Merge branch 'robo_6.1.0_master' into 'master'

Robo 6.1.0 master

See merge request SCA/L4HA/AndroidApp/MoGoEagleEye!825

.gitignore

@@ -7,4 +7,4 @@
 /build
 /captures
 .externalNativeBuild
-.cxx
+.cxx

.gitlab-ci.yml

@@ -0,0 +1,27 @@
+stages:
+  - analyze
+
+inspect java and kotlin codes:
+  tags:
+    - apk
+    - android
+  stage: analyze
+  script:
+    - echo "$CI_COMMIT_BEFORE_SHA $CI_COMMIT_SHA $CI_COMMIT_BRANCH $CI_COMMIT_DESCRIPTION $CI_COMMIT_TIMESTAMP"
+    - echo "${CI_JOB_STAGE}_reports_${CI_PROJECT_NAME}_${CI_BUILD_REF_NAME}"
+    - ./gradlew runCodeInspect
+  before_script:
+    - source change_java_version
+  artifacts:
+    name: "${CI_JOB_STAGE}_reports_${CI_PROJECT_NAME}_$CI_COMMIT_REF_SLUG"
+    when: always
+    expire_in: 1 days
+    paths:
+      - "build/reports/*"
+  only:
+    - $CI_COMMIT_BRANCH
+    - pushes
+    - schedules
+  except:
+    - master
+  allow_failure: true

OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java

@@ -379,6 +379,11 @@ public class OrderModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             BusAnalyticsManager.INSTANCE.triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);

OCH/bus/driver/src/main/java/com/mogo/och/bus/BusProvider.java

@@ -10,7 +10,6 @@ import androidx.fragment.app.FragmentActivity;
 import androidx.fragment.app.FragmentManager;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.constant.BusConst;

OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java

@@ -3,6 +3,7 @@ package com.mogo.och.bus.fragment;
 import static com.mogo.och.bus.constant.BusConst.TIMER_START_AUTOPILOT_INTERVAL;
 
 import android.animation.ObjectAnimator;
+import android.annotation.SuppressLint;
 import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.View;
@@ -27,7 +28,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
@@ -49,8 +49,6 @@ import com.mogo.och.common.module.utils.SoundPoolHelper;
 
 import org.greenrobot.eventbus.EventBus;
 
-import java.util.Objects;
-
 import bag_manager.BagManagerOuterClass;
 import mogo.telematics.pad.MessagePad;
 import record_cache.RecordPanelOuterClass;
@@ -137,21 +135,22 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
         mSwitchMapModeLayout.setOnClickListener(new OnPreventFastClickListener() {
             @Override
             public void onClickImpl(View v) {
-
-                IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-                if (controller != null) {
-                    //切换地图的远近视图
-                    if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
-                    } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
-                    } else {
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                if(mapBizView != null){
+                    IMogoMapUIController uiController = mapBizView.getUI();
+                    if(uiController != null){
+                        //切换地图的远近视图
+                        if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                            uiController.setLockMode(true);
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                        } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                            uiController.setLockMode(false);
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
+                        } else {
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                        }
                     }
                 }
             }
@@ -199,7 +198,6 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
 
         mSettingBtn = findViewById(R.id.module_mogo_och_setting_layout);
         mSettingBtn.setOnClickListener(v -> {
-            // TODO: 2021/12/9
             CallerHmiManager.INSTANCE.showToolsView();
         });
 
@@ -256,14 +254,16 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     protected abstract void onArriveStation();
 
     private void updateSwitchMapIcon() {
-        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-        if (controller != null) {
-            if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
-            } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
-            } else {
-                mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+        if(mapBizView != null){
+            IMogoMapUIController uiController = mapBizView.getUI();
+            if(uiController != null){
+                if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                    mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
+                } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                    mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                } else {
+                    mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                }
             }
         }
     }
@@ -330,7 +330,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
             slidePanelView.setText(text);
             slidePanelView.setVisibility(View.VISIBLE);
         });
-        setArrivedClikable(false);
+        setArrivedClickable(false);
     }
 
     /**
@@ -338,7 +338,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
      *
      * @param isClickable
      */
-    public void setArrivedClikable(boolean isClickable) {
+    public void setArrivedClickable(boolean isClickable) {
         getActivity().runOnUiThread(() -> {
             tvArrived.setEnabled(isClickable);
             if (isClickable) {
@@ -397,7 +397,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                 ctvAutopilotStatus.setBackground(getContext().getDrawable(R.drawable.bus_autopilot_2_status_bg));
 //                ctvAutopilotStatus.setSelected(true);
             } else if (IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING
-                    == autopilotStatus){
+                    == autopilotStatus) {
                 ctvAutopilotStatusTv.setText(R.string.bus_pingxing_driver);
                 ctvAutopilotStatus.setClickable(false);
                 ctvAutopilotStatus.setBackground(getContext().getDrawable(R.drawable.pingxingjiashi));
@@ -421,12 +421,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
             ctvAutopilotStatus.setClickable(false);
 //            ctvAutopilotStatus.setSelected(false);
         }
-        UiThreadHandler.postDelayed(new Runnable() {
-            @Override
-            public void run() {
-                setAutopilotBtnStatus(autopilotStatus);
-            }
-        }, 1000);
+        UiThreadHandler.postDelayed(() -> setAutopilotBtnStatus(autopilotStatus), 1000);
     }
 
     private void changeAutopilotBtnView(int autopilotStatus, boolean isAnimateRunning) {
@@ -514,13 +509,10 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
 
     private void startingAutoApilotCountDown() {
         //10s 若自动驾驶没有开启，则结束动画
-        UiThreadHandler.postDelayed(new Runnable() {
-            @Override
-            public void run() { //未启动成功做处理
-                if (isAnimateRunning) {// 只判断动画是否在进行，根据自动驾驶当前状态去设置自动驾驶状态
-                    stopAutopilotAnimation();
-                    updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState());
-                }
+        UiThreadHandler.postDelayed(() -> { //未启动成功做处理
+            if (isAnimateRunning) {// 只判断动画是否在进行，根据自动驾驶当前状态去设置自动驾驶状态
+                stopAutopilotAnimation();
+                updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState());
             }
         }, TIMER_START_AUTOPILOT_INTERVAL);
 
@@ -540,8 +532,6 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
 
     /**
      * 迈速表实时更新
-     *
-     * @param newSpeed
      */
     public void updateSpeedView(float newSpeed) {
         int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
@@ -553,7 +543,9 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     @Override
     public void onDestroy() {
         super.onDestroy();
-        smallMapView.onDestroy();
+        if(smallMapView != null){
+            smallMapView.onDestroy();
+        }
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
     }
 
@@ -592,6 +584,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     private TextView trajMd5DPQPTV;
     private TextView stopMd5DPQPTV;
 
+    @SuppressLint("SetTextI18n")
     public void showHideTestBar() {
         if (busTestBar == null) {
             busTestBar = findViewById(R.id.module_mogo_och_bus_test_bar);
@@ -617,6 +610,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
         }
     }
 
+    @SuppressLint("SetTextI18n")
     public void updateBusTestBarInfo() {
         if (busTestBar != null && busTestBar.getVisibility() == View.VISIBLE) {
             BusRoutesResult routesResult = OrderModel.getInstance().getBusRoutesResult();
@@ -628,7 +622,5 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
             stopMd5DPQPTV.setText("SMd5DPQP:" + (routesResult == null ? "" : routesResult.txtFileMd5DPQP));
         }
     }
-    /**
-     * END
-     */
+
 }

OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BusFragment.java

@@ -1,20 +1,23 @@
 package com.mogo.och.bus.fragment;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+import static com.mogo.map.MogoMap.DEFAULT;
+
 import android.content.Intent;
 import android.graphics.Bitmap;
 import android.graphics.BitmapFactory;
 import android.os.Bundle;
 import android.view.View;
 import android.widget.TextView;
+
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.ConstraintLayout;
 import androidx.constraintlayout.widget.Group;
-import androidx.annotation.Nullable;
+
 import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.data.temp.EventLogout;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -25,7 +28,6 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.map.overlay.IMoGoOverlayManager;
 import com.mogo.map.overlay.core.Level;
 import com.mogo.map.overlay.point.Point;
-import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.och.bus.R;
 import com.mogo.och.bus.bean.BusStationBean;
 import com.mogo.och.bus.constant.BusConst;
@@ -42,8 +44,10 @@ import com.mogo.och.common.module.utils.QRUtilsKt;
 import com.mogo.och.common.module.wigets.BindQRCodeDialog;
 import com.mogo.och.common.module.wigets.MarqueeTextView;
 import com.mogo.och.common.module.wigets.OCHCommitDialog;
+
 import org.greenrobot.eventbus.Subscribe;
 import org.greenrobot.eventbus.ThreadMode;
+
 import java.util.List;
 
 import me.jessyan.autosize.utils.AutoSizeUtils;
@@ -81,10 +85,11 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
     public void onActivityCreated(@Nullable Bundle savedInstanceState) {
         super.onActivityCreated(savedInstanceState);
         loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation();
-        if(loginService!=null){
-            loginService.registerFragment(this, getPresenter(),new LoginBusImpl());
+        if (loginService != null) {
+            loginService.registerFragment(this, getPresenter(), new LoginBusImpl());
         }
     }
+
     @Override
     public void onDestroyView() {
         super.onDestroyView();
@@ -113,12 +118,9 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
 
         mSwitchLine.setOnClickListener(this);
 
-        mLineName.setOnLongClickListener(new View.OnLongClickListener() {
-            @Override
-            public boolean onLongClick(View v) {
-                showHideTestBar();
-                return false;
-            }
+        mLineName.setOnLongClickListener(v -> {
+            showHideTestBar();
+            return false;
         });
     }
 
@@ -178,7 +180,7 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
     }
 
     public void updateLineEmptyUI(){
-        setArrivedClikable(false);
+        setArrivedClickable(false);
         showOrHideSwitchLineBtn(true);
         hideStationsPanel();
         hideSlidePanel();
@@ -486,30 +488,19 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
                         .anchor(0.5f, 0.5f)
                         .set3DMode(true)
                         .isUseGps(true)
-                        .controlAngle(true)
+                        .controlAngle(false)
                         .icon3DRes(resourceId)
                         .latitude(lat)
                         .longitude(longi);
-                IMogoMapUIController mapUIController = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-                if (mapUIController != null) {
-                    CenterLine centerLine = mapUIController.getCenterLineInfo(
-                            longi,lat,-1);
-                    if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
-                        Double angle = centerLine.getAngle();
-                        if (angle != null) {
-                            builder.rotate(angle.floatValue());
-                        }
-                    }
-                }
                 IMoGoOverlayManager overlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
                 if (overlayManager != null) {
-                    overlayManager.showOrUpdatePoint(builder.build());
+                    overlayManager.showOrUpdatePoint(builder.build(), DEFAULT);
                 }
             };
 
             OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable);
 
-        }else {
+        } else {
             Runnable removeMapMarkerRunnable = () -> {
                 CallerLogger.d(M_BUS + "RemoveMapMaker="+Thread.currentThread().getName(),
                         uuid+"=latitude="+lat+",longitude="+longi);

OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java

@@ -144,7 +144,7 @@ public class BusPresenter extends Presenter<BusFragment>
     public void hideSlidePanel() {
         if (mView != null) {
             mView.hideSlidePanel();
-            mView.setArrivedClikable(true);
+            mView.setArrivedClickable(true);
         }
     }
 

OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml

@@ -8,6 +8,8 @@
 
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/xiaoba"
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 

OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.kt

@@ -4,9 +4,9 @@ import android.annotation.SuppressLint
 import android.content.Context
 import android.net.ConnectivityManager
 import android.os.Handler
+import android.os.Looper
 import com.amap.api.maps.model.LatLng
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
-import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.intent.IMogoIntentListener
 import com.mogo.commons.module.intent.IntentManager
 import com.mogo.commons.module.status.IMogoStatusChangedListener
@@ -31,7 +31,6 @@ import com.mogo.eagle.core.network.utils.GsonUtil
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isPassenger
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS_P
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -42,11 +41,7 @@ import com.mogo.och.bus.passenger.bean.BusPassengerOperationStatusResponse
 import com.mogo.och.bus.passenger.bean.BusPassengerRoutesResponse
 import com.mogo.och.bus.passenger.bean.BusPassengerRoutesResult
 import com.mogo.och.bus.passenger.bean.BusPassengerStation
-import com.mogo.och.bus.passenger.callback.IBusPassegerDriverStatusCallback
-import com.mogo.och.bus.passenger.callback.IBusPassengerADASStatusCallback
-import com.mogo.och.bus.passenger.callback.IBusPassengerAutopilotPlanningCallback
-import com.mogo.och.bus.passenger.callback.IBusPassengerControllerStatusCallback
-import com.mogo.och.bus.passenger.callback.IBusPassengerRouteLineInfoCallback
+import com.mogo.och.bus.passenger.callback.*
 import com.mogo.och.bus.passenger.constant.BusPassengerConst
 import com.mogo.och.bus.passenger.network.BusPassengerModelLoopManager
 import com.mogo.och.bus.passenger.network.BusPassengerServiceManager
@@ -82,7 +77,7 @@ import java.util.concurrent.ConcurrentHashMap
  * Created on 2022/3/31
  */
 @SuppressLint("StaticFieldLeak")
-object BusPassengerModel{
+object BusPassengerModel {
 
     private val TAG = BusPassengerModel::class.java.simpleName
     private const val MSG_QUERY_BUS_P_STATION = 1001
@@ -105,7 +100,7 @@ object BusPassengerModel{
     var mStations: MutableList<BusPassengerStation> = ArrayList()
     private var mNextStationIndex = 0 // 要到达站的index
     private val mTwoStationsRouts: MutableList<MogoLocation> = ArrayList()
-    private val handler = Handler(Handler.Callback { msg ->
+    private val handler = Handler(Looper.getMainLooper(), Handler.Callback { msg ->
         if (msg.what == MSG_QUERY_BUS_P_STATION) {
             queryDriverOperationStatus()
             return@Callback true
@@ -113,10 +108,12 @@ object BusPassengerModel{
         false
     })
 
+    @Volatile
+    private var isGoingToNextStation = false
+
     fun init(context: Context) {
         mContext = context.applicationContext
         initListeners()
-        // TODO: 2022/3/31
         queryDriverOperationStatus()
         startOrStopOrderLoop(true)
     }
@@ -147,8 +144,8 @@ object BusPassengerModel{
                             "queryDriverOperationStatus = %s",
                             data.data.plateNumber
                         )
-                        mDriverStatusCallback!!.changeOperationStatus(data.data.driverStatus == 1)
-                        mDriverStatusCallback!!.updatePlateNumber(data.data.plateNumber)
+                        mDriverStatusCallback?.changeOperationStatus(data.data.driverStatus == 1)
+                        mDriverStatusCallback?.updatePlateNumber(data.data.plateNumber)
                     }
                 }
 
@@ -179,9 +176,7 @@ object BusPassengerModel{
                             mNextStationIndex = 0
                         }
                         cleanStation("queryDriverSiteByCoordinate")
-                        if (mRouteLineInfoCallback != null) {
-                            mRouteLineInfoCallback!!.showNoTaskView()
-                        }
+                        mRouteLineInfoCallback?.showNoTaskView()
                         mRoutePoints.clear()
                         return
                     }
@@ -216,9 +211,12 @@ object BusPassengerModel{
 
     private fun updatePassengerRouteInfo(result: BusPassengerRoutesResult) {
         if (mRouteLineInfoCallback != null) {
-            Logger.d(M_BUS_P + TAG, "order =  BusPassengerRoutesResult= " +GsonUtil.jsonFromObject(result))
-            mRouteLineInfoCallback!!.updateLineInfo(result.name, result.runningDur)
-            mRouteLineInfoCallback!!.hideNoTaskView()
+            d(
+                M_BUS_P + TAG,
+                "order =  BusPassengerRoutesResult= " + GsonUtil.jsonFromObject(result)
+            )
+            mRouteLineInfoCallback?.updateLineInfo(result.name, result.runningDur)
+            mRouteLineInfoCallback?.hideNoTaskView()
             if (result.sites != null) {
                 val stations = result.sites
                 mStations.clear()
@@ -226,8 +224,9 @@ object BusPassengerModel{
                 for (i in stations.indices) {
                     val station = stations[i]
                     if (station.drivingStatus == BusPassengerConst.STATION_STATUS_STOPPED && station.isLeaving && i + 1 < stations.size) { //离站
-                        Logger.d(M_BUS_P + TAG, "order =  station= leave")
-                        mRouteLineInfoCallback!!.updateStationsInfo(stations, i + 1, false)
+                        d(M_BUS_P + TAG, "order =  station= leave")
+                        isGoingToNextStation = true
+                        mRouteLineInfoCallback?.updateStationsInfo(stations, i + 1, false)
                         if (mNextStationIndex != i + 1) {
                             mTwoStationsRouts.clear()
                         }
@@ -241,11 +240,14 @@ object BusPassengerModel{
                         if (i == stations.size - 1) {
                             cleanStation("updatePassengerRouteInfo最后一个站点")
                         }
+
+                        isGoingToNextStation = false
+
                         suspendCalculate()
 
-                        Logger.d(M_BUS_P + TAG, "order =  station= arrive")
+                        d(M_BUS_P + TAG, "order =  station= arrive")
 
-                        mRouteLineInfoCallback!!.updateStationsInfo(stations, i, true)
+                        mRouteLineInfoCallback?.updateStationsInfo(stations, i, true)
                         clearAutopilotControlParameters()
                         return
                     }
@@ -379,17 +381,17 @@ object BusPassengerModel{
         override fun distanceCallback(distance: Float) {
             val lastTime: Double = distance / BusPassengerConst.BUS_AVERAGE_SPEED * 3.6 //秒
             d(M_BUS_P + TAG, "轨迹排查==lastSumLength = $distance")
-            for (site in routesResult!!.sites) {
-                if (site.drivingStatus == BusPassengerConst.STATION_STATUS_STOPPED && !site.isLeaving) {
-                    return
+            routesResult?.let {
+                for (site in it.sites) {
+                    if (site.drivingStatus == BusPassengerConst.STATION_STATUS_STOPPED && !site.isLeaving) {
+                        return
+                    }
                 }
             }
-            if (mAutopilotPlanningCallback != null) {
-                mAutopilotPlanningCallback!!.routePlanningToNextStationChanged(
-                    distance.toLong(),
-                    lastTime.toLong()
-                )
-            }
+            mAutopilotPlanningCallback?.routePlanningToNextStationChanged(
+                distance.toLong(),
+                lastTime.toLong()
+            )
         }
     }
     private val trajectoryListener: ITrajectoryListener =
@@ -400,19 +402,19 @@ object BusPassengerModel{
                 location: MogoLocation
             ) {
                 if (mAutopilotPlanningCallback != null) {
-                    val routeArriviedTemp: MutableList<LatLng> = ArrayList()
+                    val routeArrivedTemp: MutableList<LatLng> = ArrayList()
                     val routeArrivingTemp: MutableList<LatLng> = ArrayList()
                     var temp: LatLng
                     for (mogoLocation in routeArrivied) {
                         temp = LatLng(mogoLocation.latitude, mogoLocation.longitude)
-                        routeArriviedTemp.add(temp)
+                        routeArrivedTemp.add(temp)
                     }
                     for (mogoLocation in routeArriving) {
                         temp = LatLng(mogoLocation.latitude, mogoLocation.longitude)
                         routeArrivingTemp.add(temp)
                     }
-                    mAutopilotPlanningCallback!!.routeResult(
-                        routeArriviedTemp,
+                    mAutopilotPlanningCallback?.routeResult(
+                        routeArrivedTemp,
                         routeArrivingTemp,
                         location
                     )
@@ -421,16 +423,14 @@ object BusPassengerModel{
         }
     private val mReceivedMsgListener: IReceivedMsgListener = object : IReceivedMsgListener {
         override fun onReceivedServerSn(sn: String?) {
-            Logger.d(M_BUS_P + TAG, "onReceivedServerSn = $sn")
-            if (mDriverStatusCallback != null) {
-                mDriverStatusCallback!!.updateDriverSn(sn)
-            }
+            d(M_BUS_P + TAG, "onReceivedServerSn = $sn")
+            mDriverStatusCallback?.updateDriverSn(sn)
         }
 
         override fun onReceivedMsg(type: Int, byteArray: ByteArray) {
             if (OchCommonConst.BUSINESS_STRING == type) {
                 val baseMsg = GsonUtils.fromJson(String(byteArray), BaseDPMsg::class.java)
-                Logger.d(
+                d(
                     M_BUS_P + TAG,
                     "onReceivedMsg = " + GsonUtils.toJson(baseMsg)
                 )
@@ -486,18 +486,29 @@ object BusPassengerModel{
             private var arriveAtEnd = false //乘客app专用字段
             override fun onAutopilotStatusResponse(state: Int) {
                 if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-                    if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotRunning()
-                } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
-                    mTwoStationsRouts.clear()
-                    if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotEnable()
-                } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
-                    mTwoStationsRouts.clear()
-                    if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotDisable()
-                } else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
-                    mTwoStationsRouts.clear()
-                    if (mADASStatusCallback != null) mADASStatusCallback!!.onAutopilotRunning()
+                    mADASStatusCallback?.onAutopilotRunning()
+                } else {
+                    if (FunctionBuildConfig.isDemoMode &&
+                        mNextStationIndex >= 0 && mNextStationIndex <= mStations.size - 1
+                        && isGoingToNextStation
+                    ) {
+                        d(M_BUS_P + TAG, "FunctionBuildConfig.isDemoMode is true")
+                        return
+                    }
+
+                    if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
+                        mTwoStationsRouts.clear()
+                        mADASStatusCallback?.onAutopilotEnable()
+                    } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
+                        mTwoStationsRouts.clear()
+                        mADASStatusCallback?.onAutopilotDisable()
+                    } else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
+                        mTwoStationsRouts.clear()
+                        mADASStatusCallback?.onAutopilotRunning()
+                    }
                 }
             }
+
             override fun onAutopilotArriveAtStation(arrivalNotification: ArrivalNotification?) {
                 if (FunctionBuildConfig.isDemoMode
                     && isPassenger(FunctionBuildConfig.appIdentityMode)
@@ -505,13 +516,10 @@ object BusPassengerModel{
                     arriveAtEnd = true
                 }
 
-                // TODO: 2022/3/31  
-                if (DebugConfig.isDebug()) {
-                    // ToastUtils.showShort("到达目的地");
-                }
-                if (mADASStatusCallback != null) {
-                    mADASStatusCallback!!.onAutopilotArriveEnd()
-                }
+//                if (DebugConfig.isDebug()) {
+                // ToastUtils.showShort("到达目的地");
+//                }
+                mADASStatusCallback?.onAutopilotArriveEnd()
             }
 
             override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {}
@@ -532,7 +540,8 @@ object BusPassengerModel{
 
     fun updateRoutePoints(routePoints: List<MessagePad.Location>) {
         mRoutePoints.clear()
-        val latLngModels: List<MogoLocation> = coordinateConverterWgsToGcjLocations(mContext, routePoints)
+        val latLngModels: List<MogoLocation> =
+            coordinateConverterWgsToGcjLocations(mContext, routePoints)
         mRoutePoints.addAll(latLngModels)
         calculateTwoStationsRoute()
     }
@@ -573,9 +582,7 @@ object BusPassengerModel{
                 val sumLength = calculateRouteSumLength(mTwoStationsRouts)
                 SharedPrefsMgr.getInstance(mContext!!)
                     .putInt(BusPassengerConst.BUS_SP_KEY_ORDER_SUM_DIS, sumLength.toInt())
-                if (mAutopilotPlanningCallback != null) {
-                    mAutopilotPlanningCallback!!.updateTotalDistance()
-                }
+                mAutopilotPlanningCallback?.updateTotalDistance()
             }
         }
     }
@@ -603,7 +610,7 @@ object BusPassengerModel{
         setStationPoint(startStation, endStation, lineId.toLong())
     }
 
-    fun cleanStation(type:String) {
+    fun cleanStation(type: String) {
         d(M_BUS_P + TAG, "清理站点 $type")
         setStationPoint(null, null, -1L)
     }

OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java

@@ -152,8 +152,8 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
     }
 
     @Override
-    public void routeResult(List<LatLng> routeArrivied,List<LatLng> routeArriving,MogoLocation location) {
-        runOnUIThread(() ->mView.routeResult(routeArrivied,routeArriving,location));
+    public void routeResult(List<LatLng> routeArrived,List<LatLng> routeArriving,MogoLocation location) {
+        runOnUIThread(() ->mView.routeResult(routeArrived,routeArriving,location));
     }
 
     @Override

OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPBlueToothView.kt

@@ -12,7 +12,6 @@ import kotlinx.android.synthetic.jinlvvan.p_bus_view_blue_tooth.view.*
 /**
  * 魔戒蓝牙控件
  * 放置于StatusBar右侧位置
- * todo arrow
  */
 class BusPBlueToothView @JvmOverloads constructor(
     context: Context,

OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.kt

@@ -4,7 +4,6 @@ import android.content.Context
 import android.os.Bundle
 import android.util.AttributeSet
 import android.view.LayoutInflater
-import android.view.MotionEvent
 import android.view.View
 import android.widget.RelativeLayout
 import com.amap.api.maps.AMap
@@ -56,7 +55,7 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
     private var mArrivedRes: BitmapDescriptor? = null
     private var mUnArrivedRes: BitmapDescriptor? = null
 
-    private val routeArrivied: MutableList<LatLng> = ArrayList()
+    private val routeArrived: MutableList<LatLng> = ArrayList()
     private val routeArriving: MutableList<LatLng> = ArrayList()
     private var location: MogoLocation? = null
 
@@ -165,7 +164,7 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
         try {
             //圈定地图显示范围
             val boundsBuilder = LatLngBounds.Builder()
-            routeArrivied.forEach {
+            routeArrived.forEach {
                 boundsBuilder.include(it)
             }
             routeArriving.forEach {
@@ -190,26 +189,28 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
     }
 
     override fun drawablePolyline() {
-        if (routeArrivied.isEmpty() && routeArriving.isEmpty()) {
+        if (routeArrived.isEmpty() && routeArriving.isEmpty()) {
             d(SceneConstant.M_TAXI + TAG, "没有点")
             return
         }
         texIndexList.clear()
-        val allPoints = ArrayList(routeArrivied)
-        for (i in routeArrivied.indices) {
-            if (routeArrivied.size > 1 && i < routeArrivied.size - 1) {
+        val allPoints = ArrayList(routeArrived)
+        for (i in routeArrived.indices) {
+            if (routeArrived.size > 1 && i < routeArrived.size - 1) {
                 texIndexList.add(0)
             }
         }
         texIndexList.add(0)
-        allPoints.add(LatLng(location!!.latitude, location!!.longitude))
+        location?.let {
+            allPoints.add(LatLng(it.latitude, it.longitude))
+        }
         allPoints.addAll(routeArriving)
-        for (ignored in routeArrivied) {
+        for (ignored in routeArrived) {
             texIndexList.add(1)
         }
-        if (mPolyline != null) {
-            mPolyline!!.points = allPoints
-            mPolyline!!.options.customTextureIndex = texIndexList
+        mPolyline?.let {
+            it.points = allPoints
+            it.options.customTextureIndex = texIndexList
             return
         }
         if(textureList.isEmpty()) {
@@ -231,10 +232,8 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
     }
 
     override fun clearPolyline() {
-        if (mPolyline != null) {
-            mPolyline!!.remove()
-            mPolyline = null
-        }
+        mPolyline?.remove()
+        mPolyline = null
     }
 
     override fun setLineMarker() {}
@@ -242,7 +241,7 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
     fun clearCoordinatesLatLng() {
         textureList.clear()
         texIndexList.clear()
-        routeArrivied.clear()
+        routeArrived.clear()
         routeArriving.clear()
         mLineStationLatLng.clear()
         d(M_BUS_P + TAG, " mCoordinatesLatLng.clear ")
@@ -265,14 +264,14 @@ class BusPassengerMapDirectionView @JvmOverloads constructor(
     }
 
     fun setCoordinatesLatLng(
-        routeArrivied: List<LatLng>?,
-        routeArriving: List<LatLng>?,
+        routeArrived: List<LatLng>,
+        routeArriving: List<LatLng>,
         location: MogoLocation?
     ) {
-        this.routeArrivied.clear()
-        this.routeArrivied.addAll(routeArrivied!!)
+        this.routeArrived.clear()
+        this.routeArrived.addAll(routeArrived)
         this.routeArriving.clear()
-        this.routeArriving.addAll(routeArriving!!)
+        this.routeArriving.addAll(routeArriving)
         this.location = location
     }
 

OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java

@@ -240,9 +240,9 @@ public class BusPassengerRouteFragment extends
         }
     }
 
-    public void routeResult(List<LatLng> routeArrivied,List<LatLng> routeArriving,MogoLocation location) {
-        if (routeArrivied.size() > 0||routeArriving.size()>0) {
-            drawablePolyline(routeArrivied,routeArriving,location);
+    public void routeResult(List<LatLng> routeArrived,List<LatLng> routeArriving,MogoLocation location) {
+        if (routeArrived.size() > 0||routeArriving.size()>0) {
+            drawablePolyline(routeArrived,routeArriving,location);
         } else {
             clearMapView();
         }
@@ -250,12 +250,10 @@ public class BusPassengerRouteFragment extends
 
     /**
      * 绘制
-     *
-     * @param coordinates
      */
-    private void drawablePolyline(List<LatLng> routeArrivied,List<LatLng> routeArriving,MogoLocation location) {
+    private void drawablePolyline(List<LatLng> routeArrived,List<LatLng> routeArriving,MogoLocation location) {
         if (mMapDirectionView != null) {
-            mMapDirectionView.setCoordinatesLatLng(routeArrivied,routeArriving,location);
+            mMapDirectionView.setCoordinatesLatLng(routeArrived,routeArriving,location);
             UiThreadHandler.post(() -> mMapDirectionView.drawablePolyline());
         }
     }
@@ -453,8 +451,6 @@ public class BusPassengerRouteFragment extends
     public void AutopilotStatusChanged(int status) {
         if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
             mAutopilotIv.setImageResource(R.drawable.auto_open);
-        } else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status){
-            mAutopilotIv.setImageResource(R.drawable.auto_close);
         } else {
             mAutopilotIv.setImageResource(R.drawable.auto_close);
         }

OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/MapAndLiveVideoView.kt

@@ -1,19 +1,13 @@
 package com.mogo.och.bus.passenger.ui
 
-import android.app.Activity
 import android.content.Context
 import android.util.AttributeSet
 import android.view.View
-import android.view.ViewGroup
-import android.widget.ImageView
-import android.widget.LinearLayout
 import android.widget.RelativeLayout
 import androidx.viewpager.widget.PagerAdapter
 import androidx.viewpager.widget.ViewPager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
-import com.mogo.och.bus.passenger.R
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.och.bus.passenger.ui.MapAndLiveVideoView.Companion.TAG
-import java.lang.Exception
 
 /**
  * @author: wangmingjun
@@ -33,7 +27,7 @@ class MapAndLiveVideoView @JvmOverloads constructor(
     }
 
     init {
-       initView()
+        initView()
     }
 
     private fun initView() {
@@ -46,53 +40,54 @@ class MapAndLiveVideoView @JvmOverloads constructor(
         viewPager?.addOnPageChangeListener(this)
     }
 
-    fun setData(list: MutableList<View>){
+    fun setData(list: MutableList<View>) {
         pagerAdapter?.setData(list)
         pagerAdapter?.notifyDataSetChanged()
     }
 
-    fun setItemChangeListener(listener : ChangeItemListener?){
+    fun setItemChangeListener(listener: ChangeItemListener?) {
         changeItemListener = listener
     }
 
-    fun changeToSecondView(){
-        if (viewPager?.currentItem == 0){
+    fun changeToSecondView() {
+        if (viewPager?.currentItem == 0) {
             startPosition = 0
         }
         viewPager?.currentItem = 1
     }
 
     override fun onPageScrolled(position: Int, positionOffset: Float, positionOffsetPixels: Int) {
-        Logger.d(TAG, "onPageScrolled--position = $position")
+        CallerLogger.d(TAG, "onPageScrolled--position = $position")
     }
 
     override fun onPageSelected(position: Int) {
-        Logger.d(TAG, "onPageSelected--position = $position")
+        CallerLogger.d(TAG, "onPageSelected--position = $position")
     }
+
     var startPosition = 1
     override fun onPageScrollStateChanged(state: Int) {
-        Logger.d(TAG, "onPageScrollStateChanged--state = $state")
+        CallerLogger.d(TAG, "onPageScrollStateChanged--state = $state")
         viewPager?.let {
             val position = it.currentItem
             if (state == 0) { //静止
-                if (startPosition == position){
-                    if (position==0){
+                if (startPosition == position) {
+                    if (position == 0) {
                         it.currentItem = 1
-                    }else{
+                    } else {
                         it.currentItem = 0
                     }
-                }else{
+                } else {
                     changeItemListener?.changeToItem(it.currentItem)
                 }
-            }else if (state == 1){ // 开始滑动
+            } else if (state == 1) { // 开始滑动
                 startPosition = it.currentItem
-            }else{
+            } else {
 
             }
         }
     }
 
-    interface ChangeItemListener{
+    interface ChangeItemListener {
         fun changeToItem(position: Int)
     }
 }
@@ -101,25 +96,25 @@ class AdvancePagerAdapter : PagerAdapter(),
     ViewPager.OnPageChangeListener {
     private var views: List<View>? = null
 
-    fun setData(views: List<View>?){
+    fun setData(views: List<View>?) {
         this.views = views
     }
 
     override fun instantiateItem(container: View, position: Int): Any {
-        Logger.d(TAG, "instantiateItem--position = $position")
+        CallerLogger.d(TAG, "instantiateItem--position = $position")
         return try {
             val currentItem = position % views!!.size
             (container as ViewPager).addView(views!![currentItem])
             views!![currentItem]
-        }catch (e: Exception){
+        } catch (e: Exception) {
             container
         }
     }
 
     override fun getCount(): Int {
-        return if (views == null){
+        return if (views == null) {
             0
-        }else{
+        } else {
             views!!.size
         }
     }
@@ -129,14 +124,14 @@ class AdvancePagerAdapter : PagerAdapter(),
     }
 
     override fun onPageScrolled(position: Int, positionOffset: Float, positionOffsetPixels: Int) {
-//        Logger.d(TAG, "onPageScrolled--position = $position")
+//        CallerLogger.d(TAG, "onPageScrolled--position = $position")
     }
 
     override fun onPageSelected(position: Int) {
-//        Logger.d(TAG, "onPageSelected--position = $position")
+//        CallerLogger.d(TAG, "onPageSelected--position = $position")
     }
 
     override fun onPageScrollStateChanged(state: Int) {
-//        Logger.d(TAG, "onPageScrollStateChanged--state = $state")
+//        CallerLogger.d(TAG, "onPageScrollStateChanged--state = $state")
     }
 }

OCH/bus/passenger/src/jinlvvan/res/layout/bus_p_base_fragment.xml

@@ -8,6 +8,9 @@
         android:id="@+id/mapBizView"
         android:layout_width="1810dp"
         android:layout_height="match_parent"
+        app:styleMode="MAP_STYLE_DAY_VR"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/xiaoba"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent" />

OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterTrajectoryManager.kt

@@ -87,7 +87,17 @@ object CharterTrajectoryManager {
             // 5. 轨迹管理_轨迹下载超时
             d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹下载超时")
             // ToastUtils.showShort("轨迹下载超时");
-        }  else if ("ISSM_FUNC_AUTO_PILOT_READY" == guardianInfo.getCode()) {
+        } else if ("EMAP_ATTITUDE_INIT_FAILED" == guardianInfo.getCode()) {
+            CallerMsgBoxManager.saveMsgBox(
+                MsgBoxBean(
+                    MsgBoxType.OPERATION,
+                    OperationMsg(
+                        System.currentTimeMillis(), "请尽快操作车辆至适当位置掉头！", -1
+                    )
+                )
+            )
+            SoundPoolHelper.getSoundPoolHelper().playSoundWithRedId(ActivityUtils.getTopActivity(), R.raw.startautopilot)
+        }  else if ("EMAP_ATTITUDE_INIT_FAILED" == guardianInfo.getCode()) {
             // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
             d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() ssm ready，再次发起下载")
             syncTrajectoryInfo(get().getBusOrderResult()?.lineId!!,

OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt

@@ -333,6 +333,9 @@ class DriverM1Model {
                     mControllerStatusCallback?.onStartAdasFailure()
                 }
             }
+
+            override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
+            }
         }
 
     //监听网络变化，避免启动机器时无网导致无法更新订单信息

OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt

@@ -22,7 +22,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.initAiCollect
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.initBadCase
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showToolsView
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getMapUIController
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView.ClickListener
@@ -40,7 +39,7 @@ import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.och.common.module.utils.SoundPoolHelper
 import kotlinx.android.synthetic.main.charter_base_fragment.*
 import org.greenrobot.eventbus.EventBus
-import java.util.*
+import kotlin.math.abs
 
 /**
  * @author: wangmingjun
@@ -104,23 +103,20 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
         updateSwitchMapIcon()
         mSwitchMapModeLayout!!.setOnClickListener(object : OnPreventFastClickListener() {
             override fun onClickImpl(v: View) {
-
-                val controller = getMapUIController()
-                if (controller != null) {
-                    //切换地图的远近视图
-                    if (controller.currentMapVisualAngle.isLongSight) {
-                        //Objects.requireNonNull(getMapUIController())
-                        //    ?.setLockMode(true)
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
-                        mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
-                    } else if (controller.currentMapVisualAngle.isMediumSight) {
-                        //Objects.requireNonNull(getMapUIController())
-                        //        ?.setLockMode(false)
-                            controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
-                        mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_long)
-                    } else {
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
-                        mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
+                mapBizView?.let {
+                    it.getUI()?.let { ui ->
+                        if (ui.currentMapVisualAngle.isLongSight) {
+                            ui.setLockMode(true)
+                            ui.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
+                            mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
+                        } else if (ui.currentMapVisualAngle.isMediumSight) {
+                            ui.setLockMode(false)
+                            ui.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
+                            mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_long)
+                        } else {
+                            ui.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
+                            mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
+                        }
                     }
                 }
             }
@@ -166,7 +162,6 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
 
         mSettingBtn = findViewById(R.id.module_mogo_och_setting_layout)
         mSettingBtn!!.setOnClickListener { v: View? ->
-            // TODO: 2021/12/9
             showToolsView()
         }
 
@@ -268,14 +263,15 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
     }
 
     private fun updateSwitchMapIcon() {
-        val controller = getMapUIController()
-        if (controller != null) {
-            if (controller.currentMapVisualAngle.isLongSight) {
-                mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_long)
-            } else if (controller.currentMapVisualAngle.isMediumSight) {
-                mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
-            } else {
-                mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
+        mapBizView?.let {
+            it.getUI()?.let { ui ->
+                if (ui.currentMapVisualAngle.isLongSight) {
+                    mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_long)
+                } else if (ui.currentMapVisualAngle.isMediumSight) {
+                    mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
+                } else {
+                    mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
+                }
             }
         }
     }
@@ -476,7 +472,7 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
      * @param newSpeed
      */
     open fun updateSpeedView(newSpeed: Float) {
-        val speed = (Math.abs(newSpeed) * 3.6f).toInt() // 倒车时工控机反馈定位信息中speed为负值
+        val speed = (abs(newSpeed) * 3.6f).toInt() // 倒车时工控机反馈定位信息中speed为负值
         if (mTrafficDataView != null) {
             mTrafficDataView!!.updateSpeedWithValue(speed)
         }
@@ -484,7 +480,7 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
 
     override fun onDestroy() {
         super.onDestroy()
-        smallMapView!!.onDestroy()
+        smallMapView?.onDestroy()
         mogoMapListenerHandler.unregisterHostMapListener(TAG)
     }
 

OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml

@@ -8,6 +8,8 @@
 
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/m1"
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/MogoOCHBusPassenger.kt

@@ -6,8 +6,6 @@ import androidx.fragment.app.FragmentActivity
 import androidx.fragment.app.FragmentManager
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getMapUIController
-import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager.stepInDayMode
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.charter.passenger.constant.CharterPassengerConst

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/bean/response/OrderInfoResponse.kt

@@ -3,6 +3,7 @@ package com.mogo.och.charter.passenger.bean.response
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.BaseData
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
+import com.mogo.och.common.module.utils.DateTimeUtil
 
 /**
  *
@@ -65,6 +66,20 @@ data class OrderInfoResponse(val data: OrderInfo?) : BaseData() {
                     return null
                 }
             }
+
+        override fun toString(): String {
+            return "OrderInfo(orderNo=$orderNo, sn=$sn, productType=${getProductTypeName()}, lineId=$lineId, lineName=$lineName, startSiteId=$startSiteId, startSiteName=$startSiteName, startSiteNameKr=$startSiteNameKr, siteId=$siteId, siteName=$siteName, siteNameKr=$siteNameKr, wgs84Lat=$wgs84Lat, wgs84Lon=$wgs84Lon, startTime=${DateTimeUtil.formatLongToString(startTime?:System.currentTimeMillis(), DateTimeUtil.MM_dd_HH_mm)}, endTime=${DateTimeUtil.formatLongToString(endTime?:System.currentTimeMillis(), DateTimeUtil.MM_dd_HH_mm)}, passengerPhone=$passengerPhone, arriveStatus=$arriveStatus)"
+        }
+
+        fun getProductTypeName(): String {
+            return when (productType) {
+                M1_LOVE -> "爱情号"
+                M1_FAMILY -> "家庭号"
+                M1_FRIENDLY -> "朋友号"
+                else -> "未知"
+            }
+        }
+
     }
     companion object{
         val ARRIVING = 1

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt

@@ -42,6 +42,7 @@ import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.LEAVE_STATION
 import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.orderlogmanager.OchChainLogManager
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.common.module.utils.PinYinUtil
@@ -52,6 +53,7 @@ import io.reactivex.Observable
 import io.reactivex.disposables.Disposable
 import io.reactivex.schedulers.Schedulers
 import mogo.telematics.pad.MessagePad
+import mogo_msg.MogoReportMsg
 import java.util.*
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.TimeUnit
@@ -196,6 +198,14 @@ object CharterPassengerModel {
                 d(M_BUS_P + TAG, "底盘给到站信息")
                 arriveDest()
             }
+            override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
+                super.onAutopilotGuardian(guardianInfo)
+                guardianInfo?.let {
+                    if (it.code=="IMAP_TRA_LOADED") {
+                        ToastCharterUtils.showToastShort("请等待车辆完成掉头后再出发吧～")
+                    }
+                }
+            }
         }
 
     /**
@@ -393,6 +403,7 @@ object CharterPassengerModel {
                     this.orderInfo = orderData
                     setOrderStatus(OrderStatusEnum.OrdersWithLine)
                     updateAutopilotControlParameters()
+                    OchChainLogManager.writeChainLog(this.orderInfo.toString(),"更改线路成功：${orderData.siteName}")
                 } else {
                     this.orderInfo = orderData
                 }
@@ -727,6 +738,7 @@ object CharterPassengerModel {
     private fun setOrderStatus(orderStatus: OrderStatusEnum) {
         if (this.orderStatus != orderStatus) {
             d(M_BUS_P + TAG, "${this.orderInfo?.orderNo}新的状态：$orderStatus")
+            OchChainLogManager.writeChainLog(this.orderInfo.toString(),"新的状态：$orderStatus")
             this.orderStatus = orderStatus
             for (callback in orderStatusChangeListeners.values) {
                 callback.onStatusChange(this.orderStatus)
@@ -737,6 +749,7 @@ object CharterPassengerModel {
     fun setEndOrderStatus() {
         UiThreadHandler.postDelayed({
             setOrderStatus(OrderStatusEnum.NoOrderUse)
+            OchChainLogManager.writeChainLog(this.orderInfo.toString(),"手动结束订单：$orderStatus")
         }, 1000)
     }
 
@@ -933,6 +946,7 @@ object CharterPassengerModel {
         }
 
         if (order != null && lineId != null && siteId != null) {
+            OchChainLogManager.writeChainLog(this.orderInfo.toString(),"到站成功：${order.siteName}")
             VoiceManager.arrivedStation(
                 order.siteName!!,
                 order.siteNameKr ?: "",

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/presenter/BusPassengerPresenter.kt

@@ -34,7 +34,7 @@ import com.mogo.och.charter.passenger.ui.overmapview.MakerWithSiteNamewithCheck
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.manager.autopilotmanager.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.StopSideStatusManager
-import com.mogo.och.common.module.manager.devicemanage.LightAirconditionDoorCallback
+import com.mogo.och.common.module.manager.devicemanage.callback.LightAirconditionDoorCallback
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.common.module.wigets.toast.ToastCharterUtils
@@ -79,19 +79,19 @@ class BusPassengerPresenter(view: MainFragment?) :
     override fun setCarChangeListener(productType: Int?) {
         when (productType) {
             OrderInfoResponse.M1_LOVE -> {
-                mView?.setCarModle(R.raw.aiqinghao)
+                mView?.setCarModel(R.raw.aiqinghao)
             }
 
             OrderInfoResponse.M1_FAMILY -> {
-                mView?.setCarModle(R.raw.jiatinghao)
+                mView?.setCarModel(R.raw.jiatinghao)
             }
 
             OrderInfoResponse.M1_FRIENDLY -> {
-                mView?.setCarModle(R.raw.pengyouhao)
+                mView?.setCarModel(R.raw.pengyouhao)
             }
 
             else -> {
-                mView?.setCarModle(R.raw.m1)
+                mView?.setCarModel(R.raw.m1)
             }
         }
     }

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/MainFragment.kt

@@ -198,7 +198,7 @@ class MainFragment : MvpFragment<MainFragment?, BusPassengerPresenter?>(), IMogo
         }
     }
 
-    fun setCarModle(rawInfo: Int) {
+    fun setCarModel(rawInfo: Int) {
         getMapUIController()?.changeCurrentIcon(rawInfo)
         HdMapBuildConfig.currentCarVrIconRes = rawInfo
     }

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/itinerary/ItineraryView.kt

@@ -13,6 +13,9 @@ import kotlinx.android.synthetic.main.m1_itinerary_info.view.tv_distance_surplus
 import kotlinx.android.synthetic.main.m1_itinerary_info.view.tv_distance_unit
 import kotlinx.android.synthetic.main.m1_itinerary_info.view.tv_speed
 
+/**
+ * 速度、剩余时间、剩余距离和到达时间
+ */
 class ItineraryView : ConstraintLayout, ItineraryViewModel.ItineraryViewCallback {
 
     private val TAG = "ItineraryView"

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/orderinfo/OrderInfoView.kt

@@ -19,6 +19,9 @@ import kotlinx.android.synthetic.main.m1_devices_fragment.view.actv_order_times
 import kotlinx.android.synthetic.main.m1_devices_fragment.view.cl_order_info
 import kotlinx.android.synthetic.main.m1_devices_fragment.view.cl_order_info_endorder_comfit
 
+/**
+ * 剩余时间和结束订单入口
+ */
 class OrderInfoView : ConstraintLayout, OrderInfoViewModel.ItineraryViewCallback {
 
     private val TAG = "OrderInfoView"

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/selectline/SelectLineView.kt

@@ -41,10 +41,11 @@ import kotlinx.android.synthetic.main.m1_order_loading.view.iv_loading_wait_ent
 import me.jessyan.autosize.utils.AutoSizeUtils
 import org.greenrobot.eventbus.EventBus
 
+/**
+ * 选择线路
+ */
 class SelectLineView : ConstraintLayout, SelectLineViewModel.SelectLineViewCallback {
 
-    private val TAG = "OrderInfoView"
-
     constructor(context: Context) : super(context)
 
     constructor(context: Context, attributeSet: AttributeSet) : super(context, attributeSet)
@@ -98,7 +99,7 @@ class SelectLineView : ConstraintLayout, SelectLineViewModel.SelectLineViewCallb
         rlv_line_list.layoutManager =
             LinearLayoutManager(context, LinearLayoutManager.VERTICAL, false)
         rlv_line_list.addItemDecoration(
-            com.mogo.och.charter.passenger.ui.selectline.layoutmanage.BottomDecoration(
+            BottomDecoration(
                 AutoSizeUtils.dp2px(context, 60f)
             )
         )
@@ -107,7 +108,7 @@ class SelectLineView : ConstraintLayout, SelectLineViewModel.SelectLineViewCallb
         rv_site_list.layoutManager =
             LinearLayoutManager(context, LinearLayoutManager.VERTICAL, false)
         rv_site_list.addItemDecoration(
-            com.mogo.och.charter.passenger.ui.selectline.layoutmanage.BottomDecoration(
+            BottomDecoration(
                 AutoSizeUtils.dp2px(context, 90f)
             )
         )

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/softcontrol/SoftControlView.kt

@@ -72,6 +72,9 @@ import kotlinx.android.synthetic.main.m1_soft_fragment.view.tv_temperature_title
 import me.jessyan.autosize.utils.AutoSizeUtils
 import java.util.concurrent.TimeUnit
 
+/**
+ * 空调、暖风机、声音控制
+ */
 class SoftControlView : ConstraintLayout, SoftControlViewModel.SoftControlCallback {
 
     private val TAG = "OrderInfoView"

OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/ui/softcontrol/SoftControlViewModel.kt

@@ -6,7 +6,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS_P
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.wigets.toast.ToastCharterUtils
-import com.mogo.och.common.module.manager.devicemanage.LightAirconditionDoorCallback
+import com.mogo.och.common.module.manager.devicemanage.callback.LightAirconditionDoorCallback
 import com.mogo.och.common.module.manager.devicemanage.LightAirconditionDoorStatusManager
 import com.mogo.och.common.module.manager.devicemanage.data.AirconditionStatus
 import com.mogo.och.common.module.manager.devicemanage.data.HeaterStatue
@@ -138,7 +138,7 @@ class SoftControlViewModel : ViewModel(), LightAirconditionDoorCallback {
      */
     fun openAndSetAircondition(modeCmd: Int, windSpeedCmd: Int, temperatureCmd: Int) {
         CallerLogger.d(
-            M_BUS_P + TAG, "" + "打开空调，模式$modeCmd--档位${windSpeedCmd}--温度:$temperatureCmd"
+            M_BUS_P + TAG, "打开空调，模式$modeCmd--档位${windSpeedCmd}--温度:$temperatureCmd"
         )
         CallerAutoPilotControlManager.sendRoboBusJinlvM1AirConditionerCmd(
             1, modeCmd, windSpeedCmd, temperatureCmd

OCH/charter/passenger/src/main/res/layout/m1_main_fragment.xml

@@ -7,12 +7,14 @@
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
         android:layout_width="0dp"
+        app:layout_constraintWidth_percent="0.662"
+        app:styleMode="MAP_STYLE_DAY_VR"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/m1"
         android:layout_height="match_parent"
-        app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintWidth_percent="0.662" />
-
+        app:layout_constraintBottom_toBottomOf="parent"/>
     <com.mogo.eagle.core.function.view.OverMapView
         android:id="@+id/omvOverMap"
         android:layout_width="0dp"
@@ -90,12 +92,14 @@
         app:layout_constraintEnd_toEndOf="@+id/viewBusPM1MsgBoxButton"
         app:layout_constraintTop_toBottomOf="@+id/viewBusPM1MsgBoxButton" />
 
+    <!--速度、剩余时间、剩余距离和到达时间-->
     <com.mogo.och.charter.passenger.ui.itinerary.ItineraryView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--剩余时间和结束订单入口-->
     <com.mogo.och.charter.passenger.ui.orderinfo.OrderInfoView
         android:id="@+id/biz_orderinfo"
         android:layout_width="match_parent"
@@ -105,12 +109,14 @@
         app:layout_constraintBottom_toTopOf="@+id/bb_boorombar"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--空调、暖风机、声音控制-->
     <com.mogo.och.charter.passenger.ui.softcontrol.SoftControlView
         android:id="@+id/biz_softcontrol"
         android:layout_width="match_parent"
         android:layout_height="match_parent"
         android:visibility="gone" />
 
+    <!--选择线路-->
     <com.mogo.och.charter.passenger.ui.selectline.SelectLineView
         android:id="@+id/biz_selectline"
         android:layout_width="0dp"
@@ -122,13 +128,14 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--视频播放-->
     <com.mogo.och.charter.passenger.ui.video.VideoView
         android:id="@+id/biz_video"
         android:layout_width="match_parent"
         android:layout_height="match_parent"
         android:visibility="gone" />
 
-
+    <!--底部导航栏-->
     <com.mogo.och.charter.passenger.ui.bottom.BottomBar
         android:id="@+id/bb_boorombar"
         android:layout_width="match_parent"
@@ -137,6 +144,7 @@
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <!--调试面板-->
     <com.mogo.och.charter.passenger.ui.debugview.DebugView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
@@ -145,6 +153,7 @@
         app:layout_constraintEnd_toEndOf="@+id/mapBizView"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--锁定状态和解锁入口-->
     <com.mogo.och.charter.passenger.ui.lockview.UnlockView
         android:id="@+id/uv_only_unlock"
         android:visibility="gone"
@@ -156,6 +165,7 @@
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 
+    <!--锁定和解锁入口-->
     <com.mogo.och.charter.passenger.ui.lockview.LockAndUnlockView
         android:layout_width="@dimen/dp_138"
         android:layout_height="@dimen/dp_138"

OCH/mogo-och-common-module/build.gradle

@@ -62,13 +62,11 @@ dependencies {
     api project(":OCH:mogo-och-data")
 
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        api rootProject.ext.dependencies.mogoutils
         api rootProject.ext.dependencies.mogocommons
         api rootProject.ext.dependencies.mogo_core_function_call
         api rootProject.ext.dependencies.mogo_core_function_hmi
         api rootProject.ext.dependencies.mogo_core_function_map
     }else {
-        api project(":core:mogo-core-utils")
         api project(":foudations:mogo-commons")
         api project(':core:mogo-core-function-call')
         api project(':core:function-impl:mogo-core-function-hmi')

OCH/mogo-och-common-module/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt

@@ -18,6 +18,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.och.common.module.debug.location.MogoLocationExit
+import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -35,11 +36,13 @@ object DebugDataDispatch {
     const val locationMock = "location"
     const val carDoorMock = "carDoor"
     const val carNeedTurnAround = "trunAroud"
+    const val trajectoryStation = "trajectoryStation"
 
-//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "sy73_log.json"
+//    aadb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "1111/11111"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "globalPath" --es path "sy73.json"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "carDoor" --ei doorPostion 1 --ei doorStatus 1
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "trunAroud" --es code "IMAP_TRA_LOADED"
+//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "trajectoryStation" --ef startLon 116.74053643938474  --ef startLat 40.200487993233246  --ef endLon 116.73876977409685  --ef endLat 40.20179054129441  --el lineID 8
 
 
     val ROOT_PATH =
@@ -83,10 +86,31 @@ object DebugDataDispatch {
                 newBuilder.level = ""
                 CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian(newBuilder.build())
             }
+            trajectoryStation -> {
+                val startLon = intent.getFloatExtra("startLon", -1.0f)
+                val startLat = intent.getFloatExtra("startLat", -1.0f)
+                val endLon = intent.getFloatExtra("endLon", -1.0f)
+                val endLat = intent.getFloatExtra("endLat", -1.0f)
+                val lineID = intent.getLongExtra("lineID", -1)
+                setStation(startLon.toDouble(),startLat.toDouble(),endLon.toDouble(),endLat.toDouble(),lineID)
+            }
             else -> {}
         }
     }
 
+    fun setStation(startLon:Double,startLat:Double,endLon:Double,endLat:Double,lineID:Long){
+        if(startLon<0||startLat<0||endLon<0||endLat<0||lineID<0){
+            TrajectoryAndDistanceManager.setStationPoint(null,null,-1)
+        }
+        val startLocation = MogoLocation()
+        startLocation.longitude = startLon
+        startLocation.latitude = startLat
+        val endLocation = MogoLocation()
+        endLocation.longitude = endLon
+        endLocation.latitude = endLat
+        TrajectoryAndDistanceManager.setStationPoint(startLocation,endLocation,lineID)
+    }
+
     fun getLocaitonByLog(path:String) {
         ThreadUtils.getIoPool().execute {
             try {

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt

@@ -6,4 +6,7 @@ package com.mogo.och.common.module.callback
  */
 interface OchAdasStartFailureCallback {
     fun onStartAutopilotFailure(startFailedCode : String, startFailedMessage : String)
+
+    fun brakeStatusChanged(isBrakeAvailable: Boolean)
+
 }

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java

@@ -6,12 +6,15 @@ import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.eagle.core.utilcode.util.ParseVersionUtils;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
-import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
 
 import java.util.ArrayList;
 
@@ -25,7 +28,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
     private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
 
     private boolean isAutopilotAbility;
-    private ArrayList<UnableAutopilotReason> unableAutopilotReasons;
+    private ArrayList<UnableLaunchReason> unableAutopilotReasons;
     private String startFailedCode = "";
     private String startFailedMessage = "";
 
@@ -90,15 +93,25 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
     private void releaseListeners() {
         CallerAutopilotActionsListenerManager.INSTANCE.removeListener(this);
         CallerAutopilotStatisticsListenerManager.INSTANCE.removeListener(this);
+        CallerParallelDrivingActionsListenerManager.INSTANCE.removeListener(TAG);
     }
 
     @Override
-    public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableAutopilotReason> unableAutopilotReasons) {
+    public void onAutopilotAbility(boolean isAutopilotAbility, @Nullable ArrayList<UnableLaunchReason> unableAutopilotReasons) {
         this.isAutopilotAbility = isAutopilotAbility;
         this.unableAutopilotReasons = unableAutopilotReasons;
         Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString()));
-    }
+        if (unableAutopilotReasons != null && getMapVersion() < 30600) {
+            //刹车变化回调
+            Logger.d(TAG,"onAutopilotAbility = " + isAutopilotAbility +
+                    " onAutopilotAbility =" +  unableAutopilotReasons.toString());
+            if (unableAutopilotReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
+                    && unableAutopilotReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
+                failureCallback.brakeStatusChanged(isAutopilotAbility);
+            }
 
+        }
+    }
     @Override
     public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) {
         if (statistics == null) return;
@@ -112,6 +125,9 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         }
     }
 
+    private int getMapVersion(){
+        return ParseVersionUtils.parseVersion(true, CallerAutoPilotStatusListenerManager.INSTANCE.getDockerVersion());
+    }
     public void release() {
         releaseListeners();
     }

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/LightAirconditionDoorStatusManager.kt

@@ -3,6 +3,7 @@ package com.mogo.och.common.module.manager.devicemanage
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StatesListenerManager
+import com.mogo.och.common.module.manager.devicemanage.callback.LightAirconditionDoorCallback
 import com.mogo.och.common.module.manager.devicemanage.data.AirconditionStatus
 import com.mogo.och.common.module.manager.devicemanage.data.DoorStatus
 import com.mogo.och.common.module.manager.devicemanage.data.HeaterStatue

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/TaxiDoorStateManager.kt

@@ -0,0 +1,129 @@
+package com.mogo.och.common.module.manager.devicemanage
+
+import chassis.Chassis
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisDoorStateListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
+import com.mogo.eagle.core.function.call.base.CallerBase
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.och.common.module.manager.devicemanage.callback.DoorStateCallback
+import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
+import com.mogo.och.common.module.manager.devicemanage.data.DoorState
+
+object TaxiDoorStateManager : IMoGoChassisDoorStateListener,
+    CallerBase<DoorStateCallback>() {
+    private val TAG = TaxiDoorStateManager::class.java.simpleName
+
+    @Volatile
+    private var haveOpenDoor: Boolean? = null
+
+    init {
+        CallerChassisDoorStateListenerManager.addListener(TAG, this)
+    }
+
+    override fun doSomeAfterAddListener(tag: String, listener: DoorStateCallback) {
+        val doorList = CallerChassisDoorStateListenerManager.getDoorList()
+        if(doorList is MutableList<VehicleStateOuterClass.DoorStateV2>){
+            doSomeAfterAddListenerInner(doorList)
+            doorList.forEach {
+                onAutopilotSingleDoorState(it.number,it.status)
+            }
+        }else{
+            doSomeAfterAddListenerInner(mutableListOf())
+        }
+    }
+
+    private fun doSomeAfterAddListenerInner(doorList: MutableList<VehicleStateOuterClass.DoorStateV2>){
+        var have = false
+        doorList.forEach {
+            if (it.status == 1) {//0关闭  1开着  2未知
+                have = true
+            }
+        }
+        haveOpenDoor = have
+        invokeOpenState(have)
+    }
+
+    /**
+     * 主要用来判断是否有门开着
+     */
+    override fun onAutopilotDoorState(doorList: MutableList<VehicleStateOuterClass.DoorStateV2>) {
+        var have = false
+        doorList.forEach {
+            if (it.status == 1) {//0关闭  1开着  2未知
+                have = true
+            }
+        }
+        if (have != haveOpenDoor) {
+            haveOpenDoor = have
+            invokeOpenState(have)
+        }
+    }
+
+    /**
+     * 判断单个车门是否开着
+     */
+    override fun onAutopilotSingleDoorState(num: Chassis.DoorNumber, status: Int) {
+        CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "门太变化：${num}--${status}")
+        when (status) {
+            0 -> { exchangeEnum(num, DoorState.CLOSE)}
+            1 -> {exchangeEnum(num, DoorState.OPEN)}
+            2 -> {exchangeEnum(num, DoorState.UNKNOWN)}
+            else -> {}
+        }
+
+    }
+
+    private fun exchangeEnum(num: Chassis.DoorNumber, state: DoorState) {
+        when (num) {
+            Chassis.DoorNumber.FRONT_LEFT -> {
+                invokeSingleDoorOpenState(DoorPosition.FRONT_LEFT, state)
+            }
+
+            Chassis.DoorNumber.FRONT_RIGHT -> {
+                invokeSingleDoorOpenState(DoorPosition.FRONT_RIGHT, state)
+            }
+
+            Chassis.DoorNumber.REAR_LEFT -> {
+                invokeSingleDoorOpenState(DoorPosition.REAR_LEFT, state)
+            }
+
+            Chassis.DoorNumber.REAR_RIGHT -> {
+                invokeSingleDoorOpenState(DoorPosition.REAR_RIGHT, state)
+            }
+
+            Chassis.DoorNumber.MIDDLE -> {
+                invokeSingleDoorOpenState(DoorPosition.MIDDLE, state)
+            }
+
+            else -> {}
+        }
+    }
+
+    /**
+     * @param have true  有车门开着
+     *             false 没有车门开着(可能开着可能未知)
+     */
+    @Synchronized
+    private fun invokeOpenState(have: Boolean) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.hasOpenDoor(have)
+        }
+    }
+
+    /**
+     * @param doorPosition  车门位置
+     * @param doorState     车门状态
+     */
+    @Synchronized
+    private fun invokeSingleDoorOpenState(doorPosition: DoorPosition,doorState: DoorState) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.doorStateChangeCallback(doorPosition,doorState)
+        }
+    }
+
+
+}

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/callback/DoorStateCallback.kt

@@ -0,0 +1,19 @@
+package com.mogo.och.common.module.manager.devicemanage.callback
+
+import com.mogo.och.common.module.manager.devicemanage.data.DoorPosition
+import com.mogo.och.common.module.manager.devicemanage.data.DoorState
+
+interface DoorStateCallback {
+
+    /**
+     * @param have true   有车门开着
+     *             false  没有车门开着(可能开着可能未知)
+     */
+    fun hasOpenDoor(have:Boolean){}
+
+    /**
+     * @param position 车门位置
+     * @param state 当前车门状态
+     */
+    fun doorStateChangeCallback(position: DoorPosition,state: DoorState){}
+}

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/callback/LightAirconditionDoorCallback.kt

@@ -1,4 +1,4 @@
-package com.mogo.och.common.module.manager.devicemanage
+package com.mogo.och.common.module.manager.devicemanage.callback
 
 import com.mogo.och.common.module.manager.devicemanage.data.AirconditionStatus
 import com.mogo.och.common.module.manager.devicemanage.data.HeaterStatue

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/devicemanage/data/DoorStatus.kt

@@ -1,3 +1,12 @@
 package com.mogo.och.common.module.manager.devicemanage.data
 
-data class DoorStatus(var isOpen: Boolean)
+data class DoorStatus(var isOpen: Boolean)
+
+
+enum class DoorPosition {
+    FRONT_LEFT, FRONT_RIGHT, REAR_LEFT, REAR_RIGHT, MIDDLE
+}
+
+enum class DoorState {
+    OPEN,CLOSE,UNKNOWN
+}

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/TrajectoryAndDistanceManager.kt

@@ -98,6 +98,8 @@ object  TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
                         d(M_OCHCOMMON + TAG, "重复轨迹")
                         startCalculateDistanceLoop()
                         return
+                    }else{
+                        resetStation()
                     }
                     this.lineId = globalPathResp.lineId
                 }
@@ -270,7 +272,7 @@ object  TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
         ) {
             //要前往的站在轨迹中对应的点的信息
             val startStationInfo = CoordinateCalculateRouteUtil.getNearestPointInfo(
-                preCarLocationIndexInTrajectory, mRoutePoints!!.size,mRoutePoints!!, startStationInfo.stationPoint!!,1
+                preCarLocationIndexInTrajectory, mRoutePoints!!.size,mRoutePoints!!, startStationInfo.stationPoint!!,1, useHeading = false
             )
             this.startStationInfo.isNext = startStationInfo.second
             this.startStationInfo.index = startStationInfo.first
@@ -288,7 +290,7 @@ object  TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
         ) {
             //要前往的站在轨迹中对应的点
             val endStationInfo = CoordinateCalculateRouteUtil.getNearestPointInfo(
-                preCarLocationIndexInTrajectory,mRoutePoints!!.size, mRoutePoints!!, endStationInfo.stationPoint!!,3
+                preCarLocationIndexInTrajectory,mRoutePoints!!.size, mRoutePoints!!, endStationInfo.stationPoint!!,3, useHeading = false
             )
             this.endStationInfo.isNext = endStationInfo.second
             this.endStationInfo.index = endStationInfo.first
@@ -324,7 +326,7 @@ object  TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
                 preCarLocationIndexInTrajectory,endStationInfo.index!!+1, mRoutePoints!!, location,2
             )
         }
-        val calculateData = "距离结束站点最近的点:${carLocationInfo.first} 点在站的后面:${carLocationInfo.second} 距离点的距离：${carLocationInfo.third}"
+        val calculateData = "距离轨迹点最近的点:${carLocationInfo.first} 点在站的后面:${carLocationInfo.second} 距离点的距离：${carLocationInfo.third}"
         writeLog(calculateData, locationInfo)
         if(carLocationInfo.second==null||carLocationInfo.third>1_000){
             preCarLocationIndexInTrajectory = 0
@@ -549,13 +551,13 @@ object  TrajectoryAndDistanceManager: IMoGoPlanningRottingListener{
         }
     }
 
-    @ChainLog(
-        linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
-        linkCode = ChainConstant.CHAIN_SOURCE_OCH,
-        nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
-        paramIndexes = [0,1]
-    )
-    fun writeLog(carLocationInfo: String, location: String) {
+//    @ChainLog(
+//        linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
+//        linkCode = ChainConstant.CHAIN_SOURCE_OCH,
+//        nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
+//        paramIndexes = [0,1]
+//    )
+    private fun writeLog(carLocationInfo: String, location: String) {
         d(M_OCHCOMMON+ TAG,carLocationInfo)
         d(M_OCHCOMMON+ TAG,location)
     }

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OchChainLogManager.kt

@@ -0,0 +1,46 @@
+package com.mogo.och.common.module.manager.orderlogmanager
+
+import android.text.TextUtils
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.debug.DebugConfig
+import com.mogo.commons.utils.MogoAnalyticUtils
+import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.DateTimeUtils
+import com.zhjt.service.chain.ChainLog
+
+object OchChainLogManager {
+
+    private val TAG = OchChainLogManager::class.java.simpleName
+
+    const val EVENT_KEY_INFE_WITH_CHANGE = "event_key_och_common_info_and_changeinfo"
+
+    /**
+     * @param Info 订单详细信息
+     * @param changeInfo  变化信息
+     */
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
+        linkCode = ChainConstant.CHAIN_SOURCE_OCH,
+        nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
+        paramIndexes = [0,1]
+    )
+    fun writeChainLog(Info: String, changeInfo: String,upload:Boolean = true) {
+        d(SceneConstant.M_OCHCOMMON + TAG, Info)
+        d(SceneConstant.M_OCHCOMMON + TAG, changeInfo)
+        if(upload) {
+            val plateNum = AppConfigInfo.plateNumber
+            val params = HashMap<String, Any>()
+            params["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+            params["env"] = DebugConfig.getNetMode()
+            params["plate_number"] = if (TextUtils.isEmpty(plateNum)) "" else plateNum
+            params["time"] = DateTimeUtils.getTimeText(DateTimeUtils.yyyy_MM_dd_HH_mm_ss)
+            params["info"] = Info
+            params["changeInfo"] = changeInfo
+            MogoAnalyticUtils.track(EVENT_KEY_INFE_WITH_CHANGE, params)
+        }
+    }
+
+}

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/orderlogmanager/OrderChainLogManager.kt

@@ -0,0 +1,27 @@
+package com.mogo.och.common.module.manager.orderlogmanager
+
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.zhjt.service.chain.ChainLog
+
+object OrderChainLogManager {
+
+    private val TAG = OrderChainLogManager::class.java.simpleName
+
+    /**
+     * @param orderInfo 订单详细信息
+     * @param changeInfo  变化信息
+     */
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_TYPE_OCH,
+        linkCode = ChainConstant.CHAIN_SOURCE_OCH,
+        nodeAliasCode = ChainConstant.CHAIN_CODE_OCH_COMMON_DISTANCE,
+        paramIndexes = [0,1]
+    )
+    fun writeChainLog(orderInfo: String, changeInfo: String) {
+        d(SceneConstant.M_OCHCOMMON + TAG, orderInfo)
+        d(SceneConstant.M_OCHCOMMON + TAG, changeInfo)
+    }
+
+}

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/map/AmapNaviToDestinationModel.java

@@ -22,8 +22,10 @@ import com.amap.api.navi.model.AimLessModeCongestionInfo;
 import com.amap.api.navi.model.AimLessModeStat;
 import com.amap.api.navi.model.NaviInfo;
 import com.amap.api.navi.model.NaviLatLng;
+import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
+import com.mogo.och.common.module.utils.DateTimeUtil;
 import com.mogo.och.common.module.utils.PermissionUtil;
 import com.mogo.och.common.module.wigets.toast.ToastCharterUtils;
 
@@ -39,7 +41,6 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
 
     public static final String TAG = "NaviToDestinationModel";
 
-    private static Context mContext;
     private AMapNavi mAMapNavi = null;
     protected final List<NaviLatLng> sList = new ArrayList<NaviLatLng>();
     protected final List<NaviLatLng> eList = new ArrayList<NaviLatLng>();
@@ -49,7 +50,6 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
     private boolean isPlay;
 
     public static AmapNaviToDestinationModel getInstance(Context context) {
-        mContext = context;
         return SingletonHolder.INSTANCE;
     }
 
@@ -62,7 +62,8 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
 
     public void initAMapNavi(NaviLatLng startLatLng, NaviLatLng endLatLng) {
         try {
-            mAMapNavi = AMapNavi.getInstance(mContext);
+            CallerLogger.i( TAG, "initAMapNavi()");
+            mAMapNavi = AMapNavi.getInstance(AbsMogoApplication.getApp());
             mAMapNavi.addAMapNaviListener(this);
             mAMapNavi.setUseInnerVoice(true, true);
             sList.add(startLatLng);
@@ -88,6 +89,7 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
 
     public void destroyAmaNavi() {
         if (mAMapNavi != null) {
+            CallerLogger.i( TAG, "destroyAmaNavi()");
             isPlay = false;
             sList.clear();
             eList.clear();
@@ -104,7 +106,7 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
 
     @Override
     public void onInitNaviFailure() {
-        Toast.makeText(mContext, "init navi Failed", Toast.LENGTH_SHORT).show();
+        Toast.makeText(AbsMogoApplication.getApp(), "init navi Failed", Toast.LENGTH_SHORT).show();
     }
 
     @Override
@@ -141,8 +143,8 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
     @Override
     public void onNaviInfoUpdate(NaviInfo naviinfo) {
         //导航过程中的信息更新，请看NaviInfo的具体说明
+        CallerLogger.i( TAG, "距离=" + naviinfo.getPathRetainDistance() + ", 剩余时间 " + naviinfo.getPathRetainTime());
         if (null != mNaviChangedCallback) {
-            CallerLogger.i(M_TAXI + TAG, "距离=" + naviinfo.getPathRetainDistance() + ", 剩余时间 " + naviinfo.getPathRetainTime());
             mNaviChangedCallback.onCurrentNaviDistAndTimeChanged(naviinfo.getPathRetainDistance(), naviinfo.getPathRetainTime());// 米、秒
         }
     }
@@ -162,14 +164,14 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
                 mNaviChangedCallback.reInitNaviAmap(isPlay, true);
             }
         }
-        if (!NetworkUtils.isConnected(mContext) || result.getErrorCode() == 2) {
+        if (!NetworkUtils.isConnected(AbsMogoApplication.getApp()) || result.getErrorCode() == 2) {
             ToastCharterUtils.showToastShort("网络异常，请重试");
             if (mNaviChangedCallback != null) {
                 mNaviChangedCallback.reInitNaviAmap(isPlay, false);
             }
             return;
         }
-        if (!PermissionUtil.isLocServiceEnable(mContext) || !PermissionUtil.checkPermission(mContext, new String[]{Manifest.permission.ACCESS_FINE_LOCATION})) {
+        if (!PermissionUtil.isLocServiceEnable(AbsMogoApplication.getApp()) || !PermissionUtil.checkPermission(AbsMogoApplication.getApp(), new String[]{Manifest.permission.ACCESS_FINE_LOCATION})) {
             ToastCharterUtils.showToastShort("请开启车机定位后重试");
             if (mNaviChangedCallback != null) {
                 mNaviChangedCallback.reInitNaviAmap(isPlay, false);
@@ -194,6 +196,11 @@ public class AmapNaviToDestinationModel implements AMapNaviListener {
     @Override
     public void onLocationChange(AMapNaviLocation location) {
         //当前位置回调
+//        CallerLogger.i( TAG, "AMapNaviLocation = NaviLatLng = "+
+//                location.getCoord().getLatitude()+ ", "+ location.getCoord().getLongitude()
+//        + ", bearing = " +location.getBearing()
+//                +", time = " + DateTimeUtil.formatLongToString(location.getTime(),DateTimeUtil.HH_mm)
+//        + ", locationType = "+ location.getLocationType());
     }
 
     @Override

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/map/CommonAmapNaviVIew.kt

@@ -162,10 +162,6 @@ class CommonAmapNaviVIew @JvmOverloads constructor(
 
     override fun onNaviViewLoaded() {
         d(SceneConstant.M_TAXI + TAG, "导航页面加载成功")
-        d(
-            SceneConstant.M_TAXI + TAG,
-            "请不要使用AMapNaviView.getMap().setOnMapLoadedListener();会overwrite导航SDK内部画线逻辑"
-        )
     }
 
     override fun onMapTypeChanged(p0: Int) {
@@ -191,58 +187,4 @@ class CommonAmapNaviVIew @JvmOverloads constructor(
     fun onDestroy(){
         amapNaviView.onDestroy()
     }
-
-//    var array = arrayOf(
-//        "直行车道",
-//        "左转车道",
-//        "左转或直行车道",
-//        "右转车道",
-//        "右转或直行车道",
-//        "左掉头车道",
-//        "左转或者右转车道",
-//        " 左转或右转或直行车道",
-//        "右转掉头车道",
-//        "直行或左转掉头车道",
-//        "直行或右转掉头车道",
-//        "左转或左掉头车道",
-//        "右转或右掉头车道",
-//        "直行并且车道扩展",
-//        "左转+左掉头+扩展",
-//        "不可以选择该车道",
-//        "直行+左转+左掉头车道",
-//        "右转+左掉头",
-//        "左转+右转+左掉头",
-//        "直行+右转+左掉头",
-//        "左转+右掉头",
-//        "公交车道",
-//        "空车道",
-//        "可变车道"
-//    )
-
-//    var actions = arrayOf(
-//        "直行",
-//        "左转",
-//        "左转或直行",
-//        "右转",
-//        "右转或这行",
-//        "左掉头",
-//        "左转或者右转",
-//        " 左转或右转或直行",
-//        "右转掉头",
-//        "直行或左转掉头",
-//        "直行或右转掉头",
-//        "左转或左掉头",
-//        "右转或右掉头",
-//        "直行并且车道扩展",
-//        "左转+左掉头+扩展",
-//        "不可以选择",
-//        "直行+左转+左掉头",
-//        "右转+左掉头",
-//        "左转+右转+左掉头",
-//        "直行+右转+左掉头",
-//        "左转+右掉头",
-//        "公交车道",
-//        "空车道",
-//        "可变车道"
-//    )
 }

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.kt

@@ -737,7 +737,7 @@ object CoordinateCalculateRouteUtil {
         }
 
         //  最近点中包含上次计算的点和上次计算的最近的一个点
-        if(distanceMap.containsValue(preIndex)&&distanceMap.containsValue(preIndex+1)){
+        if(distanceMap.containsValue(preIndex)&&distanceMap.containsValue(preIndex+1)&&type==1){
             var preIndexDistance:DistanceDegree?=null
             var preIndexNextDistance:DistanceDegree?=null
             distanceMap.iterator().forEach { en ->
@@ -771,7 +771,7 @@ object CoordinateCalculateRouteUtil {
                     distanceMap.clear()
                     Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
                         "计算时间:${startTime-System.currentTimeMillis()}")
-                    return  Triple(currentIndex,preIndexNextDistance?.isNext,preIndexNextDistance!!.distance)
+                    return Triple(currentIndex,preIndexNextDistance?.isNext,preIndexNextDistance!!.distance)
                 }
             }
         }
@@ -823,7 +823,7 @@ object CoordinateCalculateRouteUtil {
             val key = en.key
             val value = en.value
             // 排除没有第一个值0是
-            if(value==preIndex+1&&preIndex!=0){
+            if(value==preIndex+1&&preIndex!=0&&type==1){
                 currentIndex = value
                 val iterator1 = distanceMap.iterator()
                 while (iterator1.hasNext()) {

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/DateTimeUtil.java

@@ -35,11 +35,7 @@ public class DateTimeUtil {
     public static boolean compareDateIsCurrentDay(Calendar targetCalendar){
         Calendar currentCale = DateTimeUtils.getCurrentDateTime();
         String currentDay = formatCalendarToString(currentCale, yyyy_MM_dd);
-        if (currentDay.equals(formatCalendarToString(targetCalendar, yyyy_MM_dd))){
-            return true;
-        }else {
-            return false;
-        }
+        return currentDay.equals(formatCalendarToString(targetCalendar, yyyy_MM_dd));
     }
 
     public static Calendar formatLongToCalendar(long time){

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FlowBus.kt

@@ -0,0 +1,98 @@
+package com.mogo.och.common.module.utils
+
+/**
+ * @author aibingbing
+ * @date: 2023/9/13
+ * @desc Flow Bus
+ */
+import android.util.Log
+import androidx.lifecycle.*
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.channels.BufferOverflow
+import kotlinx.coroutines.flow.*
+import kotlinx.coroutines.launch
+
+/**
+ * FlowBus消息总线
+ */
+object FlowBus {
+    private const val TAG = "FlowBus"
+    private val busMap = mutableMapOf<String, EventBus<*>>()
+    private val busStickMap = mutableMapOf<String, StickEventBus<*>>()
+
+    @Synchronized
+    fun <T> with(key: String): EventBus<T> {
+        var eventBus = busMap[key]
+        if (eventBus == null) {
+            eventBus = EventBus<T>(key)
+            busMap[key] = eventBus
+        }
+        return eventBus as EventBus<T>
+    }
+
+    @Synchronized
+    fun <T> withStick(key: String): StickEventBus<T> {
+        var eventBus = busStickMap[key]
+        if (eventBus == null) {
+            eventBus = StickEventBus<T>(key)
+            busStickMap[key] = eventBus
+        }
+        return eventBus as StickEventBus<T>
+    }
+
+    //真正实现类
+    open class EventBus<T>(private val key: String) : LifecycleObserver {
+
+        //私有对象用于发送消息
+        private val _events: MutableSharedFlow<T> by lazy {
+            obtainEvent()
+        }
+
+        //暴露的公有对象用于接收消息
+        private val events = _events.asSharedFlow()
+
+        open fun obtainEvent(): MutableSharedFlow<T> =
+            MutableSharedFlow(0, 1, BufferOverflow.DROP_OLDEST)
+
+        //主线程接收数据
+        fun register(lifecycleOwner: LifecycleOwner, action: (t: T) -> Unit) {
+            lifecycleOwner.lifecycle.addObserver(this)
+            lifecycleOwner.lifecycleScope.launch {
+                events.collect {
+                    try {
+                        action(it)
+                    } catch (e: Exception) {
+                        e.printStackTrace()
+                        Log.e(TAG, "FlowBus - Error:$e")
+                    }
+                }
+            }
+        }
+
+        //协程中发送数据
+        suspend fun post(event: T) {
+            _events.emit(event)
+        }
+
+        //主线程发送数据
+        fun post(scope: CoroutineScope, event: T) {
+            scope.launch {
+                _events.emit(event)
+            }
+        }
+
+        //自动销毁
+        @OnLifecycleEvent(Lifecycle.Event.ON_DESTROY)
+        fun onDestroy() {
+            Log.w(TAG, "FlowBus - 自动onDestroy")
+            val subscriptCount = _events.subscriptionCount.value
+            if (subscriptCount <= 0)
+                busMap.remove(key)
+        }
+    }
+
+    class StickEventBus<T>(key: String) : EventBus<T>(key) {
+        override fun obtainEvent(): MutableSharedFlow<T> =
+            MutableSharedFlow(1, 1, BufferOverflow.DROP_OLDEST)
+    }
+}

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FrameAnimatorContainer.kt

@@ -7,9 +7,10 @@ import android.os.Handler
 import android.os.Looper
 import android.widget.ImageView
 import com.mogo.commons.AbsMogoApplication
+import java.lang.RuntimeException
 import java.lang.ref.SoftReference
 
-class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFirstFrame:Boolean = true){
+class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFirstFrame:Boolean = true,width:Int = -1,height:Int = -1){
     private lateinit var mFrames: IntArray // 帧数组
     private var mIndex = 0 // 当前帧
     private var mShouldRun = false // 开始/停止播放用
@@ -22,10 +23,17 @@ class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFir
     private var mBitmapOptions: BitmapFactory.Options? = null //Bitmap管理类，可有效减少Bitmap的OOM问题
 
     init {
-        createAnimation(imageView, getData(resId), fps,initFirstFrame)
+        createAnimation(imageView, getData(resId), fps,initFirstFrame,width,height)
     }
 
-    private fun createAnimation(imageView: ImageView, frames: IntArray, fps: Int, initFirstFrame:Boolean) {
+    private fun createAnimation(
+        imageView: ImageView,
+        frames: IntArray,
+        fps: Int,
+        initFirstFrame: Boolean,
+        width: Int,
+        height: Int
+    ) {
         mHandler = Handler(Looper.myLooper()!!)
         mFrames = frames
         mIndex = -1
@@ -36,13 +44,25 @@ class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFir
         if(initFirstFrame) {
             imageView.setImageResource(mFrames[0])
         }
-
+        var widthImage = -1
+        var heightImage = -1
+        var config = Bitmap.Config.ARGB_8888
+        if(width>0&&height>0){
+            widthImage = width
+            heightImage = height
+        }else{
+            try {
+                val bmp = (imageView.drawable as BitmapDrawable).bitmap
+                widthImage = bmp.width
+                heightImage = bmp.height
+                config = bmp.config
+            }catch (e:Exception){
+                throw RuntimeException("请设置图片或传递大小")
+            }
+        }
         // 当图片大小类型相同时进行复用，避免频繁GC
-        val bmp = (imageView.drawable as BitmapDrawable).bitmap
-        val width = bmp.width
-        val height = bmp.height
-        val config = bmp.config
-        mBitmap = Bitmap.createBitmap(width, height, config)
+
+        mBitmap = Bitmap.createBitmap(widthImage, heightImage, config)
         mBitmapOptions = BitmapFactory.Options()
         //设置Bitmap内存复用
         mBitmapOptions!!.inBitmap = mBitmap //Bitmap复用内存块，类似对象池，避免不必要的内存分配和回收
@@ -121,6 +141,10 @@ class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFir
         mShouldRun = false
     }
 
+    fun isPlaying():Boolean{
+        return mShouldRun
+    }
+
     /**
      * 设置停止播放监听
      * @param listener 设置监听

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/RxUtils.kt

@@ -36,12 +36,11 @@ object RxUtils {
             }
     }
 
-    fun isDisposed(disposable: Disposable?):Boolean{
-        if(disposable!=null){
-            return true
+    fun isNotDisposed(disposable: Disposable?):Boolean{
+        if(disposable==null){
+            return false
         }
-
-        return false
+        return !disposable.isDisposed
     }
 
     // 调用Disposable.dispose() 时候会出现InterruptedException 导致出现崩溃

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/CountDownTimerExt.kt

@@ -0,0 +1,148 @@
+package com.mogo.och.common.module.wigets
+
+import android.os.CountDownTimer
+import android.util.Log
+
+/**
+ * @author: wangmingjun
+ * @date: 2023/9/18
+ * 支持pause的倒计时, 由CountDownTimer实现的，
+ * 注意CountdownTimer的源码，start(),pause(),cancel()方法都是用message和handler实现的
+ * 如果是在子线程中执行，要加调用Looper.prepare()及Looper.loop()
+ * 或者是使用 runOnMainThread 使其在主线程中执行
+ **/
+abstract class CountDownTimerExt(
+    private var millisInFuture: Long,
+    /**
+     * 间隔
+     */
+    private var mInterval: Long
+) {
+    /**
+     * 倒计时实现类
+     */
+    private var countDownTimer: CountDownTimer? = null
+    private var isTimerPaused = true
+    var remainingTime: Long
+
+    /**
+     * @param millisInFutureIn 总时长
+     * @param interval onTick间隔
+     */
+    init {
+        remainingTime = millisInFuture
+    }
+
+    fun start() {
+        startIt(remainingTime, mInterval)
+    }
+
+    fun start(millisInFutureIn: Long, remainingTimeIn: Long, interval: Long) {
+        millisInFuture = millisInFutureIn
+        remainingTime = remainingTimeIn
+        mInterval = interval
+        start()
+    }
+
+    @Synchronized
+    fun startIt(millisInFutureIn: Long, interval: Long) {
+        remainingTime = millisInFutureIn
+        mInterval = interval
+        if (millisInFuture > 0L && interval > 0L) {
+            if (!isTimerPaused) {
+                // 有运行中的先stop
+                stop()
+            }
+            if (isTimerPaused) {
+                // 有暂停或未运行的，创建CountDownTimer实现, 确保运行在主线程
+                countDownTimer = object : CountDownTimer(remainingTime, mInterval) {
+                    override fun onFinish() {
+                        onTimerFinish()
+                        stop()
+                    }
+
+                    override fun onTick(millisUntilFinished: Long) {
+                        // 这里会记录剩余的时长保存到remainingTime, 方便暂停后能再恢复
+                        remainingTime = millisUntilFinished
+                        onTimerTick(millisUntilFinished)
+                    }
+                }
+                try {
+                    countDownTimer?.start()
+                } catch (e: Exception) {
+                    e.printStackTrace()
+                }
+                isTimerPaused = false
+            } else {
+                Log.d(TAG, "ignore start")
+            }
+        } else {
+            Log.d(TAG, "invalid parameter")
+        }
+    }
+
+    /**
+     * 停止
+     */
+    fun stop() {
+        try {
+            countDownTimer?.cancel()
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+        isTimerPaused = true
+        remainingTime = millisInFuture
+    }
+
+    /**
+     * 暂停
+     */
+    fun pause() {
+        if (!isTimerPaused) {
+            try {
+                countDownTimer?.cancel()
+            } catch (e: Exception) {
+                e.printStackTrace()
+            }
+            isTimerPaused = true
+            onTimerPause()
+        }
+    }
+
+    /**
+     * 恢复
+     */
+    fun resume() {
+        if (!isRunning) {
+            // 通过remainingTime得到剩余的时长
+            startIt(remainingTime, mInterval)
+            onTimerResume(remainingTime)
+        }
+    }
+
+    private val isRunning: Boolean
+        /**
+         * 运行中
+         * @return
+         */
+        get() = !isTimerPaused
+
+    /**
+     * 每次触发倒计时回调
+     * @param value
+     */
+    abstract fun onTimerTick(value: Long)
+
+    /**
+     * 倒计时完成回调
+     */
+    abstract fun onTimerFinish()
+
+    abstract fun onTimerPause()
+
+    abstract fun onTimerResume(remainingTime: Long)
+
+    companion object {
+        private const val TAG = "CountDownTimerExt"
+    }
+}

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt

@@ -32,10 +32,13 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
         private const val TAG = "StartAutopilotAnimationView"
     }
 
-    private var startTimer: CountDownTimer? = null
+    private var startTimer: CountDownTimerExt? = null
     private val mContext: Context
+    private var mTimerListener: AnimationViewTimerListener? = null
 
     private val closeWarningTask: Runnable = Runnable {
+        //开始倒计时
+        countDownTimer()
         showWarning(DirectionEnum.ALERT_WARNING_NON)
     }
 
@@ -58,17 +61,36 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
         super.onAttachedToWindow()
     }
 
-    fun show(direction: DirectionEnum, time: Long) {
+    fun show(direction: DirectionEnum, time: Long,listener: AnimationViewTimerListener) {
+        mTimerListener = listener
+        //开始倒计时
+        countDownTimer()
         showWarning(direction, time)
     }
 
+    fun pause(){
+        pauseWarning()
+    }
+
+    private fun pauseWarning() {
+        startTimer?.pause()
+    }
+
+    fun resume(){
+        resumeWarning()
+    }
+
+    private fun resumeWarning() {
+        startTimer?.resume()
+    }
+
     fun dismiss(direction: DirectionEnum) {
         dismissWarning(direction)
         cancelCountdown()
     }
 
     fun cancelCountdown(){ //防止内存泄漏
-        startTimer?.cancel()
+        startTimer?.stop()
         startTimer = null
     }
 
@@ -78,8 +100,6 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
      * @see WarningDirectionEnum
      */
     private fun showWarning(direction: DirectionEnum, time: Long = ALL_CLOSE_TIMER) {
-        //开始倒计时
-        countDownTimer()
 
         // 如果传入的不是关闭显示，则设置倒计时，定时关闭红框警示
         if (oldDirection.get() == direction) {
@@ -131,6 +151,26 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
         }
     }
 
+    private fun pauseWarning(direction: DirectionEnum) {
+        if (direction == DirectionEnum.ALERT_WARNING_NON) {
+            return
+        }
+        removeCallbacks(closeWarningTask)
+        post {
+            when (direction) {
+                DirectionEnum.ALERT_WARNING_TOP -> {
+                    startAutopilotTipImg.visibility = View.VISIBLE
+                    startAutopilotTip.visibility = View.VISIBLE
+                }
+                else -> {
+                    CallerLogger.d("$M_HMI$TAG", "Not Support Direction")
+                }
+            }
+            clearAnimation()
+            this.oldDirection.set(null)
+        }
+    }
+
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
     }
@@ -148,21 +188,37 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
 
         startAutopilotTip.visibility = VISIBLE
 
-        startTimer = object : CountDownTimer(ALL_CLOSE_TIMER, 1000L) {// 5倒计时后开启自驾
+        startTimer = object : CountDownTimerExt(ALL_CLOSE_TIMER, 1000L) {// 5倒计时后开启自驾
 
-            @SuppressLint("SetTextI18n")
-            override fun onTick(millisUntilFinished: Long) {
+            override fun onTimerTick(value: Long) {
                 // 倒计时
                 UiThreadHandler.post {
-                    startAutopilotTip.text = "${(millisUntilFinished/1000).toInt()} 车辆即将自动开启自动驾驶"
+                    startAutopilotTip.text = "${(value/1000).toInt()} 车辆即将自动开启自动驾驶"
                 }
                 playDI()
             }
 
-            override fun onFinish() {
+            override fun onTimerFinish() {
                 //倒计时结束了...
                 UiThreadHandler.post {
                     startAutopilotTip.text = "车辆正在自动开启自动驾驶"
+                    dismiss(DirectionEnum.ALERT_WARNING_TOP)
+                }
+            }
+
+            override fun onTimerPause() {
+                //倒计时暂停
+                UiThreadHandler.post {
+                    pauseWarning(DirectionEnum.ALERT_WARNING_TOP)
+                    mTimerListener?.onTimerPause()
+                }
+            }
+
+            override fun onTimerResume(remainingTime: Long) {
+                //倒计时继续对动画UI处理
+                UiThreadHandler.post {
+                    showWarning(DirectionEnum.ALERT_WARNING_TOP, remainingTime)
+                    mTimerListener?.onTimerResume(remainingTime)
                 }
             }
         }
@@ -170,4 +226,9 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
         startTimer?.start()
     }
 
+    interface AnimationViewTimerListener{
+        fun onTimerResume(remainingTime: Long)
+
+        fun onTimerPause()
+    }
 }

OCH/mogo-och-common-module/src/test/java/com/mogo/och/common/module/ExampleUnitTest.kt

@@ -1,5 +1,6 @@
 package com.mogo.och.common.module
 
+import com.mogo.eagle.core.utilcode.util.CoordinateTransform
 import com.zhidao.thirdlogin.utils.Aes
 import org.junit.Assert.*
 import org.junit.Test
@@ -20,4 +21,621 @@ class ExampleUnitTest {
         val encrypt: String = Aes.encrypt(json, KEY, IVS, "UTF-8")
         println(encrypt)
     }
+
+    @Test
+    fun resetData(){
+        val mutableListOf = mutableListOf<Data>()
+        mutableListOf.add(Data(26.81618164239085,112.58250175297606,55.55709771386404 ,0.046407543))
+        mutableListOf.add(Data(26.81618164239085,112.58250175297606,55.55709771386404 ,0.046407543))
+        mutableListOf.add(Data(26.81618164239085,112.58250175297606,55.55709771386404 ,0.046407543))
+        mutableListOf.add(Data(26.816181808122355,112.58250217912767,55.5367232595699 ,0.024934836))
+        mutableListOf.add(Data(26.81618188427374,112.58250252407656,55.47659710430628 ,-0.0031026027))
+        mutableListOf.add(Data(26.816182627199186,112.58250389674681,55.30434314853312 ,0.56499475))
+        mutableListOf.add(Data(26.81619347196081,112.5825216510838,54.429112463003946 ,3.3143053))
+        mutableListOf.add(Data(26.816212952303637,112.58255186583256,53.611788121258144 ,4.1918964))
+        mutableListOf.add(Data(26.816239753303016,112.5825918107494,52.81322630916236 ,6.0459743))
+        mutableListOf.add(Data(26.81627681379391,112.58264625538742,52.33910872792592 ,7.5077167))
+        mutableListOf.add(Data(26.81632000870642,112.58270715442146,51.45473583419266 ,8.213942))
+        mutableListOf.add(Data(26.816367868569504,112.58277449458916,51.894186790296715 ,9.117803))
+        mutableListOf.add(Data(26.816419772705085,112.58284877034309,52.35565486119026 ,9.915305))
+        mutableListOf.add(Data(26.816475594914255,112.58292938397568,52.452862113457854 ,10.67503))
+        mutableListOf.add(Data(26.816535811576774,112.58301559606879,52.43356682905261 ,11.37326))
+        mutableListOf.add(Data(26.816598457679355,112.5831078725796,53.85711144077209 ,11.978908))
+        mutableListOf.add(Data(26.816662027735013,112.58320692287296,55.32445805563884 ,12.534072))
+        mutableListOf.add(Data(26.816726886660476,112.58331188364737,55.79882835387457 ,13.077099))
+        mutableListOf.add(Data(26.816726886660476,112.58331188364737,55.79882835387457 ,13.077099))
+        mutableListOf.add(Data(26.816793247443773,112.58341938436075,55.82383367642598 ,13.111888))
+        mutableListOf.add(Data(26.816793247443773,112.58341938436075,55.82383367642598 ,13.111888))
+        mutableListOf.add(Data(26.816860045545038,112.5835283980739,55.95009655342284 ,13.205783))
+        mutableListOf.add(Data(26.816860045545038,112.5835283980739,55.95009655342284 ,13.205783))
+        mutableListOf.add(Data(26.816925196446753,112.58363575353036,56.266921708263055 ,12.377544))
+        mutableListOf.add(Data(26.816925196446753,112.58363575353036,56.266921708263055 ,12.377544))
+        mutableListOf.add(Data(26.8169850300721,112.58373523649801,56.48836327134404 ,11.37828))
+        mutableListOf.add(Data(26.8169850300721,112.58373523649801,56.48836327134404 ,11.37828))
+        mutableListOf.add(Data(26.817037934280332,112.58382376359087,56.24827187673429 ,9.676991))
+        mutableListOf.add(Data(26.817037934280332,112.58382376359087,56.24827187673429 ,9.676991))
+        mutableListOf.add(Data(26.817083166151374,112.5838975695181,55.88718368097784 ,7.9715595))
+        mutableListOf.add(Data(26.817083166151374,112.5838975695181,55.88718368097784 ,7.9715595))
+        mutableListOf.add(Data(26.817119554569622,112.58395525826116,54.790292866314246 ,5.8003225))
+        mutableListOf.add(Data(26.817119554569622,112.58395525826116,54.790292866314246 ,5.8003225))
+        mutableListOf.add(Data(26.817140378417207,112.58398757091575,54.00168947002834 ,2.0236187))
+        mutableListOf.add(Data(26.817140378417207,112.58398757091575,54.00168947002834 ,2.0236187))
+        mutableListOf.add(Data(26.817143666977085,112.58399300744259,53.873008706065264 ,0.072262354))
+        mutableListOf.add(Data(26.817143666977085,112.58399300744259,53.873008706065264 ,0.072262354))
+        mutableListOf.add(Data(26.81714331006102,112.58399316177113,53.87228129091869 ,0.0019371088))
+        mutableListOf.add(Data(26.81714331006102,112.58399316177113,53.87228129091869 ,0.0019371088))
+        mutableListOf.add(Data(26.81714313768666,112.58399312891899,53.870710347409556 ,-0.0011951944))
+        mutableListOf.add(Data(26.81714313768666,112.58399312891899,53.870710347409556 ,-0.0011951944))
+        mutableListOf.add(Data(26.81714315453284,112.58399311449793,53.86844272460513 ,-0.0039134827))
+        mutableListOf.add(Data(26.81714315453284,112.58399311449793,53.86844272460513 ,-0.0039134827))
+        mutableListOf.add(Data(26.817143235978477,112.5839931065896,53.868674951036894 ,0.009990219))
+        mutableListOf.add(Data(26.817143235978477,112.5839931065896,53.868674951036894 ,0.009990219))
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+        mutableListOf.add(Data(26.817780786837695,112.58486759996185,234.98798085269473 ,10.703126))
+        mutableListOf.add(Data(26.817726344560015,112.58477895119715,234.72041502214867 ,10.559478))
+        mutableListOf.add(Data(26.817672896045035,112.58469285935371,234.80909819833212 ,10.268126))
+        mutableListOf.add(Data(26.81762034092348,112.5846076693991,235.4481989989702 ,10.194944))
+        mutableListOf.add(Data(26.81757000080714,112.58452312548724,236.82009713528063 ,9.998541))
+        mutableListOf.add(Data(26.81752307710616,112.58443938857062,238.62282994405712 ,9.646217))
+        mutableListOf.add(Data(26.81747927640272,112.5843556948273,239.96605494623182 ,9.61409))
+        mutableListOf.add(Data(26.817437035117667,112.5842705975036,241.02851819238398 ,9.784999))
+        mutableListOf.add(Data(26.817394588032748,112.58418206729552,241.47888720587628 ,10.220616))
+        mutableListOf.add(Data(26.81734916434496,112.58408728482055,240.92852422293498 ,10.946569))
+        mutableListOf.add(Data(26.817300427653745,112.58398997361219,239.22969225181274 ,11.08842))
+        mutableListOf.add(Data(26.81724905918242,112.58389508879584,237.37255015610793 ,10.959397))
+        mutableListOf.add(Data(26.817195687670125,112.58380236411111,236.10377421588638 ,10.868602))
+        mutableListOf.add(Data(26.817141281661353,112.58371061366645,235.69349841282204 ,10.867909))
+        mutableListOf.add(Data(26.81708765945191,112.58361944929223,236.51455545294928 ,10.751019))
+        mutableListOf.add(Data(26.817037237801387,112.58352946632557,238.18176364821437 ,10.172699))
+        mutableListOf.add(Data(26.816991758745935,112.58344394169914,238.81318731622537 ,9.476438))
+        mutableListOf.add(Data(26.81695008311907,112.58336549123571,238.35449913232398 ,8.670373))
+        mutableListOf.add(Data(26.816911519966908,112.58329384142816,238.00583163557317 ,7.9418206))
+        mutableListOf.add(Data(26.816875769929663,112.58322842149074,237.9069304963914 ,7.250271))
+        mutableListOf.add(Data(26.816842700317792,112.58316889814716,237.12501044020834 ,6.608085))
+        mutableListOf.add(Data(26.816812547895015,112.58311627111057,236.47424367646786 ,5.8385525))
+        mutableListOf.add(Data(26.81678497120257,112.58306956006162,235.61325735045273 ,5.1207457))
+        mutableListOf.add(Data(26.816762161812772,112.58303220941076,235.7694501163926 ,3.907349))
+        mutableListOf.add(Data(26.816744452403828,112.58300245495224,236.2325232817411 ,3.0969348))
+        mutableListOf.add(Data(26.816731497575027,112.58298000037128,236.6114211957584 ,2.2574704   ))
+        mutableListOf.add(Data(26.816722462577506,112.58296434850722,236.4161051062527 ,1.5331981   ))
+        mutableListOf.add(Data(26.816716398581754,112.5829537450492,236.21764712972882 ,1.0040071   ))
+        mutableListOf.add(Data(26.816712164282283,112.5829466272515,236.12834923652008 ,0.737751    ))
+        mutableListOf.add(Data(26.816193817151735,112.58251966330332,54.59367562577165 ,0.018921295))
+        mutableListOf.add(Data(26.816193817151735,112.58251966330332,54.59367562577165 ,0.018921295))
+        mutableListOf.add(Data(26.816193817151735,112.58251966330332,54.59367562577165 ,0.018921295))
+        mutableListOf.add(Data(26.81619396445322,112.58251998494924,54.613592457391405 ,0.027000831))
+        mutableListOf.add(Data(26.81619407811497,112.58252024223145,54.669067253830235 ,-0.0011194336))
+        mutableListOf.add(Data(26.816195171832447,112.582522095685,54.64187627074443 ,0.612925))
+        mutableListOf.add(Data(26.816204331708672,112.58253646642525,53.960872259548296 ,2.6901135))
+        mutableListOf.add(Data(26.816223192189753,112.58256468184578,51.595331863162755 ,4.345004))
+        mutableListOf.add(Data(26.816251222259027,112.5826029300781,49.506195562109326 ,5.6220856))
+        mutableListOf.add(Data(26.816287694595495,112.58265190405298,50.01768110829488 ,7.31063))
+        mutableListOf.add(Data(26.816332750019175,112.58271403398732,50.59955858406664 ,8.614218))
+
+        mutableListOf.forEach {
+            val wgS84ToGCJ02 = CoordinateTransform.GCJ02ToWGS84(it.a2,it.a1)
+            println("{\"localTime\":1694072487989,\"class\":\"MoGoAdasListenerImpl\",\"msg\":{\"GnssInfo\":{\"longitude\": ${wgS84ToGCJ02[0]},\"latitude\": ${wgS84ToGCJ02[1]},\"altitude\": 26.97,\"heading\": ${it.heading},\"acceleration\": 0.33836419161950765,\"yawRate\": 0.00300991842921123,\"gnssSpeed\": ${it.speed},\"vehicleSpeed\": 15.375,\"satelliteTime\": 1.69407248798E9,\"systemTime\": 1.6940724879893079E9},\"traceInfo\":{\"endPoint\":true,\"linkChainLog\":1,\"linkCode\":1,\"methodName\":\"onGnssInfo\",\"nodeAliasCode\":\"CHAIN_CODE_ADAS_CAR_LOC\",\"paramIndexes\":[0,1],\"parentNodeAliasCode\":\"\",\"recordDataChange\":true,\"spanId\":null,\"traceId\":null},\"Header\":{\"msgID\": 160606,\"msgType\": \"MsgTypeGnssInfo\",\"timestamp\": 1.6940724879929435E9,\"sourceTimestamp\": 1.69407248798E9}}}")
+        }
+    }
+
+    data class Data(val a1:Double,val a2:Double,val heading:Double,val speed:Double)
 }

OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml

@@ -1,16 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
-    xmlns:tools="http://schemas.android.com/tools"
     android:id="@+id/clHmiContainer"
     android:layout_width="match_parent"
     android:layout_height="match_parent">
 
-    <com.mogo.eagle.core.function.view.MapBizView
-        android:id="@+id/mapBizView"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent" />
-
     <com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugViewTrigger
         android:layout_width="@dimen/dp_400"
         android:layout_height="@dimen/dp_100"
@@ -19,23 +13,6 @@
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
-    <!--刹车、转向-->
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
-    <!--V2X预警红色边框-->
-    <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
     <androidx.constraintlayout.widget.ConstraintLayout
         android:layout_width="match_parent"
         android:layout_height="match_parent"
@@ -81,169 +58,6 @@
             app:layout_constraintLeft_toLeftOf="@+id/viewSpeedChart"
             app:layout_constraintTop_toBottomOf="@+id/viewSpeedChart" />
 
-        <!--超视距-->
-        <com.mogo.eagle.core.function.hmi.ui.widget.CameraView
-            android:id="@+id/ivCameraIcon"
-            android:layout_width="120dp"
-            android:layout_height="120dp"
-            android:layout_marginTop="45dp"
-            android:layout_marginEnd="40dp"
-            app:layout_constraintRight_toLeftOf="@id/viewTrafficLightVr"
-            app:layout_constraintTop_toTopOf="parent"
-            tools:visibility="visible" />
-
-        <!--限速牌子-->
-        <com.mogo.eagle.core.function.hmi.ui.widget.LimitingVelocityView
-            android:id="@+id/viewLimitingVelocity"
-            android:layout_width="120dp"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="30dp"
-            android:layout_marginEnd="40dp"
-            android:elevation="@dimen/dp_10"
-            android:gravity="center"
-            android:text="60"
-            android:textColor="#FFFFFF"
-            android:textSize="60dp"
-            android:visibility="gone"
-            app:layout_constraintRight_toRightOf="parent"
-            app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon"
-            tools:visibility="visible" />
-
-        <!--红绿灯-->
-        <com.mogo.eagle.core.function.hmi.ui.widget.SingleTrafficLightView
-            android:id="@+id/viewTrafficLightVr"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="@dimen/hmi_traffic_light_layout_margin_top"
-            android:layout_marginEnd="@dimen/hmi_traffic_light_layout_margin_right"
-            android:visibility="gone"
-            app:layout_constraintRight_toRightOf="parent"
-            app:layout_constraintTop_toTopOf="parent" />
-
-        <!--地图视角切换-->
-        <com.mogo.eagle.core.function.hmi.ui.widget.PerspectiveSwitchView
-            android:id="@+id/viewPerspectiveSwitch"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginStart="50dp"
-            android:layout_marginBottom="40dp"
-            android:elevation="@dimen/dp_10"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintStart_toStartOf="parent" />
-
-        <!--工具箱-->
-        <com.mogo.eagle.core.function.hmi.ui.tools.ToolsImageView
-            android:id="@+id/ivToolsView"
-            android:layout_width="@dimen/module_hmi_check_size"
-            android:layout_height="@dimen/module_hmi_check_size"
-            android:layout_marginStart="25dp"
-            android:layout_marginBottom="40dp"
-            android:contentDescription="工具箱"
-            android:elevation="@dimen/dp_10"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintStart_toEndOf="@+id/viewPerspectiveSwitch"
-            app:layout_goneMarginStart="50dp" />
-
-        <!--问题反馈-->
-        <ImageView
-            android:id="@+id/ivBadCaseTools"
-            android:layout_width="120dp"
-            android:layout_height="120dp"
-            android:layout_marginStart="50dp"
-            android:layout_marginBottom="40dp"
-            android:contentDescription="BadCase"
-            android:src="@drawable/bad_case_selector"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintStart_toEndOf="@id/ivToolsView" />
-
-        <ImageView
-            android:id="@+id/ivAiCollectTools"
-            android:layout_width="120dp"
-            android:layout_height="120dp"
-            android:layout_marginStart="50dp"
-            android:layout_marginBottom="40dp"
-            android:contentDescription="数据采集"
-            android:src="@drawable/ai_collect_selector"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintStart_toEndOf="@id/ivBadCaseTools" />
-
-        <View
-            android:id="@+id/viewUpgradeTips"
-            android:layout_width="22dp"
-            android:layout_height="22dp"
-            android:background="@drawable/version_upgrade_tips_background"
-            android:translationZ="30dp"
-            android:visibility="gone"
-            app:layout_constraintCircle="@id/ivToolsView"
-            app:layout_constraintCircleAngle="45"
-            app:layout_constraintCircleRadius="60dp"
-            tools:ignore="MissingConstraints" />
-
-        <!--消息盒子司机端选择入口-->
-        <CheckBox
-            android:id="@+id/cbMsgBoxDriver"
-            android:layout_width="150dp"
-            android:layout_height="150dp"
-            android:layout_marginTop="15dp"
-            android:layout_marginEnd="25dp"
-            android:background="@drawable/selector_msg_box"
-            android:button="@null"
-            android:visibility="visible"
-            app:layout_constraintRight_toLeftOf="@id/viewLimitingVelocity"
-            app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon" />
-
-        <!--司机端消息提示-->
-        <View
-            android:id="@+id/MsgBoxTipView"
-            android:layout_width="8dp"
-            android:layout_height="8dp"
-            android:background="@drawable/version_upgrade_tips_background"
-            android:translationZ="30dp"
-            android:visibility="gone"
-            app:layout_constraintCircle="@id/cbMsgBoxDriver"
-            app:layout_constraintCircleAngle="40"
-            app:layout_constraintCircleRadius="32dp"
-            tools:ignore="MissingConstraints" />
-
-        <com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView
-            android:id="@+id/viewDriverMsgBoxList"
-            android:layout_width="864px"
-            android:layout_height="746px"
-            android:layout_marginEnd="40dp"
-            android:visibility="gone"
-            app:layout_constraintRight_toRightOf="parent"
-            app:layout_constraintTop_toBottomOf="@id/cbMsgBoxDriver"
-            tools:visibility="gone" />
-
-        <com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView
-            android:id="@+id/viewDriverMsgBoxBubble"
-            android:layout_width="864px"
-            android:layout_height="wrap_content"
-            android:visibility="visible"
-            app:layout_constraintRight_toRightOf="parent"
-            app:layout_constraintTop_toBottomOf="@id/cbMsgBoxDriver"
-            tools:visibility="gone" />
-
-        <!--左右转向灯-->
-        <com.mogo.eagle.core.function.hmi.ui.vehicle.TurnLightViewStatus
-            android:id="@+id/turnLightView"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="42dp"
-            app:layout_constraintEnd_toEndOf="parent"
-            app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toTopOf="parent" />
-
-        <!--刹车ui-->
-        <com.mogo.eagle.core.function.hmi.ui.vehicle.BrakeViewStatus
-            android:id="@+id/brakeView"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_marginTop="42dp"
-            app:layout_constraintEnd_toEndOf="parent"
-            app:layout_constraintStart_toStartOf="parent"
-            app:layout_constraintTop_toTopOf="parent" />
-
         <!--pnc行为决策-->
         <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
             android:layout_width="wrap_content"

OCH/shuttle/driver/src/main/java/com/mogo/och/bus/BusProvider.java

@@ -10,7 +10,6 @@ import androidx.fragment.app.FragmentActivity;
 import androidx.fragment.app.FragmentManager;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.constant.BusConst;

OCH/shuttle/driver/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java

@@ -28,8 +28,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
@@ -140,21 +138,21 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
         mSwitchMapModeLayout.setOnClickListener(new OnPreventFastClickListener() {
             @Override
             public void onClickImpl(View v) {
-
-                IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-                if (controller != null) {
-                    //切换地图的远近视图
-                    if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
-                    } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
-                    } else {
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                if(mapBizView != null){
+                    IMogoMapUIController uiController = mapBizView.getUI();
+                    if(uiController != null){
+                        if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                            uiController.setLockMode(true);
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                        } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                            uiController.setLockMode(false);
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
+                        } else {
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                        }
                     }
                 }
             }
@@ -263,14 +261,16 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     protected abstract void onArriveStation();
 
     private void updateSwitchMapIcon() {
-        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-        if (controller != null) {
-            if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
-            } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
-            } else {
-                mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+        if(mapBizView != null){
+            IMogoMapUIController uiController = mapBizView.getUI();
+            if(uiController != null){
+                if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                    mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
+                } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                    mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                } else {
+                    mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
+                }
             }
         }
     }
@@ -560,7 +560,9 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     @Override
     public void onDestroy() {
         super.onDestroy();
-        smallMapView.onDestroy();
+        if(smallMapView != null){
+            smallMapView.onDestroy();
+        }
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
     }
 

OCH/shuttle/driver/src/main/java/com/mogo/och/bus/fragment/BusFragment.java

@@ -1,6 +1,8 @@
 package com.mogo.och.bus.fragment;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+import static com.mogo.map.MogoMap.DEFAULT;
+
 import android.content.Intent;
 import android.graphics.Bitmap;
 import android.graphics.BitmapFactory;
@@ -15,9 +17,7 @@ import androidx.annotation.Nullable;
 
 import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
-import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.data.temp.EventLogout;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -28,7 +28,6 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.map.overlay.IMoGoOverlayManager;
 import com.mogo.map.overlay.core.Level;
 import com.mogo.map.overlay.point.Point;
-import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.och.bus.R;
 import com.mogo.och.data.bean.BusStationBean;
 import com.mogo.och.bus.constant.BusConst;
@@ -493,24 +492,13 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
                         .anchor(0.5f, 0.5f)
                         .set3DMode(true)
                         .isUseGps(true)
-                        .controlAngle(true)
+                        .controlAngle(false)
                         .icon3DRes(resourceId)
                         .latitude(lat)
                         .longitude(longi);
-                IMogoMapUIController mapUIController = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-                if (mapUIController != null) {
-                    CenterLine centerLine = mapUIController.getCenterLineInfo(
-                            longi,lat,-1);
-                    if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
-                        Double angle = centerLine.getAngle();
-                        if (angle != null) {
-                            builder.rotate(angle.floatValue());
-                        }
-                    }
-                }
                 IMoGoOverlayManager overlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
                 if (overlayManager != null) {
-                    overlayManager.showOrUpdatePoint(builder.build());
+                    overlayManager.showOrUpdatePoint(builder.build(),DEFAULT);
                 }
             };
 

OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java

@@ -382,6 +382,11 @@ public class OrderModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             BusAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);

OCH/shuttle/driver/src/main/res/layout/bus_base_fragment.xml

@@ -8,6 +8,8 @@
 
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/m2"
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 

OCH/shuttle/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -119,6 +119,8 @@ public class BusPassengerModel {
     private int mPreRouteIndex = 0;
     private int mWipePreIndex = 0;
 
+    private volatile boolean isGoingToNextStation = false;
+
     private static final int MSG_QUERY_BUS_P_STATION = 1001;
     private final Handler handler = new Handler(new Handler.Callback() {
         @Override
@@ -291,6 +293,8 @@ public class BusPassengerModel {
                 for (int i = 0; i< stations.size(); i++){
                     BusStationBean station = stations.get(i);
                      if (station.getDrivingStatus() == STATION_STATUS_STOPPED && station.isLeaving() && i+1 < stations.size()){
+                         Logger.d(M_BUS_P + TAG, "order =  station= leave");
+                         isGoingToNextStation = true;
                          mRouteLineInfoCallback.updateStationsInfo(stations,i+1,false);
                          if(mNextStationIndex != i+1){
                              mTwoStationsRouts.clear();
@@ -302,6 +306,9 @@ public class BusPassengerModel {
                          if (i == 0){
                              startOrStopRouteAndWipe(false);
                          }
+
+                         isGoingToNextStation = false;
+                         Logger.d(M_BUS_P + TAG, "order =  station= arrive");
                          mPreRouteIndex = 0;
                          startOrStopCalculateRouteInfo(false);
                          mRouteLineInfoCallback.updateStationsInfo(stations,i,true);
@@ -452,8 +459,6 @@ public class BusPassengerModel {
         }
     };
 
-    private volatile int mPreAutoStatus = -1;
-
     private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener(){
         @Override
         public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
@@ -492,27 +497,29 @@ public class BusPassengerModel {
             int state = autopilotStatusInfo.getState();
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                 //2022.7.20 自动驾驶更换成带档位的
-                if(state != mPreAutoStatus && null != routesResult){
+                if(null != routesResult){
                     CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
                 }
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
-            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
-                if(state != mPreAutoStatus){
-                    mTwoStationsRouts.clear();
+            } else{
+                if (FunctionBuildConfig.isDemoMode &&
+                        mNextStationIndex>= 0 && mNextStationIndex <= mStations.size() - 1
+                        && isGoingToNextStation){
+                    Logger.d(M_BUS_P + TAG, "FunctionBuildConfig.isDemoMode is true");
+                    return;
                 }
-                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
-            } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
-                if(state != mPreAutoStatus){
+
+                if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                     mTwoStationsRouts.clear();
-                }
-                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
-            }else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
-                if(state != mPreAutoStatus){
+                    if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotEnable();
+                } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
                     mTwoStationsRouts.clear();
+                    if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotDisable();
+                }else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
+                    mTwoStationsRouts.clear();
+                    if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
                 }
-                if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
             }
-            mPreAutoStatus = state;
         }
 
         @Override

OCH/shuttle/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPBlueToothView.kt

@@ -12,7 +12,6 @@ import kotlinx.android.synthetic.jinlvvan.p_bus_view_blue_tooth.view.*
 /**
  * 魔戒蓝牙控件
  * 放置于StatusBar右侧位置
- * todo arrow
  */
 class BusPBlueToothView @JvmOverloads constructor(
     context: Context,

OCH/shuttle/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java

@@ -389,8 +389,6 @@ public class BusPassengerRouteFragment extends
     public void AutopilotStatusChanged(int status) {
         if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
             mAutopilotIv.setImageResource(R.drawable.auto_open);
-        } else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status){
-            mAutopilotIv.setImageResource(R.drawable.auto_close);
         } else {
             mAutopilotIv.setImageResource(R.drawable.auto_close);
         }

OCH/shuttle/passenger/src/jinlvvan/res/layout/bus_p_base_fragment.xml

@@ -9,6 +9,9 @@
         android:id="@+id/mapBizView"
         android:layout_width="1810dp"
         android:layout_height="match_parent"
+        app:styleMode="MAP_STYLE_DAY_VR"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/m2"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"/>

OCH/shuttle/passenger/src/m2/java/com/mogo/och/bus/passenger/BusPassengerM2.kt

@@ -54,7 +54,6 @@ class MogoOCHBusPassenger : IMogoOCH, IMogoStatusChangedListener {
      */
     private fun stepIntoVrMode() {
         d(SceneConstant.M_TAXI_P + TAG, "进入vr模式")
-        getMapUIController()?.stepInVrMode(true) // 白天模式
         stepInDayMode() //白天模式 状态栏字体颜色变黑
     }
 

OCH/shuttle/passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt

@@ -7,6 +7,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getOverla
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.map.overlay.core.Level
 import com.mogo.map.overlay.point.Point
+import com.mogo.map.MapDataWrapper
 import com.mogo.och.bus.passenger.R
 import com.mogo.och.bus.passenger.constant.M2Const.Companion.TYPE_MARKER_M2_LINE
 import com.mogo.och.bus.passenger.presenter.PM2ADASPresenter
@@ -80,8 +81,10 @@ class PM2HPMapFragment :
     ) {
         //开启线程执行起终点marker设置
         val setMapMarkerRunnable = Runnable {
-            d("setMapMaker= " + Thread.currentThread().name,
-                uuid + "=latitude=" + station[1] + ",longitude=" + station[0])
+            d(
+                "setMapMaker= " + Thread.currentThread().name,
+                uuid + "=latitude=" + station[1] + ",longitude=" + station[0]
+            )
 
             val builder = Point.Options.Builder(
                 TYPE_MARKER_M2_LINE,
@@ -95,16 +98,12 @@ class PM2HPMapFragment :
                 .icon3DRes(R.raw.star_marker)
                 .longitude(station[0])
                 .latitude(station[1])
-            val mapUIController = getMapUIController()
-            if (mapUIController != null) {
-                val centerLine = mapUIController.getCenterLineInfo(
-                    station[0], station[1], -1f
-                )
-                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
-                    val angle = centerLine.angle
-                    if (angle != null) {
-                        builder.rotate(angle.toFloat())
-                    }
+            MapDataWrapper.getCenterLineInfo(
+                station[0], station[1], -1f
+            ) {
+                // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
+                it?.let{
+                    builder.rotate(it.angle.toFloat())
                 }
             }
             val overlayManager = getOverlayManager()

OCH/shuttle/passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/M2BlueToothView.kt

@@ -12,7 +12,6 @@ import kotlinx.android.synthetic.m2.p_m2_view_blue_tooth.view.*
 /**
  * 魔戒蓝牙控件
  * 放置于StatusBar右侧位置
- * todo arrow
  */
 class M2BlueToothView @JvmOverloads constructor(
     context: Context,

OCH/shuttle/passenger/src/m2/res/layout/p_m2_hpmap_fragment.xml

@@ -5,9 +5,13 @@
     android:layout_height="match_parent">
 
     <!-- 高精地图 -->
-
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
+        app:styleMode="MAP_STYLE_DAY_VR"
+        app:carPosition="-0.5"
+        app:default_perspective="MAP_STYLE_VR_ERHAI_B2"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/m2"
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/callback/ISweeperCloudTaskCallback.kt

@@ -3,7 +3,7 @@ package com.mogo.och.sweepercloud.callback
 import chassis.ChassisStatesOuterClass
 import com.mogo.och.sweepercloud.bean.SweeperRoutePlanningUpdateReqBean
 import com.mogo.och.sweepercloud.database.bean.WeltDataBean
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
+import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootableResp
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
@@ -22,7 +22,7 @@ interface ISweeperCloudTaskCallback {
     /**
      * 接取云端任务/正在执行中任务信息回调
      */
-    fun onSweeperCloudTask(messageType: SweeperCloudTask.MessageType,taskInfo: SweeperTask.TaskInfo?)
+    fun onSweeperCloudTask(messageType: AiCloudTask.MessageType, taskInfo: SweeperTask.TaskInfo?)
 
     /**
      * 云端下发子任务请求pad确认
@@ -42,7 +42,7 @@ interface ISweeperCloudTaskCallback {
     /**
      * 挂起/恢复
      */
-    fun onSweeperCloudTaskSuspendResume(messageType: SweeperCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)
+    fun onSweeperCloudTaskSuspendResume(messageType: AiCloudTask.MessageType,taskId:String,subTaskId:String,code:Code)
 
     /**
      * pad请求云端进入自驾

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java

@@ -1,5 +1,7 @@
 package com.mogo.och.sweepercloud.fragment;
 
+import static com.mogo.map.MogoMap.DEFAULT;
+
 import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.MotionEvent;
@@ -48,12 +50,11 @@ import com.mogo.och.sweepercloud.util.AutopilotModeConfigManager;
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
 import com.mogo.och.sweepercloud.view.SweeperTrafficDataView;
 import com.mogo.och.sweepercloud.view.WeltSmallMapView;
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
+import com.zhjt.mogo.adas.data.AiCloudTask;
 
 import java.math.BigDecimal;
 import java.math.RoundingMode;
 import java.util.ArrayList;
-import java.util.Random;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -183,7 +184,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         );
         // 模拟 云端发送任务
         findViewById(R.id.btnSendTask).setOnClickListener(view -> {
-                    SweeperCloudTaskUtils.mockSendCloudTaskInfo(SweeperCloudTask.MessageType.CloudPushTask);
+                    SweeperCloudTaskUtils.mockSendCloudTaskInfo(AiCloudTask.MessageType.CloudPushTask);
                     UiThreadHandler.postDelayed(() -> {
                         debugEndSubTask();
                     }, 5000);
@@ -236,7 +237,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     }
 
     private void updateSwitchMapIcon() {
-        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
+        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController(DEFAULT);
         if (controller != null) {
             if (controller.getCurrentMapVisualAngle().isLongSight()) {
                 mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
@@ -412,7 +413,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mSwitchMapModeImage.setOnClickListener(new OnPreventFastClickListener() {
             @Override
             public void onClickImpl(View v) {
-                IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
+                IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController(DEFAULT);
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt

@@ -34,7 +34,7 @@ import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskRes
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskSuspendDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage
 import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
+import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
@@ -44,9 +44,8 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
 import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
-import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_cl_work_mode
-import kotlinx.android.synthetic.main.fragment_och_sweeper.sweeper_current_task_view
-import kotlinx.android.synthetic.main.sweeper_no_data_common_view.noTaskDataView
+import kotlinx.android.synthetic.main.fragment_och_sweeper.*
+import kotlinx.android.synthetic.main.sweeper_no_data_common_view.*
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 
@@ -148,7 +147,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
             state == STATUS_AUTOPILOT_ENABLE,
             mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
-            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING)
+            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING
+        )
     }
 
     fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
@@ -204,7 +204,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
      * 设置云端任务信息
      */
     fun onSweeperCloudTask(
-        messageType: SweeperCloudTask.MessageType,
+        messageType: AiCloudTask.MessageType,
         taskInfo: SweeperTask.TaskInfo?
     ) {
         this.mTaskInfo = taskInfo
@@ -215,7 +215,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             return
         }
         //主动拉取云端正在执行的任务，有则直接在任务列表展示
-        if (messageType == SweeperCloudTask.MessageType.PadSendGetTaskReq) {
+        if (messageType == AiCloudTask.MessageType.PadSendGetTaskReq) {
             getCurrentTaskView().setData(taskInfo, getCurrentRunningSubTaskPosition())
             setShowCurrentTaskPanelView(true)
             addTaskData()
@@ -293,7 +293,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     if (subTaskList[index].subTaskId == subTaskId) {
                         val subBuilder = subTaskList[index].toBuilder()
                         subBuilder.taskStatus = subTaskStatus
-                        if (subTaskStatus == SweeperCommon.TaskStatus.RUNNING) {
+                        if (subTaskStatus == TaskStatus.RUNNING) {
                             mCurrentRunningSubTaskInfo = subBuilder.build()
                             //更新当前正在执行的任务状态
                             updateCurrentSubTaskInfo(index + 1)
@@ -303,13 +303,13 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                         } else {
                             mCurrentRunningSubTaskInfo = null
                         }
-                        if (subTaskStatus == SweeperCommon.TaskStatus.SUSPENDED) {
+                        if (subTaskStatus == TaskStatus.SUSPENDED) {
                             mCurrentSuspendSubTaskInfo = subBuilder.build()
                         } else {
                             mCurrentSuspendSubTaskInfo = null
                         }
                         //判断是否结束子任务
-                        if (subTaskStatus == SweeperCommon.TaskStatus.FINISHED) {
+                        if (subTaskStatus == TaskStatus.FINISHED) {
                             //已完成的计入任务进度，未完成的不计入
                             ToastUtils.showLong("任务完成")
                             showNotice("任务完成")
@@ -317,8 +317,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                             removeHDMapMarkerBySubTask(subTaskList[index])
                         }
                         // 其他异常结束时也需要remove marker
-                        if (subTaskStatus == SweeperCommon.TaskStatus.ABNORMAL ||
-                            subTaskStatus == SweeperCommon.TaskStatus.CANCEL
+                        if (subTaskStatus == TaskStatus.ABNORMAL ||
+                            subTaskStatus == TaskStatus.CANCEL
                         ) {
                             removeHDMapMarkerBySubTask(subTaskList[index])
                         }
@@ -384,7 +384,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 //                    mLoadingDialog.showLoading()
 //                    //ToastUtils.showLong("确认")
                     // 发送接收到信息的ACK回执
-                    mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.RECEIVED)
+                    mPresenter?.sendSweeperStopTaskResp(
+                        taskId,
+                        SweeperTaskStop.StopTaskCode.RECEIVED
+                    )
                 }
 
                 override fun onRefuseOrEnd() {
@@ -398,7 +401,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 //                    mLoadingDialog.showLoading()
 //                    //ToastUtils.showLong("倒计时")
                     // 发送接收到信息的ACK回执
-                    mPresenter?.sendSweeperStopTaskResp(taskId, SweeperTaskStop.StopTaskCode.RECEIVED)
+                    mPresenter?.sendSweeperStopTaskResp(
+                        taskId,
+                        SweeperTaskStop.StopTaskCode.RECEIVED
+                    )
                 }
 
                 override fun onNext() {
@@ -468,7 +474,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 云端同步大任务状态
      */
-    fun onSweeperCloudBigTaskStatus(taskId: String, bigTaskStatus: SweeperCommon.TaskStatus, isPop: Boolean) {
+    fun onSweeperCloudBigTaskStatus(
+        taskId: String,
+        bigTaskStatus: SweeperCommon.TaskStatus,
+        isPop: Boolean
+    ) {
         //隐藏loading
         mLoadingDialog.hideLoading()
         mTaskInfo?.let {
@@ -477,16 +487,17 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 return
             }
             //大任务处于取消状态/异常结束/正常结束 时都代表大任务结束了，任务列表切换为无任务列表状态
-            if (bigTaskStatus == SweeperCommon.TaskStatus.CANCEL
-                || bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL
-                || bigTaskStatus == SweeperCommon.TaskStatus.FINISHED
+            if (bigTaskStatus == TaskStatus.CANCEL
+                || bigTaskStatus == TaskStatus.ABNORMAL
+                || bigTaskStatus == TaskStatus.FINISHED
             ) {
                 mPresenter?.isHasTaskInfo(false)
                 if (isPop) {
-                    mDialog = if (bigTaskStatus == SweeperCommon.TaskStatus.CANCEL
-                        || bigTaskStatus == SweeperCommon.TaskStatus.ABNORMAL){
-                        sweeperCloudTaskExceptionEndDialog(bigTaskStatus == SweeperCommon.TaskStatus.CANCEL)}
-                    else
+                    mDialog = if (bigTaskStatus == TaskStatus.CANCEL
+                        || bigTaskStatus == TaskStatus.ABNORMAL
+                    ) {
+                        sweeperCloudTaskExceptionEndDialog(bigTaskStatus == TaskStatus.CANCEL)
+                    } else
                         sweeperCloudTaskNormalEndDialog()
                     mDialog?.show()
                 }
@@ -495,29 +506,29 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 // 大任务这里也判断移除HD Marker, 双重判断
                 removeHDMapMarkerBySubTask(mCurrentRunningSubTaskInfo)
                 resetTaskInfoPanel()
-            } else if (bigTaskStatus == SweeperCommon.TaskStatus.SUSPENDED) {// 暂停
+            } else if (bigTaskStatus == TaskStatus.SUSPENDED) {// 暂停
                 showNotice("任务已暂停")
                 ToastUtils.showLong("任务已暂停")
                 //更新任务列表中大任务状态
                 val builder = it.toBuilder()
-                builder.taskStatus = SweeperCommon.TaskStatus.SUSPENDED
+                builder.taskStatus = TaskStatus.SUSPENDED
                 mTaskInfo = builder.build()
                 getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
-            } else if (it.taskStatus == SweeperCommon.TaskStatus.SUSPENDED
-                && bigTaskStatus == SweeperCommon.TaskStatus.RUNNING
+            } else if (it.taskStatus == TaskStatus.SUSPENDED
+                && bigTaskStatus == TaskStatus.RUNNING
             ) { //恢复
                 showNotice("任务已恢复")
                 ToastUtils.showLong("任务已恢复")
 
                 //更新任务列表中大任务状态
                 val builder = it.toBuilder()
-                builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
+                builder.taskStatus = TaskStatus.RUNNING
                 mTaskInfo = builder.build()
                 getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
-            } else if (bigTaskStatus == SweeperCommon.TaskStatus.RUNNING) { //首次开始运行的时候，非恢复后的运行
+            } else if (bigTaskStatus == TaskStatus.RUNNING) { //首次开始运行的时候，非恢复后的运行
                 //更新任务列表中大任务状态
                 val builder = it.toBuilder()
-                builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
+                builder.taskStatus = TaskStatus.RUNNING
                 mTaskInfo = builder.build()
                 getCurrentTaskView().setData(mTaskInfo, getCurrentRunningSubTaskPosition())
             }
@@ -637,7 +648,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         mSubMutableList = mTaskInfo?.subListList
         mSubMutableList?.apply {
             for (index in 0 until size) {
-                if (get(index).taskStatus == SweeperCommon.TaskStatus.RUNNING) {
+                if (get(index).taskStatus == TaskStatus.RUNNING) {
                     mCurrentRunningSubTaskInfo = get(index)
                     updateCurrentSubTaskInfo(index + 1)
                     return index
@@ -691,7 +702,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         if (mTaskInfo?.taskId != taskId) return
         val subInfo = getSubTaskInfoBySubId(subTaskId)
         subInfo?.let {
-            updateSubTaskInfo(taskId, subTaskId, SweeperCommon.TaskStatus.RUNNING)
+            updateSubTaskInfo(taskId, subTaskId, TaskStatus.RUNNING)
 
             if (isPop) {
                 showSubTaskConfirmDialog(taskId, subTaskId, it)
@@ -858,7 +869,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 大任务恢复弹框
      */
-    private fun sweeperCloudTaskResumeDialog(contentStr: String, taskId: String): SweeperCloudDialog? {
+    private fun sweeperCloudTaskResumeDialog(
+        contentStr: String,
+        taskId: String
+    ): SweeperCloudDialog? {
         return createSweeperTaskResumeDialog(context, object : SweeperCloudDialogClickListener {
             override fun onConfirm() {
                 // 发送接收到信息的ACK回执
@@ -901,8 +915,18 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         val hdMarkerIdStart = "marker_sweeper_subtask_${subTask.subTaskId}_start"
         val hdMarkerIdEnd = "marker_sweeper_subtask_${subTask.subTaskId}_end"
 
-        val setStartMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdStart, startPoint.wgsLongitude, startPoint.wgsLatitude, true)
-        val setEndMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdEnd, endPoint.wgsLongitude, endPoint.wgsLatitude, false)
+        val setStartMarkerRunnable = createSetHDMapMakerRunnable(
+            hdMarkerIdStart,
+            startPoint.wgsLongitude,
+            startPoint.wgsLatitude,
+            true
+        )
+        val setEndMarkerRunnable = createSetHDMapMakerRunnable(
+            hdMarkerIdEnd,
+            endPoint.wgsLongitude,
+            endPoint.wgsLatitude,
+            false
+        )
         val removeMarkerRunnable = createRemoveHDMapMakerRunnable()
 
         val addSubTaskHDMarkRunnable = Runnable {
@@ -930,11 +954,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         longitude: Double,
         latitude: Double,
         isStartMarker: Boolean
-    ) : Runnable {
+    ): Runnable {
         //开启线程执行起终点marker设置
         val setMapMarkerRunnable = Runnable {
             CallerLogger.d(
-                SceneConstant.M_SWEEPER + "-" +TAG + "-setMapMaker",
+                SceneConstant.M_SWEEPER + "-" + TAG + "-setMapMaker",
                 "threadName=${Thread.currentThread().name}, uuid=$uuid, latitude=$latitude, longitude=$longitude"
             )
 
@@ -944,20 +968,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     .anchor(0.5f, 0.5f)
                     .set3DMode(true)
                     .isUseGps(true)
-                    .controlAngle(true)
+                    .controlAngle(false)
                     .icon3DRes(if (isStartMarker) R.raw.star_marker else R.raw.end_marker)
                     .longitude(longitude)
                     .latitude(latitude)
-            val mapUIController = CallerMapUIServiceManager.getMapUIController()
-            if (mapUIController != null) {
-                val centerLine = mapUIController.getCenterLineInfo(longitude, latitude, -1f)
-                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
-                    val angle = centerLine.angle
-                    if (angle != null) {
-                        builder.rotate(angle.toFloat())
-                    }
-                }
-            }
             val overlayManager = CallerMapUIServiceManager.getOverlayManager()
             overlayManager?.showOrUpdatePoint(builder.build())
         }
@@ -967,11 +981,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 移除高精地图里的Marker Runnable
      */
-    private fun createRemoveHDMapMakerRunnable() : Runnable{
+    private fun createRemoveHDMapMakerRunnable(): Runnable {
         //开启线程移除起终点marker设置
         val removeMapMarkerRunnable = Runnable {
             CallerLogger.d(
-                SceneConstant.M_SWEEPER + "-" +TAG + "-RemoveMapMaker",
+                SceneConstant.M_SWEEPER + "-" + TAG + "-RemoveMapMaker",
                 "threadName=${Thread.currentThread().name}"
             )
             val overlayManager = CallerMapUIServiceManager.getOverlayManager()

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java

@@ -39,7 +39,7 @@ import com.mogo.och.sweepercloud.constant.SweeperConst;
 import com.mogo.och.sweepercloud.database.MyDataBase;
 import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils;
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
+import com.zhjt.mogo.adas.data.AiCloudTask;
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
 import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus;
@@ -332,7 +332,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudTask(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+    public void onSweeperFutianCloudTask(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
                                          SweeperTask.TaskInfo taskInfo) {
 
         CallerLogger.d(M_SWEEPER + TAG,
@@ -344,7 +344,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudTaskConfirm(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+    public void onSweeperFutianCloudTaskConfirm(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
                                                 SweeperTaskConfirm.TaskConfirm taskConfirm) {
 
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
@@ -356,7 +356,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+    public void onSweeperFutianCloudTaskStatus(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
                                                SweeperTaskStatus.TaskStatusPush taskStatusPush) {
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
                 "onSweeperFutianCloudTaskStatus：" + printMessage(taskStatusPush));
@@ -367,7 +367,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudTaskStop(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+    public void onSweeperFutianCloudTaskStop(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
                                              SweeperTaskStop.StopTaskReq stopTaskReq) {
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
                 "onSweeperFutianCloudTaskStop：" + printMessage(stopTaskReq));
@@ -378,7 +378,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+    public void onSweeperFutianCloudTaskSuspendResume(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
                                                       SweeperTaskSuspendResume.SuspendResumeTaskResp suspendResumeTaskResp) {
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
                 "onSweeperFutianCloudTaskSuspendResume：" + printMessage(suspendResumeTaskResp));
@@ -390,7 +390,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudBootable(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+    public void onSweeperFutianCloudBootable(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
                                              SweeperBootable.IsBootableResp isBootableResp) {
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
                 "onSweeperFutianCloudBootable：" + printMessage(isBootableResp));
@@ -401,7 +401,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudBigTaskStatus(@NonNull SweeperCloudTask.MessageType messageType, String reqNo, long sysTime,
+    public void onSweeperFutianCloudBigTaskStatus(@NonNull AiCloudTask.MessageType messageType, String reqNo, long sysTime,
                                                   SweeperBigTaskStatus.BigTaskStatusPush bigTaskStatusPush) {
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
                 "onSweeperFutianCloudBigTaskStatus：" + printMessage(bigTaskStatusPush));
@@ -412,7 +412,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
     }
 
     @Override
-    public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
+    public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
                                                            @Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
                 "onSweeperFutianCloudTaskCloudSuspendResume：" + printMessage(bigTaskActionPush));
@@ -521,7 +521,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         SweeperTask.GetTaskReq getTaskReq = builder.build();
 
         CallerLogger.d(M_SWEEPER + TAG,
-                "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendGetTaskReq.getNumber());
+                "getCurrentTask:" + printMessage(getTaskReq) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.PadSendGetTaskReq.getNumber());
         getAutoPilotControlManager().sendSweeperGetTaskReq(reqNo, getTaskReq);
     }
 
@@ -534,11 +534,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         builder.setTaskId(taskId);
         builder.setCode(code);
         SweeperTask.StartTaskResp startTaskResp = builder.build();
-        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTask.getNumber());
+        String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTask.getNumber());
 
         getAutoPilotControlManager().sendSweeperStartTaskResp(reqNo, startTaskResp);
         CallerLogger.d(M_SWEEPER + TAG,
-                "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTask.getNumber());
+                "sendSweeperStartTaskResp:" + printMessage(startTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTask.getNumber());
     }
 
     /**
@@ -551,9 +551,9 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         builder.setSubTaskId(subTaskId);
         builder.setCode(code);
         SweeperTaskConfirm.TaskConfirmResp taskConfirmResp = builder.build();
-        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
+        String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
         CallerLogger.d(M_SWEEPER + TAG,
-                "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
+                "sendSweeperTaskConfirmResp" + printMessage(taskConfirmResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskConfirm.getNumber());
         getAutoPilotControlManager().sendSweeperTaskConfirmResp(reqNo, taskConfirmResp);
     }
 
@@ -569,10 +569,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         builder.setTaskId(taskId);
         builder.setCode(code);
         SweeperTaskStop.StopTaskResp stopTaskResp = builder.build();
-        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
+        String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskStop.getNumber());
 
         CallerLogger.d(M_SWEEPER + TAG,
-                "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskStop.getNumber());
+                "sendSweeperStopTaskResp" + printMessage(stopTaskResp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskStop.getNumber());
         getAutoPilotControlManager().sendSweeperStopTaskResp(reqNo, stopTaskResp);
     }
 
@@ -593,7 +593,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         String reqNo = SweeperCloudTaskUtils.getRequestId();
 
         CallerLogger.d(M_SWEEPER + TAG,
-                "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.PadSendBootable.getNumber());
+                "sendSweeperAutopilotBootable" + printMessage(isBootable) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.PadSendBootable.getNumber());
         getAutoPilotControlManager().sendSweeperAutopilotBootable(reqNo, isBootable);
         //SweeperCloudTaskUtils.mockSendCloudBootable();
     }
@@ -609,10 +609,10 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
         builder.setTaskId(taskId);
         builder.setCode(code);
         SweeperTaskCloudSuspendResume.BigTaskActionResp resp = builder.build();
-        String reqNo = msgTypeAndReqNo.get(SweeperCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
+        String reqNo = msgTypeAndReqNo.get(AiCloudTask.MessageType.CloudPushTaskSuspendResume.getNumber());
 
         CallerLogger.d(M_SWEEPER + TAG,
-                "sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + SweeperCloudTask.MessageType.CloudPushTaskSuspendResume);
+                "sendSweeperSuspendResumeTaskResp" + printMessage(resp) + " reqNo:" + reqNo + " messageType:" + AiCloudTask.MessageType.CloudPushTaskSuspendResume);
         getAutoPilotControlManager().sendSweeperCloudSuspendResumeTaskResp(reqNo, resp);
     }
 

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/presenter/SweeperPresenter.java

@@ -17,7 +17,7 @@ import com.mogo.och.sweepercloud.callback.ISweeperTaskRouteCallback;
 import com.mogo.och.sweepercloud.database.bean.WeltDataBean;
 import com.mogo.och.sweepercloud.fragment.SweeperFragment;
 import com.mogo.och.sweepercloud.model.SweeperTaskModel;
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
+import com.zhjt.mogo.adas.data.AiCloudTask;
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
@@ -190,7 +190,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     @Override
-    public void onSweeperCloudTask(@NonNull SweeperCloudTask.MessageType messageType, SweeperTask.TaskInfo taskInfo) {
+    public void onSweeperCloudTask(@NonNull AiCloudTask.MessageType messageType, SweeperTask.TaskInfo taskInfo) {
         ThreadUtils.runOnUiThread(() -> mView.onSweeperCloudTask(messageType, taskInfo));
     }
 
@@ -210,7 +210,7 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     @Override
-    public void onSweeperCloudTaskSuspendResume(@NonNull SweeperCloudTask.MessageType messageType, @NonNull String taskId,
+    public void onSweeperCloudTaskSuspendResume(@NonNull AiCloudTask.MessageType messageType, @NonNull String taskId,
                                                 @NonNull String subTaskId, SweeperCommon.Code code) {
 
     }

OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt

@@ -19,7 +19,7 @@ import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
 import com.mogo.och.sweepercloud.constant.SweeperConst
 import com.mogo.och.sweepercloud.model.SweeperTaskModel
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
-import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
+import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.Location
@@ -30,7 +30,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.big.SweeperBigTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
-import java.util.UUID
+import java.util.*
 
 object SweeperCloudTaskUtils {
     const val TAG = "SweeperCloudTaskUtils"
@@ -50,7 +50,7 @@ object SweeperCloudTaskUtils {
      * 模拟云控发送任务给pad
      */
     @JvmStatic
-    fun mockSendCloudTaskInfo(messageType: MessageType) {
+    fun mockSendCloudTaskInfo(messageType: AiCloudTask.MessageType) {
         val builder = TaskInfo.newBuilder()
         builder.sn = getDriverSn()
         builder.taskId = "10"
@@ -66,10 +66,10 @@ object SweeperCloudTaskUtils {
         subBuilder0.taskStatus = SweeperCommon.TaskStatus.TO_START
         val startLocation0 = Location.newBuilder()
         startLocation0.siteName = "自动驾驶子任务起点0"
-        startLocation0.wgsLongitude =112.56970262448544
+        startLocation0.wgsLongitude = 112.56970262448544
         startLocation0.wgsLatitude = 26.817567832504274
         startLocation0.longitude = 112.57493487730413
-        startLocation0.latitude =  26.81397095451884
+        startLocation0.latitude = 26.81397095451884
         subBuilder0.startLocation = startLocation0.build()
         val endLocation0 = Location.newBuilder()
         endLocation0.siteName = "自动驾驶子任务终点0"
@@ -156,7 +156,10 @@ object SweeperCloudTaskUtils {
             System.currentTimeMillis(),
             builder.build()
         )
-        CallerLogger.d(SceneConstant.M_SWEEPER + TAG, "messageType:" + messageType.number + "taskInfo:" + printMessage(builder.build()))
+        CallerLogger.d(
+            SceneConstant.M_SWEEPER + TAG,
+            "messageType:" + messageType.number + "taskInfo:" + printMessage(builder.build())
+        )
     }
 
     /**
@@ -169,7 +172,7 @@ object SweeperCloudTaskUtils {
         builder.taskId = "10"
         builder.subTaskId = "1"
         SweeperTaskModel.getInstance().onSweeperFutianCloudTaskConfirm(
-            MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
+            AiCloudTask.MessageType.CloudPushTaskConfirm, "${System.currentTimeMillis()}",
             System.currentTimeMillis(), builder.build()
         )
     }
@@ -185,7 +188,7 @@ object SweeperCloudTaskUtils {
         builder.subTaskId = "1"
         builder.taskStatus = SweeperCommon.TaskStatus.RUNNING
         SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStatus(
-            MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
+            AiCloudTask.MessageType.CloudPushTaskStatus, "${System.currentTimeMillis()}",
             System.currentTimeMillis(), builder.build()
         )
     }
@@ -200,7 +203,7 @@ object SweeperCloudTaskUtils {
         builder.taskId = "10"
         builder.type = SweeperTaskStop.StopTaskType.ADVANCE
         SweeperTaskModel.getInstance().onSweeperFutianCloudTaskStop(
-            MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
+            AiCloudTask.MessageType.CloudPushTaskStop, "${System.currentTimeMillis()}",
             System.currentTimeMillis(), builder.build()
         )
     }
@@ -216,7 +219,7 @@ object SweeperCloudTaskUtils {
         builder.taskStatus = SweeperCommon.TaskStatus.FINISHED
         builder.systemTime = System.currentTimeMillis()
         SweeperTaskModel.getInstance().onSweeperFutianCloudBigTaskStatus(
-            MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
+            AiCloudTask.MessageType.CloudPushBigTaskStatus, "${System.currentTimeMillis()}",
             System.currentTimeMillis(), builder.build()
         )
     }
@@ -233,7 +236,7 @@ object SweeperCloudTaskUtils {
         builder.code = SweeperCommon.Code.SUCCEED
         UiThreadHandler.getsUiHandler().postDelayed({
             SweeperTaskModel.getInstance().onSweeperFutianCloudBootable(
-                MessageType.PadSendBootable, "${System.currentTimeMillis()}",
+                AiCloudTask.MessageType.PadSendBootable, "${System.currentTimeMillis()}",
                 System.currentTimeMillis(), builder.build()
             )
         }, 10000)
@@ -244,28 +247,21 @@ object SweeperCloudTaskUtils {
      */
     @JvmStatic
     fun mockAddHdMarker(uuid: String, longitude: Double, latitude: Double, isStartMarker: Boolean) {
-         //开启线程执行起终点marker设置
+        //开启线程执行起终点marker设置
         val setMapMarkerRunnable = Runnable {
             val builder =
-                Point.Options.Builder(SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END, Level.MAP_MARKER)
+                Point.Options.Builder(
+                    SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END,
+                    Level.MAP_MARKER
+                )
                     .setId(uuid)
                     .anchor(0.5f, 0.5f)
                     .set3DMode(true)
                     .isUseGps(true)
-                    .controlAngle(true)
+                    .controlAngle(false)
                     .icon3DRes(if (isStartMarker) R.raw.star_marker else R.raw.end_marker)
                     .longitude(longitude)
                     .latitude(latitude)
-            val mapUIController = CallerMapUIServiceManager.getMapUIController()
-            if (mapUIController != null) {
-                val centerLine = mapUIController.getCenterLineInfo(longitude, latitude, -1f)
-                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
-                    val angle = centerLine.angle
-                    if (angle != null) {
-                        builder.rotate(angle.toFloat())
-                    }
-                }
-            }
             val overlayManager = CallerMapUIServiceManager.getOverlayManager()
             Log.d(TAG, "CallerMapUIServiceManager.getOverlayManager()=$overlayManager")
             overlayManager?.showOrUpdatePoint(builder.build())
@@ -294,18 +290,23 @@ object SweeperCloudTaskUtils {
      * 创建接收大任务弹窗
      */
     @JvmStatic
-    fun createReceivedBigTaskInfoDialog(context: Context?, listener: SweeperCloudDialogClickListener?, taskInfo: TaskInfo): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+    fun createReceivedBigTaskInfoDialog(
+        context: Context?,
+        listener: SweeperCloudDialogClickListener?,
+        taskInfo: TaskInfo
+    ): SweeperCloudDialog? {
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         val startCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskStartTime)
         val endCalendar = DateTimeUtil.formatLongToCalendar(taskInfo.taskEndTime)
         builder.titleStr = "任务接取"
         builder.contentStr = "已为您接取任务${taskInfo.taskName}"
-        builder.tipStr = "（任务时间${DateTimeUtil.formatCalendarToString(startCalendar, DateTimeUtil.HH_mm)}-${
-            DateTimeUtil.formatCalendarToString(
-                endCalendar,
-                DateTimeUtil.HH_mm
-            )
-        }）"
+        builder.tipStr =
+            "（任务时间${DateTimeUtil.formatCalendarToString(startCalendar, DateTimeUtil.HH_mm)}-${
+                DateTimeUtil.formatCalendarToString(
+                    endCalendar,
+                    DateTimeUtil.HH_mm
+                )
+            }）"
         builder.leftStr = "确认"
         builder.middleStr = ""
         builder.rightStr = ""
@@ -323,7 +324,7 @@ object SweeperCloudTaskUtils {
         listener: SweeperCloudDialogClickListener?,
         subTaskInfo: SubTaskInfo
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "子任务确认"
         builder.contentStr = "请确认并执行子任务 ${subTaskInfo.subTaskName}"
         builder.tipStr =
@@ -346,7 +347,7 @@ object SweeperCloudTaskUtils {
         stopTaskType: SweeperTaskStop.StopTaskType,
         timeoutStr: String
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         val titleStr = when (stopTaskType) {
             SweeperTaskStop.StopTaskType.ADVANCE -> "任务中止"
             SweeperTaskStop.StopTaskType.EXCEPTION -> "任务异常结束"
@@ -386,7 +387,7 @@ object SweeperCloudTaskUtils {
         context: Context?,
         listener: SweeperCloudDialogClickListener?
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务结束"
         builder.contentStr = "任务已完成，干的漂亮！"
         builder.tipStr = ""
@@ -407,7 +408,7 @@ object SweeperCloudTaskUtils {
         listener: SweeperCloudDialogClickListener?,
         isCancel: Boolean
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务结束"
         builder.contentStr = if (isCancel) "任务已取消！" else "任务已异常结束！"
         builder.tipStr = ""
@@ -424,7 +425,7 @@ object SweeperCloudTaskUtils {
         context: Context?,
         listener: SweeperCloudDialogClickListener?
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务暂停"
         builder.contentStr = "云端暂停任务，注意车辆即将停车！"
         builder.tipStr = "【云端任务恢复前不可启动自动驾驶】"
@@ -442,7 +443,7 @@ object SweeperCloudTaskUtils {
         listener: SweeperCloudDialogClickListener?,
         contentStr: String
     ): SweeperCloudDialog? {
-        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        val builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
         builder.titleStr = "任务恢复"
         builder.contentStr = contentStr
         builder.tipStr = "【注意安全，坐稳扶好】"
@@ -456,11 +457,11 @@ object SweeperCloudTaskUtils {
 
     @JvmStatic
     fun printMessage(message: MessageOrBuilder): String {
-        return "\n"+TextFormat.printer().escapingNonAscii(false).printToString(message)
+        return "\n" + TextFormat.printer().escapingNonAscii(false).printToString(message)
     }
 
     @JvmStatic
-    fun getRequestId():String{
+    fun getRequestId(): String {
         return UUID.randomUUID().toString()
     }
 

OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml

@@ -10,6 +10,8 @@
 
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/huanwei"
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 

OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java

@@ -9,7 +9,6 @@ import android.widget.ImageView;
 
 import com.amap.api.maps.model.LatLng;
 import com.amap.api.navi.model.NaviLatLng;
-import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
@@ -17,7 +16,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
@@ -27,7 +25,6 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
-import com.mogo.map.overlay.IMoGoOverlayManager;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
@@ -158,22 +155,22 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     }
 
     private void updateSwitchMapIcon() {
-        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-        if (controller != null) {
-            if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
-            } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
-            } else {
-                mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
+        if(mapBizView != null){
+            IMogoMapUIController uiController = mapBizView.getUI();
+            if(uiController != null){
+                if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                    mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
+                } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                    mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
+                } else {
+                    mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
+                }
             }
         }
     }
 
     /**
      * 设置任务进度
-     *
-     * @param progress
      */
     protected void setTaskProgress(String progress) {
         ThreadUtils.runOnUiThread(() -> {
@@ -257,9 +254,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().registerHostMapListener(TAG, this);
         mCloseNavIcon.setOnClickListener(this);
         mRefreshNavi.setOnClickListener(this);
-        mMapWeltView.getSwitchToBig().setOnClickListener((v) -> {
-            showOrHideOverMapViewFragment(true);
-        });
+        mMapWeltView.getSwitchToBig().setOnClickListener((v) -> showOrHideOverMapViewFragment(true));
     }
 
     /**
@@ -271,15 +266,11 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     /**
      * 模拟自动驾驶返回状态
-     *
-     * @param status
      */
     public abstract void debugAutoPilotStatus(int status);
 
     /**
      * 迈速表实时更新
-     *
-     * @param newSpeed
      */
     public void updateSpeedView(float newSpeed) {
         int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
@@ -290,8 +281,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     /**
      * 车辆基本信息View
-     *
-     * @return
      */
     public SweeperTrafficDataView getTrafficDataView() {
         return mTrafficDataView;
@@ -338,34 +327,24 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mSwitchMapModeImage.setOnClickListener(new OnPreventFastClickListener() {
             @Override
             public void onClickImpl(View v) {
-                IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-
-                if (controller != null) {
-                    //切换地图的远近视图
-                    if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        // 2.11.0去掉
-//                    MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
-                    } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        // 2.11.0去掉
-//                    MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-//                            .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS, BusConst.TYPE_MARKER_BUS_ORDER);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
-                    } else {
-                        // 2.11.0去掉
-//                    MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                        mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
+                if(mapBizView != null){
+                    IMogoMapUIController uiController = mapBizView.getUI();
+                    if(uiController != null){
+                        if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_small_selector);
+                        } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
+                        } else {
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                            mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_big_selector);
+                        }
                     }
                 }
             }
         });
-        mSettingBtn.setOnClickListener(v -> {
-            // TODO: 2021/12/9
-            CallerHmiManager.INSTANCE.showToolsView();
-        });
+        mSettingBtn.setOnClickListener(v -> CallerHmiManager.INSTANCE.showToolsView());
         if (mCardBtn != null) {
             CallerDevaToolsManager.INSTANCE.initBadCase(mCardBtn);
         }
@@ -423,8 +402,6 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     /**
      * 设置作业任务全览图隐藏或者显示
-     *
-     * @param isShow
      */
     public void showOrHideOverMapViewFragment(boolean isShow) {
         FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
@@ -470,20 +447,15 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     /**
      * 设置贴边数据到地图
-     *
-     * @param weltDataBeans
      */
     public void setWeltDataToMap(ArrayList<WeltDataBean> weltDataBeans, Boolean isWeltData, String distance) {
         mWeltDataBeanList = weltDataBeans;
-        ThreadUtils.getSinglePool().execute(new Runnable() {
-            @Override
-            public void run() {
-                if (mMapWeltView != null) {
-                    mMapWeltView.setWeltData(weltDataBeans, isWeltData, distance);
-                }
-                if (mTaskDataToFragmentCallback != null) {
-                    mTaskDataToFragmentCallback.setWeltData(weltDataBeans, distance);
-                }
+        ThreadUtils.getSinglePool().execute(() -> {
+            if (mMapWeltView != null) {
+                mMapWeltView.setWeltData(weltDataBeans, isWeltData, distance);
+            }
+            if (mTaskDataToFragmentCallback != null) {
+                mTaskDataToFragmentCallback.setWeltData(weltDataBeans, distance);
             }
         });
     }
@@ -535,13 +507,10 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
      */
     public void setTaskRouteList(ArrayList<SweeperRoutePlanningUpdateReqBean.Result> routeList) {
         mRouteList = routeList;
-        ThreadUtils.getSinglePool().execute(new Runnable() {
-            @Override
-            public void run() {
-                mMapWeltView.setRouteList(routeList);
-                if (mTaskDataToFragmentCallback != null) {
-                    mTaskDataToFragmentCallback.setRouteList(routeList);
-                }
+        ThreadUtils.getSinglePool().execute(() -> {
+            mMapWeltView.setRouteList(routeList);
+            if (mTaskDataToFragmentCallback != null) {
+                mTaskDataToFragmentCallback.setRouteList(routeList);
             }
         });
     }

OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java

@@ -287,6 +287,11 @@ public class SweeperTaskModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             SweeperAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);

OCH/sweeper/sweeper/src/main/res/layout/sweeper_base_fragment.xml

@@ -10,6 +10,8 @@
 
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
+        app:isWeatherEnable="false"
+        app:locationIcon3DRes="@raw/huanwei"
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/constant/TaxiOrderStatusEnum.kt

@@ -35,7 +35,7 @@ enum class TaxiOrderStatusEnum(val code: Int) {
 
     companion object {
         @JvmStatic
-        fun valueOf(code: Int): TaxiOrderStatusEnum? {
+        fun valueOf(code: Int): TaxiOrderStatusEnum {
             for (value in values()) {
                 if (value.code == code) {
                     return value

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java

@@ -894,12 +894,9 @@ public class TaxiModel {
 
     //检测当前订单
     public boolean checkCurrentOCHOrder() {
-        if (mCurrentOCHOrder != null
+        return mCurrentOCHOrder != null
                 && mCurrentOCHOrder.startSiteGcjPoint != null
-                && mCurrentOCHOrder.endSiteGcjPoint != null) {
-            return true;
-        }
-        return false;
+                && mCurrentOCHOrder.endSiteGcjPoint != null;
     }
 
     /**
@@ -1064,6 +1061,11 @@ public class TaxiModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             TaxiAnalyticsManager.INSTANCE.triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java

@@ -48,8 +48,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
 
     private static final String TAG = TaxiPresenter.class.getSimpleName();
 
-    private int preAutopilotStatus = 0;
-
     public TaxiPresenter(TaxiFragment view) {
         super(view);
         TaxiModel.getInstance().init(AbsMogoApplication.getApp());
@@ -192,30 +190,24 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     public void onAutopilotEnable() {
         runOnUIThread(() -> mView.updateAutopilotStatus(
                 IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE));
-        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE;
     }
 
     @Override
     public void onAutopilotDisable() {
         runOnUIThread(() -> mView.updateAutopilotStatus(
                 IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE));
-        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE;
     }
 
     @Override
     public void onAutopilotRunning() {
-        if (preAutopilotStatus != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
-            runOnUIThread(() -> mView.updateAutopilotStatus(
+        runOnUIThread(() -> mView.updateAutopilotStatus(
                     IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING));
-        }
-        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
     }
 
 
     @Override
     public void onManMachineCoDriving() {
         runOnUIThread(() -> mView.onManMachineCoDriving(IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING));
-        preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING;
     }
 
     @Override

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java

@@ -22,6 +22,7 @@ import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.Group;
 import androidx.fragment.app.FragmentTransaction;
 
+import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
@@ -31,13 +32,13 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
 import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.function.smp.view.SmallMapView;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -45,12 +46,14 @@ import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.och.common.module.utils.AnimatorDrawableUtil;
+import com.mogo.och.common.module.utils.FrameAnimatorContainer;
 import com.mogo.och.taxi.R;
 
 import java.util.Arrays;
 import java.util.Objects;
 
 import bag_manager.BagManagerOuterClass;
+import me.jessyan.autosize.utils.AutoSizeUtils;
 import mogo.telematics.pad.MessagePad;
 import record_cache.RecordPanelOuterClass;
 
@@ -92,63 +95,10 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
     protected SmallMapView smallMapView;
 
-    private Handler mHandler = new Handler(Looper.getMainLooper());
+    private final Handler mHandler = new Handler(Looper.getMainLooper());
 
-    private Integer[] startAutopilotDrawableIds = new Integer[]{
-            R.drawable.anim_flow_00000, R.drawable.anim_flow_00001, R.drawable.anim_flow_00002,
-            R.drawable.anim_flow_00003, R.drawable.anim_flow_00004, R.drawable.anim_flow_00005,
-            R.drawable.anim_flow_00006, R.drawable.anim_flow_00007, R.drawable.anim_flow_00008,
-            R.drawable.anim_flow_00009, R.drawable.anim_flow_00010, R.drawable.anim_flow_00011,
-            R.drawable.anim_flow_00012, R.drawable.anim_flow_00013, R.drawable.anim_flow_00014,
-            R.drawable.anim_flow_00015, R.drawable.anim_flow_00016, R.drawable.anim_flow_00017,
-            R.drawable.anim_flow_00018, R.drawable.anim_flow_00019, R.drawable.anim_flow_00020,
-            R.drawable.anim_flow_00021, R.drawable.anim_flow_00022, R.drawable.anim_flow_00023,
-            R.drawable.anim_flow_00024, R.drawable.anim_flow_00025, R.drawable.anim_flow_00026,
-            R.drawable.anim_flow_00027, R.drawable.anim_flow_00028, R.drawable.anim_flow_00029,
-            R.drawable.anim_flow_00030, R.drawable.anim_flow_00031, R.drawable.anim_flow_00032,
-            R.drawable.anim_flow_00033, R.drawable.anim_flow_00034, R.drawable.anim_flow_00035,
-            R.drawable.anim_flow_00036, R.drawable.anim_flow_00037, R.drawable.anim_flow_00038,
-            R.drawable.anim_flow_00039, R.drawable.anim_flow_00040, R.drawable.anim_flow_00041,
-            R.drawable.anim_flow_00042, R.drawable.anim_flow_00043, R.drawable.anim_flow_00044,
-            R.drawable.anim_flow_00045, R.drawable.anim_flow_00046, R.drawable.anim_flow_00047,
-            R.drawable.anim_flow_00048, R.drawable.anim_flow_00049, R.drawable.anim_flow_00050,
-            R.drawable.anim_flow_00051, R.drawable.anim_flow_00052, R.drawable.anim_flow_00053,
-            R.drawable.anim_flow_00054, R.drawable.anim_flow_00055, R.drawable.anim_flow_00056,
-            R.drawable.anim_flow_00057, R.drawable.anim_flow_00058, R.drawable.anim_flow_00059
-    };
-
-    private Integer[] startManCODrawableIds = new Integer[]{
-            R.drawable.anim_flow_man_co_00000, R.drawable.anim_flow_man_co_00001,
-            R.drawable.anim_flow_man_co_00002, R.drawable.anim_flow_man_co_00003,
-            R.drawable.anim_flow_man_co_00004, R.drawable.anim_flow_man_co_00005,
-            R.drawable.anim_flow_man_co_00006, R.drawable.anim_flow_man_co_00007,
-            R.drawable.anim_flow_man_co_00008, R.drawable.anim_flow_man_co_00009,
-            R.drawable.anim_flow_man_co_00010, R.drawable.anim_flow_man_co_00011,
-            R.drawable.anim_flow_man_co_00012, R.drawable.anim_flow_man_co_00013,
-            R.drawable.anim_flow_man_co_00014, R.drawable.anim_flow_man_co_00015,
-            R.drawable.anim_flow_man_co_00016, R.drawable.anim_flow_man_co_00017,
-            R.drawable.anim_flow_man_co_00018, R.drawable.anim_flow_man_co_00019,
-            R.drawable.anim_flow_man_co_00020, R.drawable.anim_flow_man_co_00021,
-            R.drawable.anim_flow_man_co_00022, R.drawable.anim_flow_man_co_00023,
-            R.drawable.anim_flow_man_co_00024, R.drawable.anim_flow_man_co_00025,
-            R.drawable.anim_flow_man_co_00026, R.drawable.anim_flow_man_co_00027,
-            R.drawable.anim_flow_man_co_00028, R.drawable.anim_flow_man_co_00029,
-            R.drawable.anim_flow_man_co_00030, R.drawable.anim_flow_man_co_00031,
-            R.drawable.anim_flow_man_co_00032, R.drawable.anim_flow_man_co_00033,
-            R.drawable.anim_flow_man_co_00034, R.drawable.anim_flow_man_co_00035,
-            R.drawable.anim_flow_man_co_00036, R.drawable.anim_flow_man_co_00037,
-            R.drawable.anim_flow_man_co_00038, R.drawable.anim_flow_man_co_00039,
-            R.drawable.anim_flow_man_co_00040, R.drawable.anim_flow_man_co_00041,
-            R.drawable.anim_flow_man_co_00042, R.drawable.anim_flow_man_co_00043,
-            R.drawable.anim_flow_man_co_00044, R.drawable.anim_flow_man_co_00045,
-            R.drawable.anim_flow_man_co_00046, R.drawable.anim_flow_man_co_00047,
-            R.drawable.anim_flow_man_co_00048, R.drawable.anim_flow_man_co_00049,
-            R.drawable.anim_flow_man_co_00050, R.drawable.anim_flow_man_co_00051,
-            R.drawable.anim_flow_man_co_00052, R.drawable.anim_flow_man_co_00053,
-            R.drawable.anim_flow_man_co_00054, R.drawable.anim_flow_man_co_00055,
-            R.drawable.anim_flow_man_co_00056, R.drawable.anim_flow_man_co_00057,
-            R.drawable.anim_flow_man_co_00058, R.drawable.anim_flow_man_co_00059
-    };
+    private FrameAnimatorContainer startAutopilotAnimator;
+    private FrameAnimatorContainer startManCOAnimator;
 
     @Override
     protected int getLayoutId() {
@@ -189,19 +139,20 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             //视角切换
             long start = SystemClock.elapsedRealtime();
             try {
-                IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-                if (controller != null) {
-                    //切换地图的远近视图
-                    if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                        mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
-                    } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                        mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_long);
-                    } else {
-                        mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
+                if(mapBizView != null){
+                    IMogoMapUIController uiController = mapBizView.getUI();
+                    if(uiController != null){
+                        if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                            uiController.setLockMode(true);
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                            mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
+                        } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                            uiController.setLockMode(false);
+                            uiController.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                            mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_long);
+                        } else {
+                            mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
+                        }
                     }
                 }
             } finally {
@@ -273,8 +224,11 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         findViewById(R.id.btnAutopilotmanco).setOnClickListener(view ->
                 onAutopilotStatusChanged(IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING));
 
-        tvOperationStatus.setOnClickListener(view -> {
-            onChangeOperationStatus();
+        tvOperationStatus.setOnClickListener(new OnPreventFastClickListener() {
+            @Override
+            public void onClickImpl(View v) {
+                onChangeOperationStatus();
+            }
         });
         mCloseNaviIcon.setOnClickListener(v -> {
             showAmapNaviToStationFragment(false);
@@ -295,6 +249,14 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         });
 
         smallMapView = findViewById(R.id.smallMapView);
+
+
+        int width = AutoSizeUtils.dp2px(AbsMogoApplication.getApp(), 420f);
+        int height = AutoSizeUtils.dp2px(AbsMogoApplication.getApp(), 220f);
+        startAutopilotAnimator = new FrameAnimatorContainer(R.array.anim_flow, 20,mAnimFlowIv,false,width,height);
+        startAutopilotAnimator.setOnAnimStopListener(() -> CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "自动驾驶动画暂停"));
+        startManCOAnimator = new FrameAnimatorContainer(R.array.nim_flow_man_co, 20,mAnimFlowIv,false,width,height);
+        startManCOAnimator.setOnAnimStopListener(() -> CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "平行驾驶动画暂停"));
     }
 
     @Override
@@ -323,14 +285,16 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     }
 
     private void updateSwitchMapIcon() {
-        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-        if (controller != null) {
-            if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_long);
-            } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
-            } else {
-                mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
+        if(mapBizView != null){
+            IMogoMapUIController uiController = mapBizView.getUI();
+            if(uiController != null){
+                if (uiController.getCurrentMapVisualAngle().isLongSight()) {
+                    mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_long);
+                } else if (uiController.getCurrentMapVisualAngle().isMediumSight()) {
+                    mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
+                } else {
+                    mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
+                }
             }
         }
     }
@@ -356,8 +320,10 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
     @Override
     public void onDestroy() {
+        if(smallMapView != null){
+            smallMapView.onDestroy();
+        }
         super.onDestroy();
-        smallMapView.onDestroy();
     }
 
     @Override
@@ -372,21 +338,13 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     public void onBagManagerResult(@NonNull BagManagerOuterClass.BagManager bagManager) {
     }
 
-    /**
-     * 改变自动驾驶状态
-     *
-     * @param status 2 - running  1 - enable  2 - disable
-     */
-    private int mPrevAPStatus = -1;
-
     public void onAutopilotStatusChanged(int status) {
         getActivity().runOnUiThread(() -> {
             if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != status) {
                 // 1. 主动开启自动驾驶中，不为2（为0、1）则继续loading
                 return;
             }
-            if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status
-                    && mPrevAPStatus != status) {
+            if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
                 // 2. 主动开启自动驾驶中，为2则停止loading，并isStarting = false
                 startAutopilotDone(true);
                 return;
@@ -394,7 +352,6 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             // 3. 其他过程直接更新
             startOrStopLoadingAnim(false);
             autopilotStatusAnimchanged(status);
-            mPrevAPStatus = status;
         });
     }
 
@@ -404,10 +361,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     }
 
     public void onManMachineCoDriving(int manMachineCoDriving) {
-        if (mPrevAPStatus != manMachineCoDriving) {
-            autopilotStatusAnimchanged(manMachineCoDriving);
-        }
-        mPrevAPStatus = manMachineCoDriving;
+        autopilotStatusAnimchanged(manMachineCoDriving);
     }
 
     public void updateCtvAutopilotStatusTag(boolean tag) {
@@ -423,52 +377,51 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
     protected abstract void updateOrderBottomBtnUI();
 
-    private AnimatorDrawableUtil animatorDrawableUtil = null;
-
     public void autopilotStatusAnimchanged(int status) {
         if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
             mAutopilotTv.setText("自动驾驶");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_normal));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot);
-
-            if (animatorDrawableUtil == null) {
-                animatorDrawableUtil = new AnimatorDrawableUtil();
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.stop();
+            }
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.reStart();
             }
-            animatorDrawableUtil.setAnimation(mAnimFlowIv, Arrays.asList(startAutopilotDrawableIds));
-            animatorDrawableUtil.start(true, 100, null);
-
         } else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status) {
             mAutopilotTv.setText("自动驾驶");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_normal));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot);
-            if (animatorDrawableUtil != null) {
-                animatorDrawableUtil.stop();
-                mAnimFlowIv.setImageResource(0);
-            }
 
-//            ctvAutopilotStatusRL.setBackground(getResources().getDrawable(R.drawable.taxi_autopilot_bg_selector));
-            animatorDrawableUtil = null;
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.stop();
+            }
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.stop();
+            }
+            mAnimFlowIv.setImageResource(0);
+
         } else if (IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING == status) {
             mAutopilotTv.setText("远程代驾");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_normal));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot);
-            if (animatorDrawableUtil == null) {
-                animatorDrawableUtil = new AnimatorDrawableUtil();
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.stop();
+            }
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.reStart();
             }
-            animatorDrawableUtil.setAnimation(mAnimFlowIv, Arrays.asList(startManCODrawableIds));
-            animatorDrawableUtil.start(true, 100, null);
-
         } else {
             mAutopilotTv.setText("自动驾驶");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_disable));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot_disable);
-            if (animatorDrawableUtil != null) {
-                animatorDrawableUtil.stop();
-                mAnimFlowIv.setImageResource(0);
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.stop();
             }
-
-//            ctvAutopilotStatusRL.setBackground(getResources().getDrawable(R.drawable.taxi_ic_autopilot_bg));
-            animatorDrawableUtil = null;
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.stop();
+            }
+            mAnimFlowIv.setImageResource(0);
         }
 
     }
@@ -589,11 +542,6 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         mSpeedView.setText(String.valueOf(speed));
     }
 
-    @Override
-    public void onMapVisualAngleChanged(VisualAngleMode visualAngleMode) {
-        //todo ui 切换
-    }
-
     protected void showAmapNaviToStationFragment(boolean isShow) {
 
         FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
@@ -613,7 +561,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             smallMapView.setVisibility(View.GONE);
         } else {
             mCloseNaviIcon.setVisibility(View.GONE);
-            flNaviPanelContainer.setVisibility(View.GONE);
+            flNaviPanelContainer.setVisibility(View.INVISIBLE);
             smallMapView.setVisibility(View.VISIBLE);
         }
     }
@@ -657,7 +605,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         } else {
             closeRouteViewIFHadeAdd();
             mCloseNaviIcon.setVisibility(View.GONE);
-            flNaviPanelContainer.setVisibility(View.GONE);
+            flNaviPanelContainer.setVisibility(View.INVISIBLE);
             smallMapView.setVisibility(View.VISIBLE);
         }
     }

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java

@@ -1,6 +1,7 @@
 package com.mogo.och.taxi.ui;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;
+import static com.mogo.map.MogoMap.DEFAULT;
 
 import android.app.Activity;
 import android.graphics.Color;
@@ -17,7 +18,6 @@ import androidx.annotation.RequiresApi;
 import androidx.constraintlayout.widget.ConstraintLayout;
 
 import com.amap.api.navi.model.NaviLatLng;
-import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
@@ -29,7 +29,6 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.overlay.IMoGoOverlayManager;
 import com.mogo.map.overlay.core.Level;
 import com.mogo.map.overlay.point.Point;
-import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
 import com.mogo.och.common.module.map.ICommonNaviChangedCallback;
 import com.mogo.och.common.module.utils.DateTimeUtil;
@@ -344,15 +343,20 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
     }
 
     private void startNaviToStation(boolean isVoicePlay, double stationLat, double stationLng) {
-        AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
+        UiThreadHandler.post(new Runnable() {
+            @Override
+            public void run() {
+                AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
 
-        double mCurLatitude = CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLatitude();
-        double mCurLongitude =CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLongitude();
+                double mCurLatitude = CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLatitude();
+                double mCurLongitude =CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLongitude();
 
-        CallerLogger.d(M_TAXI + TAG, "currentLatLng=" + mCurLatitude + " " +mCurLongitude);
-        NaviLatLng startNaviLatLng = new NaviLatLng(mCurLatitude, mCurLongitude);
-        NaviLatLng endNaviLatLng = new NaviLatLng(stationLat, stationLng);
-        AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
+                CallerLogger.d(M_TAXI + TAG, "currentLatLng=" + mCurLatitude + " " +mCurLongitude);
+                NaviLatLng startNaviLatLng = new NaviLatLng(mCurLatitude, mCurLongitude);
+                NaviLatLng endNaviLatLng = new NaviLatLng(stationLat, stationLng);
+                AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
+            }
+        });
         AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(isVoicePlay);
         AmapNaviToDestinationModel.getInstance(getContext()).setTaxiNaviChangedCallback(this);
     }
@@ -762,24 +766,13 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
                         .anchor(0.5f, 0.5f)
                         .set3DMode(true)
                         .isUseGps(true)
-                        .controlAngle(true)
+                        .controlAngle(false)
                         .icon3DRes(resourceId)
                         .latitude(station.get(1))
                         .longitude(station.get(0));
-                IMogoMapUIController mapUIController = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-                if (mapUIController != null) {
-                    CenterLine centerLine = mapUIController.getCenterLineInfo(station.get(0)
-                            , station.get(1), -1);
-                    if (null != centerLine) {// 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致
-                        Double angle = centerLine.getAngle();
-                        if (angle != null) {
-                            builder.rotate(angle.floatValue());
-                        }
-                    }
-                }
                 IMoGoOverlayManager overlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
                 if (overlayManager != null) {
-                    overlayManager.showOrUpdatePoint(builder.build());
+                    overlayManager.showOrUpdatePoint(builder.build(),DEFAULT);
                 }
             };
             OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable);

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java

@@ -21,7 +21,6 @@ import com.mogo.eagle.core.data.temp.EventLogout;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.common.module.biz.constant.OchCommonConst;
 import com.mogo.och.common.module.biz.provider.LoginService;
-import com.mogo.och.common.module.voice.VoiceNotice;
 import com.mogo.och.taxi.R;
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
 import com.mogo.och.taxi.bean.OrderQueryRespBean;
@@ -106,7 +105,6 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
         return "TaxiFragment";
     }
 
-    @RequiresApi(api = Build.VERSION_CODES.LOLLIPOP)
     @Override
     protected void initViews() {
         super.initViews();
@@ -201,10 +199,6 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
         }
     }
 
-    @Override
-    public void onMapLoaded() {
-    }
-
     public void updateAutopilotStatus(int status) {
         onAutopilotStatusChanged(status);
     }