From 4e59a0b07cbc6d7e2bd4d0991d0a1624ba97a31f Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Fri, 19 May 2023 14:57:39 +0800
Subject: [PATCH] =?UTF-8?q?[minibus320][adas]=20=E6=B7=BB=E5=8A=A0MAP?=
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---
 .../server/AsyncDataToAutopilotServer.kt          |  5 ++++-
 libraries/mogo-adas/build.gradle                  |  4 ++++
 .../com/zhidao/support/adas/high/AdasManager.java | 15 +++++++++++++++
 3 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
index b92dd55b4c..12a53090b3 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -4,6 +4,7 @@ import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.zhidao.support.adas.high.AdasManager
 
 /**
  * @author xiaoyuzhou
@@ -26,6 +27,8 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
     }
 
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
-        CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
+        val version = AdasManager.getInstance().mapVersion
+        if (version > -1 && version < 290)
+            CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
     }
 }
\ No newline at end of file
diff --git a/libraries/mogo-adas/build.gradle b/libraries/mogo-adas/build.gradle
index 5710f48d1e..76ddc296a8 100644
--- a/libraries/mogo-adas/build.gradle
+++ b/libraries/mogo-adas/build.gradle
@@ -66,6 +66,10 @@ android {
         abortOnError false
     }
 
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
 
 }
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
index 8732af2ce3..adf028f7a9 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -42,6 +42,7 @@ public class AdasManager implements IAdasNetCommApi {
      */
     private static final int PROTOCOL_VERSION = MessagePad.ProtocolVersion.CurrentVersion.getNumber();
     private volatile MessagePad.CarConfigResp carConfig;
+    private int mapVersion = -1;//当前连接的MAP版本，断开连接会置为-1
     private static final String ADAS_VERSION = BuildConfig.VERSION_NAME;
     private final Pattern pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+");
 
@@ -64,6 +65,20 @@ public class AdasManager implements IAdasNetCommApi {
 
     public synchronized void setCarConfig(MessagePad.CarConfigResp carConfig) {
         this.carConfig = carConfig;
+        if (carConfig != null) {
+            mapVersion = parseVersion(carConfig.getDockVersion());
+        } else {
+            mapVersion = -1;
+        }
+    }
+
+    /**
+     * 当前连接的MAP版本，断开连接会置为-1
+     *
+     * @return 版本
+     */
+    public int getMapVersion() {
+        return mapVersion;
     }
 
     /**