From 59523ee9a3cade1572eb1f9176a0d4a30072fe1f Mon Sep 17 00:00:00 2001
From: xuxinchao <xuxinchao@zhidaoauto.com>
Date: Wed, 13 Sep 2023 11:05:38 +0800
Subject: [PATCH] =?UTF-8?q?[6.1.0]=E8=AF=B7=E6=B1=82=E5=B9=B3=E8=A1=8C?=
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---
 .../function/hmi/ui/vehicle/TakeOverView.kt   | 71 ++++++++++++++++++-
 1 file changed, 69 insertions(+), 2 deletions(-)

diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
index 68927571ed..7f2e4d5e76 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.hmi.ui.vehicle
 
 import android.content.Context
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -12,20 +11,24 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.zhjt.mogo.adas.data.bean.MogoReport
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
 
 class TakeOverView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener {
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
+    IMoGoParallelDrivingStatusListener {
 
     companion object {
         const val TAG = "TakeOverView"
@@ -41,6 +44,7 @@ class TakeOverView @JvmOverloads constructor(
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerParallelDrivingListenerManager.addListener(TAG,this)
     }
 
     override fun onAutopilotStatusResponse(state: Int) {
@@ -147,5 +151,68 @@ class TakeOverView @JvmOverloads constructor(
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerParallelDrivingListenerManager.removeListener(TAG)
     }
+
+    /**
+     * 平行驾驶状态回调，云端说有状态变化就回调
+     */
+    override fun onParallelDrivingResp(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
+        parallelTaskProcessNotice?.let {
+            if (takeOver) {
+                return@let
+            }
+            when(it.code){
+                //进入同步状态
+                "START_SYNC"->{
+
+                }
+                //同步结束
+                "EXIT_SYNC"->{
+
+                }
+                //无法接管
+                "UNABLE_TAKEOVER"->{
+                    showParallelDrivingWarning("UNABLE_TAKEOVER","远程无法介入，注意随时接管","远程无法介入，注意随时接管")
+                }
+                //同步异常结束
+                "EXCEPTION_EXIT_SYNC"->{
+                    showParallelDrivingWarning("EXCEPTION_EXIT_SYNC","远程介入失败，注意随时接管","远程介入失败，注意随时接管")
+                }
+                //任务已被拒绝
+                "TASK_REJECTED"->{
+
+                }
+                //异常请人工驾驶
+                "PARALLEL_EXCEPTION_MANUAL_DRIVING"->{
+                    showParallelDrivingWarning("PARALLEL_EXCEPTION_MANUAL_DRIVING","即将靠边停车，注意随时接管","即将靠边停车，注意随时接管")
+                }
+                //平行驾驶异常结束
+                "EXCEPTION_EXIT_PARALLEL_DRIVING"->{
+                    showParallelDrivingWarning("EXCEPTION_EXIT_PARALLEL_DRIVING","可能应急停车，注意随时接管","可能应急停车，注意随时接管")
+                }
+            }
+        }
+    }
+
+    private fun showParallelDrivingWarning(poiType: String,content: String,tts: String){
+        CallerHmiManager.warningV2X(poiType, content, tts,
+            object : IMoGoWarningStatusListener {
+                override fun onShow() {
+                    takeOver = true
+                    ThreadUtils.runOnUiThread{
+                        visibility = View.VISIBLE
+                    }
+                }
+
+                override fun onDismiss() {
+                    takeOver = false
+                    ThreadUtils.runOnUiThread{
+                        visibility = View.GONE
+                    }
+                }
+            }
+            ,isFromObu = false)
+    }
+
 }
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