Merge branch 'dev_robotaxi-d-app-module_2100_220816_2.10.0' into 'test_robotaxi-d-app-module_2100_220816_2.10.0.1'

Dev robotaxi d app module 2100 220816 2.10.0

See merge request zhjt/AndroidApp/MoGoEagleEye!171

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

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.autopilot.adapter
 
 import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
@@ -203,6 +204,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 }
                 AdasManager.getInstance().carConfig?.let {
                     autopilotStatusInfo.dockVersion = it.dockVersion
+                    AppConfigInfo.dockerVersion = it.dockVersion
                 }
                 invokeAutoPilotStatus()
             }

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

@@ -66,6 +66,7 @@ class TeleMsgHandler : IMsgHandler {
                     val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
                     AppConfigInfo.plateNumber = carConfig.plateNumber
                     AppConfigInfo.iPCMacAddress = carConfig.macAddress
+                    AppConfigInfo.dockerVersion = carConfig.dockVersion
                     invokeNettyConnResult(
                         "司机屏发送给乘客屏配置信息为:${
                             TextFormat.printer().escapingNonAscii(false).printToString(carConfig)

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt

@@ -1,11 +1,9 @@
 package com.mogo.eagle.core.function.map
 
-import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
@@ -18,14 +16,12 @@ import java.math.BigDecimal
  * @author donghongyu
  */
 class MapPointCloudSubscriber private constructor()
-    : IMoGoSubscriber, IMoGoAutopilotPointCloudListener, IMoGoAutopilotStatusListener {
+    : IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
 
     private val TAG = "MapPointCloudSubscriber"
 
     private var isDrawPointCloud = false
 
-    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
-
     init {
         onCrate()
     }
@@ -38,13 +34,10 @@ class MapPointCloudSubscriber private constructor()
 
     override fun onCrate() {
         CallerAutopilotPointCloudListenerManager.addListener(TAG, this)
-        // 添加 ADAS状态 监听
-        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
     override fun onDestroy() {
         CallerAutopilotPointCloudListenerManager.removeListener(TAG)
-        CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
     override fun onAutopilotPointCloudDataUpdate(pointCloud: ByteArray?) {
@@ -80,17 +73,13 @@ class MapPointCloudSubscriber private constructor()
         }
     }
 
-    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        mAutoPilotStatusInfo = autoPilotStatusInfo
-    }
-
     /**
      * 判断是否是260之后但版本
      */
     fun isDrawCloudPointDockerVersion(): Boolean {
         // 由于Docker命名规则不统一，但核心版本是统一但，采用"."分割，如下
         // MAP-taxi_RoboTaxi_Default_2.2.0_badcasetest_20220215_dev
-        val dockerVersionName = mAutoPilotStatusInfo?.dockVersion
+        val dockerVersionName = AppConfigInfo.dockerVersion
         // "." 分割，取前两位
         val dockerVersionNameArray = dockerVersionName?.split(".")
 

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/app/AppConfigInfo.kt

@@ -33,6 +33,9 @@ object AppConfigInfo {
     //工控机MAC地址
     @Volatile
     var iPCMacAddress: String? = null
+    //工控机DockerVersion
+    @Volatile
+    var dockerVersion: String? = null
     //工控机协议版本
     var protocolVersionNumber: Int = 0
 

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt

@@ -11,9 +11,9 @@ class PncActionsHelper {
                 NO_AUTODRIVING_VALUE -> {
                     ""
                 }
-                // 车道保持
+                // 车道保持  driving_action： 1:车道保持状态，2:跟车状态
                 LANKE_KEEP_VALUE -> {
-                    "正在跟随车辆行驶"
+                    if(driveAction == 2) "正在跟随车辆行驶" else ""
                 }
                 // 红绿灯通行状态  driving_action：1 表示停止动作；driving_action:2 表示通行动作
                 TRAFFIC_LIGHT_VALUE -> {