Merge branch 'dev_robotaxi-d_260311_8.4.0' into dev_robotaxi-d_260311_8.5.0_yyk

OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt

@@ -7,6 +7,7 @@ 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.Companion.M_OCHCOMMON
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.och.bridge.autopilot.line.LineManager
 import com.mogo.och.bridge.autopilot.location.OchLocationManager
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
 import com.mogo.och.bridge.bridge.OchBridgeManager
@@ -68,6 +69,19 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
         removeListener(tag)
     }
 
+    override fun startAutopilot(type: Int) {
+        when (type) {
+            0 -> {LineManager.unmannedStartAutopilot(false)}
+            1 -> {LineManager.unmanneAutopilotContinue(false)}
+            2 -> {}
+            else -> {}
+        }
+    }
+
+    override fun taskManager(type: Int, index: Int) {
+        invokeTaskManagerTestArrived(index)
+    }
+
     override fun doSomeAfterAddListener(tag: String, listener: BridgeListener) {
         // 轨迹和距离回调
         TrajectoryManager.doSomeAfterBridgeListener()
@@ -133,5 +147,11 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
         }
     }
 
+    fun invokeTaskManagerTestArrived(indexStation:Int){
+        M_LISTENERS.forEach {
+            it.value.onTestArrivedStation(indexStation)
+        }
+    }
+
 
 }

OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/IOchAutopilotStatusListener.java

@@ -3,6 +3,10 @@ package com.mogo.och.bridge.autopilot.autopilot;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.och.bridge.autopilot.autopilot.bean.ArrivedStation;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;
+
+import org.jetbrains.annotations.Nullable;
 
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
@@ -40,6 +44,23 @@ public interface IOchAutopilotStatusListener {
     default void onAutopilotArriveAtStation(ArrivedStation arrivalNotification) {
     }
 
+    /**
+     * 自动驾驶离站
+     * @param taskId
+     * @param taskStartNotification
+     */
+    default void onAutopilotLeaveStation(Long taskId, TaskStartNotification taskStartNotification){
+    }
+
+    /**
+     * 自动驾驶离站
+     * @param taskId
+     * @param taskStartNotification
+     */
+    default void onArriveAtStationByTaskManager(Long taskId, TaskArrivalNotification taskStartNotification){
+    }
+
+
     /**
      * 工控机获取SN
      */

OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotManager.kt

@@ -122,8 +122,8 @@ object OchAutoPilotManager {
      * 继续启动自驾
      */
     @JvmStatic
-    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory, vehicleSite : VehicleSite, parameters: AutopilotControlParameters): Long {
-        val sessionId = CallerAutoPilotControlManager.unmannedAutoPilotContinue(taskId, traj,vehicleSite, parameters)
+    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory, startStation : VehicleSite,endStation : VehicleSite, parameters: AutopilotControlParameters): Long {
+        val sessionId = CallerAutoPilotControlManager.unmannedAutoPilotContinue(taskId, traj,startStation,endStation, parameters)
         globalSessionId.set(SessionWithTime(sessionId, System.currentTimeMillis(), -1L))
         OchAutoPilotStatusListenerManager.fsmBackSessionId.set(-1L)
         OchAutopilotAnalytics.triggerStartAutopilotParameters(traj, parameters, sessionId)

OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt

@@ -23,6 +23,8 @@ import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import fsm.Fsm2024
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -239,6 +241,23 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
         }
     }
 
+    override fun invokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotLeaveStation(taskId,taskStartNotification)
+        }
+    }
+
+    override fun onArriveAtStationByTaskManager(
+        taskId: Long?,
+        taskArrivalNotification: TaskArrivalNotification?
+    ) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onArriveAtStationByTaskManager(taskId,taskArrivalNotification)
+        }
+    }
+
     /**
      * 距离终点10m 向地盘查询是否到站地盘的返回值
      * [LineManager.mMapLocationListener]

OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt

@@ -638,12 +638,6 @@ object LineManager : CallerBase<ILineCallback>() {
                 return
             }
         }
-        /**
-         * 存在Session
-         */
-        if (!OchAutoPilotManager.canStartAutopilotBySessionId()) {
-            return
-        }
         OchAutopilotAnalytics.triggerClickStartAutopilotTime(System.currentTimeMillis())
         //1、判断轨迹url是否可用
         if (_contraiInfo == null) {
@@ -759,12 +753,6 @@ object LineManager : CallerBase<ILineCallback>() {
                 return
             }
         }
-        /**
-         * 存在Session
-         */
-        if (!OchAutoPilotManager.canStartAutopilotBySessionId()) {
-            return
-        }
         OchAutopilotAnalytics.triggerClickStartAutopilotTime(System.currentTimeMillis())
         //1、判断轨迹url是否可用
         if (_contraiInfo == null) {
@@ -793,10 +781,10 @@ object LineManager : CallerBase<ILineCallback>() {
             return
         }
         _lineInfos?.let { lineInfo ->
-            startStation?.let { start->
+            getStations { start, end ->
                 val wayPoints = ArrayList<VehicleSite>()
                 val blackPoints = ArrayList<VehicleSite>()
-                val vehicleSite = VehicleSite.builder()
+                val startStation = VehicleSite.builder()
                     .coordinateType(AutopilotCoordinateTypeEnum.WGS84.code)
                     .point(AutopilotPoint.builder().x(start.lon).y(start.lat).build())
                     .station(StationEnum.SITE.code)
@@ -805,7 +793,17 @@ object LineManager : CallerBase<ILineCallback>() {
                     .stationSeq(start.seq)
                     .tag(start.tag)
                     .build()
-                wayPoints.add(vehicleSite)
+                val endStation = VehicleSite.builder()
+                    .coordinateType(AutopilotCoordinateTypeEnum.WGS84.code)
+                    .point(AutopilotPoint.builder().x(end.lon).y(end.lat).build())
+                    .station(StationEnum.SITE.code)
+                    .stationId(end.siteId.toLong())
+                    .stationName(end.name)
+                    .stationSeq(end.seq)
+                    .tag(end.tag)
+                    .build()
+                wayPoints.add(startStation)
+                wayPoints.add(endStation)
                 val traj = Trajectory.builder()
                     .id(lineInfo.lineId)
                     .name(lineInfo.lineName)
@@ -817,7 +815,7 @@ object LineManager : CallerBase<ILineCallback>() {
                     .wayPoints(wayPoints)
                     .blackPoints(blackPoints)
                     .build()
-                val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(lineInfo.taskId, traj,vehicleSite, parameters)
+                val sessionId = OchAutoPilotManager.unmannedAutoPilotContinue(lineInfo.taskId, traj,startStation, endStation,parameters)
                 OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId, true)
                 d(
                     TAG,

OCH/common/bridge/src/main/java/com/mogo/och/bridge/device/checkvin/CheckVinManager.kt

@@ -24,6 +24,7 @@ object CheckVinManager : IMoGoAutopilotCarConfigListener {
 
     override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
         checkVin()
+        CallerAutoPilotControlManager.sendTaskManagerRunningInfo()
     }
 
     fun getVin(): String {

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

@@ -86,6 +86,8 @@ object DebugDataDispatch {
     const val pncAction = "pncAction"
     const val collisionRisk = "CollisionRisk"
     const val mediaStationMedia = "stationMedia"
+    const val startAutopilot = "startAutopilot"
+    const val taskManager = "taskManager"
 
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "video" --ei add 2 --es url "rtmp://liteavapp.qcloud.com/live/liteavdemoplayerstreamid"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "1111/11111"
@@ -108,6 +110,8 @@ object DebugDataDispatch {
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmMessage" --es message "前方100米有道路施工，施工长度100米，影响第1、2车道通行。" --ei id 128  --ef time 1880.0
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmImage"  --ef time 1880.0
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "stationMedia"
+//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "startAutopilot" --ei startType 0
+//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "taskManager" --ei startType 0  --ei indexStation 3
 
 //    adb shell am broadcast -a com.hmi.v2x.trafficlight -f 0x011000000 --ei trafficLightCheckType 1 --ei trafficLightCountDown 0 --ez trafficLightIsShow true  // 红绿灯
 
@@ -122,6 +126,15 @@ object DebugDataDispatch {
 
         }
         when (type) {
+            taskManager -> {
+                val type = intent.getIntExtra("startType", 0)
+                val indexStation = intent.getIntExtra("indexStation", 0)
+                BridgeManager.debugTaskManager(type,indexStation)
+            }
+            startAutopilot -> {
+                val type = intent.getIntExtra("startType", 0)
+                BridgeManager.debugStartAutopilot(type)
+            }
             mediaStationMedia -> {
                 val introductionList = mutableListOf<MediaItem>()
                 introductionList.add(

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt

@@ -28,4 +28,6 @@ interface BridgeListener {
     fun onPncInfoListener(pncAction: String) {}
 
     fun onCollisionRisk() {}
+
+    fun onTestArrivedStation(indexStation:Int) {}
 }

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeManager.kt

@@ -35,4 +35,12 @@ object BridgeManager {
         bridgeService?.removeBridgeListener(tag)
     }
 
+    fun debugStartAutopilot(type:Int){
+        bridgeService?.startAutopilot(type)
+    }
+
+    fun debugTaskManager(type:Int,index:Int){
+        bridgeService?.taskManager(type,index)
+    }
+
 }

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeService.kt

@@ -13,4 +13,8 @@ interface BridgeService : IProvider {
     fun addBridgeListener(tag:String, listener:BridgeListener)
 
     fun removeBridgeListener(tag: String)
+
+    fun startAutopilot(type: Int)
+
+    fun taskManager(type: Int,index:Int)
 }

OCH/common/common/src/main/res/layout/common_visual_view.xml

@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<com.amap.api.navi.AMapNaviView xmlns:android="http://schemas.android.com/apk/res/android"
-    android:id="@+id/amapNaviView"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent" />

OCH/common/data/src/main/java/com/mogo/och/data/bean/BusStationBean.kt

@@ -11,6 +11,17 @@ import java.util.Objects
  * @author tongchenfei
  */
 open class BusStationBean {
+    companion object{
+        const val drivingStatusInit = 0//0初始值
+        const val drivingStatusPassed = 1//1已经过
+        const val drivingStatusCurrent = 2//2当前站
+        const val drivingStatusNotArrived = 3//3未到站
+
+        const val tagInit = 0//0初始值
+        const val tagNormal = 1//1正常停靠
+        const val tagSkip = 2//2 需要跳过
+    }
+
     var siteId: Int = 0
 
     @JvmField

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/bean/response/BusRoutesResponse.kt

@@ -103,7 +103,7 @@ class BusRoutesResponse : BaseData() {
                 }
                 result.add(temp!!)
                 // 正在进行中的任务
-                if (temp!!.drivingStatus == TaskSiteDataBean.drivingStatusCurrent) {
+                if (temp!!.drivingStatus == BusStationBean.drivingStatusCurrent) {
                     if (temp!!.tag != 2) {
                         currentStationIndex = index
                     }

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/LineModel.kt

@@ -214,7 +214,7 @@ object LineModel {
             null
         } else {
 //            startStationIndex == stationList!!.size - 1
-            startStationIndex == getLastStationPos(stationList!!)-1
+            nextStationIndex == getLastStationPos(stationList!!)
         }
     }
 
@@ -334,7 +334,7 @@ object LineModel {
 
     fun startTaskMessage(): Boolean {
         if (!stationList.isNullOrEmpty()) {
-            return startStationIndex == 0 && stationList!!.first().drivingStatus == TaskSiteDataBean.drivingStatusCurrent && !stationList!!.first().isLeaving
+            return startStationIndex == 0 && stationList!!.first().drivingStatus == BusStationBean.drivingStatusCurrent && !stationList!!.first().isLeaving
         }
         return false
     }

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/model/OrderModel.kt

@@ -40,12 +40,18 @@ import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.mogo.och.common.module.utils.ResourcesUtils
 import com.mogo.och.common.module.utils.RxUtils
+import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.shuttle.unmanned.R
 import com.mogo.och.unmanned.constant.BusConst
 import com.mogo.och.unmanned.repository.RepositoryManager
-import com.mogo.och.unmanned.repository.db.bean.TaskSiteDataBean
 import com.mogo.och.unmanned.repository.exception.DataException
 import com.mogo.och.unmanned.util.ShuttleVoiceManager
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.AutopilotPoint
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
+import com.zhjt.mogo.adas.unmanned.task.enums.AutopilotCoordinateTypeEnum
+import com.zhjt.mogo.adas.unmanned.task.enums.StationEnum
 import io.reactivex.Observer
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
@@ -122,14 +128,128 @@ object OrderModel {
 //                else -> {}
 //            }
         }
+
+        override fun onTestArrivedStation(indexStation: Int) {
+            super.onTestArrivedStation(indexStation)
+            try {
+                LineModel.currentTask?.taskId?.let { taskId ->
+                    LineModel.stationList?.let { list ->
+                        if (list.size > indexStation) {
+                            val busStationBean = list.get(indexStation)
+                            val behicleSite = VehicleSite.builder()
+                                .coordinateType(AutopilotCoordinateTypeEnum.WGS84.code)
+                                .point(AutopilotPoint.builder().x(busStationBean.lon).y(busStationBean.lat).build())
+                                .station(StationEnum.SITE.code)
+                                .stationId(busStationBean.siteId.toLong())
+                                .stationName(busStationBean.name)
+                                .stationSeq(busStationBean.seq)
+                                .tag(busStationBean.tag)
+                                .build()
+                            val mockInfo = TaskArrivalNotification(behicleSite,behicleSite,12.0)
+                            ochAutopilotStatusListener.onArriveAtStationByTaskManager(taskId,mockInfo)
+                        }
+                    }
+                }
+            }catch (e:Exception){
+                e.printStackTrace()
+            }
+
+        }
     }
 
     private val ochAutopilotStatusListener = object : IOchAutopilotStatusListener {
         override fun onAutopilotArriveAtStation(arrivedStation: ArrivedStation?) {
             e(TAG, "行程日志-onAutopilotArriveAtStation arrive")
-            onArriveAt(arrivedStation, "底盘触发进站",false)
+            //onArriveAt(arrivedStation, "底盘触发进站")
         }
 
+        override fun onAutopilotLeaveStation(
+            taskId: Long?,
+            taskStartNotification: TaskStartNotification?
+        ) {
+            OchChainLogManager.writeChainLog("触发滑动出发,","taskId:$taskId taskStartNotification:${taskStartNotification}")
+            if(taskStartNotification?.isCloseDoorStartAuto==true){
+                val curStation = taskStartNotification.curStation
+                val nextStation = taskStartNotification.nextStation
+                LineModel.currentTask?.let { task ->
+                    if(task.taskId==taskId){
+                        LineManager.getStations { start, end ->
+                            if(start.siteId.toLong()==curStation.stationId&&end.siteId.toLong()==nextStation.stationId){
+                                OchChainLogManager.writeChainLog("触发滑动出发,","触发成功")
+                                driveToNextStation(false)
+                            }else{
+                                OchChainLogManager.writeChainLog("触发滑动出发,","起始终点id不同触发失败")
+                            }
+                        }
+                    }else{
+                        OchChainLogManager.writeChainLog("触发滑动出发,","taskId不同触发失败")
+                    }
+                }
+
+            }
+        }
+
+        override fun onArriveAtStationByTaskManager(
+            taskId: Long?,
+            taskArrivalNotification: TaskArrivalNotification?
+        ) {
+            OchChainLogManager.writeChainLog("任务管理触发进站,","taskId:$taskId taskStartNotification:${taskArrivalNotification}")
+            taskId?.let { taskIdNotNull->
+                LineModel.currentTask?.let {
+                    if(it.taskId==taskIdNotNull){
+                        taskArrivalNotification?.station?.let { arrivedStation->
+                            LineModel.stationList?.forEachIndexed { index, busStationBean ->
+                                if(busStationBean.siteId.toLong()==arrivedStation.stationId){
+                                    if(busStationBean.tag==BusStationBean.tagSkip){
+                                        OchChainLogManager.writeChainLog("任务管理触发进站,","触发到站是临时不停不进行向下操作")
+                                        return
+                                    }
+                                }
+                            }
+
+                            LineManager.getStations { start, end ->
+                                if(end.siteId.toLong()==arrivedStation.stationId){
+                                    onArriveAt(arrivedStation, "任务管理器触发进站")
+                                }else{
+                                    if(start.siteId.toLong()==arrivedStation.stationId){
+                                        OchChainLogManager.writeChainLog("任务管理触发进站,","开始站点和到达站点一致 不到站正好调整好数据")
+                                    }else{
+
+                                        OchChainLogManager.writeChainLog("任务管理触发进站,","到达站点和${start}还有${end}都不一致但是taskId:${taskId}一致去数据库调整数据使之一致")
+                                        RepositoryManager.adjustAllStation(taskIdNotNull,arrivedStation)
+                                            ?.subscribeOn(Schedulers.io())
+                                            ?.observeOn(AndroidSchedulers.mainThread())
+                                            ?.subscribe(object : Observer<Boolean> {
+                                                override fun onSubscribe(d: Disposable) {
+                                                    d(TAG, "onSubscribe")
+
+                                                }
+
+                                                override fun onError(e: Throwable) {
+                                                    d(TAG, "onError${e.printStackTrace()}")
+
+                                                }
+
+                                                override fun onComplete() {
+                                                    d(TAG, "onComplete")
+                                                }
+
+                                                override fun onNext(data: Boolean) {
+                                                    d(TAG, "onNext:${data}")
+                                                    queryBusRoutes()
+                                                }
+                                            })
+                                    }
+                                }
+                            }
+                        }
+                    }else{
+                        OchChainLogManager.writeChainLog("任务管理触发进站,","任务管理和pad端task 不一致请取消任务后重新选择任务")
+                    }
+                }
+            }
+
+        }
     }
 
     private val ochTransform = object : OchTransformDispatch {
@@ -145,7 +265,7 @@ object OrderModel {
             //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
             if (isGoingToNextStation && !isArrivedStation) {
                 OCHThreadPoolManager.getsInstance().locationExecute {
-                    onArriveAt(null, "兜底：距离站点15m内 每秒钟向底盘查询是否到站 底盘返回",false)
+                    //onArriveAt(null, "兜底：距离站点15m内 每秒钟向底盘查询是否到站 底盘返回")
                 }
             }
         }
@@ -243,13 +363,15 @@ object OrderModel {
         }
     }
 
-    private fun onStartAutopilot(taskId: Long?) {
+    private fun onStartAutopilot() {
         //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启
         isGoingToNextStation = true
         if (CallerTaskListenerManager.isCarRunningTask()) {
             LineManager.unmanneAutopilotContinue(false)
+            d(TAG, "启动自驾：继续启动自驾")
         }else{
             LineManager.unmannedStartAutopilot(true)
+            d(TAG, "启动自驾：下发轨迹启动自驾")
         }
         if (CallerAutoPilotStatusListenerManager.getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
         ) {
@@ -284,7 +406,7 @@ object OrderModel {
      * 滑动出发
      */
     @JvmStatic
-    fun driveToNextStation() {
+    fun driveToNextStation(startAutopilot:Boolean) {
         if (LineModel.isLastStation() == true) {
             // 当前站是最后一站，结束当前行程
             completeTask(true)
@@ -292,7 +414,7 @@ object OrderModel {
         }
 
         LineManager.getStations().first?.let { startStation ->
-            startStation.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
+            startStation.drivingStatus = BusStationBean.drivingStatusCurrent
             startStation.isLeaving = true
             LineModel.currentTask?.let { task ->
                 RepositoryManager.leaveStation(
@@ -318,7 +440,9 @@ object OrderModel {
                                 }
                                 LineModel.leaveStationSuccess()
                                 isArrivedStation = false
-                                onStartAutopilot(task.taskId)
+                                if(startAutopilot) {
+                                    onStartAutopilot()
+                                }
 
                                 ThirdDeviceData.leaveStation()
 
@@ -336,8 +460,9 @@ object OrderModel {
                                 if (data) {
                                     LineModel.leaveStationSuccess()
                                     isArrivedStation = false
-                                    onStartAutopilot(task.taskId)
-
+                                    if(startAutopilot) {
+                                        onStartAutopilot()
+                                    }
                                     ThirdDeviceData.leaveStation()
 
                                     updateBusStatus()
@@ -458,7 +583,7 @@ object OrderModel {
      * @param data
      */
     @JvmStatic
-    fun onArriveAt(data: ArrivedStation?, type: String,skipStation:Boolean) {
+    fun onArriveAt(data: VehicleSite?, type: String) {
         if (LineManager.getStations().second == null) {
             e(TAG, "行程日志-到站异常，取消后续操作结束")
             OchChainLogManager.writeChainLog("shuttle弱网", "$type 行程日志-到站异常，取消后续操作结束")
@@ -478,9 +603,9 @@ object OrderModel {
             LineManager.lastArrivedSiteId = end.siteId
             isArrivedStation = true
             isGoingToNextStation = false
-            start.drivingStatus = TaskSiteDataBean.drivingStatusPassed
+            start.drivingStatus = BusStationBean.drivingStatusPassed
             start.isLeaving = false
-            end.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
+            end.drivingStatus = BusStationBean.drivingStatusCurrent
             RepositoryManager.arriveStation(end.seq, end.siteId.toLong(), LineModel.currentTask?.taskId
                     ?: 0L)
                     ?.subscribeOn(Schedulers.io())
@@ -515,9 +640,6 @@ object OrderModel {
                             }
                             LineModel.arrivedStationSuccess()
                             updateBusStatus()
-                            if(skipStation) {
-                                driveToNextStation()
-                            }
                         }
 
                         override fun onComplete() {
@@ -541,9 +663,6 @@ object OrderModel {
                             }
                             LineModel.arrivedStationSuccess()
                             updateBusStatus()
-                            if(skipStation) {
-                                driveToNextStation()
-                            }
                         }
 
                         override fun onNext(data: Boolean) {
@@ -555,6 +674,88 @@ object OrderModel {
 
     }
 
+    @JvmStatic
+    fun skipNextStation() {
+        // 手动点击到站
+        LineManager.getStations { start, end ->
+
+            if (isArrivedStation || end.siteId == LineManager.lastArrivedSiteId) return@getStations
+
+            OchChainLogManager.writeChainLog("触发跳站", "点击")
+            end.tag = 2
+            end.drivingStatus = BusStationBean.drivingStatusNotArrived
+            RepositoryManager.skipStation()
+                ?.subscribeOn(Schedulers.io())
+                ?.observeOn(AndroidSchedulers.mainThread())
+                ?.subscribe(object : Observer<Boolean> {
+                    override fun onSubscribe(d: Disposable) {
+                        d(TAG, "onSubscribe")
+                    }
+
+                    override fun onError(e: Throwable) {
+                        d(TAG, "onError${e.printStackTrace()}")
+                        if (e is DataException) {
+                            e.printStackTrace()
+                        }
+                        ThirdDeviceData.arriveStation()
+                        d(TAG, "skipNextStation onComplete")
+                        LineModel.stationList?.let {
+                            //此处始发站应为上段路程的终点站
+                            val startStation = LineManager.getStations().first
+                            if (LineModel.startStationIndex + 1 < it.size) {
+                                //遍历当前路段起始点之后的数组，第一个正常停靠点即为该段终点
+                                val subStationList = it.subList(LineModel.startStationIndex + 1, it.size)
+                                val endStation = subStationList.firstOrNull { bean ->
+                                    bean.tag != 2
+                                }
+                                LineModel.nextStationIndex = it.indexOf(endStation)
+//                                val endStation = stationlist[LineModel.startStationIndex + 1]
+                                LineManager.setStartAndEndStation(startStation, endStation)
+                                LineModel.callEyeMap(5)
+                            }
+                        }
+                        LineModel.leaveStationSuccess()
+                        ThirdDeviceData.leaveStation()
+                        updateBusStatus()
+
+                        isArrivedStation = false
+                        onStartAutopilot()
+                    }
+
+                    override fun onComplete() {
+                        ThirdDeviceData.arriveStation()
+                        d(TAG, "skipNextStation onComplete")
+                        LineModel.stationList?.let {
+                            //此处始发站应为上段路程的终点站
+                            val startStation = LineManager.getStations().first
+                            if (LineModel.startStationIndex + 1 < it.size) {
+                                //遍历当前路段起始点之后的数组，第一个正常停靠点即为该段终点
+                                val subStationList = it.subList(LineModel.startStationIndex + 1, it.size)
+                                val endStation = subStationList.firstOrNull { bean ->
+                                    bean.tag != 2
+                                }
+                                LineModel.nextStationIndex = it.indexOf(endStation)
+//                                val endStation = stationlist[LineModel.startStationIndex + 1]
+                                LineManager.setStartAndEndStation(startStation, endStation)
+                                LineModel.callEyeMap(6)
+                            }
+                        }
+                        LineModel.leaveStationSuccess()
+                        ThirdDeviceData.leaveStation()
+                        updateBusStatus()
+
+                        isArrivedStation = false
+                        onStartAutopilot()
+                    }
+
+                    override fun onNext(data: Boolean) {
+
+                    }
+                })
+
+        }
+    }
+
     // 登出
     @JvmStatic
     fun logoutInner() {

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/RepositoryManager.kt

@@ -27,6 +27,7 @@ import com.mogo.och.unmanned.repository.net.bean.response.PassengerWriteOffRespo
 import com.mogo.och.unmanned.repository.writeoff.IWriteOffRepository
 import com.mogo.och.unmanned.repository.writeoff.impl.WriteOffCacheRepository
 import com.mogo.och.unmanned.repository.writeoff.impl.WriteOffNormallRepository
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable
 
 object RepositoryManager {
@@ -138,6 +139,15 @@ object RepositoryManager {
         return lineRepository?.arriveStation(seq, siteId, taskId)
     }
 
+    fun skipStation(): Observable<Boolean>? {
+        return lineRepository?.skipStation()
+    }
+
+
+    fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite): Observable<Boolean>? {
+        return lineRepository?.adjustAllStation(taskId,arrivedStation)
+    }
+
     fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>? {
         return lineRepository?.endTask(shiftsId, taskId)
     }

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/db/bean/TaskSiteDataBean.kt

@@ -3,6 +3,7 @@ package com.mogo.och.unmanned.repository.db.bean
 import androidx.room.ColumnInfo
 import androidx.room.Entity
 import androidx.room.PrimaryKey
+import com.mogo.och.data.bean.BusStationBean
 
 @Entity(tableName = TaskSiteDataBean.tableName)
 data class TaskSiteDataBean(
@@ -143,6 +144,17 @@ data class TaskSiteDataBean(
         fun toTaskSiteDatas(querySites: List<SiteDataBean>, shiftsId: Long, taskId: Long, lineName: String): MutableList<TaskSiteDataBean> {
             val result = mutableListOf<TaskSiteDataBean>()
             var temp: TaskSiteDataBean? = null
+
+            // 先定义变量存储「第一个tag≠2」的元素seq值
+            var targetSeq: Int? = null
+
+// 第一步：遍历找到第一个tag≠2的元素的seq
+            querySites.forEach {
+                if (it.tag != 2 && targetSeq == null) {
+                    targetSeq = it.seq
+                }
+            }
+
             querySites.forEach {
                 temp = TaskSiteDataBean()
                 temp?.taskId = taskId
@@ -157,10 +169,14 @@ data class TaskSiteDataBean(
                 temp?.gcjLat = it.gcjLat
                 temp?.lon = it.lon
                 temp?.lat = it.lat
-                if (it.seq == 1) {
-                    temp?.drivingStatus = drivingStatusCurrent
-                } else {
-                    temp?.drivingStatus = drivingStatusNotArrived
+                // 核心：根据tag条件设置drivingStatus
+                temp?.drivingStatus = when {
+                    // 1. 找到第一个tag≠2的元素 → Current
+                    targetSeq != null && it.seq == targetSeq -> BusStationBean.drivingStatusCurrent
+                    // 2. 该元素之前的 → Passed
+                    targetSeq != null && it.seq!! < targetSeq!! -> BusStationBean.drivingStatusPassed
+                    // 3. 其余情况（包括所有tag=2）→ NotArrived
+                    else -> BusStationBean.drivingStatusNotArrived
                 }
                 temp?.leaving = false
                 temp?.introduction = it.introduction
@@ -174,9 +190,5 @@ data class TaskSiteDataBean(
 
         const val tableName: String = "used_task_data_table"
 
-        const val drivingStatusInit = 0//0初始值
-        const val drivingStatusPassed = 1//1已经过
-        const val drivingStatusCurrent = 2//2当前站
-        const val drivingStatusNotArrived = 3//3未到站
     }
 }

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/db/dao/TaskSiteDataDao.kt

@@ -23,6 +23,11 @@ interface TaskSiteDataDao {
     @Query("UPDATE ${TaskSiteDataBean.tableName} SET leaving = :leave , driving_status = :drivingStatusCurrent WHERE task_id = :taskId and site_id = :siteId")
     fun updateDrivingStatusANdLeave(taskId: Long, siteId: Long, drivingStatusCurrent: Int, leave: Int)
 
+    // 跳站中把tag 值为2  仅置运行表中
+    @Query("UPDATE ${TaskSiteDataBean.tableName} SET leaving = :leave , driving_status = :drivingStatusCurrent , tag = :tag WHERE task_id = :taskId and site_id = :siteId")
+    fun updateDrivingStatusTagAndLeave(taskId: Long, siteId: Long, drivingStatusCurrent: Int, leave: Int , tag:Int)
+
+
     @Query("UPDATE ${TaskSiteDataBean.tableName} SET driving_status = :drivingStatusCurrent WHERE task_id = :taskId and site_id = :siteId")
     fun updateDrivingStatus(taskId: Long, siteId: Long, drivingStatusCurrent: Int)
 

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/db/repository/TaskSiteDb.kt

@@ -1,9 +1,11 @@
 package com.mogo.och.unmanned.repository.db.repository
 
+import androidx.room.Transaction
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS
 import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.loop.BizLoopManager
+import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.data.db.exception.DbException
 import com.mogo.och.shuttle.unmanned.R
 import com.mogo.och.unmanned.repository.db.IDbRepository
@@ -95,6 +97,23 @@ object TaskSiteDb : IDbRepository {
             )
         }
     }
+    fun updateDrivingStatusTagAndLeave(
+            taskId: Long,
+            siteId: Long,
+            drivingStatus: Int,
+            leave: Boolean,
+            tag:Int
+    ) {
+        BizLoopManager.runInIoThread {
+            taskSiteDataDao?.updateDrivingStatusTagAndLeave(
+                taskId,
+                siteId,
+                drivingStatus,
+                if (leave) 1 else 0,
+                tag
+            )
+        }
+    }
 
     fun queryRunningTask(taskId: Long): List<TaskSiteDataBean>? {
         return taskSiteDataDao?.queryRunningTask(taskId)
@@ -151,7 +170,7 @@ object TaskSiteDb : IDbRepository {
         runningSite.forEach {
             if (it.siteId == currentSiteId) {
                 currentSeq = it.seq ?: 0
-                it.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
+                it.drivingStatus = BusStationBean.drivingStatusCurrent
                 it.leaving = leaving
                 return@forEach
             }
@@ -159,15 +178,32 @@ object TaskSiteDb : IDbRepository {
         runningSite.forEach {
             val seq = it.seq ?: 0
             if (seq < currentSeq) {
-                it.drivingStatus = TaskSiteDataBean.drivingStatusPassed
+                it.drivingStatus = BusStationBean.drivingStatusPassed
                 it.leaving = true
             } else if (seq > currentSeq) {
-                it.drivingStatus = TaskSiteDataBean.drivingStatusNotArrived
+                it.drivingStatus = BusStationBean.drivingStatusNotArrived
                 it.leaving = false
             }
         }
         return runningSite
     }
 
+    fun adjustAllStationByTaskId(queryRunningTask: List<TaskSiteDataBean>?) {
+        val runnable = object : Runnable {
+            @Transaction
+            override fun run() {
+                queryRunningTask?.forEach {
+                    taskSiteDataDao?.updateDrivingStatusANdLeave(
+                        it.taskId ?: 0,
+                        it.siteId ?: 0,
+                        it.drivingStatus ?: 0,
+                        if (it.leaving == true) 1 else 0,
+                    )
+                }
+            }
+        }
+        BizLoopManager.runInIoThread(runnable)
+    }
+
 
 }

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/ILineRepository.kt

@@ -8,6 +8,7 @@ import com.mogo.och.unmanned.bean.response.CarExecutableTaskResponse
 import com.mogo.och.unmanned.bean.response.PointResponse
 import com.mogo.och.unmanned.repository.db.bean.LineDataBean
 import com.mogo.och.unmanned.repository.db.bean.TaskDataBean
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable
 
 interface ILineRepository {
@@ -32,6 +33,10 @@ interface ILineRepository {
 
     fun arriveStation(seq: Int, siteId: Long, taskId: Long): Observable<Boolean>?
 
+    fun skipStation(): Observable<Boolean>?
+
+    fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite):Observable<Boolean>?
+
     fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>?
 
     fun queryCarExecutableTaskList(ochCommonServiceCallback: OchCommonServiceCallback<CarExecutableTaskResponse>)

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/NormalRepository.kt

@@ -22,13 +22,13 @@ import com.mogo.och.unmanned.bean.response.PointResponse
 import com.mogo.och.unmanned.model.LineModel
 import com.mogo.och.unmanned.repository.db.bean.LineDataBean
 import com.mogo.och.unmanned.repository.db.bean.TaskDataBean
-import com.mogo.och.unmanned.repository.db.bean.TaskSiteDataBean
 import com.mogo.och.unmanned.repository.line.ILineRepository
 import com.mogo.och.unmanned.repository.net.NetInterface
 import com.mogo.och.unmanned.repository.net.exception.NetException
 import com.mogo.och.unmanned.repository.net.project.dali.bus.DaliBusServiceManager
 import com.mogo.och.unmanned.repository.net.project.mogo.bus.MogoBusServiceManager
 import com.mogo.och.unmanned.repository.net.project.mogo.shuttle.MogoShuttleServiceManager
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable
 
 class NormalRepository : ILineRepository {
@@ -103,7 +103,7 @@ class NormalRepository : ILineRepository {
                             temp?.siteId = taskAndsite.siteId
                             result.add(temp!!)
                             // 正在进行中的任务
-                            if (temp!!.drivingStatus == TaskSiteDataBean.drivingStatusCurrent) {
+                            if (temp!!.drivingStatus == BusStationBean.drivingStatusCurrent) {
                                 if (temp!!.tag != 2) {
                                     currentStationIndex = index
                                 }
@@ -201,6 +201,14 @@ class NormalRepository : ILineRepository {
         )
     }
 
+    override fun skipStation(): Observable<Boolean>? {
+        return Observable.just(false)
+    }
+
+    override fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite):Observable<Boolean>? {
+        return Observable.just(false)
+    }
+
     override fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>? {
         return normalLineInterface?.endTask(taskId)
     }

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/repository/line/impl/WeaknetRepository.kt

@@ -16,6 +16,7 @@ import com.mogo.och.common.module.biz.login.LoginStatusManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.data.bean.ContraiInfo
 import com.mogo.och.shuttle.unmanned.R
 import com.mogo.och.unmanned.bean.request.QueryPointRequest
@@ -29,7 +30,6 @@ import com.mogo.och.unmanned.model.LineModel.currentTask
 import com.mogo.och.unmanned.repository.db.bean.ContrailDataBean
 import com.mogo.och.unmanned.repository.db.bean.LineDataBean
 import com.mogo.och.unmanned.repository.db.bean.TaskDataBean
-import com.mogo.och.unmanned.repository.db.bean.TaskSiteDataBean
 import com.mogo.och.unmanned.repository.db.repository.ContraiDb
 import com.mogo.och.unmanned.repository.db.repository.EventDb
 import com.mogo.och.unmanned.repository.db.repository.LineDb
@@ -43,6 +43,7 @@ import com.mogo.och.unmanned.repository.net.project.dali.shuttle.DaliShuttleServ
 import com.mogo.och.unmanned.repository.net.project.saas.bus.SaasBusServiceManager
 import com.mogo.och.unmanned.repository.net.project.saas.scheduled.SaasScheduledServiceManager
 import com.mogo.och.unmanned.repository.net.project.saas.shuttle.SaasShuttleServiceManager
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import io.reactivex.Observable
 
 class WeaknetRepository : ILineRepository {
@@ -424,7 +425,7 @@ class WeaknetRepository : ILineRepository {
                                     TaskSiteDb.updateDrivingStatusAndLeave(
                                             task.taskId!!,
                                             start.siteId.toLong(),
-                                            TaskSiteDataBean.drivingStatusPassed,
+                                            BusStationBean.drivingStatusPassed,
                                             false
                                     )
                                     // 设置到站任务
@@ -455,7 +456,7 @@ class WeaknetRepository : ILineRepository {
                                 TaskSiteDb.updateDrivingStatus(
                                         taskId,
                                         end.siteId.toLong(),
-                                        TaskSiteDataBean.drivingStatusCurrent
+                                        BusStationBean.drivingStatusCurrent
                                 )
                             }
                         } else {
@@ -476,6 +477,70 @@ class WeaknetRepository : ILineRepository {
 
     }
 
+    override fun skipStation(): Observable<Boolean>? {
+        return Observable.just(12)
+            .flatMap {temp->
+                //1 恢复end站点的值并置tag为临时不停靠运行表中
+                LineManager.getStations { start, end ->
+                    if (currentTask != null && currentTask!!.taskId != null) {
+                        currentTask?.let { task ->
+                            if (task.taskId != null && task.lineId != null) {
+                                TaskSiteDb.updateDrivingStatusTagAndLeave(
+                                    task.taskId!!,
+                                    end.siteId.toLong(),
+                                    BusStationBean.drivingStatusNotArrived,
+                                    false,
+                                    BusStationBean.tagSkip
+                                )
+                            }
+                        }
+                    } else {
+                        OchChainLogManager.writeChainLog(
+                            "跳站点_数据更新_error",
+                            "task:${currentTask}__taskId:${currentTask?.taskId}"
+                        )
+                        CallerLogger.d(TAG, "跳斩_数据更新_error:task:${currentTask}__taskId:${currentTask?.taskId}")
+                    }
+                    val changeInfo =
+                        "taskId:${currentTask?.taskId}--lineId:${currentTask?.lineId}--currentStationName:${start.name}--finalNextStationName:${end.name}"
+                    OchChainLogManager.writeChainLog("到站", changeInfo)
+                    CallerLogger.d(TAG, "到站:$changeInfo")
+                }
+                return@flatMap Observable.just(true)
+            }
+    }
+
+    override fun adjustAllStation(taskId: Long, arrivedStation: VehicleSite): Observable<Boolean>? {
+        return Observable.just(12)
+            .flatMap {temp->
+                //1 查询正在执行的任务
+                val queryRunningTask = TaskSiteDb.queryRunningTask(taskId)
+                //2 根据参数arrivedStation 来设置正确的 当前站和下一站
+                var arrivedStationIndex = -1
+                queryRunningTask?.forEachIndexed { index, taskSiteDataBean ->
+                    if (taskSiteDataBean.tag != BusStationBean.tagSkip) {
+                        if (taskSiteDataBean.siteId == arrivedStation.stationId) {
+                            arrivedStationIndex = index
+                            taskSiteDataBean.drivingStatus = BusStationBean.drivingStatusCurrent
+                            taskSiteDataBean.leaving = false
+                        } else {
+                            if (arrivedStationIndex < 0) {
+                                taskSiteDataBean.drivingStatus = BusStationBean.drivingStatusPassed
+                                taskSiteDataBean.leaving = false
+                            } else {
+                                taskSiteDataBean.drivingStatus =
+                                    BusStationBean.drivingStatusNotArrived
+                                taskSiteDataBean.leaving = false
+                            }
+                        }
+                    }
+                }
+                OchChainLogManager.writeChainLog("任务管理触发进站,","更新新的数据库类型去")
+                TaskSiteDb.adjustAllStationByTaskId(queryRunningTask)
+                return@flatMap Observable.just(true)
+            }
+    }
+
     override fun endTask(shiftsId: Long, taskId: Long): Observable<Boolean>? {
         return Observable.just(taskId).flatMap {
             currentTask?.let { task ->

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningModel.kt

@@ -28,7 +28,7 @@ class TaskRunningModel : ViewModel(), IBusLinesCallback {
     }
 
     fun leaveStation() {
-        OrderModel.driveToNextStation()
+        OrderModel.driveToNextStation(true)
     }
 
     interface SwtichLineViewCallback {
@@ -55,7 +55,7 @@ class TaskRunningModel : ViewModel(), IBusLinesCallback {
     }
 
     fun arriveStation() {
-        OrderModel.onArriveAt(null, "页面触发到站",false)
+        OrderModel.onArriveAt(null, "页面触发到站")
     }
 
     override fun onArriveStationSuccess() {
@@ -84,7 +84,7 @@ class TaskRunningModel : ViewModel(), IBusLinesCallback {
         if (LineModel.isLastStation() == true) {
             return
         }
-        OrderModel.onArriveAt(null, "页面挑站触发到站",true)
+        OrderModel.skipNextStation()
     }
 
 }

OCH/shuttle/driver_unmanned/src/main/java/com/mogo/och/unmanned/ui/taskrunning/TaskRunningView.kt

@@ -88,7 +88,6 @@ class TaskRunningView : ConstraintLayout, TaskRunningModel.SwtichLineViewCallbac
             }else{
                 viewModel?.skipStation()
             }
-            viewModel?.arriveStation()
         }
         unmanned_actv_arriver_station_new.setOnLongClickListener {
             viewModel?.arriveStation()

OCH/shuttle/driver_unmanned/src/main/res/layout/shuttle_unmanned_container_view.xml

@@ -8,30 +8,30 @@
     tools:ignore="MissingDefaultResource">
 
 
-    <com.mogo.eagle.core.function.hmi.ui.widget.TrafficLightView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_40"
-        android:focusable="false"
-        android:visibility="gone"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:lightUser="driver" />
+<!--    <com.mogo.eagle.core.function.hmi.ui.widget.TrafficLightView-->
+<!--        android:layout_width="wrap_content"-->
+<!--        android:layout_height="wrap_content"-->
+<!--        android:layout_marginTop="@dimen/dp_40"-->
+<!--        android:focusable="false"-->
+<!--        android:visibility="gone"-->
+<!--        app:layout_constraintLeft_toLeftOf="parent"-->
+<!--        app:layout_constraintRight_toRightOf="parent"-->
+<!--        app:layout_constraintTop_toTopOf="parent"-->
+<!--        app:lightUser="driver" />-->
 
     <!--红绿灯提醒-->
-    <com.mogo.eagle.core.function.hmi.ui.notice.traffic.TrafficLightPromptView
-        android:id="@+id/viewTrafficLightPrompt"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_350"
-        android:layout_marginEnd="@dimen/dp_50"
-        android:focusable="false"
-        android:focusableInTouchMode="false"
-        android:visibility="gone"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:promptUser="driver" />
+<!--    <com.mogo.eagle.core.function.hmi.ui.notice.traffic.TrafficLightPromptView-->
+<!--        android:id="@+id/viewTrafficLightPrompt"-->
+<!--        android:layout_width="wrap_content"-->
+<!--        android:layout_height="wrap_content"-->
+<!--        android:layout_marginTop="@dimen/dp_350"-->
+<!--        android:layout_marginEnd="@dimen/dp_50"-->
+<!--        android:focusable="false"-->
+<!--        android:focusableInTouchMode="false"-->
+<!--        android:visibility="gone"-->
+<!--        app:layout_constraintRight_toRightOf="parent"-->
+<!--        app:layout_constraintTop_toTopOf="parent"-->
+<!--        app:promptUser="driver" />-->
 
 
     <!--pnc行为决策-->

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/bean/response/BusRoutesResponse.kt

@@ -95,7 +95,7 @@ class BusRoutesResponse : BaseData() {
                 }
                 result.add(temp!!)
                 // 正在进行中的任务
-                if (temp!!.drivingStatus == TaskSiteDataBean.drivingStatusCurrent) {
+                if (temp!!.drivingStatus == BusStationBean.drivingStatusCurrent) {
                     if (temp!!.tag != 2) {
                         currentStationIndex = index
                     }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/LineModel.kt

@@ -324,7 +324,7 @@ object LineModel {
 
     fun startTaskMessage():Boolean {
         if (!stationList.isNullOrEmpty()) {
-            return startStationIndex == 0 && stationList!!.first().drivingStatus == TaskSiteDataBean.drivingStatusCurrent && !stationList!!.first().isLeaving
+            return startStationIndex == 0 && stationList!!.first().drivingStatus == BusStationBean.drivingStatusCurrent && !stationList!!.first().isLeaving
         }
         return false
     }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/OrderModel.kt

@@ -40,9 +40,9 @@ import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.mogo.och.common.module.utils.ResourcesUtils
 import com.mogo.och.common.module.utils.RxUtils
+import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.shuttle.weaknet.R
 import com.mogo.och.weaknet.constant.BusConst
-import com.mogo.och.weaknet.repository.db.bean.TaskSiteDataBean
 import com.mogo.och.weaknet.repository.RepositoryManager
 import com.mogo.och.weaknet.repository.exception.DataException
 import com.mogo.och.weaknet.util.BusTrajectoryManager
@@ -285,7 +285,7 @@ object OrderModel {
         }
 
         LineManager.getStations().first?.let {startStation->
-            startStation.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
+            startStation.drivingStatus = BusStationBean.drivingStatusCurrent
             startStation.isLeaving = true
             LineModel.currentTask?.let { task->
                 RepositoryManager.leaveStation(
@@ -472,9 +472,9 @@ object OrderModel {
             LineManager.lastArrivedSiteId = end.siteId
             isArrivedStation = true
             isGoingToNextStation = false
-            start.drivingStatus = TaskSiteDataBean.drivingStatusPassed
+            start.drivingStatus = BusStationBean.drivingStatusPassed
             start.isLeaving = false
-            end.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
+            end.drivingStatus = BusStationBean.drivingStatusCurrent
             RepositoryManager.arriveStation(end.seq,end.siteId.toLong(), LineModel.currentTask?.taskId?:0L)
                 ?.subscribeOn(Schedulers.io())
                 ?.observeOn(AndroidSchedulers.mainThread())

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/repository/db/bean/TaskSiteDataBean.kt

@@ -3,7 +3,7 @@ package com.mogo.och.weaknet.repository.db.bean
 import androidx.room.ColumnInfo
 import androidx.room.Entity
 import androidx.room.PrimaryKey
-import com.mogo.och.weaknet.repository.db.bean.SiteDataBean
+import com.mogo.och.data.bean.BusStationBean
 
 @Entity(tableName = TaskSiteDataBean.tableName)
 data class TaskSiteDataBean(
@@ -159,9 +159,9 @@ data class TaskSiteDataBean(
                 temp?.lon = it.lon
                 temp?.lat = it.lat
                 if(it.seq==1){
-                    temp?.drivingStatus = drivingStatusCurrent
+                    temp?.drivingStatus = BusStationBean.drivingStatusCurrent
                 }else{
-                    temp?.drivingStatus = drivingStatusNotArrived
+                    temp?.drivingStatus = BusStationBean.drivingStatusNotArrived
                 }
                 temp?.leaving = false
                 temp?.introduction = it.introduction
@@ -175,9 +175,5 @@ data class TaskSiteDataBean(
 
         const val tableName: String = "used_task_data_table"
 
-        const val drivingStatusInit = 0//0初始值
-        const val drivingStatusPassed = 1//1已经过
-        const val drivingStatusCurrent = 2//2当前站
-        const val drivingStatusNotArrived = 3//3未到站
     }
 }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/repository/db/repository/TaskSiteDb.kt

@@ -5,6 +5,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.loop.BizLoopManager
+import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.weaknet.repository.db.IDbRepository
 import com.mogo.och.weaknet.repository.db.MyDataBase
 import com.mogo.och.weaknet.repository.db.bean.TaskSiteDataBean
@@ -152,7 +153,7 @@ object TaskSiteDb : IDbRepository {
         runningSite.forEach {
             if (it.siteId == currentSiteId) {
                 currentSeq = it.seq ?: 0
-                it.drivingStatus = TaskSiteDataBean.drivingStatusCurrent
+                it.drivingStatus = BusStationBean.drivingStatusCurrent
                 it.leaving = leaving
                 return@forEach
             }
@@ -160,10 +161,10 @@ object TaskSiteDb : IDbRepository {
         runningSite.forEach {
             val seq = it.seq ?: 0
             if (seq < currentSeq) {
-                it.drivingStatus = TaskSiteDataBean.drivingStatusPassed
+                it.drivingStatus = BusStationBean.drivingStatusPassed
                 it.leaving = true
             } else if (seq > currentSeq) {
-                it.drivingStatus = TaskSiteDataBean.drivingStatusNotArrived
+                it.drivingStatus = BusStationBean.drivingStatusNotArrived
                 it.leaving = false
             }
         }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/repository/line/impl/NormalRepository.kt

@@ -100,7 +100,7 @@ class NormalRepository: ILineRepository {
                         temp?.siteId = taskAndsite.siteId
                         result.add(temp!!)
                         // 正在进行中的任务
-                        if (temp!!.drivingStatus == TaskSiteDataBean.drivingStatusCurrent) {
+                        if (temp!!.drivingStatus == BusStationBean.drivingStatusCurrent) {
                             if (temp!!.tag != 2) {
                                 currentStationIndex = index
                             }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/repository/line/impl/WeaknetRepository.kt

@@ -16,6 +16,7 @@ import com.mogo.och.common.module.biz.login.LoginStatusManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.data.bean.ContraiInfo
 import com.mogo.och.shuttle.weaknet.R
 import com.mogo.och.weaknet.bean.request.QueryPointRequest
@@ -420,7 +421,7 @@ class WeaknetRepository : ILineRepository {
                                 TaskSiteDb.updateDrivingStatusAndLeave(
                                     task.taskId!!,
                                     start.siteId.toLong(),
-                                    TaskSiteDataBean.drivingStatusPassed,
+                                    BusStationBean.drivingStatusPassed,
                                     false
                                 )
                                 // 设置到站任务
@@ -451,7 +452,7 @@ class WeaknetRepository : ILineRepository {
                             TaskSiteDb.updateDrivingStatus(
                                 taskId,
                                 end.siteId.toLong(),
-                                TaskSiteDataBean.drivingStatusCurrent
+                                BusStationBean.drivingStatusCurrent
                             )
                         }
                     } else {

OCH/shuttle/passenger_weaknet/src/main/java/b4/com/mogo/och/shuttle/weaknet/passenger/ui/linenew/PB4DrivingInfoFullSFragment.kt

@@ -2,6 +2,8 @@ package com.mogo.och.shuttle.weaknet.passenger.ui.linenew
 
 import android.os.Bundle
 import android.view.View
+import androidx.appcompat.widget.AppCompatTextView
+import androidx.core.content.ContextCompat
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.StringUtils
@@ -30,7 +32,6 @@ import kotlinx.android.synthetic.main.b4_driving_info_full_fragment.cl_empty_ser
 import kotlinx.android.synthetic.main.b4_driving_info_full_fragment.cl_line_info_station
 import kotlinx.android.synthetic.main.b4_driving_info_full_fragment.end_station_name
 import kotlinx.android.synthetic.main.b4_driving_info_full_fragment.group_station_empty
-import kotlinx.android.synthetic.main.m2_arrive_view.view.ochtv_arrive_station_value
 import kotlin.math.ceil
 import kotlin.math.roundToInt
 
@@ -186,6 +187,7 @@ class PB4DrivingInfoFullSFragment :
     }
 
     private fun showBottom1Station(station:BusStationBean?,isShow:Boolean){
+        setTextColor(station,actv_station_pre_1)
         if(isShow) {
             actv_station_pre_1.text = station?.name
             aciv_arrow_station_1.visibility = View.VISIBLE
@@ -199,6 +201,7 @@ class PB4DrivingInfoFullSFragment :
     }
 
     private fun showBottom2Station(station:BusStationBean?,isShow:Boolean){
+        setTextColor(station, actv_station_pre_2)
         if(isShow) {
             actv_station_pre_2.text = station?.name
             aciv_arrow_station_2.visibility = View.VISIBLE
@@ -212,6 +215,7 @@ class PB4DrivingInfoFullSFragment :
     }
 
     private fun showBottom3Station(station:BusStationBean?,isShow:Boolean){
+        setTextColor(station, actv_station_pre_3)
         if(isShow) {
             actv_station_pre_3.text = station?.name
             aciv_arrow_station_3.visibility = View.VISIBLE
@@ -225,6 +229,7 @@ class PB4DrivingInfoFullSFragment :
     }
 
     private fun showBottom4Station(station:BusStationBean?,isShow:Boolean){
+        setTextColor(station, actv_station_pre_4)
         if(isShow) {
             actv_station_pre_4.text = station?.name
             aciv_arrow_station_4.visibility = View.VISIBLE
@@ -237,6 +242,16 @@ class PB4DrivingInfoFullSFragment :
         }
     }
 
+    private fun setTextColor(station: BusStationBean?, textView: AppCompatTextView){
+        context?.let {
+            if(station?.tag==2){
+                textView.setTextColor(ContextCompat.getColor(it, R.color.b4_5E5E5E))
+            }else{
+                textView.setTextColor(ContextCompat.getColor(it, R.color.white))
+            }
+        }
+    }
+
 
     fun updateLineName(lineName: String){
         actvLineName.text = lineName

OCH/shuttle/passenger_weaknet/src/main/res/b4/values/colors.xml

@@ -22,4 +22,5 @@
     <color name="b4_9AFF98">#9AFF98</color>
     <color name="b4_EDBE2B">#EDBE2B</color>
     <color name="b4_FF8300">#FF8300</color>
+    <color name="b4_5E5E5E">#5E5E5E</color>
 </resources>

OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java

@@ -49,6 +49,8 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;
 
 import java.io.IOException;
 import java.math.BigDecimal;
@@ -803,4 +805,14 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
     @Override
     public void onAutoPilotStation(long token, long timestamp, @Nullable SsmInfo.AutoPilotStation autoPilotStation) {
     }
+
+    @Override
+    public void invokeLeaveStation(@Nullable Long taskId, @Nullable TaskStartNotification taskStartNotification) {
+
+    }
+
+    @Override
+    public void onArriveAtStationByTaskManager(@Nullable Long taskId, @Nullable TaskArrivalNotification taskArrivalNotification) {
+
+    }
 }

OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java

@@ -42,6 +42,8 @@ import com.mogo.och.sweeper.operate.model.SweeperOperateTaskModel;
 import com.mogo.och.sweeper.common.util.SweeperFutianCmdUtil;
 import com.mogo.och.sweeper.operate.util.SweeperTrajectoryManager;
 import com.zhjt.mogo.adas.data.AdasConstants;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;
 
 import java.math.BigDecimal;
 import java.math.RoundingMode;
@@ -483,4 +485,14 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
     public void onAutoPilotStation(long token, long timestamp, @Nullable SsmInfo.AutoPilotStation autoPilotStation) {
 
     }
+
+    @Override
+    public void invokeLeaveStation(@Nullable Long taskId, @Nullable TaskStartNotification taskStartNotification) {
+
+    }
+
+    @Override
+    public void onArriveAtStationByTaskManager(@Nullable Long taskId, @Nullable TaskArrivalNotification taskArrivalNotification) {
+
+    }
 }

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

@@ -84,6 +84,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import com.zhjt.service.chain.ChainLog
 import io.netty.channel.Channel
 import mogo.telematics.pad.MessagePad
@@ -467,9 +468,9 @@ class MoGoAutopilotControlProvider :
         }
     }
 
-    override fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long {
+    override fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, startStation : VehicleSite, endStation:VehicleSite ): Long {
         return if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
-            val invokeResult = AdasManager.getInstance().sendTaskManagerAutopilotContinue(trackId, taskId, stationId, stationName, stationSeq, lon, lat)
+            val invokeResult = AdasManager.getInstance().sendTaskManagerAutopilotContinue(trackId, taskId, startStation, endStation)
             invokeAutoPilotResult(if (invokeResult > -1) "无人化 取消自动驾驶调用成功：${invokeResult}" else "无人化 取消自动驾驶调用失败, socket 或者 rawPack 可能为空")
             invokeResult
         } else {

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

@@ -38,7 +38,9 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeLeaveStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStationByTaskManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotGuardian
@@ -132,7 +134,9 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import com.zhjt.mogo.adas.utils.ByteUtil
 import com.zhjt.service.chain.ChainLog
 import fault_management.FmInfo
@@ -1679,8 +1683,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
     override fun onPlanningStopLine(header: MessagePad.Header, mapMsg: Hadmap.MapMsg) {
 
     }
-    override fun onAdasTaskManagerOriginal(header: MessagePad.Header, data: ByteArray) {
-        taskManagerOriginal(header, ByteUtil.byteArrToHex(data, false))
+    override fun onAdasTaskManagerOriginal(header: MessagePad.Header, data: String) {
+        taskManagerOriginal(header, data)
     }
 
     @ChainLog(
@@ -1693,10 +1697,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
         CallerLogger.i("$M_D_C$TAG", "任务管理数据：$data")
     }
 
-    override fun onAdasTaskManagerDeparture(taskId: Long?, siteId: Long?, sequence: Int?, ack: Boolean, reason: String?, stationTimeLeft: Double) {
+    override fun onAdasTaskManagerDeparture(
+        taskId: Long?,
+        taskStartNotification: TaskStartNotification?
+    ) {
+        invokeLeaveStation(taskId,taskStartNotification)
     }
 
-    override fun onAdasTaskManagerArrival(taskId: Long?, siteId: Long?, sequence: Int?, mileage: BigDecimal?) {
+    override fun onAdasTaskManagerArrival(taskId: Long?,taskArrivalNotification: TaskArrivalNotification? ) {
+        invokeArriveAtStationByTaskManager(taskId,taskArrivalNotification)
     }
 
     override fun onAdasTaskManagerComplete(taskId: Long?, userId: Long?, status: Int?, reason: String?, completedTime: Date?, mileage: BigDecimal?) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt

@@ -55,6 +55,7 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
                     .subscribe {
                         bizLog(SceneConstant.M_D_C + TAG, "请求底盘轨迹")
                         CallerAutoPilotControlManager.getGlobalPath()
+
                     }
             }
             else -> {}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ColdStartView.kt

@@ -906,11 +906,7 @@ class ColdStartView @JvmOverloads constructor(
         tvColdStartContent.text = resources.getString(R.string.cold_start_fail_content)
         tvColdStartContent.setTextColor(ContextCompat.getColor(context, R.color.cold_start_fail))
         coldStartResultListener?.coldStartFail()
-        ThreadUtils.runOnUiThread {
-            tvColdStartNow.visibility = View.VISIBLE
-            ivColdStartNow.visibility = View.VISIBLE
-            tvColdStartTip.visibility = View.VISIBLE
-        }
+        initUseNowBtnView()
     }
 
     /**

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

@@ -16,6 +16,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfi
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume.SuspendResumeTaskReq
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite
 import mogo.telematics.pad.MessagePad
 import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
 import system_master.SsmInfo
@@ -49,7 +50,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
 
     fun sendTaskManagerAutopilotStart(taskId: Long, traj: Trajectory): Long
 
-    fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, stationId: Long, stationName: String, stationSeq: Int, lon: Double, lat: Double): Long
+    fun sendTaskManagerAutopilotContinue(trackId: Long, taskId: Long, startStation : VehicleSite, endStation: VehicleSite): Long
 
     /**
      * 开启自动驾驶(魔方)

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

@@ -2,6 +2,8 @@ package com.mogo.eagle.core.function.api.autopilot
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import system_master.*
@@ -67,6 +69,13 @@ interface IMoGoAutopilotStatusListener {
      */
     fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {}
 
+    fun onArriveAtStationByTaskManager(taskId: Long?,taskArrivalNotification: TaskArrivalNotification?) {}
+
+    /**
+     * 自动驾驶 离站触发
+     */
+    fun invokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?) {}
+
     /**
      * 工控机获取SN
      */

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

@@ -122,12 +122,12 @@ object CallerAutoPilotControlManager {
     /**
      * 自驾成功后再次启动自驾时
      */
-    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory?, vehicleSite : VehicleSite, controlParameters: AutopilotControlParameters): Long {
+    fun unmannedAutoPilotContinue(taskId: Long, traj: Trajectory?, startStation : VehicleSite,endStation : VehicleSite, controlParameters: AutopilotControlParameters): Long {
         if (traj == null) {
             //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
             return -1L
         }
-        val sessionId = providerApi?.sendTaskManagerAutopilotContinue(traj.id, taskId, vehicleSite.stationId, vehicleSite.stationName, vehicleSite.stationSeq, vehicleSite.point.x, vehicleSite.point.y) ?: -1L
+        val sessionId = providerApi?.sendTaskManagerAutopilotContinue(traj.id, taskId, startStation,endStation) ?: -1L
         // 更新记录在全局的控制参数
         CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
         return sessionId

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

@@ -12,6 +12,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
 import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import system_master.SsmInfo
@@ -270,6 +272,25 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
             listener.onAutopilotArriveAtStation(arrivalNotification)
         }
     }
+    /**
+     * 自动驾驶站点信息  回调
+     * @param arrivalNotification 自动驾驶网约车回调数据
+     */
+    @Synchronized
+    fun invokeArriveAtStationByTaskManager(taskId: Long?,taskArrivalNotification: TaskArrivalNotification? ) {
+        mAutopilotStatusInfo.isArriveAtStation = true
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onArriveAtStationByTaskManager(taskId,taskArrivalNotification)
+        }
+    }
+
+    fun invokeLeaveStation(taskId: Long?, taskStartNotification: TaskStartNotification?){
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.invokeLeaveStation(taskId,taskStartNotification)
+        }
+    }
 
     /**
      * 工控机获取SN 回调

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

@@ -378,8 +378,8 @@ object AppIdentityModeUtils {
     //获取驾舱类型
     @JvmStatic
     fun getCockpitType(): CockpitType {
-//        return CockpitType.getCockpitType(SPUtils.getInstance().getString(COCKPIT_TYPE, CockpitType.NONE.code))
-        return CockpitType.UNMANNED
+        return CockpitType.getCockpitType(SPUtils.getInstance().getString(COCKPIT_TYPE, CockpitType.NONE.code))
+//        return CockpitType.UNMANNED
     }
 }
 

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskContinueNotification.java

@@ -9,12 +9,22 @@ public class TaskContinueNotification {
      * 当前站点
      */
     private VehicleSite curStation;
+    private VehicleSite nextStation;
 
     public TaskContinueNotification() {
     }
 
-    public TaskContinueNotification(VehicleSite curStation) {
+    public VehicleSite getNextStation() {
+        return nextStation;
+    }
+
+    public void setNextStation(VehicleSite nextStation) {
+        this.nextStation = nextStation;
+    }
+
+    public TaskContinueNotification(VehicleSite curStation, VehicleSite nextStation) {
         this.curStation = curStation;
+        this.nextStation = nextStation;
     }
 
     public VehicleSite getCurStation() {
@@ -29,6 +39,7 @@ public class TaskContinueNotification {
     public String toString() {
         return "TaskContinueNotification{" +
                 "curStation=" + curStation +
+                ", nextStation=" + nextStation +
                 '}';
     }
 
@@ -38,14 +49,20 @@ public class TaskContinueNotification {
 
     public static class Builder {
         private VehicleSite curStation;
+        private VehicleSite nextStation;
 
         public Builder curStation(VehicleSite curStation) {
             this.curStation = curStation;
             return this;
         }
 
+        public Builder nextStation(VehicleSite nextStation) {
+            this.nextStation = nextStation;
+            return this;
+        }
+
         public TaskContinueNotification build() {
-            return new TaskContinueNotification(curStation);
+            return new TaskContinueNotification(curStation, nextStation);
         }
     }
 }

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java

@@ -1,6 +1,12 @@
 package com.zhjt.mogo.adas.unmanned.task.dto.cmd;
 
+import com.google.gson.Gson;
+import com.google.gson.JsonElement;
+import com.google.gson.JsonObject;
+import com.zhjt.mogo.adas.unmanned.task.enums.MessageCmdEnum;
+
 import java.util.List;
+import java.util.Objects;
 
 /**
  * 车端发送车辆启动结果
@@ -26,17 +32,20 @@ public class TaskStartNotification {
      * 错误码
      */
     private List<Integer> errCodes;
+    /**
+     * 当前站点
+     */
+    private VehicleSite curStation;
+    /**
+     * 下一个站点
+     */
+    private VehicleSite nextStation;
+    /**
+     * 前一个任务名称
+     */
+    private String lastTaskCmdType;
 
-    public TaskStartNotification() {
-    }
-
-    public TaskStartNotification(VehicleSite curLocation, boolean autopilotResult, double stationTimeLeft, String errMsg, List<Integer> errCodes) {
-        this.curLocation = curLocation;
-        this.autopilotResult = autopilotResult;
-        this.stationTimeLeft = stationTimeLeft;
-        this.errMsg = errMsg;
-        this.errCodes = errCodes;
-    }
+    public TaskStartNotification() {}
 
     public VehicleSite getCurLocation() {
         return curLocation;
@@ -78,6 +87,30 @@ public class TaskStartNotification {
         this.errCodes = errCodes;
     }
 
+    public VehicleSite getCurStation() {
+        return curStation;
+    }
+
+    public void setCurStation(VehicleSite curStation) {
+        this.curStation = curStation;
+    }
+
+    public VehicleSite getNextStation() {
+        return nextStation;
+    }
+
+    public void setNextStation(VehicleSite nextStation) {
+        this.nextStation = nextStation;
+    }
+
+    public String getLastTaskCmdType() {
+        return lastTaskCmdType;
+    }
+
+    public void setLastTaskCmdType(String lastTaskCmdType) {
+        this.lastTaskCmdType = lastTaskCmdType;
+    }
+
     @Override
     public String toString() {
         return "TaskStartNotification{" +
@@ -86,6 +119,19 @@ public class TaskStartNotification {
                 ", stationTimeLeft=" + stationTimeLeft +
                 ", errMsg='" + errMsg + '\'' +
                 ", errCodes=" + errCodes +
+                ", curStation=" + curStation +
+                ", nextStation=" + nextStation +
+                ", lastTaskCmdType=" + lastTaskCmdType +
                 '}';
     }
+
+    public boolean isCloseDoorStartAuto(){
+        if(Objects.equals(lastTaskCmdType, MessageCmdEnum.TaskStartNotification.getCode()) ||
+                Objects.equals(lastTaskCmdType, MessageCmdEnum.TaskContinueNotification.getCode()) ){
+            return false;
+        }
+        return true;
+    }
+
+
 }

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java

@@ -9,16 +9,31 @@ public enum MessageCmdEnum {
     AutopilotStartRequest("AutopilotStartRequest", "APP开始任务"),
 
     TaskContinueNotification("TaskContinueNotification", "站点出发"),
+
+    @Deprecated
     TaskFinishNotification("TaskFinishNotification", "任务完成"),
+
+    @Deprecated
     TaskLocationQueryRequest("TaskLocationQueryRequest", "任务查询"),
+
     TaskStartNotification("TaskStartNotification", "自驾/离站结果回执"),
+
     TaskArrivalNotification("TaskArrivalNotification", "到站通知"),
+
     TaskAbortNotification("TaskAbortNotification", "任务终止"),
+
+    // 定频返回
     TaskLocationQueryResponse("TaskLocationQueryResponse", "任务查询结果"),
+
     TaskCancelRequest("TaskCancelRequest", "任务取消请求"),
     TaskCancelResponse("TaskCancelResponse", "任务取消请求"),
+
+    //车向云的查询请求
     TaskQueryStateRequest("TaskQueryStateRequest", "任务状态查询"),
+    //查询状态响应， 车端重启后请求
     TaskQueryStateResponse("TaskQueryStateResponse", "任务状态查询响应"),
+
+
     TaskRouteSyncRequest("TaskRouteSyncRequest", "查询正在执行的任务"),
     TaskRouteSyncResponse("TaskRouteSyncResponse", "查询执行的任务的结果"),
     ;

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

@@ -4,6 +4,7 @@ package com.zhidao.support.adas.high;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_INIT;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_GLOBAL_PATH;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_SYSTEM_CMD;
+import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_TASK;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_ADAS_SEND_TRAJECTORY_DOWNLOAD;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_CODE_CONNECT_ADDRESS;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_SOURCE_ADAS;
@@ -3397,7 +3398,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 //                .newBuilder()
 //                .setTaskData(com.google.protobuf.ByteString.copyFrom(JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8)));
 //        return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, builder.build().toByteArray());
-        Log.i(TAG, "任务管理:"+data.toString());
+        sendTaskManageReqLog(data);
         return sendPBMessage(MessageType.TYPE_SEND_TASK_MANAGER, JsonUtil.toJsonBase64(data).getBytes(StandardCharsets.UTF_8));
     }
 
@@ -3435,19 +3436,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      *
      * @param trackId
      * @param taskId
-     * @param stationId
-     * @param stationName
-     * @param stationSeq
-     * @param lon
-     * @param lat
+     * @param startStation
+     * @param endStation
      * @return
      */
     @Override
-    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat) {
-        VehicleSite vehicleSite = VehicleSite.builder().stationId(stationId).stationName(stationName)
-                .station(StationEnum.SITE.getCode()).stationSeq(stationSeq)
-                .point(AutopilotPoint.builder().x(lon).y(lat).build()).coordinateType(AutopilotCoordinateTypeEnum.WGS84.getCode()).build();
-        TaskContinueNotification taskContinueNotification = TaskContinueNotification.builder().curStation(vehicleSite).build();
+    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId,VehicleSite startStation,VehicleSite endStation) {
+        TaskContinueNotification taskContinueNotification = TaskContinueNotification.builder().curStation(startStation).nextStation(endStation).build();
         CmdDto<TaskContinueNotification> cmdDto = CmdDto.<TaskContinueNotification>builder().cmdType(MessageCmdEnum.TaskContinueNotification.getCode()).taskId(taskId).lineId(trackId).timestamp(System.currentTimeMillis()).data(taskContinueNotification).build();
         return sendTaskManager(cmdDto);
     }
@@ -3464,5 +3459,15 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .lineId(0L).timestamp(System.currentTimeMillis()).data(new JSONObject()).build();
         return sendTaskManager(cmdDto);
     }
+
+    @ChainLog(
+            linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_SOURCE_ADAS,
+            nodeAliasCode = CHAIN_CODE_ADAS_SEND_TASK,
+            paramIndexes = {0}
+    )
+    public <T> void sendTaskManageReqLog(T data) {
+        Log.i(TAG, "任务管理:"+data.toString());
+    }
 }
 

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

@@ -29,6 +29,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite;
 
 import java.util.HashSet;
 import java.util.List;
@@ -2098,8 +2099,8 @@ public class AdasManager implements IAdasNetCommApi {
     }
 
     @Override
-    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat) {
-        return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotContinue(trackId, taskId, stationId, stationName, stationSeq, lon, lat);
+    public long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, VehicleSite startStation, VehicleSite endStation) {
+        return mChannel == null ? -1L : mChannel.sendTaskManagerAutopilotContinue(trackId, taskId, startStation, endStation);
     }
 
     @Override

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

@@ -17,6 +17,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.Trajectory;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.VehicleSite;
 
 import java.util.List;
 import java.util.Map;
@@ -1547,7 +1548,7 @@ public interface IAdasNetCommApi {
     long sendTaskManagerRunningInfo();
     long sendTaskManagerAutopilotStart(Long taskId, Trajectory traj);
 
-    long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, Long stationId, String stationName, Integer stationSeq, double lon, double lat);
+    long sendTaskManagerAutopilotContinue(Long trackId, Long taskId, VehicleSite startStation, VehicleSite endStation);
 
     long sendTaskManagerAutopilotCancel(Long taskId);
 

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

@@ -33,7 +33,9 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.s_r.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskArrivalNotification;
 import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskLocationQueryResponse;
+import com.zhjt.mogo.adas.unmanned.task.dto.cmd.TaskStartNotification;
 
 import java.math.BigDecimal;
 import java.util.ArrayList;
@@ -805,7 +807,7 @@ public interface OnAdasListener {
      * @param header 头
      * @param data   数据
      */
-    void onAdasTaskManagerOriginal(@NonNull MessagePad.Header header, @NonNull byte[] data);
+    void onAdasTaskManagerOriginal(@NonNull MessagePad.Header header, @NonNull String data);
 
     /**
      * 域控任务管理离站通知
@@ -816,8 +818,9 @@ public interface OnAdasListener {
      * @param ack
      * @param reason
      * @param stationTimeLeft
+     * @param closeDoorStartAuto
      */
-    void onAdasTaskManagerDeparture(Long taskId, Long siteId, Integer sequence, boolean ack, String reason, double stationTimeLeft);
+    void onAdasTaskManagerDeparture(Long taskId, TaskStartNotification taskStartNotification);
 
     /**
      * 域控任务管理到站通知
@@ -827,7 +830,7 @@ public interface OnAdasListener {
      * @param sequence 站点序号，对应顺序列表里站点流程，从1开始，1为起始点，最大值为终点。 途径点填写0
      * @param mileage  任务全程的已经行进的里程
      */
-    void onAdasTaskManagerArrival(Long taskId, Long siteId, Integer sequence, BigDecimal mileage);
+    void onAdasTaskManagerArrival(Long taskId, TaskArrivalNotification taskArrivalNotification);
 
     /**
      * 域控任务管理终止任务

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

@@ -17,4 +17,5 @@ public class AdasChain {
     public static final String CHAIN_CODE_ADAS_SEND_GLOBAL_PATH = "CHAIN_CODE_ADAS_SEND_GLOBAL_PATH";
     public static final String CHAIN_CODE_ADAS_SEND_SYSTEM_CMD = "CHAIN_CODE_ADAS_SEND_SYSTEM_CMD";
     public static final String CHAIN_CODE_ADAS_SEND_TRAJECTORY_DOWNLOAD = "CHAIN_CODE_ADAS_SEND_TRAJECTORY_DOWNLOAD";
+    public static final String CHAIN_CODE_ADAS_SEND_TASK = "CHAIN_CODE_ADAS_SEND_TASK";
 }

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

@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg;
 import android.os.SystemClock;
 import android.util.Log;
 
+import com.google.gson.JsonElement;
 import com.google.gson.JsonObject;
 import com.google.gson.JsonParser;
 import com.google.gson.reflect.TypeToken;
@@ -45,8 +46,9 @@ public class TaskManagerMessage extends MyAbstractMessageHandler {
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
         if (adasListener != null) {
-            adasListener.onAdasTaskManagerOriginal(raw.getHeader(), data);
-            parse(adasListener, new String(data, StandardCharsets.UTF_8));
+            String dataString = new String(data, StandardCharsets.UTF_8);
+            adasListener.onAdasTaskManagerOriginal(raw.getHeader(), dataString);
+            parse(adasListener,dataString);
         }
         AdasChannel.calculateTimeConsumingBusiness("任务管理消息", nowTime);
     }
@@ -65,7 +67,7 @@ public class TaskManagerMessage extends MyAbstractMessageHandler {
                 TaskStartNotification taskStartNotification = cmdDto.getData();
 
                 VehicleSite vehicleSite = taskStartNotification.getCurLocation();
-                adasListener.onAdasTaskManagerDeparture(cmdDto.getTaskId(), vehicleSite.getStationId(), vehicleSite.getStationSeq(), taskStartNotification.isAutopilotResult(), taskStartNotification.getErrMsg(), taskStartNotification.getStationTimeLeft());
+                adasListener.onAdasTaskManagerDeparture(cmdDto.getTaskId(), taskStartNotification);
             }
 
         } else if (messageCmdEnum == MessageCmdEnum.TaskArrivalNotification) {//到站通知
@@ -74,8 +76,7 @@ public class TaskManagerMessage extends MyAbstractMessageHandler {
             if (cmdDto != null) {
                 Log.i(TAG, "onAdasTaskManagerArrival=" + cmdDto);
                 TaskArrivalNotification taskArrivalNotification = cmdDto.getData();
-                VehicleSite vehicleSite = taskArrivalNotification.getCurLocation();
-                adasListener.onAdasTaskManagerArrival(cmdDto.getTaskId(), vehicleSite.getStationId(), vehicleSite.getStationSeq(), BigDecimal.valueOf(taskArrivalNotification.getAccumulatedTaskDis()));
+                adasListener.onAdasTaskManagerArrival(cmdDto.getTaskId(), taskArrivalNotification);
             }
 
         } else if (messageCmdEnum == MessageCmdEnum.TaskAbortNotification) {//终止任务

tts/tts-iflytek-offline/src/main/java/com/mogo/tts/iflytekoffline/IFlyTekOfflineTts.kt

@@ -342,6 +342,17 @@ class IFlyTekOfflineTts : IMogoTTS {
         if (!aiHandle!!.isSuccess) {
 //            handleErrorEvent("开启会话报错:${aiHandle!!.code}")
             handleErrorEvent("${StringUtils.getString(R.string.module_tts_start_ai_handle_error)}${aiHandle!!.code}")
+            if(aiHandle!!.code==18310){
+                aiHandle?.let {
+                    val ret = AiHelper.getInst().end(it)
+                    d(TAG, "AIKit_End：$ret")
+                    if(ret==0){
+                        realSpeak(content,language)
+                    }else{
+                        handleErrorEvent("${StringUtils.getString(R.string.module_tts_start_ai_handle_error)}${ret}")
+                    }
+                }
+            }
             aiHandle = null
             return
         }