[dev_arch_opt_3.0]

[Change]
[
1、合并3.0分支
]

Signed-off-by: donghongyu <donghongyu@zhidaoauto.com>

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

@@ -1,6 +1,7 @@
 package com.mogo.och.sweeper.fragment;
 
-import android.animation.ObjectAnimator;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+
 import android.content.Intent;
 import android.view.LayoutInflater;
 import android.view.View;
@@ -8,7 +9,8 @@ import android.widget.FrameLayout;
 import android.widget.ImageView;
 import android.widget.LinearLayout;
 import android.widget.RelativeLayout;
-import android.widget.TextView;
+
+import androidx.constraintlayout.widget.Group;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
@@ -16,39 +18,23 @@ import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.config.HmiBuildConfig;
-import com.mogo.eagle.core.data.constants.DataTypes;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
 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.widget.TrafficDataView;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-import com.mogo.map.MogoMapUIController;
-import com.mogo.map.MogoMarkerManager;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.och.sweeper.R;
-import com.mogo.och.sweeper.constant.SweeperConst;
 import com.mogo.och.sweeper.ui.SweeperOperatePanelView;
 import com.mogo.och.sweeper.view.SweeperTrafficDataView;
 import com.mogo.och.sweeper.view.SweeperWorkModeView;
 
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-import androidx.constraintlayout.widget.ConstraintLayout;
-import androidx.constraintlayout.widget.Group;
-import mogo.telematics.pad.MessagePad;
-import record_cache.RecordPanelOuterClass;
-
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
-
 /**
  * 网约车基础Fragment，主要负责布局通用界面，处理站点面板和通话面板互斥情况
  * <p>

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt

@@ -10,13 +10,11 @@ import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
 import chassis.ChassisStatesOuterClass.BMSSystemStates
 import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
+import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager.addListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager.removeListener
+import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.setProxyTrafficLightView
-import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager.addListener
-import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager.removeListener
+import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.hmi.ui.widget.TapPositionView
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -24,7 +22,14 @@ import com.mogo.och.sweeper.R
 import planning.RoboSweeperTaskIndexOuterClass
 import kotlin.math.abs
 
-class SweeperTrafficDataView : ConstraintLayout {
+class SweeperTrafficDataView : ConstraintLayout,
+    IMoGoBatteryManagementSystemListener,
+    IMoGoChassisLamplightListener,
+    IMoGoChassisSteeringStateListener,
+    IMoGoChassisThrottleStateListener,
+    IMoGoChassisGearStateListener,
+    IMoGoSweeperFutianCleanSystemListener
+{
     private var tapPositionView //方向盘
             : TapPositionView? = null
     private var speedImage //速度图标
@@ -67,92 +72,95 @@ class SweeperTrafficDataView : ConstraintLayout {
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        addListener(TAG, mIMoGoAutopilotVehicleStateListener)
+        CallerBatteryManagementSystemListenerManager.addListener(TAG, this)
+        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
+        CallerChassisLamplightListenerManager.addListener(TAG, this)
+        CallerChassisGearStateListenerManager.addListener(TAG, this)
+        CallerChassisThrottleStateListenerManager.addListener(TAG, this)
+        CallerSweeperFutianCleanSystemListenerManager.addListener(TAG, this)
         //增加限速监听
-        addListener(TAG, limitingVelocityListener)
+        CallLimitingVelocityListenerManager.addListener(TAG, limitingVelocityListener)
         setProxyTrafficLightView(trafficLight!!)
     }
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
-        removeListener(mIMoGoAutopilotVehicleStateListener)
-        removeListener(limitingVelocityListener)
+        CallerBatteryManagementSystemListenerManager.removeListener(TAG )
+        CallerChassisSteeringStateListenerManager.removeListener(TAG)
+        CallerChassisLamplightListenerManager.removeListener(TAG)
+        CallerChassisGearStateListenerManager.removeListener(TAG)
+        CallerChassisThrottleStateListenerManager.removeListener(TAG)
+        CallerSweeperFutianCleanSystemListenerManager.removeListener(TAG)
+
+        CallLimitingVelocityListenerManager.removeListener(limitingVelocityListener)
     }
 
-    private val mIMoGoAutopilotVehicleStateListener: IMoGoAutopilotVehicleStateListener = object : IMoGoAutopilotVehicleStateListener {
-        override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {}
-        override fun onSweeperFutianCleanSystemState(cleanSystemState: SweeperFuTianTaskSystemStates) {
-            if (cleanSystemState.hasSecuCleanWaterTankLow()) { //清水箱水位低不能清洗作业报警信号
-                ivBgWaterWarning?.visibility = VISIBLE
-                ivWater?.isSelected = true
+    override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {}
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: SweeperFuTianTaskSystemStates) {
+        if (cleanSystemState.hasSecuCleanWaterTankLow()) { //清水箱水位低不能清洗作业报警信号
+            ivBgWaterWarning?.visibility = VISIBLE
+            ivWater?.isSelected = true
+        } else {
+            ivBgWaterWarning?.visibility = GONE
+            ivWater?.isSelected = false
+        }
+    }
+
+    override fun onBatteryManagementSystemStates(states: BMSSystemStates) {
+        tvBattery?.text = String.format("%s%", states.bmsSoc)
+    }
+
+    override fun onAutopilotThrottle(throttle: Float) {
+
+    }
+
+    /**
+     * 车辆转向灯
+     * @param lightSwitch
+     */
+    override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
+        //转向灯状态 0是正常 1是左转 2是右转
+        if (lightSwitch != null) {
+            d(TAG, "车辆转向灯:$lightSwitch")
+            if (lightSwitch.number == 1) {
+                sweeperTurnSignal?.showLeftSignal()
+            } else if (lightSwitch.number == 2) {
+                sweeperTurnSignal?.showRightSignal()
             } else {
-                ivBgWaterWarning?.visibility = GONE
-                ivWater?.isSelected = false
+                sweeperTurnSignal?.showDirection()
             }
         }
+    }
 
-        override fun onBMSSystemStates(bmsSystemStates: BMSSystemStates) {
-            tvBattery?.text = String.format("%s%", bmsSystemStates.bmsSoc)
+    /**
+     * 刹车灯
+     * @param brakeLight
+     */
+    override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
+        d(TAG, "刹车灯:$brakeLight")
+    }
+
+    /**
+     * 方向盘转向角 左+右-
+     * @param steering
+     */
+    override fun onAutopilotSteeringData(steering: Float) {
+        var steering = steering
+        d(TAG, "steering原始值====$steering")
+        if (abs(steering) < 1) {
+            steering = 0f
         }
+        d(TAG, "steering忽略小数点后====" + steering.toInt())
+    }
 
-        /**
-         * 车辆转向灯
-         * @param lightSwitch
-         */
-        override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
-            //转向灯状态 0是正常 1是左转 2是右转
-            if (lightSwitch != null) {
-                d(TAG, "车辆转向灯:$lightSwitch")
-                if (lightSwitch.number == 1) {
-                    sweeperTurnSignal?.showLeftSignal()
-                } else if (lightSwitch.number == 2) {
-                    sweeperTurnSignal?.showRightSignal()
-                } else {
-                    sweeperTurnSignal?.showDirection()
-                }
-            }
-        }
-
-        /**
-         * 刹车灯
-         * @param brakeLight
-         */
-        override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
-            d(TAG, "刹车灯:$brakeLight")
-        }
-
-        /**
-         * 方向盘转向角 左+右-
-         * @param steering
-         */
-        override fun onAutopilotSteeringData(steering: Float) {
-            var steering = steering
-            d(TAG, "steering原始值====$steering")
-            if (abs(steering) < 1) {
-                steering = 0f
-            }
-            d(TAG, "steering忽略小数点后====" + steering.toInt())
-        }
-
-        /**
-         * 档位
-         * @param gear
-         */
-        override fun onAutopilotGearData(gear: GearPosition) {
-            d(TAG, "司机屏档位$gear")
-            ThreadUtils.runOnUiThread {
-                tapPositionView?.updateWithGear(gear)
-            }
-        }
-
-        override fun onAutopilotDataException(timestamp: Long) {}
-        override fun onAutopilotAcc(carAcc: Float) {}
-        override fun onAutopilotBrake(brake: Float) {
-            d(TAG, "刹车:$brake")
-        }
-
-        override fun onAutopilotThrottle(throttle: Float) {
-            d(TAG, "油门:$throttle")
+    /**
+     * 档位
+     * @param gear
+     */
+    override fun onAutopilotGearData(gear: GearPosition) {
+        d(TAG, "司机屏档位$gear")
+        ThreadUtils.runOnUiThread {
+            tapPositionView?.updateWithGear(gear)
         }
     }
 

app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt

@@ -94,7 +94,8 @@ class ConfigStartUp : AndroidStartup<Boolean>() {
         CrashReportConstants.buglyAppID = "ac71228f85"
 
         if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) ||
-                AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+                AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)||
+                AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
             //控制HMI展示元素 将不用手动调用setXXXXXViewVisibility
             HmiBuildConfig.isShowSpeedView = false
             HmiBuildConfig.isShowAutopilotStatusView = false

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

@@ -51,7 +51,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListener
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
 import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidao.support.adas.high.AdasManager
@@ -256,10 +255,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 //电量
                 CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(it)
             }
-            chassisStates.bmsSystemStates?.let {
-                //电池管理系统
-                CallerAutopilotVehicleStateListenerManager.invokeBMSSystemStates(it)
-            }
             chassisStates.taskSystemStates?.let { taskSystemStates ->
                 taskSystemStates.sweeperFutianTaskSystemStates?.let {
                     //清扫车（福田）清扫控制系统状态
@@ -547,20 +542,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
     override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
         roboSweeperTaskIndex?.let {
             //清扫车（福田）清扫控制系统状态
-            CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanTaskIndexData(it)
+            CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanTaskIndexData(it)
         }
     }
 
-    /**
-     * 清扫车指标数据
-     *
-     * @param header               头
-     * @param roboSweeperTaskIndex 数据
-     */
-    override fun onSweeperTaskIndexData(header: MessagePad.Header?, roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex?) {
-
-    }
-
     /**
      * Bag管理应答
      *

core/function-impl/mogo-core-function-devatools/build/tmp/kapt3/stubs/debug/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.java

@@ -2,7 +2,7 @@ package com.zhjt.mogo_core_function_devatools.status.flow.can;
 
 import java.lang.System;
 
-@kotlin.Metadata(mv = {1, 5, 1}, k = 1, d1 = {"\u0000\u0098\u0001\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0000\n\u0002\u0018\u0002\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0000\n\u0002\u0018\u0002\n\u0002\b\u0005\n\u0002\u0010\u000b\n\u0000\n\u0002\u0010\u0002\n\u0000\n\u0002\u0010\u0007\n\u0002\b\u0006\n\u0002\u0010\t\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0002\b\u0002\n\u0002\u0010\b\n\u0000\n\u0002\u0010\u000e\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0000\n\u0002\u0018\u0002\n\u0002\b\b\n\u0002\u0018\u0002\n\u0002\b\u0003\b\u0000\u0018\u0000 >2\b\u0012\u0004\u0012\u00020\u00020\u00012\u00020\u00032\u00020\u00042\u00020\u00052\u00020\u00062\u00020\u00072\u00020\b2\u00020\t2\u00020\n2\u00020\u000b:\u0001>B\r\u0012\u0006\u0010\f\u001a\u00020\r\u00a2\u0006\u0002\u0010\u000eJ\b\u0010\u0017\u001a\u00020\u0018H\u0002J\u0010\u0010\u0019\u001a\u00020\u001a2\u0006\u0010\u001b\u001a\u00020\u001cH\u0016J\u0010\u0010\u001d\u001a\u00020\u001a2\u0006\u0010\u001e\u001a\u00020\u001cH\u0016J\u0010\u0010\u001f\u001a\u00020\u001a2\u0006\u0010 \u001a\u00020\u0018H\u0016J\u0010\u0010!\u001a\u00020\u001a2\u0006\u0010\"\u001a\u00020#H\u0016J\u0010\u0010$\u001a\u00020\u001a2\u0006\u0010%\u001a\u00020&H\u0016J\u0012\u0010\'\u001a\u00020\u001a2\b\u0010(\u001a\u0004\u0018\u00010)H\u0016J\u001a\u0010*\u001a\u00020\u001a2\u0006\u0010+\u001a\u00020,2\b\u0010-\u001a\u0004\u0018\u00010.H\u0016J\u0012\u0010/\u001a\u00020\u001a2\b\u00100\u001a\u0004\u0018\u000101H\u0016J\u0010\u00102\u001a\u00020\u001a2\u0006\u0010+\u001a\u000203H\u0016J\u0010\u00104\u001a\u00020\u001a2\u0006\u00105\u001a\u00020\u001cH\u0016J\u0010\u00106\u001a\u00020\u001a2\u0006\u00107\u001a\u00020\u001cH\u0016J\b\u00108\u001a\u00020\u001aH\u0016J\b\u00109\u001a\u00020\u001aH\u0016J\u0010\u0010:\u001a\u00020\u001a2\u0006\u0010;\u001a\u00020<H\u0016J\b\u0010=\u001a\u00020\u001aH\u0002R\u0010\u0010\u000f\u001a\u0004\u0018\u00010\u0010X\u0082\u000e\u00a2\u0006\u0002\n\u0000R\u001b\u0010\u0011\u001a\u00020\u00128BX\u0082\u0084\u0002\u00a2\u0006\f\n\u0004\b\u0015\u0010\u0016\u001a\u0004\b\u0013\u0010\u0014\u00a8\u0006?"}, d2 = {"Lcom/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl;", "Lcom/zhjt/mogo_core_function_devatools/status/flow/IFlow;", "Lcom/zhjt/mogo_core_function_devatools/status/entity/CanStatus;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisSteeringStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisGearStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisLamplightListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener;", "ctx", "Landroid/content/Context;", "(Landroid/content/Context;)V", "job", "Lkotlinx/coroutines/Job;", "state", "Ljava/util/concurrent/atomic/AtomicInteger;", "getState", "()Ljava/util/concurrent/atomic/AtomicInteger;", "state$delegate", "Lkotlin/Lazy;", "isCanEnabled", "", "onAutopilotAcc", "", "carAcc", "", "onAutopilotBrake", "brake", "onAutopilotBrakeLightData", "brakeLight", "onAutopilotDataException", "timestamp", "", "onAutopilotGearData", "gear", "Lchassis/Chassis$GearPosition;", "onAutopilotGuardian", "guardianInfo", "Lmogo_msg/MogoReportMsg$MogoReportMessage;", "onAutopilotIpcConnectStatusChanged", "status", "", "reason", "", "onAutopilotLightSwitchData", "lightSwitch", "Lchassis/Chassis$LightSwitch;", "onAutopilotStatusRespByQuery", "Lsystem_master/SystemStatusInfo$StatusInfo;", "onAutopilotSteeringData", "steering", "onAutopilotThrottle", "throttle", "onCreate", "onDestroy", "onSweeperFutianCleanSystemState", "cleanSystemState", "Lchassis/ChassisStatesOuterClass$SweeperFuTianTaskSystemStates;", "timeOutCheck", "Companion", "mogo-core-function-devatools_debug"})
+@kotlin.Metadata(mv = {1, 5, 1}, k = 1, d1 = {"\u0000\u00a0\u0001\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0002\u0018\u0002\n\u0000\n\u0002\u0018\u0002\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0000\n\u0002\u0018\u0002\n\u0002\b\u0005\n\u0002\u0010\u000b\n\u0000\n\u0002\u0010\u0002\n\u0000\n\u0002\u0010\u0007\n\u0002\b\u0006\n\u0002\u0010\t\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0002\b\u0002\n\u0002\u0010\b\n\u0000\n\u0002\u0010\u000e\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0000\n\u0002\u0018\u0002\n\u0002\b\b\n\u0002\u0018\u0002\n\u0002\b\u0002\n\u0002\u0018\u0002\n\u0002\b\u0003\b\u0000\u0018\u0000 A2\b\u0012\u0004\u0012\u00020\u00020\u00012\u00020\u00032\u00020\u00042\u00020\u00052\u00020\u00062\u00020\u00072\u00020\b2\u00020\t2\u00020\n2\u00020\u000b:\u0001AB\r\u0012\u0006\u0010\f\u001a\u00020\r\u00a2\u0006\u0002\u0010\u000eJ\b\u0010\u0017\u001a\u00020\u0018H\u0002J\u0010\u0010\u0019\u001a\u00020\u001a2\u0006\u0010\u001b\u001a\u00020\u001cH\u0016J\u0010\u0010\u001d\u001a\u00020\u001a2\u0006\u0010\u001e\u001a\u00020\u001cH\u0016J\u0010\u0010\u001f\u001a\u00020\u001a2\u0006\u0010 \u001a\u00020\u0018H\u0016J\u0010\u0010!\u001a\u00020\u001a2\u0006\u0010\"\u001a\u00020#H\u0016J\u0010\u0010$\u001a\u00020\u001a2\u0006\u0010%\u001a\u00020&H\u0016J\u0012\u0010\'\u001a\u00020\u001a2\b\u0010(\u001a\u0004\u0018\u00010)H\u0016J\u001a\u0010*\u001a\u00020\u001a2\u0006\u0010+\u001a\u00020,2\b\u0010-\u001a\u0004\u0018\u00010.H\u0016J\u0012\u0010/\u001a\u00020\u001a2\b\u00100\u001a\u0004\u0018\u000101H\u0016J\u0010\u00102\u001a\u00020\u001a2\u0006\u0010+\u001a\u000203H\u0016J\u0010\u00104\u001a\u00020\u001a2\u0006\u00105\u001a\u00020\u001cH\u0016J\u0010\u00106\u001a\u00020\u001a2\u0006\u00107\u001a\u00020\u001cH\u0016J\b\u00108\u001a\u00020\u001aH\u0016J\b\u00109\u001a\u00020\u001aH\u0016J\u0010\u0010:\u001a\u00020\u001a2\u0006\u0010;\u001a\u00020<H\u0016J\u0010\u0010=\u001a\u00020\u001a2\u0006\u0010>\u001a\u00020?H\u0016J\b\u0010@\u001a\u00020\u001aH\u0002R\u0010\u0010\u000f\u001a\u0004\u0018\u00010\u0010X\u0082\u000e\u00a2\u0006\u0002\n\u0000R\u001b\u0010\u0011\u001a\u00020\u00128BX\u0082\u0084\u0002\u00a2\u0006\f\n\u0004\b\u0015\u0010\u0016\u001a\u0004\b\u0013\u0010\u0014\u00a8\u0006B"}, d2 = {"Lcom/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl;", "Lcom/zhjt/mogo_core_function_devatools/status/flow/IFlow;", "Lcom/zhjt/mogo_core_function_devatools/status/entity/CanStatus;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisAccStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisSteeringStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisGearStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisBrakeStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisThrottleStateListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoChassisLamplightListener;", "Lcom/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener;", "ctx", "Landroid/content/Context;", "(Landroid/content/Context;)V", "job", "Lkotlinx/coroutines/Job;", "state", "Ljava/util/concurrent/atomic/AtomicInteger;", "getState", "()Ljava/util/concurrent/atomic/AtomicInteger;", "state$delegate", "Lkotlin/Lazy;", "isCanEnabled", "", "onAutopilotAcc", "", "carAcc", "", "onAutopilotBrake", "brake", "onAutopilotBrakeLightData", "brakeLight", "onAutopilotDataException", "timestamp", "", "onAutopilotGearData", "gear", "Lchassis/Chassis$GearPosition;", "onAutopilotGuardian", "guardianInfo", "Lmogo_msg/MogoReportMsg$MogoReportMessage;", "onAutopilotIpcConnectStatusChanged", "status", "", "reason", "", "onAutopilotLightSwitchData", "lightSwitch", "Lchassis/Chassis$LightSwitch;", "onAutopilotStatusRespByQuery", "Lsystem_master/SystemStatusInfo$StatusInfo;", "onAutopilotSteeringData", "steering", "onAutopilotThrottle", "throttle", "onCreate", "onDestroy", "onSweeperFutianCleanSystemState", "cleanSystemState", "Lchassis/ChassisStatesOuterClass$SweeperFuTianTaskSystemStates;", "onSweeperFutianTaskIndexData", "roboSweeperTaskIndex", "Lplanning/RoboSweeperTaskIndexOuterClass$RoboSweeperTaskIndex;", "timeOutCheck", "Companion", "mogo-core-function-devatools_debug"})
 public final class CanImpl extends com.zhjt.mogo_core_function_devatools.status.flow.IFlow<com.zhjt.mogo_core_function_devatools.status.entity.CanStatus> implements com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener, com.mogo.eagle.core.function.api.autopilot.IMoGoChassisAccStateListener, com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener, com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener, com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener, com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener, com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener, com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener, com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener {
     @org.jetbrains.annotations.NotNull()
     public static final com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl.Companion Companion = null;
@@ -72,6 +72,11 @@ public final class CanImpl extends com.zhjt.mogo_core_function_devatools.status.
     chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
     }
     
+    @java.lang.Override()
+    public void onSweeperFutianTaskIndexData(@org.jetbrains.annotations.NotNull()
+    planning.RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
+    }
+    
     @java.lang.Override()
     public void onAutopilotGuardian(@org.jetbrains.annotations.Nullable()
     mogo_msg.MogoReportMsg.MogoReportMessage guardianInfo) {

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -5,12 +5,6 @@ import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
 import chassis.ChassisStatesOuterClass
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
-import com.mogo.eagle.core.utilcode.kotlin.safeCancel
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
@@ -24,7 +18,6 @@ import mogo_msg.MogoReportMsg.MogoReportMessage
 import planning.RoboSweeperTaskIndexOuterClass
 import system_master.SystemStatusInfo.StatusInfo
 import java.util.concurrent.atomic.AtomicInteger
-import java.util.concurrent.atomic.AtomicInteger
 
 internal class CanImpl(ctx: Context) :
         IFlow<CanStatus>(ctx),
@@ -113,9 +106,6 @@ internal class CanImpl(ctx: Context) :
         timeOutCheck()
     }
 
-    override fun onBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates) {
-
-    }
 
     override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
         send(CanStatus(isCanEnabled()))

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeApiService.java

@@ -7,7 +7,6 @@ import okhttp3.RequestBody;
 import retrofit2.http.Body;
 import retrofit2.http.Headers;
 import retrofit2.http.POST;
-import retrofit2.http.Query;
 
 /**
  * @author lixiaopeng

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -15,8 +15,6 @@ import androidx.annotation.RequiresApi
 import androidx.appcompat.widget.PopupMenu
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
-import androidx.core.view.MenuCompat
-import androidx.recyclerview.widget.LinearLayoutManager
 import androidx.core.view.*
 import chassis.Chassis
 import chassis.ChassisStatesOuterClass
@@ -47,7 +45,6 @@ import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListen
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
-import com.mogo.eagle.core.function.business.routeoverlay.RouteStrategy
 import com.mogo.eagle.core.function.business.routeoverlay.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
@@ -79,8 +76,6 @@ import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.*
 import com.zhidao.easysocket.utils.L
-import com.zhidao.support.adas.high.other.permission.BackgrounderPermission
-import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
 import com.zhjt.mogo_core_function_devatools.env.*
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
 import mogo.telematics.pad.MessagePad
@@ -88,23 +83,11 @@ import mogo_msg.MogoReportMsg
 import planning.RoboSweeperTaskIndexOuterClass
 import java.text.SimpleDateFormat
 import java.util.*
-import kotlin.collections.ArrayList
-import kotlin.collections.List
-import kotlin.collections.Map
-import kotlin.collections.MutableList
-import kotlin.collections.MutableMap
-import kotlin.collections.arrayListOf
 import kotlin.collections.component1
 import kotlin.collections.component2
 import kotlin.collections.component3
 import kotlin.collections.component4
-import kotlin.collections.first
-import kotlin.collections.forEach
-import kotlin.collections.iterator
-import kotlin.collections.mutableMapOf
-import kotlin.collections.removeLast
 import kotlin.collections.set
-import kotlin.collections.sortByDescending
 import kotlin.math.abs
 
 
@@ -2076,10 +2059,6 @@ class DebugSettingView @JvmOverloads constructor(
 
     }
 
-    override fun onBMSSystemStates(bmsSystemStates: ChassisStatesOuterClass.BMSSystemStates) {
-
-    }
-
     /**
      * 清扫车（福田）清扫控制系统状态
      */

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt

@@ -1,9 +1,5 @@
 package com.mogo.eagle.core.function.api.autopilot
 
-import chassis.Chassis
-import chassis.ChassisStatesOuterClass
-import planning.RoboSweeperTaskIndexOuterClass
-
 /**
  * 车辆底盘 数据 回调监听
  */

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianCleanSystemListener.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import chassis.ChassisStatesOuterClass
+import planning.RoboSweeperTaskIndexOuterClass
 
 /**
  * 清扫车（福田）清扫控制系统状态
@@ -10,4 +11,10 @@ interface IMoGoSweeperFutianCleanSystemListener {
      * 清扫车（福田）清扫控制系统状态
      */
     fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates)
+
+
+    /**
+     * 清扫车（福田）指标数据 贴边数据
+     */
+    fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex)
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt

@@ -34,23 +34,4 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase<IMoGoAutopilotVeh
         }
     }
 
-    /**
-     * clean system state 清扫车（福田）清扫控制系统状态
-     */
-    fun invokeSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
-            val listener = it.value
-            listener.onSweeperFutianCleanSystemState(cleanSystemState)
-        }
-    }
-
-    /**
-     *清扫车（福田）指标数据 贴边数据
-     */
-    fun invokeSweeperFutianCleanTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
-        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
-            val listener = it.value
-            listener.onSweeperFutianTaskIndexData(roboSweeperTaskIndex)
-        }
-    }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianCleanSystemListenerManager.kt

@@ -4,6 +4,7 @@ import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import planning.RoboSweeperTaskIndexOuterClass
 
 /**
  * 清扫车（福田）清扫控制系统状态
@@ -19,4 +20,14 @@ object CallerSweeperFutianCleanSystemListenerManager : CallerBase<IMoGoSweeperFu
             listener.onSweeperFutianCleanSystemState(cleanSystemState)
         }
     }
+
+    /**
+     *清扫车（福田）指标数据 贴边数据
+     */
+    fun invokeSweeperFutianCleanTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperFutianTaskIndexData(roboSweeperTaskIndex)
+        }
+    }
 }

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt

@@ -7,6 +7,7 @@ fun AppIdentityModeUtils.getMisChannelCode(appIdentityMode: String): Int {
         isTaxi(appIdentityMode) && isDriver(appIdentityMode) -> 2
         isBus(appIdentityMode) && isPassenger(appIdentityMode) -> 3
         isBus(appIdentityMode) && isDriver(appIdentityMode) -> 4
+        isSweeper(appIdentityMode) -> 6
         else -> 0
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -6,6 +6,7 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
 
 import bag_manager.BagManagerOuterClass;
 import chassis.ChassisStatesOuterClass;
+import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;