rebase

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

@@ -20,7 +20,6 @@ import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
-import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.telematic.MogoProtocolMsg
@@ -35,7 +34,6 @@ import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import io.netty.channel.Channel
-import java.util.*
 import java.util.concurrent.TimeUnit
 
 
@@ -59,17 +57,16 @@ class MoGoAutopilotProvider :
         mContext = context
         // 初始化ADAS 域控制器
         CupidLogUtils.setEnableLog(false)
-        CupidLogUtils.setIsWriteLog(false)
         // TODO 临时方案，根据不同的身份标识，连接不同的工控机IP
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {// 司机
             // 注册地图采集功能
             CallerMapDataCollectorManager.registerOnMapCollectTaskListener(this)
             // "192.168.1.102"
             val options = AdasOptions.Builder()
-                    .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
-                    .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
-                    .setClient(false)
-                    .build()
+                .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
+                .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
+                .setClient(false)
+                .build()
 
             AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
             NSDNettyManager.getInstance().startNSDNettyServerWithSN(context, object :
@@ -103,9 +100,9 @@ class MoGoAutopilotProvider :
             //FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
             // "192.168.1.103"
             val options = AdasOptions
-                    .Builder()
-                    .setClient(true)
-                    .build()
+                .Builder()
+                .setClient(true)
+                .build()
             AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
             NSDNettyManager.getInstance()
                 .searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn, object :
@@ -175,8 +172,9 @@ class MoGoAutopilotProvider :
                     SharedPrefsMgr.getInstance(it).putString(MoGoConfig.AUTOPILOT_IP, autoPilotIp)
                 }
                 // 设置IP地址
-                AdasManager.getInstance().adasOptions.setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.ASSIGN)
-                AdasManager.getInstance().adasOptions.setIpcAssignIP(autoPilotIp)
+                AdasManager.getInstance().adasOptions.ipcConnectionMode =
+                    AdasOptions.IPC_CONNECTION_MODE.ASSIGN
+                AdasManager.getInstance().adasOptions.ipcAssignIP = autoPilotIp
                 // 打开通讯连接
                 AdasManager.getInstance().connect()
                 return ""
@@ -201,7 +199,7 @@ class MoGoAutopilotProvider :
     override fun startAutoPilot(result: AutopilotControlParameters) {
         if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             val parameter = AutopilotControlCmdParameter("aiCloudToStartAutopilot", result)
-            AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
+//            AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter)) //todo pb : 需要指定来源
         } else {
             Logger.e(TAG, "车机与工控机链接失败，无法开启自动驾驶")
         }
@@ -213,7 +211,7 @@ class MoGoAutopilotProvider :
 
     override fun cancelAutoPilot() {
         if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
-            AdasManager.getInstance().controlAutopilotCarHead()
+//            AdasManager.getInstance().controlAutopilotCarHead()  //todo pb : 需要指定来源
         } else {
             Logger.e(TAG, "车机与工控机链接失败，无法断开自动驾驶")
         }
@@ -221,35 +219,31 @@ class MoGoAutopilotProvider :
 
     override fun recordPackage(): Boolean {
         return AdasManager.getInstance()
-            .recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
+            .startRecordPackage((System.currentTimeMillis() / 1000).toInt(), 1)
     }
 
     override fun recordPackage(type: Int, id: Int): Boolean {
-        return AdasManager.getInstance().recordPackage(type, id)
+        return AdasManager.getInstance().startRecordPackage(id, type)
     }
 
     override fun recordPackage(type: Int, id: Int, duration: Int): Boolean {
-        return AdasManager.getInstance().recordPackage(type, id, duration)
+        return AdasManager.getInstance().startRecordPackage(id, duration, type)
     }
 
     override fun stopRecord(type: Int, id: Int): Boolean {
-        return AdasManager.getInstance().stopRecord(type, id)
+        return AdasManager.getInstance().stopRecordPackage(id, type)
     }
 
     override fun setEnableLog(isEnableLog: Boolean) {
         CupidLogUtils.setEnableLog(isEnableLog)
     }
 
-    override fun setIsWriteLog(isWriteLog: Boolean) {
-        CupidLogUtils.setIsWriteLog(isWriteLog)
-    }
-
     override fun onDestroy() {
         CallerMapDataCollectorManager.unRegisterOnMapCollectTaskListener(this)
     }
 
     override fun setAutoPilotSpeed(speed: Int): Boolean {
-        return AdasManager.getInstance().setSpeed(speed)
+        return AdasManager.getInstance().sendAutopilotSpeedReq(speed.toDouble())
     }
 
     override fun setIPCShutDown() {
@@ -261,21 +255,24 @@ class MoGoAutopilotProvider :
     }
 
     override fun recordCause(key: String?, name: String?, id: String?, reason: String?) {
-        AdasManager.getInstance().recordCause(key, name, id, reason)
+        key?.let {
+            AdasManager.getInstance()
+                .sendRecordCause(it.toLong(), name ?: "", id ?: "", reason ?: "")
+        }
     }
 
     /**
      * 工控机升级确认
      */
     override fun setIPCUpgradeAffirm() {
-        AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.affirm());
+        AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.affirm())
     }
 
     /**
      * 工控机升级取消
      */
     override fun setIPCUpgradeCancel() {
-        AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.cancel());
+        AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.cancel())
     }
 
     /**
@@ -285,22 +282,22 @@ class MoGoAutopilotProvider :
      */
     override fun setDemoMode(isEnable: Boolean) {
         if (isEnable) {
-            AdasManager.getInstance().enableDemoMode()
+            AdasManager.getInstance().sendDemoModeReq(1)
         } else {
-            AdasManager.getInstance().disableDemoMode()
+            AdasManager.getInstance().sendDemoModeReq(0)
         }
     }
 
     /**
-     * 办公室调试使用，强制开启自动驾驶，将 status，pilotmode，control_pilotmode，强追设置为 1
+     * 办公室调试使用，强制开启自动驾驶，将 status，pilotMode，control_pilotMode，强追设置为 1
      * isEnable = true  开启
      * isEnable = false 关闭
      */
     override fun setControlAutopilotCarAuto(isEnable: Boolean) {
         if (isEnable) {
-            AdasManager.getInstance().controlAutopilotCarAuto()
+//            AdasManager.getInstance().sendAutoPilotModeReq() //todo pb : 需要指定来源
         } else {
-            AdasManager.getInstance().controlAutopilotCarHead()
+//            AdasManager.getInstance().sendAutoPilotModeReq() //todo pb : 需要指定来源
         }
     }
 }

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

@@ -0,0 +1,310 @@
+package com.mogo.eagle.core.function.autopilot.adapter
+
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.config.HdMapBuildConfig
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotRecordResult
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showAdUpgradeStatus
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showDockerRebootResult
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.module.common.MogoApisHandler
+import com.mogo.module.common.datacenter.SnapshotLocationDataCenter
+import com.mogo.module.service.MarkerServiceHandler
+import com.zhidao.support.adas.high.AdasManager
+import com.zhidao.support.adas.high.OnAdasListener
+import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo
+import com.zhidao.support.adas.high.bean.SSHResult
+import com.zhidao.support.adas.high.common.ProtocolStatus
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo_msg.MogoReportMsg
+import record_cache.RecordPanelOuterClass
+import java.util.*
+
+/**
+ * @author emarrow
+ * @since 2022/3/11
+ *
+ *
+ * 适配ADAS 回调监听分发，这里不做业务，只做数据包装及分发处理
+ */
+class MoGoAdasListenerImpl : OnAdasListener {
+
+    companion object {
+        const val TAG = "OnAdasListenerAdapter"
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_TRAJECTORY,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            val trajectoryInfoArrayList = ArrayList<ADASTrajectoryInfo>()
+            if (trajectory != null && trajectory.pointsList.size > 0) {
+                for (trajectory in trajectory.pointsList) {
+                    val adasTrajectoryInfo = ADASTrajectoryInfo()
+                    adasTrajectoryInfo.lat = trajectory.latitude
+                    adasTrajectoryInfo.lon = trajectory.longitude
+                    adasTrajectoryInfo.acceleration = trajectory.acceleration
+                    adasTrajectoryInfo.accumulatedDis = trajectory.accumulatedDis
+                    adasTrajectoryInfo.time = trajectory.time
+                    adasTrajectoryInfo.velocity = trajectory.velocity
+                    adasTrajectoryInfo.alt = trajectory.altitude
+                    adasTrajectoryInfo.kappa = trajectory.kappa
+                    adasTrajectoryInfo.theta = trajectory.theta
+                    trajectoryInfoArrayList.add(adasTrajectoryInfo)
+                }
+            }
+            invokeAutopilotTrajectory(trajectoryInfoArrayList)
+        }
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onTrackedObjects(
+        header: MessagePad.Header,
+        trackedObjects: MessagePad.TrackedObjects
+    ) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            invokeAutopilotIdentifyDataUpdate(trackedObjects.objsList as ArrayList<TrackedObject>?)
+        }
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo?) {
+        invokeAutopilotCarStateData(gnssInfo)
+        // 同步给MAP地图
+        if (gnssInfo != null) {
+            MogoApisHandler.getInstance().apis.adasControllerApi.lastLat = gnssInfo.latitude
+            MogoApisHandler.getInstance().apis.adasControllerApi.lastLon = gnssInfo.longitude
+            MogoApisHandler.getInstance().apis.adasControllerApi.satelliteTime =
+                java.lang.Double.valueOf(gnssInfo.satelliteTime).toLong()
+            if (1 == FunctionBuildConfig.gpsProvider) {
+                MarkerServiceHandler.getApis().mapServiceApi.mapUIController.syncLocation2Map(
+                    gnssInfo
+                )
+                SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(gnssInfo)
+            }
+        }
+    }
+
+    override fun onVehicleState(
+        header: MessagePad.Header,
+        vehicleState: VehicleStateOuterClass.VehicleState?
+    ) {
+        if (vehicleState != null) {
+            //转向灯数据
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
+            //刹车灯数据
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
+        }
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onAutopilotState(
+        header: MessagePad.Header,
+        autopilotState: MessagePad.AutopilotState?
+    ) {
+        if (autopilotState != null) {
+            if (HdMapBuildConfig.isMapLoaded) {
+                // 初始化自动驾驶状态信息
+                val autopilotStatusInfo = getAutoPilotStatusInfo()
+                autopilotStatusInfo.state = autopilotState.state
+                autopilotStatusInfo.pilotmode = autopilotState.autopilotMode
+                autopilotStatusInfo.reason = autopilotState.reason
+                autopilotStatusInfo.camera = autopilotState.camera
+                autopilotStatusInfo.rtk = autopilotState.rtk
+                autopilotStatusInfo.radar = autopilotState.radar
+                autopilotStatusInfo.speed = autopilotState.speed.toFloat()
+                autopilotStatusInfo.version = AdasManager.getInstance().apVersion
+                if (autopilotStatusInfo.connectIP == null) {
+                    autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp
+                }
+                if (autopilotStatusInfo.dockVersion == null) {
+//                    autopilotStatusInfo.dockVersion =
+//                        AdasManager.getInstance() //todo pb : get docker
+                }
+                invokeAutoPilotStatus()
+            }
+        }
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onReportMessage(
+        header: MessagePad.Header,
+        mogoReportMessage: MogoReportMsg.MogoReportMessage?
+    ) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            invokeAutopilotGuardian(mogoReportMessage)
+        }
+    }
+
+    override fun onBasicInfoReq(
+        header: MessagePad.Header,
+        basicInfoReq: MessagePad.BasicInfoReq?
+    ) {
+        invokeAutopilotSNRequest()
+    }
+
+    override fun onCarConfigResp(
+        header: MessagePad.Header,
+        carConfigResp: MessagePad.CarConfigResp?
+    ) {
+        if (HdMapBuildConfig.isMapLoaded && carConfigResp != null) {
+            invokeAutopilotCarConfigData(carConfigResp)
+        }
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onRecordResult(
+        header: MessagePad.Header,
+        recordPanel: RecordPanelOuterClass.RecordPanel?
+    ) {
+        if (recordPanel != null) {
+            invokeAutopilotRecordResult(recordPanel)
+        }
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ROUTE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onGlobalPathResp(
+        header: MessagePad.Header,
+        globalPathResp: MessagePad.GlobalPathResp?
+    ) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            invokeAutopilotRotting(globalPathResp)
+        }
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onWarn(header: MessagePad.Header, warn: MessagePad.Warn?) {
+        invokeAutopilotWarnMessage(warn)
+    }
+
+    @ChainLog(
+        linkCode = CHAIN_LINK_ADAS,
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_DATA,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onArrivalNotification(
+        header: MessagePad.Header,
+        arrivalNotification: MessagePad.ArrivalNotification?
+    ) {
+        if (HdMapBuildConfig.isMapLoaded) {
+            invokeArriveAtStation(arrivalNotification)
+        }
+    }
+
+    override fun onUpgradeStateInfo(info: IPCUpgradeStateInfo) {
+        if (info != null) {
+            Logger.d(
+                TAG, "onUpgradeStateInfo " +
+                        " upgrade mode=" + info.upgradeMode +
+                        " download status=" + info.downloadStatus +
+                        " download progress current=" + info.progress.current +
+                        " download progress total=" + info.progress.total +
+                        " download version=" + info.images +
+                        " upgrade status=" + info.upgradeStatus
+            )
+            showAdUpgradeStatus(
+                info.upgradeMode, info.downloadStatus, info.progress.current,
+                info.progress.total, info.images, info.upgradeStatus
+            )
+        } else {
+            Logger.d(TAG, "onUpgradeStateInfo : upgrade state info is null")
+        }
+    }
+
+    override fun onSSHResult(info: SSHResult?) {
+        if (info != null && "docker restart autocar_default_1" == info.cmd) {
+            showDockerRebootResult(info.code, info.msg)
+        } else {
+            Logger.d(TAG, "onSSHResult : result info is null")
+        }
+    }
+
+    override fun onError(status: ProtocolStatus, bytes: ByteArray) {
+
+    }
+}

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

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.autopilot.adapter
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
-import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
@@ -10,11 +9,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener
-import com.zhidao.support.adas.high.bean.BasicInfo
 import com.zhidao.support.adas.high.common.Constants
 import io.reactivex.Flowable
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.schedulers.Schedulers
+import mogo.telematics.pad.MessagePad
 import java.util.concurrent.TimeUnit
 
 /**
@@ -38,7 +37,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
             Logger.d(TAG, "webSocket 连接成功")
             // 初始化自动驾驶状态信息
             CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
-                AdasManager.getInstance().adasConfig.address
+                AdasManager.getInstance().ipcConnectedIp
             CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = true
             CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
 
@@ -50,7 +49,7 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             Logger.d(TAG, "webSocket 连接失败 reason:$reason")
             CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectIP =
-                AdasManager.getInstance().adasConfig.address
+                AdasManager.getInstance().ipcConnectedIp
             CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().connectStatus = false
             CallerAutoPilotStatusListenerManager.invokeAutoPilotStatus()
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTING) {
@@ -70,10 +69,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
         syncBasicInfoToAutopilot()
     }
 
-    override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
-        if (autopilotWayArrive != null) {
-            val lon = autopilotWayArrive.lon
-            val lat = autopilotWayArrive.lat
+    override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+        if (arrivalNotification != null && arrivalNotification.endLocation != null) {
+            val lon = arrivalNotification.endLocation.longitude
+            val lat = arrivalNotification.endLocation.latitude
             AdasServiceModel.getInstance().reportSite(lon, lat)
         }
     }
@@ -90,12 +89,9 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
      */
     private fun syncBasicInfoToAutopilot() {
         Logger.d(TAG, "同步PAD的SN给工控机……")
-        val info = BasicInfo()
-        // 设置PAD-SN给工控
-        info.setSn(MoGoAiCloudClientConfig.getInstance().sn)
-        // 设置网络环境
-        info.setNetEnvironment(DebugConfig.getNetMode())
-        AdasManager.getInstance().setBasicInfo(info)
+        // 设置PAD-SN给工控,网络环境
+        AdasManager.getInstance()
+            .sendBasicInfoResp(MoGoAiCloudClientConfig.getInstance().sn, DebugConfig.getNetMode())
     }
 
     /**

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

@@ -2,27 +2,25 @@ package com.mogo.eagle.core.function.autopilot.adapter;
 
 import androidx.annotation.Nullable;
 
-import com.mogo.eagle.core.data.autopilot.AutoPilotRecordResult;
-import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
-import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.traffic.TrafficData;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarStateListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.module.common.drawer.IdentifyDataDrawer;
-import com.zhidao.support.adas.high.bean.CarStateInfo;
 import com.zhidao.support.obu.ami.AmiClientManager;
 
 import java.util.ArrayList;
 
+import chassis.Chassis;
+import mogo.telematics.pad.MessagePad;
+import record_cache.RecordPanelOuterClass;
+
 public class MoGoHandAdasMsgManager implements
         IMoGoAutopilotIdentifyListener,
-        IMoGoAutopilotCarStateListener {
+        IMoGoAutopilotVehicleStateListener {
 
     private final String TAG = "AdasEventManager";
 
@@ -30,7 +28,7 @@ public class MoGoHandAdasMsgManager implements
 
     private MoGoHandAdasMsgManager() {
         CallerAutopilotIdentifyListenerManager.INSTANCE.addListener(TAG, this);
-        CallerAutopilotCarStatusListenerManager.INSTANCE.addListener(TAG, this);
+        CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     public static MoGoHandAdasMsgManager getInstance() {
@@ -44,34 +42,25 @@ public class MoGoHandAdasMsgManager implements
         return moGoHandAdasMsgManager;
     }
 
-
     @Override
-    public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo autoPilotCarStateInfo) {
-        // 获取的自动驾驶车辆信息不是空的时候
-        if (autoPilotCarStateInfo != null) {
-            //can数据转发
-            AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
-
-            if (bean != null) {
-                //转向灯状态 0是正常 1是左转 2是右转
-                //turnLightOften 是sdk适配的字段，后期建议CarStateInfo和AutopilotCarStateInfo统一成一个
-                int turnLight = bean.getTurnLightOften();
-                AmiClientManager.getInstance().setTurnLightState(turnLight);
-                int brakeLight = bean.getBrake_light();
-//            Logger.d(TAG, "onCarStateData ---- turnLight = " + turnLight + "---brakeLight = " + brakeLight);
-                //设置转向灯
-                CallerHmiManager.INSTANCE.showTurnLight(turnLight);
-                //设置刹车信息
-                CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
-            } else {
-                Logger.e(TAG, "bean == null ");
-            }
+    public void onAutopilotLightSwitchData(Chassis.LightSwitch lightSwitch) {
+        //can数据转发  转向灯状态 0是正常 1是左转 2是右转
+        if (lightSwitch != null) {
+            int turnLightNum = lightSwitch.getNumber();
+            AmiClientManager.getInstance().setTurnLightState(turnLightNum);
+            //设置转向灯
+            CallerHmiManager.INSTANCE.showTurnLight(turnLightNum);
         }
     }
 
+    @Override
+    public void onAutopilotBrakeLightData(boolean brakeLight) {
+        //设置刹车信息
+        CallerHmiManager.INSTANCE.showBrakeLight(brakeLight ? 1 : 0);
+    }
 
     @Override
-    public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<TrafficData> trafficData) {
+    public void onAutopilotIdentifyDataUpdate(@Nullable ArrayList<MessagePad.TrackedObject> trafficData) {
         try {
             if (FunctionBuildConfig.isDrawIdentifyData) {
                 ThreadUtils.getSinglePool().execute(() ->
@@ -86,13 +75,13 @@ public class MoGoHandAdasMsgManager implements
     }
 
     @Override
-    public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
+    public void onAutopilotWarnMessage(MessagePad.Warn warn) {
 
     }
 
-
     @Override
-    public void onAutopilotRecordResult(AutoPilotRecordResult result) {
+    public void onAutopilotRecordResult(RecordPanelOuterClass.RecordPanel recordPanel) {
 
     }
+
 }