SpeedStatus(mogoLocation?.gnssSpeed ?: 0f))
+            last = mogoLocation?.gnssSpeed
+        }
+    }
+
+}

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

@@ -0,0 +1,50 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.autopilot
+
+import android.content.Context
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_STEERING
+import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+
+internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisSteeringStateListener, IMoGoAutopilotActionsListener {
+
+    companion object {
+        private const val TAG = "SteerImpl"
+    }
+
+    @Volatile
+    private var last: Float = 0f
+
+    override fun onCreate() {
+        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
+        CallerAutopilotActionsListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerChassisSteeringStateListenerManager.removeListener(TAG)
+        CallerAutopilotActionsListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotSteeringData(steering: Float) {
+        if (last != steering) {
+            send(SteerStatus(steering))
+            last = steering
+        }
+    }
+
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?) {
+        Logger.d(TAG, "onAutopilotAbility->($isAutopilotAbility, $unableLaunchData, ${unableAutopilotReasons?.joinToString(",")}")
+        if (!isAutopilotAbility && unableAutopilotReasons != null && unableAutopilotReasons.find { it.unableType == CHASSIS_STEERING } != null) {
+            send(SteerStatus(last, true))
+        } else {
+            send(SteerStatus(last, false))
+        }
+    }
+}

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -4,7 +4,6 @@ import androidx.lifecycle.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.zhjt.mogo_core_function_devatools.status.entity.*
 //import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus
-import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.UNKNOWN
 import java.util.concurrent.atomic.*
 import kotlin.Pair
 
@@ -21,6 +20,13 @@ internal class StatusModel : ViewModel() {
             it += RTKStatus("", -1)
             // it += NetStatus(false)
 //            it += GpsStatus(enabled = false, isGranted = false)
+            it += SteerStatus(0.0f)
+            it += AcceleratorStatus(0.0f)
+            it += BrakeStatus(0.0f)
+            it += DoubleFlashStatus(0)
+            it += GearStatus(0)
+            it += RouteDownloadStatus()
+            it += SpeedStatus(0f)
         })
     }
 

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt

@@ -0,0 +1,114 @@
+package com.zhjt.mogo_core_function_devatools.status.ui
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.LinearLayout
+import androidx.core.content.ContextCompat
+import chassis.Chassis.GearPosition
+import chassis.Chassis.GearPosition.GEAR_D
+import chassis.Chassis.GearPosition.GEAR_N
+import chassis.Chassis.GearPosition.GEAR_NONE
+import chassis.Chassis.GearPosition.GEAR_P
+import chassis.Chassis.GearPosition.GEAR_R
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo_core_function_devatools.R
+import com.zhjt.mogo_core_function_devatools.status.StatusManager
+import com.zhjt.mogo_core_function_devatools.status.StatusManager.IStatusListener
+import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.DoubleFlashStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.SpeedStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.Status
+import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.gear_d
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.gear_n
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.gear_p
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.gear_r
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_brake_or_accelerator
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_double_flash
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.iv_steer
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.speed
+import kotlinx.android.synthetic.main.layout_autopilot_launch_before.view.tv_brake_or_accelerator
+import me.jessyan.autosize.utils.AutoSizeUtils
+import kotlin.math.abs
+
+class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
+
+    companion object {
+        private const val TAG = "AutoPilotLaunchBeforeView"
+    }
+
+    constructor(context: Context) : this(context, null)
+    constructor(context: Context, attrs: AttributeSet?) : this(context, attrs, 0)
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {
+        LayoutInflater.from(context).inflate(R.layout.layout_autopilot_launch_before, this, true)
+        background = ContextCompat.getDrawable(context, R.drawable.icon_bg_autopilot_status)
+        setPadding(AutoSizeUtils.dp2px(context, 27f), AutoSizeUtils.dp2px(context, 33f), AutoSizeUtils.dp2px(context, 30f), AutoSizeUtils.dp2px(context, 30f))
+    }
+
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        StatusManager.addListener(TAG, this)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        StatusManager.removeListener(TAG)
+    }
+
+    override fun onStatusChanged(data: List<Status>, hasException: Boolean) {
+        data.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
+            val isError = status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
+            when(status) {
+                is GearStatus -> {
+                    val position = try { GearPosition.valueOf(status.value) } catch (ignore: Throwable) { GEAR_NONE }
+                    gear_n?.isEnabled = false
+                    gear_n?.isSelected = false
+                    gear_p?.isEnabled = false
+                    gear_p?.isSelected =false
+                    gear_r?.isEnabled = false
+                    gear_r?.isSelected = false
+                    gear_d?.isEnabled = false
+                    gear_d?.isSelected = false
+                    if (position != GEAR_NONE) {
+                        when(position) {
+                            GEAR_N -> if (isError) gear_n?.isEnabled = true else gear_n?.isSelected = true
+                            GEAR_R -> if (isError) gear_r?.isEnabled = true else gear_r?.isSelected = true
+                            GEAR_P -> if (isError) gear_p?.isEnabled = true else gear_p?.isSelected = true
+                            GEAR_D -> if (isError) gear_d?.isEnabled = true else gear_d?.isSelected = true
+                            else -> {}
+                        }
+                    }
+                }
+                is AcceleratorStatus -> {
+                    val angle = status.angle
+                    iv_brake_or_accelerator?.isSelected = isError
+                    tv_brake_or_accelerator?.text = "a:${angle.toInt()}"
+                }
+                is BrakeStatus -> {
+                    val angle = status.angle
+                    iv_brake_or_accelerator?.isSelected = isError
+                    tv_brake_or_accelerator?.text = "a:-${angle.toInt()}"
+                }
+                is DoubleFlashStatus -> {
+                    iv_double_flash?.isSelected = isError
+                }
+                is SteerStatus -> {
+                    iv_steer?.isSelected = isError
+                }
+                is SpeedStatus -> {
+                    speed?.text = "${(abs(status.speed) * 3.6f).toInt()}"
+                }
+                else -> {
+                    Logger.d(TAG, "other state: $status")
+                }
+            }
+        }
+    }
+}

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt

@@ -9,6 +9,7 @@ import androidx.recyclerview.widget.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.rv.divider.*
 import com.zhjt.mogo_core_function_devatools.R
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.model.StatusModel
 import com.zhjt.mogo_core_function_devatools.status.ui.adapter.StatusAdapter
@@ -47,12 +48,13 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
                     .horizontalInnerSpace(10.PX)
                     .build()
             )
-            val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second) }?.also { adapter -> itx.adapter = adapter }
+            val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { it !is IAutopilotPreLaunchStatus }) }?.also { adapter -> itx.adapter = adapter }
             adapter?.let { _ ->
                 model.status.observeForever(Observer<Pair<Status?, ArrayList<Status>>> { data ->
                     val old = adapter.data
-                    val result = DiffUtil.calculateDiff(StatusDiffCallback(old, data.second))
-                    adapter.data = data.second
+                    val update = data.second.filter { it !is IAutopilotPreLaunchStatus }
+                    val result = DiffUtil.calculateDiff(StatusDiffCallback(old, update))
+                    adapter.data = update
                     result.dispatchUpdatesTo(adapter)
                 }.also { observer = it })
             }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt

@@ -18,7 +18,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
 import com.zhjt.mogo_core_function_devatools.status.ui.adapter.StatusAdapter.StatusViewHolder
 import me.jessyan.autosize.AutoSizeCompat
 
-internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): RecyclerView.Adapter<StatusViewHolder>() {
+internal class StatusAdapter(val ctx: Context, var data: List<Status>): RecyclerView.Adapter<StatusViewHolder>() {
 
     companion object {
         const val TAG = "StatusAdapter"
@@ -169,6 +169,9 @@ internal class StatusAdapter(val ctx: Context, var data: ArrayList<Status>): Rec
             is OverViewStatus -> {
                 ""
             }
+            else -> {
+                throw AssertionError()
+            }
         }
     }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/diff/StatusDiffCallback.kt

@@ -3,7 +3,7 @@ package com.zhjt.mogo_core_function_devatools.status.ui.diff
 import androidx.recyclerview.widget.*
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 
-internal class StatusDiffCallback(private val old: ArrayList<Status>, private val update: ArrayList<Status>): DiffUtil.Callback() {
+internal class StatusDiffCallback(private val old: List<Status>, private val update: List<Status>): DiffUtil.Callback() {
 
     override fun getOldListSize(): Int = old.size
 

core/function-impl/mogo-core-function-devatools/src/main/res/color/color_geer_position_selector.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:color="@color/white" android:state_selected="true" />
+    <item android:color="#F73B3C" android:state_enabled="true" />
+    <item android:color="#343C63" android:state_enabled="false"/>
+</selector>

core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_autopilot_brake_or_accelerator.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <item android:state_selected="true" android:drawable="@drawable/icon_brake_or_accelerator_red" />
+    <item android:drawable="@drawable/icon_brake_or_accelerator_blue" />
+</selector>

core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_autopilot_double_flash.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <item android:state_selected="true" android:drawable="@drawable/icon_double_flash_red" />
+    <item android:drawable="@drawable/icon_double_flash_blue" />
+</selector>

core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_autopilot_steer.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <item android:state_selected="true" android:drawable="@drawable/icon_steer_red" />
+    <item android:drawable="@drawable/icon_steer_blue" />
+</selector>

core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_geer_position.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <solid android:color="#141B47" />
+    <corners android:radius="@dimen/dp_60" />
+</shape>

core/function-impl/mogo-core-function-devatools/src/main/res/drawable/speed_chart_stroke.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<color xmlns:android="http://schemas.android.com/apk/res/android" android:color="@color/white">
+
+</color>

core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml

@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<merge xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    tools:parentTag="android.widget.LinearLayout"
+    tools:layout_width="@dimen/dp_624"
+    tools:layout_height="@dimen/dp_269"
+    tools:orientation="horizontal"
+    tools:background="@drawable/icon_bg_autopilot_status"
+    tools:paddingTop="@dimen/dp_33"
+    tools:paddingBottom="@dimen/dp_30"
+    tools:paddingStart="@dimen/dp_27"
+    tools:paddingEnd="@dimen/dp_30">
+
+    <LinearLayout
+        android:id="@+id/speed_chart_parent"
+        android:layout_width="@dimen/dp_184"
+        android:layout_height="@dimen/dp_200"
+        android:gravity="center"
+        android:orientation="vertical"
+        android:background="@drawable/icon_bg_speed">
+        <TextView
+            android:id="@+id/speed"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textSize="@dimen/dp_74"
+            android:textColor="@color/white"
+            tools:text="65"
+            android:text="0"
+            android:layout_marginBottom="@dimen/dp_2"/>
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textSize="@dimen/dp_32"
+            android:text="Km/h"
+            android:textColor="@color/white"/>
+    </LinearLayout>
+
+    <LinearLayout
+        android:layout_width="0dip"
+        android:layout_height="@dimen/dp_200"
+        android:layout_weight="1"
+        android:orientation="vertical"
+        android:gravity="center_vertical"
+        android:paddingEnd="@dimen/dp_34">
+
+        <LinearLayout
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal"
+            android:layout_marginStart="@dimen/dp_34"
+            android:layout_marginTop="@dimen/dp_10"
+            android:background="@drawable/bg_geer_position"
+            android:paddingStart="@dimen/dp_53"
+            android:paddingEnd="@dimen/dp_53"
+            android:paddingTop="@dimen/dp_6"
+            android:paddingBottom="@dimen/dp_6">
+
+            <TextView
+                android:id="@+id/gear_p"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="P"
+                android:textSize="@dimen/dp_36"
+                android:enabled="false"
+                android:layout_marginEnd="@dimen/dp_32"
+                android:textColor="@color/color_geer_position_selector"/>
+
+            <TextView
+                android:id="@+id/gear_r"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="R"
+                android:textSize="@dimen/dp_36"
+                android:enabled="false"
+                android:layout_marginEnd="@dimen/dp_32"
+                android:textColor="@color/color_geer_position_selector"/>
+
+            <TextView
+                android:id="@+id/gear_n"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="N"
+                android:textSize="@dimen/dp_36"
+                android:enabled="false"
+                android:layout_marginEnd="@dimen/dp_32"
+                android:textColor="@color/color_geer_position_selector"/>
+
+            <TextView
+                android:id="@+id/gear_d"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="D"
+                android:textSize="@dimen/dp_36"
+                android:enabled="false"
+                android:textColor="@color/color_geer_position_selector"/>
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginStart="@dimen/dp_34"
+            android:gravity="center_vertical"
+            android:layout_marginTop="@dimen/dp_23">
+
+            <ImageView
+                android:id="@+id/iv_steer"
+                android:layout_width="@dimen/dp_55"
+                android:layout_height="@dimen/dp_55"
+                android:layout_marginEnd="@dimen/dp_20"
+                android:src="@drawable/bg_autopilot_steer"/>
+
+            <ImageView
+                android:id="@+id/iv_double_flash"
+                android:layout_width="@dimen/dp_55"
+                android:layout_height="@dimen/dp_55"
+                android:layout_marginEnd="@dimen/dp_20"
+                android:src="@drawable/bg_autopilot_double_flash"/>
+
+            <ImageView
+                android:id="@+id/iv_brake_or_accelerator"
+                android:layout_width="@dimen/dp_55"
+                android:layout_height="@dimen/dp_55"
+                android:src="@drawable/bg_autopilot_brake_or_accelerator"
+                android:layout_marginEnd="@dimen/dp_14"/>
+
+            <TextView
+                android:id="@+id/tv_brake_or_accelerator"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textSize="@dimen/dp_34"
+                android:layout_marginTop="-1dp"
+                android:textColor="@color/white"
+                android:text="a:-0.0"/>
+        </LinearLayout>
+    </LinearLayout>
+</merge>

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

@@ -1582,26 +1582,48 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //上传全量日志
         exportAllLogs?.onClick { v ->
-            v.visibility = View.INVISIBLE
-            logLoadingView?.visibility = View.VISIBLE
-            v.scope.launch(Dispatchers.IO) {
-                var isUploadSuccess = false
-                try {
-                    CallerDevaToolsManager.logcat()?.upload()
-                    isUploadSuccess = true
-                } catch (t: Throwable) {
-                    t.printStackTrace()
-                }
-                withContext(Dispatchers.Main) {
-                    if (isUploadSuccess) {
-                        ToastUtils.showShort("上传成功")
-                    } else {
-                        ToastUtils.showShort("上传失败")
+            ListPopupWindow(v.context).also { p ->
+                val items = LogcatUploadDuration.values()
+                p.setAdapter(LogcatUploadAdapter(v.context, items))
+                p.anchorView = v
+                p.isModal = true
+                p.setBackgroundDrawable(ColorDrawable(Color.WHITE))
+                p.setOnItemClickListener { _, _, position, _ ->
+                    val item = items[position]
+                    v.visibility = View.INVISIBLE
+                    logLoadingView?.visibility = View.VISIBLE
+                    p.dismiss()
+                    v.scope.launch(Dispatchers.IO) {
+                        val endTime = System.currentTimeMillis()
+                        val startTime = when(item) {
+                            LogcatUploadDuration.IN_15M -> endTime - TimeUnit.MINUTES.toMillis(15)
+                            LogcatUploadDuration.IN_45M -> endTime - TimeUnit.MINUTES.toMillis(45)
+                            LogcatUploadDuration.IN_1H -> endTime - TimeUnit.HOURS.toMillis(1)
+                            LogcatUploadDuration.IN_2H -> endTime - TimeUnit.HOURS.toMillis(2)
+                            LogcatUploadDuration.IN_3H -> endTime - TimeUnit.HOURS.toMillis(3)
+                            LogcatUploadDuration.IN_6H -> endTime - TimeUnit.HOURS.toMillis(6)
+                            LogcatUploadDuration.IN_1D -> endTime - TimeUnit.DAYS.toMillis(1)
+                            LogcatUploadDuration.ALL -> 0
+                        }
+                        var isUploadSuccess = false
+                        try {
+                            CallerDevaToolsManager.logcat()?.upload(startTime, endTime)
+                            isUploadSuccess = true
+                        } catch (t: Throwable) {
+                            t.printStackTrace()
+                        }
+                        withContext(Dispatchers.Main) {
+                            if (isUploadSuccess) {
+                                ToastUtils.showShort("上传成功")
+                            } else {
+                                ToastUtils.showShort("上传失败")
+                            }
+                            logLoadingView?.visibility = View.INVISIBLE
+                            exportAllLogs?.visibility = View.VISIBLE
+                        }
                     }
-                    logLoadingView?.visibility = View.INVISIBLE
-                    exportAllLogs?.visibility = View.VISIBLE
                 }
-            }
+            }.show()
         }
 
         if (JunkConfig.isSupportJunkDetect) {
@@ -1737,6 +1759,54 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    private enum class LogcatUploadDuration(val text: String) {
+        IN_15M("15分钟内"),
+        IN_45M("45分钟内"),
+        IN_1H("1小时内"),
+        IN_2H("2小时内"),
+        IN_3H("3小时内"),
+        IN_6H("6小时内"),
+        IN_1D("一天内"),
+        ALL("上传所有")
+    }
+
+    private class LogcatUploadAdapter(private val ctx: Context, private val items: Array<LogcatUploadDuration>): BaseAdapter() {
+        override fun getCount(): Int {
+            return items.size
+        }
+
+        override fun getItem(position: Int): Any {
+            return items[position]
+        }
+
+        override fun getItemId(position: Int): Long {
+            return items[position].ordinal.toLong()
+        }
+
+        override fun getView(position: Int, convertView: View?, parent: ViewGroup?): View {
+            var result = convertView
+            val duration = items[position]
+            if (result == null) {
+                val temp = View.inflate(ctx, android.R.layout.simple_list_item_1, null)
+                temp.tag = Holder(temp.findViewById(android.R.id.text1))
+                result = temp
+            }
+            val holder = result?.tag as? Holder
+            if (holder != null) {
+                holder.text?.setTextColor(Color.BLACK)
+                holder.text?.text = duration.text
+            } else {
+                val text = result?.findViewById<TextView>(android.R.id.text1)
+                text?.setTextColor(Color.BLACK)
+                text?.text = duration.text
+                result?.tag = Holder(text)
+            }
+            return result!!
+        }
+
+        private inner class Holder(val text: TextView? = null)
+    }
+
     private enum class ApmVLogUploadDuration(val text: String) {
         IN_15M("15分钟内"),
         IN_45M("45分钟内"),

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

@@ -19,12 +19,14 @@ import java.lang.ref.WeakReference
 
 class BatteryGroupView : LinearLayout, IMoGoSkinModeChangeListener {
 
-    constructor(
-        context: Context,
-        attrs: AttributeSet? = null,
-        defStyleAttr: Int = 0
-    ) : super(context, attrs, defStyleAttr) {
-    }
+    constructor(context: Context?) : super(context)
+
+    constructor(context: Context?, attributeSet: AttributeSet) : super(context, attributeSet)
+
+    constructor(context: Context?, attributeSet: AttributeSet, defStyleAttr: Int) : super(context, attributeSet, defStyleAttr)
+
+    constructor(context: Context?, attributeSet: AttributeSet, defStyleAttr: Int, defStyleRes: Int) : super(context, attributeSet, defStyleAttr, defStyleRes)
+
 
     private var batteryHandler: BatteryHandler = BatteryHandler(this)
     private var view: View =

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

@@ -4,8 +4,10 @@ import android.annotation.SuppressLint
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.view.View
 import android.view.ViewGroup
 import android.widget.LinearLayout
+import androidx.core.content.ContextCompat
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
@@ -15,10 +17,13 @@ import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.kotlin.scope
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.BarUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import kotlinx.android.synthetic.main.view_status_bar.view.*
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
 import java.util.concurrent.CopyOnWriteArrayList
 
 class StatusBarView @JvmOverloads constructor(
@@ -46,7 +51,6 @@ class StatusBarView @JvmOverloads constructor(
             params.height = BarUtils.getStatusBarHeight()
             layoutParams = params
         }
-        viewStatusBarRight.addView(BatteryGroupView(this.context))
 
         //添加view控制
         CallerHmiViewControlListenerManager.addListener(TAG,this)
@@ -58,6 +62,28 @@ class StatusBarView @JvmOverloads constructor(
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
             updateStatusBarLeftView(true, FUNC_MODE_DEMO, DemoModeView(this.context))
             updateStatusBarLeftView(true, FUNC_MODE_RAIN, RainModeView(this.context))
+            CallerDevaToolsManager.registerRouteDownloadListener(TAG) { state ->
+                routeDownloadStatusRoot?.visibility = View.VISIBLE
+                when(state) {
+                    1 -> {
+                        routeDownloadStatus?.background = ContextCompat.getDrawable(context, R.drawable.bg_autopilot_route_download_start)
+                        routeDownloadFailMark?.visibility = View.GONE
+                    }
+                    2 -> {
+                        routeDownloadStatus?.background = ContextCompat.getDrawable(context, R.drawable.bg_autopilot_route_download_success)
+                        routeDownloadFailMark?.visibility = View.GONE
+                        scope.launch {
+                            delay(3000)
+                            routeDownloadStatusRoot?.visibility = View.GONE
+                        }
+                    }
+                    3 -> {
+                        routeDownloadStatus?.background = ContextCompat.getDrawable(context, R.drawable.bg_autopilot_route_download_failed)
+                        routeDownloadFailMark?.visibility = View.VISIBLE
+                    }
+                }
+
+            }
         }
     }
 
@@ -119,7 +145,6 @@ class StatusBarView @JvmOverloads constructor(
 
     private fun setTextColor(color: Int) {
         viewTextClock.setTextColor(color)
-        viewStatusBarTag.setTextColor(color)
     }
 
     override fun onDetachedFromWindow() {
@@ -127,6 +152,7 @@ class StatusBarView @JvmOverloads constructor(
         CallerHmiViewControlListenerManager.removeListener(TAG)
         CallerSkinModeListenerManager.removeListener(TAG)
         CallerDevaToolsManager.hideStatusBar()
+        CallerDevaToolsManager.unRegisterRouteDownloadListener(TAG)
     }
 }
 

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

@@ -8,19 +8,27 @@ import android.net.wifi.WifiManager
 import android.os.Handler
 import android.os.Message
 import android.util.AttributeSet
-import androidx.appcompat.widget.AppCompatImageView
+import android.util.Log
+import android.util.TypedValue
+import android.view.LayoutInflater
+import android.widget.ImageView
+import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import kotlinx.android.synthetic.main.view_wifi_state.view.viewStatusBarTag
+import kotlinx.android.synthetic.main.view_wifi_state.view.viewWifiStateBg
+import me.jessyan.autosize.utils.AutoSizeUtils
 import java.lang.ref.WeakReference
+import kotlin.properties.Delegates
 
 
 class WifiStateView @JvmOverloads constructor(
-    context: Context,
-    attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
-) : AppCompatImageView(context, attrs, defStyleAttr), IMoGoSkinModeChangeListener {
+    context: Context, attrs: AttributeSet? = null,defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs), IMoGoSkinModeChangeListener {
 
     companion object {
         const val TAG = "WifiStateView"
@@ -37,20 +45,46 @@ class WifiStateView @JvmOverloads constructor(
             override fun handleMessage(msg: Message) {
                 super.handleMessage(msg)
                 val view = stateViewWeakReference?.get()
-                view?.updateView(msg.what) {
-                    view.setImageResource(it)
+                view?.updateLevel(msg.what)
+            }
+        }
+    }
+    private var wifiManager: WifiManager? = null
+    private var wifiHandler: WifiHandler? = null
+
+    private var level: Int by Delegates.observable(0) { _, o, n ->
+        if (o != n) {
+            UiThreadHandler.post {
+                updateView(n){
+                    viewWifiStateBg.setImageResource(it)
                 }
             }
         }
     }
 
-    private var wifiManager: WifiManager? = null
-    private var wifiHandler: WifiHandler? = null
+    private var wifiName: String by Delegates.observable("") { _, o, n ->
+        if (o != n) {
+            UiThreadHandler.post {
+                if(n.contains("unknow")){
+                    viewStatusBarTag.text = ""
+                }else{
+                    viewStatusBarTag.text = n
+                }
+            }
+        }
+    }
 
-    @Volatile
-    private var level: Int = 0
+    private val txtSize: Float
 
     init {
+        LayoutInflater.from(context).inflate(R.layout.view_wifi_state, this, true)
+        val a = context.obtainStyledAttributes(attrs, R.styleable.WifiStateView, defStyleAttr, 0)
+        txtSize = a.getDimension(
+            R.styleable.WifiStateView_wifi_size,
+            resources.getDimension(R.dimen.dp_35)
+        )
+        a.recycle()
+        viewStatusBarTag.setTextSize(TypedValue.COMPLEX_UNIT_PX,AutoSizeUtils.dp2px(context,txtSize).toFloat())
         wifiManager =
             context.applicationContext.getSystemService(Context.WIFI_SERVICE) as WifiManager?
         wifiHandler = WifiHandler(this)
@@ -67,6 +101,8 @@ class WifiStateView @JvmOverloads constructor(
                         return
                     }
                     val wifiInfo = wifiManager!!.connectionInfo
+                    wifiName = wifiInfo.ssid.replace("\"","")
+                    Log.i("emArrow", "wifiName: $wifiName")
                     level = WifiManager.calculateSignalLevel(wifiInfo.rssi, 5)
                     wifiHandler?.sendEmptyMessage(level)
                 }
@@ -95,9 +131,25 @@ class WifiStateView @JvmOverloads constructor(
 
     override fun onSkinModeChange(skinMode: Int) {
         wifiHandler?.sendEmptyMessage(level)
+        UiThreadHandler.post  {
+            when (skinMode) {
+                0 -> setStatusBarDarkOrLight(false)
+                1 -> setStatusBarDarkOrLight(true)
+            }
+        }
     }
 
-    fun updateView(wifiState: Int, resId: ((Int) -> Unit)) {
+   private fun setStatusBarDarkOrLight(light: Boolean) = if (light) {
+       viewStatusBarTag.setTextColor(resources.getColor(R.color.color_2C2E30))
+    } else {
+       viewStatusBarTag.setTextColor(resources.getColor(R.color.color_FFFFFF))
+    }
+
+    fun updateLevel(wifiState: Int){
+        level = wifiState
+    }
+
+    private fun updateView(wifiState: Int, resId: ((Int) -> Unit)) {
         when (FunctionBuildConfig.skinMode) {
             0 -> {
                 when (wifiState) {
@@ -109,6 +161,7 @@ class WifiStateView @JvmOverloads constructor(
                     4 -> resId.invoke(R.drawable.wifi_light_state_five)
                 }
             }
+
             1 -> {
                 when (wifiState) {
                     -1 -> resId.invoke(R.drawable.wifi_dark_state_one)

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

@@ -82,7 +82,6 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
 
     override fun initViews() {
         injectFloatView()
-        injectStatusBar()
         window.setBackgroundDrawable(null)
         initConnectInfoRV()
         CallerHmiManager.init(this)
@@ -95,28 +94,6 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         PermissionsDialogUtils.openAppDetails(this, "显示悬浮窗", REQUEST_CODE_DIALOG)
     }
 
-    private fun injectStatusBar() {
-        val decorView = this.window.decorView as? FrameLayout ?: return
-        val contentView =
-            (decorView.findViewById<View>(android.R.id.content) as? ViewGroup)?.getChildAt(0)
-                ?: return
-        contentView.fitsSystemWindows = false
-        decorView.clipToPadding = false
-        var statusBarView = decorView.findViewWithTag<View>("status_bar")
-        if (statusBarView == null) {
-            val statusBar = CallerHmiFloatViewManager.getView(this)
-            statusBarView = statusBar ?: StatusBarView(this)
-            statusBarView.tag = "status_bar"
-        }
-        val statusBarLP = FrameLayout.LayoutParams(
-            ViewGroup.LayoutParams.MATCH_PARENT,
-            ViewGroup.LayoutParams.WRAP_CONTENT,
-        )
-        statusBarLP.topMargin = 0
-        statusBarLP.gravity = Gravity.TOP
-        decorView.addView(statusBarView, statusBarLP)
-    }
-
     // todo 优化 车聊聊
     private fun injectFloatView() {
         val decorView = this.window.decorView as? FrameLayout ?: return
@@ -201,23 +178,22 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         MogoStatusManager.getInstance().setVrMode(TAG, true)
         MogoModulesManager.getInstance().init(this)
         loadOthersModules()
-        mogoMapListenerHandler.registerHostMapListener(TAG, object : IMogoMapListener {
-            override fun onMapLoaded() {
-                // 延时加载其他模块
-                window.decorView.post {
-                    MogoStatusManager.getInstance().setScreenCoverMode(TAG, true)
-                    HdMapBuildConfig.isMapLoaded = true
-                    mPresenter!!.delayOperations()
-                    loadFunctionFragment()
-                    // 设置地图样式
-                    mogoMapListenerHandler.onMapModeChanged(EnumMapUI.MAP_STYLE_DAY_VR)
-                }
-                i(
-                    SceneConstant.M_HMI + TAG,
-                    "App launch timer cost " + (System.currentTimeMillis() - start) + "ms"
-                )
-            }
-        })
+        mPresenter!!.delayOperations()
+//        mogoMapListenerHandler.registerHostMapListener(TAG, object : IMogoMapListener {
+//            override fun onMapLoaded() {
+//                // 延时加载其他模块
+//                window.decorView.post {
+//                    MogoStatusManager.getInstance().setScreenCoverMode(TAG, true)
+//                    HdMapBuildConfig.isMapLoaded = true
+//                    // 设置地图样式
+//                    mogoMapListenerHandler.onMapModeChanged(EnumMapUI.MAP_STYLE_DAY_VR)
+//                }
+//                i(
+//                    SceneConstant.M_HMI + TAG,
+//                    "App launch timer cost " + (System.currentTimeMillis() - start) + "ms"
+//                )
+//            }
+//        })
     }
 
     /**
@@ -349,7 +325,7 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         super.onDestroy()
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
         CallerRequestActivityHandleManager.removeListener(TAG)
-        mogoMapListenerHandler.unregisterHostMapListener(TAG)
+        //mogoMapListenerHandler.unregisterHostMapListener(TAG)
         MogoStatusManager.getInstance().setMainPageIsBackgroundStatus(TAG, false)
         d(SceneConstant.M_HMI + TAG, "destroy.")
         ContextHolderUtil.releaseContext()

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

@@ -111,31 +111,18 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     private void loadOCHModule() {
         IMoGoFunctionProvider ochProvider;
         // 兼容处理之前联想PAD及小巴车多个设备部署不同APP方案
-        if (!DebugConfig.isMultiDisplay()) {
-            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-                ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
-                        .build("/driver/api")
-                        .navigation(getContext());
-            } else if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
-                ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
-                        .build("/passenger/api")
-                        .navigation(getContext());
-            } else {
-                ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
-                        .build("/noop/api")
-                        .navigation(getContext());
-            }
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
+                    .build("/driver/api")
+                    .navigation(getContext());
+        } else if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+            ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
+                    .build("/passenger/api")
+                    .navigation(getContext());
         } else {
-            // 目前只有金旅星辰乘客屏是连接的双屏
-            if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-                ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
-                        .build("/passenger/api")
-                        .navigation(getContext());
-            } else {
-                ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
-                        .build("/noop/api")
-                        .navigation(getContext());
-            }
+            ochProvider = (IMoGoFunctionProvider) ARouter.getInstance()
+                    .build("/noop/api")
+                    .navigation(getContext());
         }
 
         if (ochProvider != null) {

core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_route_download_failed.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+    <gradient
+        android:startColor="#FF5A35" android:endColor="#FF0000"/>
+    <corners
+        android:radius="@dimen/dp_10"/>
+</shape>

core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_route_download_start.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+
+    <item android:width="@dimen/dp_70" android:height="@dimen/dp_10">
+        <shape android:shape="rectangle">
+            <solid android:color="#40000000" />
+            <corners
+                android:radius="@dimen/dp_10"/>
+        </shape>
+    </item>
+
+    <item android:width="@dimen/dp_47" android:height="@dimen/dp_10">
+        <shape android:shape="rectangle">
+            <gradient
+                android:startColor="#35B8FF" android:endColor="#0081FF"/>
+            <corners
+                android:radius="@dimen/dp_10"/>
+        </shape>
+    </item>
+</layer-list>

core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_autopilot_route_download_success.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android" android:shape="rectangle">
+    <gradient
+        android:startColor="#31C2DA" android:endColor="#17CAB5"/>
+    <corners
+        android:radius="@dimen/dp_10"/>
+</shape>

core/function-impl/mogo-core-function-hmi/src/main/res/drawable/common_loading_map_bg.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <solid android:color="@color/color_1A000000" />
+</shape>

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

@@ -18,20 +18,9 @@
         android:textSize="@dimen/dp_45"
         android:textStyle="bold" />
 
-    <TextView
-        android:id="@+id/viewStatusBarTag"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_gravity="center"
-        android:layout_marginStart="@dimen/dp_27"
-        android:gravity="center"
-        android:text="@string/status_bar_tag"
-        android:textColor="@color/color_2C2E30"
-        android:textSize="@dimen/dp_35" />
-
     <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
-        android:layout_width="@dimen/dp_54"
+        android:layout_width="wrap_content"
         android:layout_height="@dimen/dp_54"
         android:layout_gravity="center"
         android:layout_marginStart="@dimen/dp_18" />
@@ -67,6 +56,37 @@
         android:textColor="@color/background_debug"
         android:textSize="@dimen/dp_20" />
 
+    <LinearLayout
+        android:id="@+id/routeDownloadStatusRoot"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_gravity="center_vertical"
+        android:layout_marginStart="@dimen/dp_15"
+        android:visibility="gone"
+        tools:visibility="visible"
+        tools:background="#2F4266">
+        <View
+            android:id="@+id/routeDownloadStatus"
+            android:layout_width="@dimen/dp_70"
+            android:layout_height="@dimen/dp_10"
+            android:layout_gravity="center_vertical"
+            tools:visibility="visible"
+            tools:background="@drawable/bg_autopilot_route_download_failed"/>
+        <TextView
+            android:id="@+id/routeDownloadFailMark"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@color/white"
+            android:text="!"
+            android:textStyle="bold"
+            tools:visibility="visible"
+            android:visibility="gone"
+            android:layout_marginStart="@dimen/dp_10"
+            android:textSize="@dimen/dp_28"/>
+    </LinearLayout>
+
+
+
     <Space
         android:layout_width="0dip"
         android:layout_height="@dimen/dp_1"
@@ -88,5 +108,8 @@
         android:layout_marginEnd="@dimen/dp_44"
         android:gravity="end|center"
         android:orientation="horizontal">
+        <com.mogo.eagle.core.function.hmi.ui.widget.BatteryGroupView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"/>
     </LinearLayout>
 </merge>

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

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <TextView
+        android:id="@+id/viewStatusBarTag"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_27"
+        android:gravity="center_vertical"
+        android:maxLength="15"
+        android:textColor="@color/color_2C2E30"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <ImageView
+        android:id="@+id/viewWifiStateBg"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@+id/viewStatusBarTag"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:ignore="MissingConstraints" />
+</androidx.constraintlayout.widget.ConstraintLayout>

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

@@ -89,6 +89,10 @@
         <attr name="pnc_txt_style" format="reference"/>
     </declare-styleable>
 
+    <declare-styleable name="WifiStateView">
+        <attr name="wifi_size" format="dimension"/>
+    </declare-styleable>
+
     <style name="AudioFileInfoOverlayText">
         <item name="android:shadowColor">#80000000</item>
         <item name="android:shadowRadius">11</item>

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java

@@ -8,6 +8,7 @@ import androidx.annotation.RequiresApi;
 
 import com.google.common.collect.BiMap;
 import com.google.common.collect.HashBiMap;
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
@@ -103,7 +104,7 @@ public class TrackManager {
                             MessagePad.TrackedObject cache = cacheTrack.getCache();
                             if (cache != null) {
                                 //相对静止物体 感知融合同位置物体，使用缓存数据做覆盖
-                                if (cacheTrack.relativeStatic()) {
+                                if (cacheTrack.relativeStatic() && data.getType() != TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.getType()) {
                                     if (data.getColor() != null && !data.getColor().isEmpty()) {
                                         cache = cache.toBuilder().setColor(data.getColor()).build();
                                     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt

@@ -13,7 +13,7 @@ object TrackerSourceFilterHelper {
     @SuppressLint("NewApi")
     fun filterData(data: TrackedObject): Boolean {
         if (!FunctionBuildConfig.isDrawUnknownIdentifyData && (data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
-                    || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_501.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_502.type)
+                    || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GU.type)
         ) {
             return true
         }
@@ -55,6 +55,10 @@ object TrackerSourceFilterHelper {
             return ""
         }
 
+        if(data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.type){
+            return ""
+        }
+
         if(FunctionBuildConfig.isFusionColor){
             if(isFusion(data)){
                 color = "#982FFFFF"

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt

@@ -174,9 +174,9 @@ class SmallMapView @JvmOverloads constructor(
         // 关闭显示实时路况图层，aMap是地图控制器对象。
         mAMap?.isTrafficEnabled = false
         // 设置 锚点 图标
-        iconRes = if (AppIdentityModeUtils.isJL(FunctionBuildConfig.appIdentityMode)) {
+        iconRes = if (AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode)) {
             R.drawable.map_bus_icon
-        } else if (AppIdentityModeUtils.isM2(FunctionBuildConfig.appIdentityMode) || AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
+        } else if (AppIdentityModeUtils.isB2(FunctionBuildConfig.appIdentityMode) || AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
             R.drawable.map_m2_icon
         } else {
             R.drawable.map_car_icon

core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt

@@ -257,12 +257,13 @@ class HttpDnsStartUp : AndroidStartup<Boolean>(), IMoGoCloudListener {
             // 初始化网络配置
             NetConfigUtils.init()
             // 加入启动统计
-            val mStartParams: HashMap<String, Any> = HashMap()
-            mStartParams["start_time"] = TimeUtils.getNowMills()
-            mStartParams["app_version"] = AppUtils.getAppVersionName()
-            mStartParams["app_flavor"] = DebugConfig.getProductFlavor()
-            mStartParams["app_identity_mode"] = FunctionBuildConfig.appIdentityMode
-            MogoAnalyticUtils.track("app_start_time", mStartParams)
+//            todo 钟超 登陆后调用 获取 app_flavor
+//            val mStartParams: HashMap<String, Any> = HashMap()
+//            mStartParams["start_time"] = TimeUtils.getNowMills()
+//            mStartParams["app_version"] = AppUtils.getAppVersionName()
+//            mStartParams["app_flavor"] = DebugConfig.getProductFlavor()
+//            mStartParams["app_identity_mode"] = FunctionBuildConfig.appIdentityMode
+//            MogoAnalyticUtils.track("app_start_time", mStartParams)
         }
     }