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

2024-04-18 19:58:27 +08:00
parent a98bb6e5b9 f5ffad3eda
commit 4dc4e12acc
513 changed files with 7630 additions and 5896 deletions
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/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)
+    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
+++ b/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())
        }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
+++ b/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)
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/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
+    }
+}
+
+
+
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
+++ b/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))
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
+++ b/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))
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
+++ b/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))
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
+++ b/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))
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/RouteDownloadImpl.kt
+++ b/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
+            }
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SpeedImpl.kt
+++ b/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
+        }
+    }
+
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
+++ b/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))
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
+++ b/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)
        })
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt
+++ b/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")
+                }
+            }
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
+++ b/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 })
            }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt
+++ b/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()
+            }
        }
    }
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/diff/StatusDiffCallback.kt
+++ b/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

--- a/core/function-impl/mogo-core-function-devatools/src/main/res/color/color_geer_position_selector.xml
+++ b/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>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_bg_autopilot_status.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_bg_autopilot_status.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_bg_speed.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_bg_speed.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_brake_or_accelerator_blue.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_brake_or_accelerator_blue.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_brake_or_accelerator_red.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_brake_or_accelerator_red.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_double_flash_blue.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_double_flash_blue.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_double_flash_red.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_double_flash_red.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_steer_blue.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_steer_blue.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_steer_red.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_steer_red.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_autopilot_brake_or_accelerator.xml
+++ b/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>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_autopilot_double_flash.xml
+++ b/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>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_autopilot_steer.xml
+++ b/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>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_geer_position.xml
+++ b/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>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/speed_chart_stroke.xml
+++ b/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>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_autopilot_launch_before.xml
+++ b/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>