[change] pb添加特种车辆，添加清扫车命令发送 以及调试程序特种车辆下发

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java

@@ -5,9 +5,11 @@ import android.app.Application;
 import com.zhidao.adas.client.utils.CrashHandler;
 
 public class App extends Application {
+    public static App INSTANCE;
     @Override
     public void onCreate() {
         super.onCreate();
+        INSTANCE = this;
         CrashHandler.getInstance().init(this);
     }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java

@@ -11,9 +11,9 @@ import com.zhidao.adas.client.bean.ErrorData;
 import com.zhidao.adas.client.bean.GlobalPathResp;
 import com.zhidao.adas.client.bean.GnssInfo;
 import com.zhidao.adas.client.bean.MogoReportMessage;
-import com.zhidao.adas.client.bean.MyPointCloud;
 import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.PlanningDecisionState;
 import com.zhidao.adas.client.bean.PlanningObjects;
 import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
 import com.zhidao.adas.client.bean.RecordDataConfig;
@@ -114,9 +114,9 @@ public class DataDistribution {
     public final List<String> listStatusInfo = new ArrayList<>();
     public final List<String> listRecordDataConfig = new ArrayList<>();
     public final List<String> listErrorData = new ArrayList<>();
-    public final List<String> listPointCloud = new ArrayList<>();
     public final List<String> listOriginalPointCloud = new ArrayList<>();
     public final List<String> listPlanningObjects = new ArrayList<>();
+    public final List<String> listPlanningDecisionState = new ArrayList<>();
 
     public String cutDown(String str) {
         if (isCutDown && str.length() > 650) {
@@ -144,14 +144,6 @@ public class DataDistribution {
             if (listener != null && Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(listener.first)) {
                 listener.second.onRefresh();
             }
-        } else if (data instanceof MyPointCloud) {
-            listPointCloud.add(0, time + str);
-            if (listPointCloud.size() > LIST_SIZE) {
-                listPointCloud.remove(listPointCloud.size() - 1);
-            }
-            if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD.equals(listener.first)) {
-                listener.second.onRefresh();
-            }
         } else if (data instanceof OriginalPointCloudData) {
             listOriginalPointCloud.add(0, time + str);
             if (listOriginalPointCloud.size() > LIST_SIZE) {
@@ -168,6 +160,14 @@ public class DataDistribution {
             if (listener != null && Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(listener.first)) {
                 listener.second.onRefresh();
             }
+        } else if (data instanceof PlanningDecisionState) {
+            listPlanningDecisionState.add(0, time + str);
+            if (listPlanningDecisionState.size() > LIST_SIZE) {
+                listPlanningDecisionState.remove(listPlanningDecisionState.size() - 1);
+            }
+            if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) {
+                listener.second.onRefresh();
+            }
         } else if (data instanceof GnssInfo) {
             listGnssInfo.add(0, time + str);
             if (listGnssInfo.size() > LIST_SIZE) {

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/InterfaceAdapter.java

@@ -0,0 +1,217 @@
+package com.zhidao.adas.client.adapter;
+
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.CheckBox;
+import android.widget.CompoundButton;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.bean.InterfaceModel;
+import com.zhidao.support.adas.high.common.MessageType;
+
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
+
+
+public class InterfaceAdapter extends RecyclerView.Adapter<InterfaceAdapter.MyViewHolder> {
+
+    private List<InterfaceModel> mDatas;
+    private boolean isEnabled = true;//是否可操作
+    private boolean oldIsEnabled = isEnabled;
+    private int isCheckAll = 2;//0：全选 1：全不选 2：任意选
+    private int checkNum;
+    private boolean oldIsCheckAll = false;
+
+    private OnInterfaceAdapterListener listener;
+
+    public void setListener(OnInterfaceAdapterListener listener) {
+        this.listener = listener;
+    }
+
+    public interface OnInterfaceAdapterListener {
+        void onCheckAll(boolean isCheckAll);
+
+        void onCheckNum(int checkNum);
+    }
+
+    public int getCheckNum() {
+        return checkNum;
+    }
+
+    //获取已选中的
+    public Set<MessageType> getCheckedModel() {
+        Set<MessageType> messageTypes = new HashSet<>();
+        if (mDatas != null) {
+            for (InterfaceModel model : mDatas) {
+                if (model.isSelected()) {
+                    messageTypes.add(model.getMessageType());
+                }
+            }
+        }
+        return messageTypes;
+    }
+
+    private void init() {
+        isEnabled = true;
+        oldIsEnabled = true;
+        isCheckAll = 2;
+        checkNum = 0;
+    }
+
+    public void setData(List<InterfaceModel> mDatas, int checkNum) {
+        init();
+        this.mDatas = mDatas;
+        if (mDatas != null && !mDatas.isEmpty()) {
+            this.checkNum = checkNum;
+            updateCheckAllStatus(true);
+        }
+    }
+
+    //全选  全不选
+    public void setCheckAll(boolean checkAll) {
+        isCheckAll = checkAll ? 0 : 1;
+        checkNum = checkAll ? getItemCount() : 0;
+        notifyDataSetChanged();
+        updateCheckNumStatusCall();
+        updateCheckAllStatus(false);
+    }
+
+    public void setEnabled(boolean isEnabled) {
+        if (oldIsEnabled != isEnabled) {
+            oldIsEnabled = isEnabled;
+            this.isEnabled = isEnabled;
+            notifyDataSetChanged();
+        }
+
+    }
+
+    //创建ViewHolder
+    @NonNull
+    @Override
+    public MyViewHolder onCreateViewHolder(@NonNull ViewGroup parent, int viewType) {
+        //实例化得到Item布局文件的View对象
+        View v = LayoutInflater.from(parent.getContext()).inflate(R.layout.item_interface, parent, false);
+        //返回MyViewHolder的对象
+        return new MyViewHolder(v);
+    }
+
+    //绑定数据
+    @Override
+    public void onBindViewHolder(@NonNull MyViewHolder holder, int position) {
+        holder.index.setEnabled(isEnabled);
+        holder.name.setEnabled(isEnabled);
+        holder.itemView.setEnabled(isEnabled);
+        holder.itemCheck.setEnabled(isEnabled);
+        InterfaceModel model = mDatas.get(position);
+        holder.name.setText(model.getMessageType().desc);
+        holder.index.setText((position + 1) + ".");
+        if (isCheckAll == 0) {
+            model.setSelected(true);
+        } else if (isCheckAll == 1) {
+            model.setSelected(false);
+        }
+        holder.itemCheck.setChecked(model.isSelected());
+
+    }
+
+    //返回Item的数量
+    @Override
+    public int getItemCount() {
+        return mDatas == null ? 0 : mDatas.size();
+    }
+
+    /***
+     * 获取制定 位置的Data
+     * @param position 下标
+     * @return Data
+     */
+    public InterfaceModel getItem(int position) {
+        return mDatas == null ? null : mDatas.get(position);
+    }
+
+    //继承RecyclerView.ViewHolder抽象类的自定义ViewHolder
+    class MyViewHolder extends RecyclerView.ViewHolder {
+        TextView name;
+        TextView index;
+        CheckBox itemCheck;
+
+        MyViewHolder(View itemView) {
+            super(itemView);
+            index = itemView.findViewById(R.id.index);
+            name = itemView.findViewById(R.id.name);
+            name.setSelected(true);
+            itemCheck = itemView.findViewById(R.id.item_check);
+            init();
+
+        }
+
+        private void init() {
+            itemView.setOnClickListener(new View.OnClickListener() {
+                @Override
+                public void onClick(View v) {
+                    InterfaceModel model = getItem(getBindingAdapterPosition());
+                    model.setSelected(!model.isSelected());
+                    updateCheckNum(model.isSelected());
+                    itemCheck.setChecked(model.isSelected());
+                }
+            });
+            itemCheck.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+                @Override
+                public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+                    if (buttonView.isPressed()) {
+                        updateCheckNum(isChecked);
+                        InterfaceModel model = getItem(getBindingAdapterPosition());
+                        model.setSelected(isChecked);
+                    }
+                }
+            });
+        }
+    }
+
+    //更新选中个数
+    private void updateCheckNum(boolean isChecked) {
+        if (isChecked) {
+            checkNum++;
+        } else {
+            checkNum--;
+        }
+        updateCheckNumStatusCall();
+        updateCheckAllStatus(true);
+    }
+
+    private void updateCheckNumStatusCall() {
+        if (listener != null)
+            listener.onCheckNum(checkNum);
+    }
+
+    //更新全选状态
+    private void updateCheckAllStatus(boolean isNotice) {
+        if (getItemCount() == checkNum) {
+            isCheckAll = 0;
+            updateCheckAllStatusCall(isNotice, true);
+        } else if (0 == checkNum) {
+            isCheckAll = 1;
+            updateCheckAllStatusCall(isNotice, false);
+        } else {
+            isCheckAll = 2;
+            updateCheckAllStatusCall(isNotice, false);
+        }
+
+    }
+
+    private void updateCheckAllStatusCall(boolean isNotice, boolean isCheckAll) {
+        if (isNotice)
+            if (oldIsCheckAll != isCheckAll) {
+                oldIsCheckAll = isCheckAll;
+                if (listener != null)
+                    listener.onCheckAll(isCheckAll);
+            }
+
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/SpecialVehicleAdapter.java

@@ -0,0 +1,60 @@
+package com.zhidao.adas.client.adapter;
+
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.TextView;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.base.BaseAdapter;
+import com.zhidao.adas.client.base.BaseViewHolder;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des 线路
+ * @date 2021/8/13
+ */
+public class SpecialVehicleAdapter extends BaseAdapter<SpecialVehicleBean, SpecialVehicleAdapter.ViewHolder> {
+
+
+    public SpecialVehicleAdapter(List<SpecialVehicleBean> data) {
+        super(data);
+    }
+
+    @Override
+    public void setData(List<SpecialVehicleBean> mDatas) {
+        super.setData(mDatas);
+    }
+
+    @Override
+    protected void onBindDataToItem(ViewHolder viewHolder, SpecialVehicleBean data, int position) {
+        viewHolder.title.setText(data.name);
+    }
+
+    @Override
+    protected View getItemViewResource(ViewGroup viewGroup) {
+        return LayoutInflater.from(mContext).inflate(R.layout.item_info, viewGroup, false);
+    }
+
+    @Override
+    protected ViewHolder getViewHolder(View view) {
+        return new ViewHolder(view, this);
+    }
+
+    class ViewHolder extends BaseViewHolder<SpecialVehicleAdapter> {
+        TextView title;
+
+        public ViewHolder(View itemView, SpecialVehicleAdapter adapter) {
+            super(itemView, adapter);
+//            ViewGroup.LayoutParams layoutParams = itemView.getLayoutParams();
+//            if (layoutParams != null) {
+//                layoutParams.width = ViewGroup.LayoutParams.MATCH_PARENT;
+//
+//            }
+            title = itemView.findViewById(R.id.tv_info_title);
+        }
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseFragment.java

@@ -27,6 +27,7 @@ import perception.TrafficLightOuterClass;
 public abstract class BaseFragment extends Fragment {
     protected final String TAG = this.getClass().getSimpleName();
     private static final int WHAT_REFRESH = 0x01;
+    private static final int WHAT_UPDATE_CONNECT_STATUS = 0x02;
     protected static final int WHAT_REFRESH_TRAFFIC_LIGHTS = 0x02;
     protected String title;
 
@@ -64,6 +65,18 @@ public abstract class BaseFragment extends Fragment {
         }
     }
 
+    public void updateConnectStatus(int ipcConnectionStatus) {
+        if (getHandler() != null) {
+            Message msg = Message.obtain();
+            msg.what = WHAT_UPDATE_CONNECT_STATUS;
+            msg.arg1 = ipcConnectionStatus;
+            getHandler().sendMessage(msg);
+        }
+    }
+
+    protected void onConnectionIPCStatus(int ipcConnectionStatus) {
+
+    }
 
     @Override
     public void onDestroyView() {
@@ -197,6 +210,11 @@ public abstract class BaseFragment extends Fragment {
                 if (isVisible())
                     onRefreshView();
                 break;
+
+            case WHAT_UPDATE_CONNECT_STATUS:
+                if (isVisible())
+                    onConnectionIPCStatus(msg.arg1);
+                break;
         }
     }
 

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/InterfaceModel.java

@@ -0,0 +1,34 @@
+package com.zhidao.adas.client.bean;
+
+import com.zhidao.support.adas.high.common.MessageType;
+
+
+public class InterfaceModel {
+    private boolean isSelected = false;//是否选择
+    private final MessageType messageType;
+
+    public InterfaceModel(MessageType messageType) {
+        this.messageType = messageType;
+    }
+
+    public boolean isSelected() {
+        return isSelected;
+    }
+
+    public void setSelected(boolean selected) {
+        isSelected = selected;
+    }
+
+    public MessageType getMessageType() {
+        return messageType;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        InterfaceModel that = (InterfaceModel) o;
+        return messageType == that.messageType;
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningDecisionState.java

@@ -0,0 +1,23 @@
+package com.zhidao.adas.client.bean;
+
+import com.google.protobuf.TextFormat;
+
+import java.text.SimpleDateFormat;
+
+import mogo.telematics.pad.MessagePad;
+
+public class PlanningDecisionState extends BaseInfo {
+    public final MessagePad.PlanningActionMsg bean;
+
+    public PlanningDecisionState(MessagePad.Header header, MessagePad.PlanningActionMsg bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
+        this.bean = bean;
+    }
+
+
+    @Override
+    public String toString() {
+        return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/SpecialVehicleBean.java

@@ -0,0 +1,228 @@
+package com.zhidao.adas.client.bean;
+
+import android.content.Context;
+import android.text.TextUtils;
+
+import androidx.annotation.NonNull;
+
+import com.google.protobuf.TextFormat;
+import com.zhidao.adas.client.ui.special.SpecialVehicleFloatWindowManager;
+import com.zhidao.adas.client.utils.PreferencesUtils;
+import com.zhidao.support.adas.high.AdasManager;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import chassis.SpecialVehicleTaskCmdOuterClass;
+
+public class SpecialVehicleBean {
+    private interface TAG {
+        String FTQSC = "ftqsc";//福田清扫车
+        String KWXB = "kwxb";//开沃小巴
+    }
+
+    public interface SEND_TYPE {
+        int ONE = 0;//单次发送
+        int MORE = 1;//多次发送
+        int ALL = 2;//两种方式都支持
+    }
+
+    public final String name;
+    public final String simpleName;//简单名字 两个字
+    public final List<SpecialVehicleOption> options;
+    private final String tag;//用于存储
+    public int sendType = SEND_TYPE.ONE;//发送类型
+    private SpecialVehicleFloatWindowManager manager;
+
+    public static final int SCREEN_MARGIN = 20;
+
+    private final String FLOAT_WINDOW_LOCATION_MIN_X;
+    private final String FLOAT_WINDOW_LOCATION_MIN_Y;
+    private final String FLOAT_WINDOW_LOCATION_MAX_X;
+    private final String FLOAT_WINDOW_LOCATION_MAX_Y;
+
+    private SpecialVehicleBean(@NonNull String name, @NonNull String simpleName, String tag, List<SpecialVehicleOption> options) {
+        this.name = name;
+        this.simpleName = simpleName;
+        this.tag = tag;
+        this.options = options;
+        FLOAT_WINDOW_LOCATION_MIN_X = tag + "_float_window_location_min_x";
+        FLOAT_WINDOW_LOCATION_MIN_Y = tag + "_float_window_location_min_y";
+        FLOAT_WINDOW_LOCATION_MAX_X = tag + "_float_window_location_max_X";
+        FLOAT_WINDOW_LOCATION_MAX_Y = tag + "_float_window_location_max_y";
+
+    }
+
+    public void showFloat(Context context) {
+        if (manager == null)
+            manager = new SpecialVehicleFloatWindowManager(context, this);
+        manager.show();
+    }
+
+    public void dismissFloat() {
+        if (manager != null) {
+            manager.onBack();
+            manager = null;
+        }
+    }
+
+    /************************悬浮窗位置******************/
+
+
+    public void setFloatWindowLocationMinX(Context context, int x) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MIN_X, x);
+    }
+
+    public int getFloatWindowLocationMinX(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MIN_X, SCREEN_MARGIN);
+    }
+
+    public void setFloatWindowLocationMinY(Context context, int y) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MIN_Y, y);
+    }
+
+    public int getFloatWindowLocationMinY(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MIN_Y, SCREEN_MARGIN);
+    }
+
+
+    /************************悬浮窗位置******************/
+
+    public void setFloatWindowLocationMaxX(Context context, int x) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MAX_X, x);
+    }
+
+    public int getFloatWindowLocationMaxX(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MAX_X, SCREEN_MARGIN);
+    }
+
+    public void setFloatWindowLocationMaxY(Context context, int y) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MAX_Y, y);
+    }
+
+    public int getFloatWindowLocationMaxY(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MAX_Y, SCREEN_MARGIN);
+    }
+
+    /**
+     * 命令下发
+     *
+     * @param index -1一次性发送所有命令 其他 单个命令发送
+     * @return
+     */
+    public String sendCmd(int index) {
+        String str = "";
+        if (TextUtils.equals(this.tag, TAG.FTQSC)) { //福田清扫车
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder();
+            if (index < 0) {
+                for (index = 0; index < options.size(); index++) {
+                    SpecialVehicleOption option = options.get(index);
+                    if (option.moreCheckPos != -1) {
+                        option.checkPos = option.moreCheckPos;
+                        option.moreCheckPos = -1;
+                    }
+                    setFuTianCleanValue(builder, index, option.checkPos);
+                }
+            } else {
+                int checkPos = options.get(index).checkPos;
+                setFuTianCleanValue(builder, index, checkPos);
+            }
+
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd = builder.build();
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd.newBuilder()
+                    .setRoboSweeperFutianCleanCmd(fuTianCleanCmd).build();
+            AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd);
+            str = TextFormat.printer().escapingNonAscii(false).printToString(fuTianTaskCmd).replaceAll("\n", "");
+        } else if (TextUtils.equals(this.tag, TAG.KWXB)) { //开沃小巴
+            SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd = SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd.newBuilder()
+                    .build();
+            AdasManager.getInstance().sendRoboVanSkywellTaskCmd(vanSkywellTaskCmd);
+        }
+        return str;
+    }
+
+    private void setFuTianCleanValue(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder, int index, int checkPos) {
+        switch (index) {
+            case 0:
+                builder.setCleanOpenRequirement(checkPos);
+                break;
+            case 1:
+                builder.setCleanModeRequirement(checkPos);
+                break;
+            case 2:
+                builder.setCleanDirectionRequirement(checkPos);
+                break;
+            case 3:
+                builder.setCleanIntensityRequirement(checkPos);
+                break;
+            case 4:
+                builder.setDuskCloseRequirement(checkPos);
+                break;
+            case 5:
+                builder.setSuctionNozzlefleOpenRequirement(checkPos);
+                break;
+            case 6:
+                builder.setSprayGunOpenRequirement(checkPos);
+                break;
+            case 7:
+                builder.setSweepdiskSpeedRequirement(checkPos);
+                break;
+        }
+    }
+
+
+    public static List<SpecialVehicleBean> init() {
+        List<SpecialVehicleBean> list = new ArrayList<>();
+        List<SpecialVehicleOption> optionsF = new ArrayList<>();
+        int tag = 0;
+        String[] value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Start";
+        value[2] = "2-Stop";
+        optionsF.add(new SpecialVehicleOption("清扫作业", tag++, value, 0));
+        value = new String[5];
+        value[0] = "0-No Req";
+        value[1] = "1-Sweeping";
+        value[2] = "2-Wash Sweeper";
+        value[3] = "3-Pure Wash";
+        value[4] = "4-Pure Draw";
+        optionsF.add(new SpecialVehicleOption("清扫模式", tag++, value, 0));
+        value = new String[4];
+        value[0] = "0-No Req";
+        value[1] = "1-Both";
+        value[2] = "2-Left";
+        value[3] = "3-Right";
+        optionsF.add(new SpecialVehicleOption("清扫方向", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Stand";
+        value[2] = "2-Strong";
+        optionsF.add(new SpecialVehicleOption("作业强度", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Close";
+        value[2] = "2-Open";
+        optionsF.add(new SpecialVehicleOption("降尘", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Open";
+        value[2] = "2-Close";
+        optionsF.add(new SpecialVehicleOption("吸嘴挡板", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Open";
+        value[2] = "2-Close";
+        optionsF.add(new SpecialVehicleOption("喷雾枪", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Decelerate";
+        value[2] = "2-Accelerate";
+        optionsF.add(new SpecialVehicleOption("扫盘加速", tag, value, 0));
+        SpecialVehicleBean beanF = new SpecialVehicleBean("福田清扫车", "福清", TAG.FTQSC, optionsF);
+        SpecialVehicleBean beanK = new SpecialVehicleBean("开沃小巴", "开巴", TAG.KWXB, null);
+        list.add(beanF);
+        list.add(beanK);
+        return list;
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/SpecialVehicleOption.java

@@ -0,0 +1,16 @@
+package com.zhidao.adas.client.bean;
+
+public class SpecialVehicleOption {
+    public final String name;
+    public final int tag;
+    public final String[] value;
+    public int checkPos = 0;//选中的下标
+    public int moreCheckPos = -1;//发送模式下多条模式时选中的下标
+
+    public SpecialVehicleOption(String name, int tag, String[] value, int checkPos) {
+        this.name = name;
+        this.tag = tag;
+        this.value = value;
+        this.checkPos = checkPos;
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java

@@ -129,12 +129,12 @@ public class InfoFragment extends BaseFragment {
             adapter.setData(DataDistribution.getInstance().listPerceptionTrafficLight);
         } else if (Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
-        } else if (Constants.TITLE.RECEIVE_POINT_CLOUD.equals(title)) {
-            adapter.setData(DataDistribution.getInstance().listPointCloud);
         } else if (Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listOriginalPointCloud);
         } else if (Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listPlanningObjects);
+        } else if (Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
         } else {
             adapter.setData(DataDistribution.getInstance().listErrorData);
         }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -35,7 +35,6 @@ import android.widget.Toast;
 
 import androidx.appcompat.app.AlertDialog;
 import androidx.appcompat.widget.AppCompatButton;
-import androidx.fragment.app.Fragment;
 import androidx.fragment.app.FragmentManager;
 import androidx.fragment.app.FragmentTransaction;
 import androidx.recyclerview.widget.GridLayoutManager;
@@ -54,6 +53,7 @@ import com.zhidao.adas.client.R;
 import com.zhidao.adas.client.adapter.InfoTitleAdapter;
 import com.zhidao.adas.client.base.BaseActivity;
 import com.zhidao.adas.client.base.BaseAdapter;
+import com.zhidao.adas.client.base.BaseFragment;
 import com.zhidao.adas.client.bean.ArrivalNotification;
 import com.zhidao.adas.client.bean.AutopilotState;
 import com.zhidao.adas.client.bean.BasicInfoReq;
@@ -65,10 +65,12 @@ import com.zhidao.adas.client.bean.IPCConnectState;
 import com.zhidao.adas.client.bean.MogoReportMessage;
 import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.PlanningDecisionState;
 import com.zhidao.adas.client.bean.PlanningObjects;
 import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
 import com.zhidao.adas.client.bean.RecordDataConfig;
 import com.zhidao.adas.client.bean.RecordPanel;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
 import com.zhidao.adas.client.bean.StatusInfo;
 import com.zhidao.adas.client.bean.TrackedObjects;
 import com.zhidao.adas.client.bean.Trajectory;
@@ -76,6 +78,7 @@ import com.zhidao.adas.client.bean.VehicleState;
 import com.zhidao.adas.client.bean.Warn;
 import com.zhidao.adas.client.log.ConnectStatusSave;
 import com.zhidao.adas.client.log.LogSave;
+import com.zhidao.adas.client.ui.special.SpecialVehicleDialog;
 import com.zhidao.adas.client.utils.Constants;
 import com.zhidao.adas.client.utils.PreferencesUtils;
 import com.zhidao.support.adas.high.AdasManager;
@@ -87,11 +90,13 @@ import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.MessageType;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 import com.zhidao.support.adas.high.other.permission.BackgrounderPermission;
 import com.zhidao.support.adas.high.other.permission.OnAdasPermissionListener;
 import com.zhidao.support.adas.high.other.router.RouterActivity;
+import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 
 import java.net.Inet4Address;
 import java.net.InetAddress;
@@ -101,8 +106,10 @@ import java.text.SimpleDateFormat;
 import java.util.ArrayList;
 import java.util.Date;
 import java.util.Enumeration;
+import java.util.HashSet;
 import java.util.List;
 import java.util.Locale;
+import java.util.Set;
 import java.util.concurrent.ScheduledExecutorService;
 
 import chassis.VehicleStateOuterClass;
@@ -148,7 +155,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private final List<String> titleBtnData = new ArrayList<>();
     private final List<IPCConnectState> connectStatusList = new ArrayList<>();
     private InfoTitleAdapter fragmentAdapter;
-    private Fragment fromFragment;
+    private BaseFragment fromFragment;
     private FragmentManager manager;
     private String ftpTime;
     private boolean isPad;
@@ -156,9 +163,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private String recordFileName;
     private int connectStatus;
     private AutoPilotModeDialog autoPilotModeDialog;
+    private SpecialVehicleDialog specialVehicleDialog;
     private ListPopupWindow listPopupWindow;
     private FloatWindow floatWindow;
     private View include_title;
+    private List<SpecialVehicleBean> specialVehicleBeanList;//特种车辆
 //    @Override
 //    protected void onStart() {
 //        super.onStart();
@@ -248,6 +257,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             wakeLock.release();
         if (wifiLock != null)
             wifiLock.release();
+        if (autoPilotModeDialog != null && autoPilotModeDialog.isShowing()) {
+            autoPilotModeDialog.dismiss();
+            autoPilotModeDialog = null;
+        }
+        if (specialVehicleDialog != null && specialVehicleDialog.isShowing()) {
+            specialVehicleDialog.dismiss();
+            specialVehicleDialog = null;
+        }
     }
 
     private void canDrawOverlays() {
@@ -613,9 +630,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
-        titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD);
         titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_OBJECTS);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE);
         titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
         titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP);
         titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
@@ -628,6 +645,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
         titleBtnData.add(Constants.TITLE.SEND_SET_AUTOPILOT_MODE_REQ);
         titleBtnData.add(Constants.TITLE.SEND_GLOBAL_PATH_REQ);
+        titleBtnData.add(Constants.TITLE.SEND_SPECIAL_VEHICLE_TASK_CMD);
         titleBtnData.add(Constants.TITLE.SEND_STATUS_QUERY_REQ);
         titleBtnData.add(Constants.TITLE.SEND_BASIC_INFO_RESP);
         titleBtnData.add(Constants.TITLE.SEND_RECORD_DATA_CONFIG_RESP);
@@ -882,7 +900,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
         BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf);
         DataDistribution.getInstance().addData(info);
-        AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 0);
+        AdasManager.getInstance().sendBasicInfoResp("", 0, com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG);
         showToastCenter("收到车机基础信息请求:" + info.toString());
     }
 
@@ -930,6 +948,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg) {
+        PlanningDecisionState base = new PlanningDecisionState(header, planningActionMsg, sdf);
+        DataDistribution.getInstance().addData(base);
+    }
+
 
     private void initAdas() {
         CupidLogUtils.e(TAG, "--->初始化");
@@ -961,13 +985,19 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         } else {
             /*—————————————作为司机端———————————*/
             int mode = Constants.getIpcConnectionMode(this);
+            Set<MessageType> messageTypes = new HashSet<>();
+            messageTypes.add(MessageType.TYPE_RECEIVE_POINT_CLOUD);
+            SubscribeInterfaceOptions subscribeInterfaceOptions = SubscribeInterfaceOptions.newBuilder()
+                    .setRole(com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG)
+                    .setType(com.zhidao.support.adas.high.common.Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE)
+                    .setMessageTypes(messageTypes).build();
             switch (mode) {
                 default:
                 case AdasOptions.IPC_CONNECTION_MODE.FIXATION:
-                    options = new AdasOptions.Builder().setClient(false).setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(this)).setIpcConnectionMode(mode).build();
+                    options = new AdasOptions.Builder().setSubscribeInterfaceOptions(subscribeInterfaceOptions).setClient(false).setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(this)).setIpcConnectionMode(mode).build();
                     break;
                 case AdasOptions.IPC_CONNECTION_MODE.ASSIGN:
-                    options = new AdasOptions.Builder().setClient(false).setIpcAssignIP(Constants.getIPCIp(this)).setIpcConnectionMode(mode).build();
+                    options = new AdasOptions.Builder().setSubscribeInterfaceOptions(subscribeInterfaceOptions).setClient(false).setIpcAssignIP(Constants.getIPCIp(this)).setIpcConnectionMode(mode).build();
                     break;
             }
 
@@ -1024,6 +1054,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     @Override
     public void onConnectionIPCStatus(int ipcConnectionStatus, String reason) {
+        if (fromFragment != null) {
+            fromFragment.updateConnectStatus(ipcConnectionStatus);
+        }
 //        Log.i(TAG, "连接状态=" + (reason == null ? "主动断开连接" : reason));
         String time = sdf.format(new Date());
         ConnectStatusSave.getInstance().saveLog(time + " ipcConnectionStatus=" + ipcConnectionStatus + " reason=" + reason);
@@ -1033,15 +1066,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         }
         connectStatus = ipcConnectionStatus;
         String status = onUpdateConnectStateView();
+        getHandler().sendEmptyMessage(WHAT_IPC_IP);
         if (connectStatus == IPC_CONNECTION_STATUS.CONNECTED) {
-            getHandler().sendEmptyMessage(WHAT_IPC_IP);
+
             String tem = getIPCIP();
             if (!TextUtils.isEmpty(tem)) {
                 List<String> ips = Constants.getIpcUsedIps(this);
                 Constants.addIpcUsedIps(this, ips, tem);
             }
-        } else if (connectStatus == IPC_CONNECTION_STATUS.DISCONNECTED) {
-            getHandler().sendEmptyMessage(WHAT_IPC_IP);
         }
 //        LogSave.getInstance().saveLog("连接状态", status);
 //        CupidLogUtils.i(TAG, "connectStatus=" + status);
@@ -1089,7 +1121,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     }
 
     private void showFragment(String title) {
-        Fragment to = manager.findFragmentByTag(title);
+        BaseFragment to = (BaseFragment) manager.findFragmentByTag(title);
         if (to == null) {
             if (Constants.TITLE.RECEIVE_CAR_CONFIG_RESP.equals(title)) {
                 to = new VersionFragment(Constants.TITLE.TITLE_CAR_CONFIG_RESP);
@@ -1144,12 +1176,58 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 //自动驾驶路径查询
                 AdasManager.getInstance().sendGlobalPathReq();
                 break;
+            case Constants.TITLE.SEND_SPECIAL_VEHICLE_TASK_CMD:
+                if (specialVehicleBeanList == null) {
+                    specialVehicleBeanList = SpecialVehicleBean.init();
+                }
+                if (specialVehicleDialog == null) {
+                    specialVehicleDialog = new SpecialVehicleDialog(this, specialVehicleBeanList);
+                }
+                if (!specialVehicleDialog.isShowing()) {
+                    specialVehicleDialog.show();
+                }
+                break;
             case Constants.TITLE.SEND_STATUS_QUERY_REQ:
                 AdasManager.getInstance().sendStatusQueryReq();
                 break;
             case Constants.TITLE.SEND_BASIC_INFO_RESP:
                 //发送sn
-                AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 0);
+                //速度设置
+                AlertDialog.Builder builder = new AlertDialog.Builder(this);
+                builder.setTitle("发送SN");
+                View view = getLayoutInflater().inflate(R.layout.dialog_sn, null);
+                final EditText et = view.findViewById(R.id.et);
+                final EditText ev = view.findViewById(R.id.ev);
+                final EditText role = view.findViewById(R.id.role);
+                builder.setView(view);//
+                builder.setCancelable(false);//
+                builder.setPositiveButton("发送", null);
+                //设置反面按钮，并做事件处理
+                builder.setNegativeButton("取消", null);
+                AlertDialog alertDialog = builder.show();//显示Dialog对话框
+                alertDialog.getButton(AlertDialog.BUTTON_POSITIVE).setOnClickListener(new View.OnClickListener() {
+                    @Override
+                    public void onClick(View v) {
+                        Editable editable = et.getText();
+                        if (TextUtils.isEmpty(editable)) {
+                            // 条件不成立不能关闭 AlertDialog 窗口
+                            Toast.makeText(MainActivity.this, "请输入SN", Toast.LENGTH_SHORT).show();
+                            return;
+                        }
+                        int evInt = 0;
+                        Editable evEd = ev.getText();
+                        if (!TextUtils.isEmpty(evEd)) {
+                            evInt = Integer.parseInt(evEd.toString().trim());
+                        }
+                        int roleInt = com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG;
+                        Editable roleEd = role.getText();
+                        if (!TextUtils.isEmpty(roleEd)) {
+                            roleInt = Integer.parseInt(roleEd.toString().trim());
+                        }
+                        AdasManager.getInstance().sendBasicInfoResp(editable.toString().trim(), evInt, roleInt);
+                        alertDialog.dismiss();
+                    }
+                });
                 break;
             case Constants.TITLE.SEND_RECORD_DATA_5:
                 //数据采集5秒
@@ -1192,30 +1270,31 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 break;
             case Constants.TITLE.SEND_SET_AUTOPILOT_SPEED_REQ:
                 //速度设置
-                AlertDialog.Builder builder = new AlertDialog.Builder(this);
-                builder.setTitle("自动驾驶限速");
-                View view = getLayoutInflater().inflate(R.layout.dialog_speed, null);
-                final EditText et = (EditText) view.findViewById(R.id.et);
-                builder.setView(view);//
-                builder.setCancelable(false);//
-                builder.setPositiveButton("设置", new DialogInterface.OnClickListener() {
+                AlertDialog.Builder builder1 = new AlertDialog.Builder(this);
+                builder1.setTitle("自动驾驶限速");
+                View view1 = getLayoutInflater().inflate(R.layout.dialog_speed, null);
+                final EditText et1 = (EditText) view1.findViewById(R.id.et);
+                builder1.setView(view1);//
+                builder1.setCancelable(false);//
+                builder1.setPositiveButton("设置", null);
+                //设置反面按钮，并做事件处理
+                builder1.setNegativeButton("取消", null);
+                AlertDialog alertDialog1 = builder1.show();//显示Dialog对话框
+                alertDialog1.getButton(AlertDialog.BUTTON_POSITIVE).setOnClickListener(new View.OnClickListener() {
                     @Override
-                    public void onClick(DialogInterface dialogInterface, int i) {
-                        Editable editable = et.getText();
+                    public void onClick(View v) {
+                        Editable editable = et1.getText();
                         if (TextUtils.isEmpty(editable)) {
                             // 条件不成立不能关闭 AlertDialog 窗口
                             Toast.makeText(MainActivity.this, "请输入速度", Toast.LENGTH_SHORT).show();
                             return;
                         }
-                        String temp = et.getText().toString().trim();
+                        String temp = et1.getText().toString().trim();
                         double speed = Double.parseDouble(temp) / 3.6;
                         AdasManager.getInstance().sendAutopilotSpeedReq(speed);
+                        alertDialog1.dismiss();
                     }
                 });
-                //设置反面按钮，并做事件处理
-                builder.setNegativeButton("取消", null);
-                builder.show();//显示Dialog对话框
-
                 break;
             case Constants.TITLE.SEND_SYSTEM_CMD_REQ_REBOOT:
                 //重启所有节点
@@ -1256,6 +1335,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         switch (msg.what) {
             case WHAT_IPC_IP:
                 showIPCIP();
+                if (specialVehicleBeanList != null && !specialVehicleBeanList.isEmpty()) {
+                    for (SpecialVehicleBean bean : specialVehicleBeanList) {
+                        bean.dismissFloat();
+                    }
+                    specialVehicleBeanList = null;
+                }
                 break;
             case WHAT_DRIVER_IP:
                 ipcIp.setVisibility(View.VISIBLE);

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java

@@ -7,8 +7,13 @@ import android.view.Gravity;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.AdapterView;
+import android.widget.ArrayAdapter;
 import android.widget.Button;
+import android.widget.CheckBox;
+import android.widget.CompoundButton;
 import android.widget.EditText;
+import android.widget.Spinner;
 import android.widget.TextView;
 import android.widget.Toast;
 
@@ -21,12 +26,15 @@ import androidx.recyclerview.widget.SimpleItemAnimator;
 import com.zhidao.adas.client.BuildConfig;
 import com.zhidao.adas.client.R;
 import com.zhidao.adas.client.adapter.ConfigAdapter;
+import com.zhidao.adas.client.adapter.InterfaceAdapter;
 import com.zhidao.adas.client.base.BaseFragment;
 import com.zhidao.adas.client.bean.Config;
+import com.zhidao.adas.client.bean.InterfaceModel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.MessageType;
 
 import java.text.SimpleDateFormat;
 import java.util.ArrayList;
@@ -34,6 +42,7 @@ import java.util.Date;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Locale;
+import java.util.Set;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -42,11 +51,26 @@ import mogo.telematics.pad.MessagePad;
  */
 public class VersionFragment extends BaseFragment {
     private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.getDefault());
+    private TextView ipsView;
+    private EditText ipView;
+    private RecyclerView recyclerView;
+    private RecyclerView rec_registered;
+    private RecyclerView rec_unregistered;
+    private CheckBox registered_check_all;
+    private CheckBox unregistered_check_all;
+    private TextView hint_registered;
+    private TextView hint_unregistered;
+
+    private ConfigAdapter adapter;
+    private InterfaceAdapter unregisteredAdapter;
+    private InterfaceAdapter registeredAdapter;
+
+
+    private int role = Constants.TERMINAL_ROLE.DEBUG;//角色 默认调试屏
 
     public VersionFragment() {
     }
 
-    private ConfigAdapter adapter;
 
     public VersionFragment(String title) {
         super(title);
@@ -87,7 +111,7 @@ public class VersionFragment extends BaseFragment {
             for (String ip : ips) {
                 i++;
                 builder.append(ip);
-                if (i % 2 == 0) {
+                if (i % 4 == 0) {
                     builder.append("\n");
                 } else {
                     builder.append("\t\t\t\t");
@@ -98,9 +122,6 @@ public class VersionFragment extends BaseFragment {
 
     }
 
-    private TextView ipsView;
-    private EditText ipView;
-    private RecyclerView recyclerView;
 
     private void initView(View view) {
         TextView tvTitle = view.findViewById(R.id.tv_title);
@@ -113,7 +134,7 @@ public class VersionFragment extends BaseFragment {
         CupidLogUtils.w("InfoFragment===>" + title);
         tvTitle.setText(title);
         tvTitle.setGravity(Gravity.CENTER);
-
+        initRegistrationView(view);
         btn1.setOnClickListener(new View.OnClickListener() {
             @Override
             public void onClick(View v) {
@@ -154,6 +175,18 @@ public class VersionFragment extends BaseFragment {
 
     }
 
+    //根据连接状态更新数据
+    @Override
+    public void onConnectionIPCStatus(int ipcConnectionStatus) {
+        super.onConnectionIPCStatus(ipcConnectionStatus);
+        if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED || ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+            showVersion();
+            initRegistrationData();
+            if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
+                clearRegistrationViewState();
+            }
+        }
+    }
 
     public void showVersion() {
         List<Config> list = new ArrayList<>();
@@ -204,4 +237,197 @@ public class VersionFragment extends BaseFragment {
         adapter = new ConfigAdapter();
         recyclerView.setAdapter(adapter);
     }
+
+
+    private void initRegistrationView(View view) {
+        recyclerView = view.findViewById(R.id.config_list);
+        rec_registered = view.findViewById(R.id.rec_registered);
+        rec_unregistered = view.findViewById(R.id.rec_unregistered);
+        registered_check_all = view.findViewById(R.id.registered_check_all);
+        unregistered_check_all = view.findViewById(R.id.unregistered_check_all);
+        hint_unregistered = view.findViewById(R.id.hint_unregistered);
+        hint_registered = view.findViewById(R.id.hint_registered);
+        Button update = view.findViewById(R.id.update);
+        initFragmentRecyclerView();
+        initRegisteredRecyclerView();
+        initUnregisteredRecyclerView();
+        initSpinner(view);
+        registered_check_all.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+            @Override
+            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+                if (buttonView.isPressed()) {
+                    registeredAdapter.setCheckAll(isChecked);
+                    unregisteredAdapter.setCheckAll(false);
+                    unregisteredAdapter.setEnabled(!isChecked);
+                    unregistered_check_all.setEnabled(!isChecked);
+                }
+            }
+        });
+        registeredAdapter.setListener(new InterfaceAdapter.OnInterfaceAdapterListener() {
+            @Override
+            public void onCheckAll(boolean isCheckAll) {
+                registered_check_all.setChecked(isCheckAll);
+            }
+
+            @Override
+            public void onCheckNum(int checkNum) {
+                boolean isEnable = checkNum == 0;
+                unregisteredAdapter.setEnabled(isEnable);
+                unregistered_check_all.setEnabled(isEnable);
+            }
+        });
+        unregistered_check_all.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+            @Override
+            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+                if (buttonView.isPressed()) {
+                    unregisteredAdapter.setCheckAll(isChecked);
+                    registeredAdapter.setCheckAll(false);
+                    registeredAdapter.setEnabled(!isChecked);
+                    registered_check_all.setEnabled(!isChecked);
+                }
+            }
+        });
+        unregisteredAdapter.setListener(new InterfaceAdapter.OnInterfaceAdapterListener() {
+            @Override
+            public void onCheckAll(boolean isCheckAll) {
+                unregistered_check_all.setChecked(isCheckAll);
+            }
+
+            @Override
+            public void onCheckNum(int checkNum) {
+                boolean isEnable = checkNum == 0;
+                registeredAdapter.setEnabled(isEnable);
+                registered_check_all.setEnabled(isEnable);
+            }
+        });
+        update.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                update();
+            }
+        });
+        initRegistrationData();
+    }
+
+
+    private void update() {
+        if (registeredAdapter.getCheckNum() == 0 && unregisteredAdapter.getCheckNum() == 0) {
+            Toast.makeText(getContext(), "请选择后在更新", Toast.LENGTH_SHORT).show();
+            return;
+        }
+        Set<MessageType> set;
+        if (registeredAdapter.getCheckNum() == 0) {
+            //注册
+            set = unregisteredAdapter.getCheckedModel();
+            if (set == null || set.isEmpty()) {
+                Toast.makeText(getContext(), "请选择要注册的接口", Toast.LENGTH_SHORT).show();
+                return;
+            }
+            if (set.size() == 1) {
+                AdasManager.getInstance().subscribeInterface(role, Constants.SUBSCRIBE_TYPE.SUBSCRIBE, set.iterator().next());
+            } else {
+                AdasManager.getInstance().subscribeInterface(role, Constants.SUBSCRIBE_TYPE.SUBSCRIBE, set);
+            }
+        } else {
+            //取消注册
+            set = registeredAdapter.getCheckedModel();
+            if (set == null || set.isEmpty()) {
+                Toast.makeText(getContext(), "请选择要取消注册的接口", Toast.LENGTH_SHORT).show();
+                return;
+            }
+            if (set.size() == 1) {
+                AdasManager.getInstance().subscribeInterface(role, Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE, set.iterator().next());
+            } else {
+                AdasManager.getInstance().subscribeInterface(role, Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE, set);
+            }
+        }
+        clearRegistrationViewState();
+        initRegistrationData();
+
+    }
+
+    private void clearRegistrationViewState() {
+        registered_check_all.setChecked(false);
+        unregistered_check_all.setChecked(false);
+        registered_check_all.setEnabled(true);
+        unregistered_check_all.setEnabled(true);
+        if (registeredAdapter != null)
+            registeredAdapter.notifyDataSetChanged();
+        if (unregisteredAdapter != null)
+            unregisteredAdapter.notifyDataSetChanged();
+    }
+
+    private void initRegistrationData() {
+        //初始化数据
+        Set<MessageType> set = AdasManager.getInstance().getSubscribedInterface();
+        List<InterfaceModel> registeredList = new ArrayList<>();
+        List<InterfaceModel> unregisteredList = new ArrayList<>();
+        if (set != null && !set.isEmpty()) {
+            registered_check_all.setVisibility(View.VISIBLE);
+            for (MessageType messageType : set) {
+                registeredList.add(new InterfaceModel(messageType));
+            }
+        } else {
+            registered_check_all.setVisibility(View.INVISIBLE);
+        }
+        set = AdasManager.getInstance().getUnsubscribedInterface();
+        if (set != null && !set.isEmpty()) {
+            unregistered_check_all.setVisibility(View.VISIBLE);
+            for (MessageType messageType : set) {
+                unregisteredList.add(new InterfaceModel(messageType));
+            }
+        } else {
+            unregistered_check_all.setVisibility(View.INVISIBLE);
+        }
+        registeredAdapter.setData(registeredList, 0);
+        unregisteredAdapter.setData(unregisteredList, 0);
+        hint_registered.setText("已注册接口(" + registeredAdapter.getItemCount() + ")");
+        hint_unregistered.setText("未注册接口(" + unregisteredAdapter.getItemCount() + ")");
+    }
+
+
+    private void initRegisteredRecyclerView() {
+        //创建默认的线性LayoutManager  横向的GridLayoutManager
+        LinearLayoutManager linearLayoutManager = new LinearLayoutManager(getContext());
+        linearLayoutManager.setOrientation(LinearLayoutManager.VERTICAL);
+        rec_registered.setLayoutManager(linearLayoutManager);
+        //如果可以确定每个item的高度是固定的，设置这个选项可以提高性能
+        rec_registered.setHasFixedSize(false);
+        rec_registered.setNestedScrollingEnabled(false);
+        registeredAdapter = new InterfaceAdapter();
+        rec_registered.setAdapter(registeredAdapter);
+    }
+
+    private void initUnregisteredRecyclerView() {
+        //创建默认的线性LayoutManager  横向的GridLayoutManager
+        LinearLayoutManager linearLayoutManager = new LinearLayoutManager(getContext());
+        linearLayoutManager.setOrientation(LinearLayoutManager.VERTICAL);
+        rec_unregistered.setLayoutManager(linearLayoutManager);
+        //如果可以确定每个item的高度是固定的，设置这个选项可以提高性能
+        rec_unregistered.setHasFixedSize(false);
+        rec_unregistered.setNestedScrollingEnabled(false);
+        unregisteredAdapter = new InterfaceAdapter();
+        rec_unregistered.setAdapter(unregisteredAdapter);
+    }
+
+
+    private void initSpinner(View view) {
+        String[] s = {"司机", "乘客", "调试"};
+        ArrayAdapter<String> dataAdapter = new ArrayAdapter<String>(getContext(), android.R.layout.simple_spinner_item, s);
+        dataAdapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+        Spinner sp = view.findViewById(R.id.spinner);
+        sp.setAdapter(dataAdapter);
+        sp.setSelection(2);
+        sp.setOnItemSelectedListener(new AdapterView.OnItemSelectedListener() {
+            @Override
+            public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
+                role = position;
+            }
+
+            @Override
+            public void onNothingSelected(AdapterView<?> parent) {
+
+            }
+        });
+    }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleDialog.java

@@ -0,0 +1,116 @@
+package com.zhidao.adas.client.ui.special;
+
+import android.app.Dialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.content.Intent;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.LinearLayoutManager;
+import androidx.recyclerview.widget.RecyclerView;
+import androidx.recyclerview.widget.SimpleItemAnimator;
+
+import com.zhidao.adas.client.App;
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.adapter.SpecialVehicleAdapter;
+import com.zhidao.adas.client.base.BaseAdapter;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+import com.zhidao.adas.client.ui.AutopilotConfigActivity;
+
+import java.util.List;
+
+
+/**
+ * 特种车辆
+ */
+public class SpecialVehicleDialog extends Dialog {
+    private RecyclerView recyclerView;
+    private List<SpecialVehicleBean> list;
+
+
+    public SpecialVehicleDialog(@NonNull Context context, List<SpecialVehicleBean> list) {
+        super(context, R.style.CustomDialog);
+        this.list = list;
+    }
+
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.dialog_autopilot_mode);
+        //初始化界面控件
+        initView();
+        //初始化界面控件的事件
+        initListener();
+        initBtnRecyclerView();
+        setOnDismissListener(new OnDismissListener() {
+            @Override
+            public void onDismiss(DialogInterface dialog) {
+            }
+        });
+
+    }
+
+    @Override
+    public void show() {
+        super.show();
+    }
+
+
+    private void initBtnRecyclerView() {
+        //初始info-recycle
+        LinearLayoutManager nodLinearLayoutManage = new LinearLayoutManager(getContext());
+        nodLinearLayoutManage.setOrientation(LinearLayoutManager.VERTICAL);
+        recyclerView.setLayoutManager(nodLinearLayoutManage);
+        //如果可以确定每个item的高度是固定的，设置这个选项可以提高性能
+        recyclerView.setHasFixedSize(true);
+        //解决局部刷新闪屏问题
+        SimpleItemAnimator animatorInfo = (SimpleItemAnimator) recyclerView.getItemAnimator();
+        if (animatorInfo != null)
+            animatorInfo.setSupportsChangeAnimations(false);
+        //创建并设置Adapter
+        SpecialVehicleAdapter adapter = new SpecialVehicleAdapter(list);
+        recyclerView.setAdapter(adapter);
+        adapter.setOnItemClickListener(new BaseAdapter.OnItemClickListener<SpecialVehicleBean>() {
+            @Override
+            public void onItemClick(int position, SpecialVehicleBean data) {
+                if (data.options == null) {
+                    Toast.makeText(getContext(), "“" + data.name + "”暂未支持", Toast.LENGTH_SHORT).show();
+                } else {
+                    data.showFloat(App.INSTANCE);
+                    SpecialVehicleDialog.this.dismiss();
+                }
+
+            }
+        });
+    }
+
+    /**
+     * 初始化界面的确定和取消监听器
+     */
+    private void initListener() {
+        findViewById(R.id.settings).setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                getContext().startActivity(new Intent(getContext(), AutopilotConfigActivity.class));
+            }
+        });
+    }
+
+
+    /**
+     * 初始化界面控件
+     */
+    private void initView() {
+        recyclerView = findViewById(R.id.recyclerView);
+        findViewById(R.id.settings).setVisibility(View.GONE);
+        TextView textView = findViewById(R.id.title);
+        textView.setText("特种车辆");
+    }
+
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleFloatWindow.java

@@ -0,0 +1,477 @@
+package com.zhidao.adas.client.ui.special;
+
+import android.content.Context;
+import android.graphics.Color;
+import android.os.Handler;
+import android.os.Message;
+import android.util.DisplayMetrics;
+import android.view.Gravity;
+import android.view.KeyEvent;
+import android.view.LayoutInflater;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.ViewGroup;
+import android.view.WindowManager;
+import android.widget.FrameLayout;
+import android.widget.HorizontalScrollView;
+import android.widget.LinearLayout;
+import android.widget.RadioButton;
+import android.widget.RadioGroup;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.appcompat.widget.AppCompatButton;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+import com.zhidao.adas.client.bean.SpecialVehicleOption;
+
+import java.lang.ref.WeakReference;
+import java.lang.reflect.Field;
+
+
+/**
+ * 2017/1/10.
+ * Description：全局悬浮窗口
+ */
+
+public class SpecialVehicleFloatWindow extends LinearLayout {
+
+    /*********************悬浮窗相关***********************/
+
+    private int sW;
+    private int sH;
+    private boolean isMaximize = true;//是否是最大化
+    private WindowManager wm;
+    //此wmParams变量为获取的全局变量，用以保存悬浮窗口的属性
+    private WindowManager.LayoutParams wmParams;
+    private int btnMaximizeW;
+    private int btnMaximizeH;
+
+    /*********************CAN数据配置相关***********************/
+    private final static int WHAT_UPDATE_DATA = 1;
+    private BaseHandler mBaseHandler;
+    private LinearLayout layout_btn;
+    private HorizontalScrollView btn_list;
+    private AppCompatButton btn_send;
+    private RadioGroup rg_send_type;
+    private TextView text;
+    private TextView title;
+    private TextView btn_maximize;
+    private View can_parent;
+
+    private OnFloatWindowListener listener;
+    private final SpecialVehicleBean specialVehicleBean;
+
+    public interface OnFloatWindowListener {
+        void onBack();
+
+        void onMinimality();
+
+        void onMaximize();
+    }
+
+    public boolean isMaximize() {
+        return isMaximize;
+    }
+
+    public void setOnFloatWindowListener(OnFloatWindowListener listener) {
+        this.listener = listener;
+    }
+
+    public void setWmParams(WindowManager.LayoutParams wmParams) {
+        this.wmParams = wmParams;
+    }
+
+    public SpecialVehicleFloatWindow(@NonNull Context context, @NonNull SpecialVehicleBean specialVehicleBean) {
+        super(context, null, 0);
+        this.specialVehicleBean = specialVehicleBean;
+        wm = (WindowManager) context.getApplicationContext().getSystemService(Context.WINDOW_SERVICE);
+        //加载布局
+        LayoutInflater.from(context).inflate(R.layout.dialog_special_vehicle_config, this, true);
+        initParameter();
+        initCanView();
+    }
+
+    private void initParameter() {
+        DisplayMetrics metrics2 = getResources().getDisplayMetrics();
+        sW = metrics2.widthPixels;
+        sH = metrics2.heightPixels;
+    }
+
+
+    @Override
+    public boolean dispatchKeyEvent(KeyEvent event) {
+        if (event.getAction() == KeyEvent.ACTION_UP) {
+            if (event.getKeyCode() == KeyEvent.KEYCODE_BACK) {
+                if (isMaximize) {
+                    minimality();
+                    return true;
+                }
+            }
+        }
+        return super.dispatchKeyEvent(event);
+    }
+
+    private float mInViewX;
+    private float mInViewY;
+    private float mDownInScreenX;
+    private float mDownInScreenY;
+    private float mInScreenX;
+    private float mInScreenY;
+
+    @Override
+    public boolean onTouchEvent(MotionEvent event) {
+        switch (event.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = event.getX();
+                mInViewY = event.getY();
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = event.getRawX();
+                mDownInScreenY = event.getRawY() - getSysBarHeight(getContext());
+                mInScreenX = event.getRawX();
+                mInScreenY = event.getRawY() - getSysBarHeight(getContext());
+
+                if (!isMaximize) {
+                    btn_maximize.setPressed(true);
+                    btnMaximizeW = btn_maximize.getWidth();
+                    btnMaximizeH = btn_maximize.getHeight();
+                }
+                break;
+            case MotionEvent.ACTION_MOVE:
+                // 更新浮动窗口位置参数
+                mInScreenX = event.getRawX();
+                mInScreenY = event.getRawY() - getSysBarHeight(getContext());
+                wmParams.x = (int) (mInScreenX - mInViewX);
+                wmParams.y = (int) (mInScreenY - mInViewY);
+                updateViewLayout();
+                break;
+
+            case MotionEvent.ACTION_UP:
+                // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+//                if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
+                float temX = Math.abs(mDownInScreenX - mInScreenX);
+                float temY = Math.abs(mDownInScreenY - mInScreenY);
+                if (temX + temY < 10) {
+                    maximize();
+                } else {
+                    if (isMaximize) {
+                        specialVehicleBean.setFloatWindowLocationMaxX(getContext(), wmParams.x);
+                        specialVehicleBean.setFloatWindowLocationMaxY(getContext(), wmParams.y);
+                    } else {
+                        btn_maximize.setPressed(false);
+                        // 抬起手指时让floatView屏幕左右边缘 距离20个像素
+//                    wmParams.x = wmParams.x <= (sW / 2) ? AmiConstants.SCREEN_MARGIN : sW - btnMaximizeW - AmiConstants.SCREEN_MARGIN;
+                        int tem = wmParams.x;
+                        if (tem < SpecialVehicleBean.SCREEN_MARGIN)
+                            tem = SpecialVehicleBean.SCREEN_MARGIN;
+                        else if (sW - (tem + btnMaximizeW) < SpecialVehicleBean.SCREEN_MARGIN) {
+                            tem = sW - btnMaximizeW - SpecialVehicleBean.SCREEN_MARGIN;
+                        }
+                        wmParams.x = tem;
+                        tem = wmParams.y;
+                        if (tem < SpecialVehicleBean.SCREEN_MARGIN)
+                            tem = SpecialVehicleBean.SCREEN_MARGIN;
+                        else if (sH - (tem + btnMaximizeH) < SpecialVehicleBean.SCREEN_MARGIN) {
+                            tem = sH - btnMaximizeH - SpecialVehicleBean.SCREEN_MARGIN;
+                        }
+                        wmParams.y = tem;
+                        updateViewLayout();
+                        specialVehicleBean.setFloatWindowLocationMinX(getContext(), wmParams.x);
+                        specialVehicleBean.setFloatWindowLocationMinY(getContext(), wmParams.y);
+                    }
+                }
+
+                break;
+        }
+        return true;
+    }
+
+    public void updateViewLayout() {
+        wm.updateViewLayout(this, wmParams);
+    }
+
+    // 获取系统状态栏高度
+    private int sbar = -1;
+
+    public int getSysBarHeight(Context contex) {
+        if (sbar == -1) {
+            Class<?> c;
+            Object obj;
+            Field field;
+            int x;
+            try {
+                c = Class.forName("com.android.internal.R$dimen");
+                obj = c.newInstance();
+                field = c.getField("status_bar_height");
+                x = Integer.parseInt(field.get(obj).toString());
+                sbar = contex.getResources().getDimensionPixelSize(x);
+            } catch (Exception e1) {
+                e1.printStackTrace();
+            }
+        }
+        return sbar;
+    }
+
+    /*****************************业务逻辑*******************************************/
+
+
+    private void initCanView() {
+        initHandler();
+        can_parent = findViewById(R.id.can_parent);
+        btn_list = findViewById(R.id.btn_list);
+        btn_send = findViewById(R.id.btn_send);
+        rg_send_type = findViewById(R.id.rg_send_type);
+        text = findViewById(R.id.text);
+        title = findViewById(R.id.title);
+        title.setText(specialVehicleBean.name);
+        btn_maximize = findViewById(R.id.btn_maximize);
+        btn_maximize.setText(specialVehicleBean.simpleName);
+        initListener();
+        initBtnRecyclerView();
+        initSendTypeView();
+    }
+
+    private void initSendTypeView() {
+        int resId;
+        switch (specialVehicleBean.sendType) {
+            default:
+            case SpecialVehicleBean.SEND_TYPE.ONE:
+                resId = R.id.btn_one;
+                break;
+            case SpecialVehicleBean.SEND_TYPE.MORE:
+                resId = R.id.btn_more;
+                break;
+            case SpecialVehicleBean.SEND_TYPE.ALL:
+                resId = R.id.btn_all;
+                break;
+        }
+        rg_send_type.check(resId);
+        btn_send.setVisibility(specialVehicleBean.sendType == SpecialVehicleBean.SEND_TYPE.ONE ? View.GONE : View.VISIBLE);
+        rg_send_type.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+            @Override
+            public void onCheckedChanged(RadioGroup group, int checkedId) {
+                View checkView = group.findViewById(checkedId);
+                if (!checkView.isPressed()) {
+                    return;
+                }
+                int type = SpecialVehicleBean.SEND_TYPE.ONE;
+                if (checkedId == R.id.btn_more) {
+                    type = SpecialVehicleBean.SEND_TYPE.MORE;
+                } else {
+                    if (specialVehicleBean.sendType == SpecialVehicleBean.SEND_TYPE.MORE) {
+                        for (int i = 0; i < layout_btn.getChildCount(); i++) {
+                            LinearLayout view = (LinearLayout) layout_btn.getChildAt(i);
+                            RadioGroup radioGroup = view.findViewById(R.id.item_group);
+                            SpecialVehicleOption option = specialVehicleBean.options.get(i);
+                            if (option.moreCheckPos != -1) {
+                                option.moreCheckPos = -1;
+                                radioGroup.check(option.checkPos);
+                            }
+                        }
+                    }
+                    if (checkedId == R.id.btn_one) {
+                        type = SpecialVehicleBean.SEND_TYPE.ONE;
+                    } else if (checkedId == R.id.btn_all) {
+                        type = SpecialVehicleBean.SEND_TYPE.ALL;
+                    }
+                }
+                specialVehicleBean.sendType = type;
+                btn_send.setVisibility(type == SpecialVehicleBean.SEND_TYPE.ONE ? View.GONE : View.VISIBLE);
+            }
+        });
+        btn_send.setOnClickListener(onClickListener);
+    }
+
+
+    private void initListener() {
+        findViewById(R.id.btn_back).setOnClickListener(onClickListener);
+        findViewById(R.id.btn_minimality).setOnClickListener(onClickListener);
+    }
+
+    public void minimality() {
+        isMaximize = false;
+        btn_maximize.setVisibility(VISIBLE);
+        can_parent.setVisibility(GONE);
+        if (listener != null) {
+            listener.onMinimality();
+        }
+
+    }
+
+    public void maximize() {
+        isMaximize = true;
+        if (listener != null) {
+            listener.onMaximize();
+        }
+        btn_maximize.setVisibility(GONE);
+        can_parent.setVisibility(VISIBLE);
+
+    }
+
+    private final OnClickListener onClickListener = new OnClickListener() {
+        @Override
+        public void onClick(View v) {
+            int id = v.getId();
+            if (id == R.id.btn_back) {
+                if (listener != null) {
+                    listener.onBack();
+                }
+            } else if (id == R.id.btn_minimality) {
+                minimality();
+            } else if (id == R.id.btn_send) {
+                String cmd = specialVehicleBean.sendCmd(-1);
+                updateText(0, cmd);
+            }
+        }
+    };
+
+
+    private void initBtnRecyclerView() {
+
+        layout_btn = new LinearLayout(getContext());
+        btn_list.addView(layout_btn);
+        layout_btn.setOrientation(LinearLayout.HORIZONTAL);
+        FrameLayout.LayoutParams lp = (FrameLayout.LayoutParams) layout_btn.getLayoutParams();
+        lp.gravity = Gravity.CENTER_VERTICAL;
+        for (int i = 0; i < specialVehicleBean.options.size(); i++) {
+            SpecialVehicleOption bean = specialVehicleBean.options.get(i);
+            View view = LayoutInflater.from(getContext()).inflate(R.layout.item_special_vehicle, layout_btn, false);
+            TextView name = view.findViewById(R.id.name);
+            RadioGroup radioGroup = view.findViewById(R.id.item_group);
+
+            name.setText(bean.name);
+            String[] value = bean.value;
+            for (int j = 0; j < value.length; j++) {
+                RadioButton button = LayoutInflater.from(getContext()).inflate(R.layout.item_special_vehicle_option_radio_btn, radioGroup, false)
+                        .findViewById(R.id.r_btn);
+                button.setText(value[j]);
+                button.setId(j);
+                if (i == 1 || i == 2 || i == 3 || i == 4) {
+                    ViewGroup.LayoutParams layoutParams = button.getLayoutParams();
+                    layoutParams.width = 202;
+                }
+                radioGroup.addView(button);
+            }
+            radioGroup.setTag(bean.tag);
+            radioGroup.setOnCheckedChangeListener(onCheckedChangeListener);
+            radioGroup.check(bean.checkPos);
+            layout_btn.addView(view);
+        }
+    }
+
+    private final RadioGroup.OnCheckedChangeListener onCheckedChangeListener = new RadioGroup.OnCheckedChangeListener() {
+        @Override
+        public void onCheckedChanged(RadioGroup group, int checkedId) {
+            View checkView = group.findViewById(checkedId);
+            if (checkView == null || !checkView.isPressed()) {
+                return;
+            }
+            int tag = (int) group.getTag();
+            SpecialVehicleOption bean = specialVehicleBean.options.get(tag);
+            if (specialVehicleBean.sendType != SpecialVehicleBean.SEND_TYPE.MORE) {
+                bean.checkPos = checkedId;
+                String cmd = specialVehicleBean.sendCmd(tag);
+                updateText(0, cmd);
+            } else {
+                bean.moreCheckPos = checkedId;
+            }
+        }
+    };
+
+
+    /**
+     * 更新文本
+     *
+     * @param tag  0--发送    1--接收
+     * @param data 数据
+     */
+    private void updateText(int tag, String data) {
+        Message msg = Message.obtain();
+        msg.what = WHAT_UPDATE_DATA;
+        msg.obj = data;
+        msg.arg1 = tag;
+        getHandler().sendMessage(msg);
+    }
+
+
+    /**
+     * 初始化一个Handler，如果需要使用Handler，先调用此方法，
+     * 然后可以使用postRunnable(Runnable runnable)，
+     * sendMessage在handleMessage（Message msg）中接收msg
+     */
+    public void initHandler() {
+        mBaseHandler = new BaseHandler(this);
+    }
+
+    /**
+     * 返回Handler，在此之前确定已经调用initHandler（）
+     *
+     * @return Handler
+     */
+    public Handler getHandler() {
+        return mBaseHandler;
+    }
+
+    /**
+     * 同Handler的postRunnable
+     * 在此之前确定已经调用initHandler（）
+     */
+    protected void postRunnable(Runnable runnable) {
+        postRunnableDelayed(runnable, 0);
+    }
+
+    /**
+     * 同Handler的postRunnableDelayed
+     * 在此之前确定已经调用initHandler（）
+     */
+    protected void postRunnableDelayed(Runnable runnable, long delayMillis) {
+        if (mBaseHandler == null) initHandler();
+        mBaseHandler.postDelayed(runnable, delayMillis);
+    }
+
+
+    /**
+     * 同Handler 的 handleMessage，
+     * getHandler.sendMessage,发送的Message在此接收
+     * 在此之前确定已经调用initHandler（）
+     *
+     * @param msg
+     */
+    protected void handleMessage(Message msg) {
+        switch (msg.what) {
+            case WHAT_UPDATE_DATA:
+                if (msg.arg1 == 0) {
+                    text.setTextColor(Color.parseColor("#FFFFFF"));
+                } else {
+                    text.setTextColor(Color.parseColor("#FF0000"));
+                }
+                String str = (String) msg.obj;
+                if (str.length() < 100) {
+                    text.setTextSize(14);
+                } else {
+                    text.setTextSize(10);
+                }
+                text.setText(str);
+                break;
+        }
+
+    }
+
+
+    protected static class BaseHandler extends Handler {
+        private final WeakReference<SpecialVehicleFloatWindow> mObjects;
+
+        public BaseHandler(SpecialVehicleFloatWindow mPresenter) {
+            mObjects = new WeakReference<SpecialVehicleFloatWindow>(mPresenter);
+        }
+
+        @Override
+        public void handleMessage(Message msg) {
+            SpecialVehicleFloatWindow mPresenter = mObjects.get();
+            if (mPresenter != null)
+                mPresenter.handleMessage(msg);
+        }
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleFloatWindowManager.java

@@ -0,0 +1,94 @@
+package com.zhidao.adas.client.ui.special;
+
+import android.content.Context;
+import android.graphics.PixelFormat;
+import android.view.Gravity;
+import android.view.WindowManager;
+
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+
+
+public class SpecialVehicleFloatWindowManager implements SpecialVehicleFloatWindow.OnFloatWindowListener {
+    private final WindowManager.LayoutParams layoutParams = new WindowManager.LayoutParams();
+    private SpecialVehicleFloatWindow floatWindow = null;
+    private WindowManager wm = null;
+    private final Context context;
+    private final SpecialVehicleBean specialVehicleBean;
+
+    public SpecialVehicleFloatWindowManager(Context context, SpecialVehicleBean specialVehicleBean) {
+        this.context = context;
+        this.specialVehicleBean = specialVehicleBean;
+    }
+
+    public void show() {
+        if (!createFloatWindow()) {
+            if (floatWindow.isMaximize()) {
+                floatWindow.minimality();
+            } else {
+                floatWindow.maximize();
+            }
+        }
+    }
+
+    private boolean createFloatWindow() {
+        if (floatWindow == null) {
+            wm = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+            layoutParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
+            layoutParams.format = PixelFormat.RGBA_8888;
+            layoutParams.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL;//| WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
+            layoutParams.gravity = Gravity.START | Gravity.TOP;
+            layoutParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+            layoutParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+            layoutParams.alpha = 0.9f;
+            floatWindow = new SpecialVehicleFloatWindow(context, specialVehicleBean);
+            floatWindow.setWmParams(layoutParams);
+            floatWindow.setOnFloatWindowListener(this);
+            layoutParams.x = specialVehicleBean.getFloatWindowLocationMaxX(context);
+            layoutParams.y = specialVehicleBean.getFloatWindowLocationMaxY(context);
+            wm.addView(floatWindow, layoutParams);
+            return true;
+        }
+        return false;
+    }
+
+    private void removeFloatWindow() {
+        if (floatWindow != null) {
+            wm.removeView(floatWindow);
+            floatWindow = null;
+            wm = null;
+        }
+    }
+
+    @Override
+    public void onBack() {
+        removeFloatWindow();
+    }
+
+    @Override
+    public void onMinimality() {
+        layoutParams.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL | WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
+        layoutParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.x = specialVehicleBean.getFloatWindowLocationMinX(context);
+        layoutParams.y = specialVehicleBean.getFloatWindowLocationMinY(context);
+        layoutParams.alpha = 1f;
+        if (floatWindow != null) {
+            floatWindow.updateViewLayout();
+        }
+    }
+
+    @Override
+    public void onMaximize() {
+        layoutParams.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL;
+        layoutParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.x = specialVehicleBean.getFloatWindowLocationMaxX(context);
+        layoutParams.y = specialVehicleBean.getFloatWindowLocationMaxY(context);
+        layoutParams.alpha = 0.9f;
+        if (floatWindow != null) {
+            floatWindow.updateViewLayout();
+        }
+    }
+
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java

@@ -10,10 +10,8 @@ import com.zhidao.support.adas.high.common.JsonUtil;
 import com.zhidao.support.adas.high.common.MessageType;
 
 import java.io.File;
-import java.text.SimpleDateFormat;
 import java.util.ArrayList;
 import java.util.List;
-import java.util.Locale;
 
 /**
  * @author song kenan
@@ -157,12 +155,12 @@ public class Constants {
         String RECEIVE_REPORT_MESSAGE = MessageType.TYPE_RECEIVE_REPORT_MESSAGE.desc;
         String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;
         String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;
-        String RECEIVE_POINT_CLOUD = MessageType.TYPE_RECEIVE_POINT_CLOUD.desc;
-        String RECEIVE_POINT_CLOUD_ORIGINAL = "点云原始透传";
+        String RECEIVE_POINT_CLOUD_ORIGINAL = MessageType.TYPE_RECEIVE_POINT_CLOUD.desc;
         String RECEIVE_PLANNING_OBJECTS = MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.desc;
+        String RECEIVE_PLANNING_DECISION_STATE = MessageType.TYPE_RECEIVE_PLANNING_DECISION_STATE.desc;
 
         //        String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
-        String TITLE_CAR_CONFIG_RESP = "工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t固定IP配置";
+        String TITLE_CAR_CONFIG_RESP = "工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t配置";
         String RECEIVE_CAR_CONFIG_RESP = "信息与配置";
         String RECEIVE_RECORD_RESULT = MessageType.TYPE_RECEIVE_RECORD_RESULT.desc;
         String RECEIVE_RECORD_DATA_CONFIG_RESP = MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.desc;
@@ -175,6 +173,7 @@ public class Constants {
 
         String SEND_SET_AUTOPILOT_MODE_REQ = "自动驾驶模式";
         String SEND_GLOBAL_PATH_REQ = "自动驾驶路径查询";
+        String SEND_SPECIAL_VEHICLE_TASK_CMD = "特种车辆";
         String SEND_STATUS_QUERY_REQ = "状态查询";
         String SEND_BASIC_INFO_RESP = "下发SN";
         String SEND_RECORD_DATA_5 = "数据采集5秒";

app_ipc_monitoring/src/main/res/color/item_text_color1.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:color="#7CFC00" android:state_pressed="true" />
+    <item android:color="#7CFC00" android:state_checked="true" />
+    <item android:color="#c9c9c9" android:state_enabled="false" />
+    <item android:color="#000000" />
+
+</selector>

app_ipc_monitoring/src/main/res/drawable/bg_radio_button.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_checked="true">
+        <shape android:shape="rectangle">
+            <padding android:bottom="4dp" android:left="6dp" android:right="6dp" android:top="4dp" />
+            <!-- 圆角深红色按钮 -->
+            <solid android:color="#990033" />
+            <corners android:radius="8dip" />
+            <stroke android:width=".5dp" android:color="#ffffff" />
+        </shape>
+    </item>
+
+    <item android:state_checked="false">
+        <shape android:shape="rectangle">
+            <padding android:bottom="4dp" android:left="6dp" android:right="6dp" android:top="4dp" />
+            <!-- 圆角红色按钮 -->
+            <solid android:color="@color/colorPrimary" />
+            <corners android:radius="8dip" />
+            <stroke android:width=".5dp" android:color="#ffffff" android:dashWidth="3dp" android:dashGap="3dp" />
+        </shape>
+    </item>
+
+</selector>

app_ipc_monitoring/src/main/res/drawable/bg_special_vehicle_float.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <!-- 圆角红色按钮 -->
+    <solid android:color="#E0000000" />
+    <corners android:radius="8dp" />
+</shape>

app_ipc_monitoring/src/main/res/drawable/btn_maximize_text_color.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:color="#F5F5F5" android:state_pressed="true" />
+    <item android:color="#F5F5F5" android:state_checked="true" />
+    <item android:color="#F5F5F5" android:state_selected="true" />
+    <item android:color="#000000" />
+</selector>

app_ipc_monitoring/src/main/res/drawable/btn_special_vehicle_small_bg.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="oval"
+    android:useLevel="false">
+    <solid android:color="#90D3D3D3" />
+    <size
+        android:width="100dp"
+        android:height="100dp" />
+    <stroke
+        android:width=".3dp"
+        android:color="#90FF0033" />
+</shape>
+

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_back.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+  <path
+      android:fillColor="#FFFFFF"
+      android:pathData="M823.04,840.32 L524.16,540.16l296.32,-294.4c12.8,-12.8 12.8,-33.28 0,-45.44 -12.8,-12.8 -33.28,-12.8 -46.08,0L478.08,494.08 184.96,200.32c-12.8,-12.8 -33.28,-12.8 -45.44,0s-12.8,33.28 0,45.44l292.48,293.76 -302.72,300.8c-12.8,12.8 -12.8,33.28 0,45.44 12.8,12.8 33.28,12.8 46.08,0l302.72,-300.16 299.52,300.16c12.8,12.8 33.28,12.8 45.44,0C835.2,873.6 835.2,853.12 823.04,840.32z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_back_true.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+    <path
+        android:fillColor="#99FFFFFF"
+        android:pathData="M823.04,840.32 L524.16,540.16l296.32,-294.4c12.8,-12.8 12.8,-33.28 0,-45.44 -12.8,-12.8 -33.28,-12.8 -46.08,0L478.08,494.08 184.96,200.32c-12.8,-12.8 -33.28,-12.8 -45.44,0s-12.8,33.28 0,45.44l292.48,293.76 -302.72,300.8c-12.8,12.8 -12.8,33.28 0,45.44 12.8,12.8 33.28,12.8 46.08,0l302.72,-300.16 299.52,300.16c12.8,12.8 33.28,12.8 45.44,0C835.2,873.6 835.2,853.12 823.04,840.32z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_minimality.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+  <path
+      android:fillColor="#FFFFFF"
+      android:pathData="M449.92,543.36C449.92,520.96 431.36,512 410.24,512L97.92,512c-17.92,0 -32,14.08 -32,32 0,17.92 14.08,32 32,32l242.56,0 -267.52,267.52c-12.16,12.16 -12.16,31.36 0,43.52 12.16,12.16 31.36,12.16 43.52,0l269.44,-269.44 0,246.4c0,17.92 14.08,32 32,32 17.92,0 32,-14.08 32,-32l0,-320M865.92,384 L622.72,384l267.52,-267.52c12.16,-12.16 12.16,-31.36 0,-43.52 -12.16,-12.16 -31.36,-12.16 -43.52,0L577.92,342.4 577.92,96C577.92,78.08 563.2,64 545.92,64c-17.92,0 -32,14.08 -32,32l0,320c0,0.64 0.64,1.28 0.64,1.92 0,8.32 2.56,16.64 8.96,22.4C531.2,448.64 542.72,451.2 552.96,448l312.32,0c17.92,0 32,-14.08 32,-32C897.92,398.08 883.2,384 865.92,384z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_minimality_true.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+  <path
+      android:fillColor="#99FFFFFF"
+      android:pathData="M449.92,543.36C449.92,520.96 431.36,512 410.24,512L97.92,512c-17.92,0 -32,14.08 -32,32 0,17.92 14.08,32 32,32l242.56,0 -267.52,267.52c-12.16,12.16 -12.16,31.36 0,43.52 12.16,12.16 31.36,12.16 43.52,0l269.44,-269.44 0,246.4c0,17.92 14.08,32 32,32 17.92,0 32,-14.08 32,-32l0,-320M865.92,384 L622.72,384l267.52,-267.52c12.16,-12.16 12.16,-31.36 0,-43.52 -12.16,-12.16 -31.36,-12.16 -43.52,0L577.92,342.4 577.92,96C577.92,78.08 563.2,64 545.92,64c-17.92,0 -32,14.08 -32,32l0,320c0,0.64 0.64,1.28 0.64,1.92 0,8.32 2.56,16.64 8.96,22.4C531.2,448.64 542.72,451.2 552.96,448l312.32,0c17.92,0 32,-14.08 32,-32C897.92,398.08 883.2,384 865.92,384z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/radio_btn_bg.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <item android:state_checked="true">
+        <shape>
+            <padding android:bottom="3dp" android:left="5dp" android:right="5dp" android:top="3dp" />
+            <solid android:color="#6bb5af" />
+            <corners android:radius="5dp" />
+        </shape>
+    </item>
+
+    <item android:state_checked="false">
+        <shape>
+            <padding android:bottom="3dp" android:left="5dp" android:right="5dp" android:top="3dp" />
+            <solid android:color="#C0C0C0" />
+            <corners android:radius="5dp" />
+        </shape>
+    </item>
+
+</selector>

app_ipc_monitoring/src/main/res/drawable/selector_special_vehicle_back.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/ic_special_vehicle_back_true" android:state_pressed="true" />
+    <item android:drawable="@drawable/ic_special_vehicle_back" />
+</selector>

app_ipc_monitoring/src/main/res/drawable/selector_special_vehicle_minimality.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/ic_special_vehicle_minimality_true" android:state_pressed="true" />
+    <item android:drawable="@drawable/ic_special_vehicle_minimality" />
+</selector>

app_ipc_monitoring/src/main/res/layout/dialog_sn.xml

@@ -0,0 +1,92 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:layout_gravity="center"
+    android:gravity="center"
+    android:orientation="vertical">
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal">
+
+        <TextView
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.12"
+            android:gravity="right"
+            android:text="SN："
+            android:textColor="#000000" />
+
+        <EditText
+            android:id="@+id/et"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:gravity="center"
+            android:hint="输入SN"
+            android:imeOptions="actionNext"
+            android:inputType="text"
+            android:maxLines="1"
+            android:minWidth="100dp"
+            android:textColor="#000"
+            android:textSize="15sp" />
+    </LinearLayout>
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal">
+
+        <TextView
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.12"
+            android:gravity="right"
+            android:text="环境："
+            android:textColor="#000000" />
+
+        <EditText
+            android:id="@+id/ev"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:gravity="center"
+            android:hint="（默认0）1：研发环境，2：测试环境，3：生产环境，4：演示环境"
+            android:imeOptions="actionNext"
+            android:inputType="number"
+            android:maxLines="1"
+            android:minWidth="100dp"
+            android:textColor="#000"
+            android:textSize="15sp" />
+    </LinearLayout>
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal">
+
+        <TextView
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.12"
+            android:gravity="right"
+            android:text="角色："
+            android:textColor="#000000" />
+
+        <EditText
+            android:id="@+id/role"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:gravity="center"
+            android:hint="（默认2）0：司机屏，1：乘客屏，2：调试屏"
+            android:imeOptions="actionNext"
+            android:inputType="number"
+            android:maxLines="1"
+            android:minWidth="100dp"
+            android:textColor="#000"
+            android:textSize="15sp" />
+    </LinearLayout>
+</LinearLayout>

app_ipc_monitoring/src/main/res/layout/dialog_special_vehicle_config.xml

@@ -0,0 +1,161 @@
+<?xml version="1.0" encoding="utf-8"?>
+<merge xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:id="@+id/bg"
+    android:orientation="vertical">
+
+    <androidx.constraintlayout.widget.ConstraintLayout
+        android:id="@+id/can_parent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:background="@drawable/bg_special_vehicle_float"
+        android:minWidth="400dp"
+        android:orientation="vertical">
+
+        <ImageButton
+            android:id="@+id/btn_back"
+            android:layout_width="45dp"
+            android:layout_height="45dp"
+            android:layout_gravity="center"
+            android:layout_marginStart="5dp"
+            android:background="@null"
+            android:padding="5dp"
+            android:src="@drawable/selector_special_vehicle_back"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toTopOf="parent" />
+
+        <ImageButton
+            android:id="@+id/btn_minimality"
+            android:layout_width="45dp"
+            android:layout_height="45dp"
+            android:layout_gravity="center"
+            android:layout_marginStart="5dp"
+            android:background="@null"
+            android:padding="5dp"
+            android:src="@drawable/selector_special_vehicle_minimality"
+            app:layout_constraintStart_toEndOf="@id/btn_back"
+            app:layout_constraintTop_toTopOf="parent" />
+
+        <TextView
+            android:id="@+id/title"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="#fff"
+            android:textSize="16sp"
+            android:textStyle="bold"
+            app:layout_constraintBottom_toBottomOf="@id/btn_minimality"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toTopOf="@id/btn_minimality" />
+
+
+        <RadioGroup
+            android:id="@+id/rg_send_type"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginEnd="10dp"
+            android:orientation="horizontal"
+            app:layout_constraintBottom_toBottomOf="@id/btn_minimality"
+
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintTop_toTopOf="@id/btn_minimality">
+
+            <RadioButton
+                android:id="@+id/btn_one"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:background="@drawable/bg_radio_button"
+                android:button="@null"
+                android:text="单条"
+                android:textColor="#fff" />
+
+            <RadioButton
+                android:id="@+id/btn_more"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="5dp"
+                android:background="@drawable/bg_radio_button"
+                android:button="@null"
+                android:text="多条"
+                android:textColor="#fff" />
+
+            <RadioButton
+                android:id="@+id/btn_all"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="5dp"
+                android:background="@drawable/bg_radio_button"
+                android:button="@null"
+                android:text="同时"
+                android:textColor="#fff" />
+        </RadioGroup>
+
+        <TextView
+            android:id="@+id/hint_send"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginEnd="2dp"
+            android:gravity="center"
+            android:text="发送方式："
+            android:textColor="#fff"
+            android:textSize="14sp"
+            app:layout_constraintBottom_toBottomOf="@id/rg_send_type"
+            app:layout_constraintEnd_toStartOf="@id/rg_send_type"
+            app:layout_constraintTop_toTopOf="@id/rg_send_type" />
+
+        <androidx.appcompat.widget.AppCompatButton
+            android:id="@+id/btn_send"
+            android:layout_width="50dp"
+            android:layout_height="30dp"
+            android:layout_marginEnd="10dp"
+            android:background="@drawable/btn_bg"
+            android:gravity="center"
+            android:text="发送"
+            android:textColor="@color/colorWhile"
+            android:textSize="16sp"
+            android:textStyle="bold"
+            android:visibility="gone"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintTop_toBottomOf="@id/btn_back" />
+
+        <TextView
+            android:id="@+id/text"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_marginStart="8dp"
+            android:layout_marginEnd="8dp"
+            android:minHeight="30dp"
+            android:textColor="#ffffff"
+            app:layout_constraintEnd_toStartOf="@id/btn_send"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toBottomOf="@id/btn_back" />
+
+        <HorizontalScrollView
+            android:id="@+id/btn_list"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_gravity="center_horizontal"
+            android:layout_marginLeft="15dp"
+            android:layout_marginTop="5dp"
+            android:layout_marginRight="15dp"
+            android:layout_marginBottom="2dp"
+            android:scrollbars="none"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toBottomOf="@id/text" />
+
+
+    </androidx.constraintlayout.widget.ConstraintLayout>
+
+
+    <TextView
+        android:id="@+id/btn_maximize"
+        android:layout_width="50dp"
+        android:layout_height="50dp"
+        android:layout_gravity="center"
+        android:background="@drawable/btn_special_vehicle_small_bg"
+        android:gravity="center"
+        android:textColor="@drawable/btn_maximize_text_color"
+        android:textSize="14sp"
+        android:visibility="gone" />
+</merge>

app_ipc_monitoring/src/main/res/layout/fragment_version.xml

@@ -52,7 +52,16 @@
             android:layout_height="match_parent"
             android:layout_weight="1"
             android:orientation="vertical"
-            android:padding="10dp">
+            android:paddingStart="10dp">
+
+            <TextView
+                android:id="@+id/ip_hint"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="工控机固定IP配置"
+                android:textSize="14sp"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toTopOf="parent" />
 
             <EditText
                 android:id="@+id/ip"
@@ -71,13 +80,13 @@
                 android:textSize="16dp"
                 app:layout_constraintEnd_toEndOf="parent"
                 app:layout_constraintStart_toStartOf="parent"
-                app:layout_constraintTop_toTopOf="parent" />
+                app:layout_constraintTop_toBottomOf="@id/ip_hint" />
 
 
             <Button
                 android:id="@+id/btn1"
                 android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
+                android:layout_height="36dp"
                 android:layout_margin="5dp"
                 android:background="@drawable/btn_bg"
                 android:text="添加"
@@ -89,7 +98,7 @@
             <Button
                 android:id="@+id/btn2"
                 android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
+                android:layout_height="36dp"
                 android:layout_margin="5dp"
                 android:layout_toEndOf="@id/btn1"
                 android:background="@drawable/btn_bg"
@@ -106,10 +115,151 @@
                 android:layout_marginTop="10dp"
                 android:lineSpacingExtra="5dp"
                 android:textIsSelectable="true"
-                app:layout_constraintBottom_toBottomOf="parent"
                 app:layout_constraintEnd_toEndOf="parent"
                 app:layout_constraintStart_toStartOf="parent"
                 app:layout_constraintTop_toBottomOf="@id/btn1" />
+
+            <View
+                android:id="@+id/line2"
+                android:layout_width="match_parent"
+                android:layout_height="1dp"
+                android:background="@color/colorAccent"
+                app:layout_constraintEnd_toEndOf="parent"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toBottomOf="@id/ips_view" />
+
+            <TextView
+                android:id="@+id/interface_hint"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="接收接口订阅、取消订阅配置"
+                android:textSize="14sp"
+                app:layout_constraintBottom_toBottomOf="@id/update"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toTopOf="@id/update" />
+
+            <Spinner
+                android:id="@+id/spinner"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                app:layout_constraintBottom_toBottomOf="@id/update"
+                app:layout_constraintStart_toEndOf="@id/interface_hint"
+                app:layout_constraintTop_toTopOf="@id/update" />
+
+            <Button
+                android:id="@+id/update"
+                android:layout_width="wrap_content"
+                android:layout_height="36dp"
+                android:layout_marginTop="5dp"
+                android:background="@drawable/btn_bg"
+                android:text="更新"
+                android:textColor="#ffffff"
+                app:layout_constraintStart_toEndOf="@id/spinner"
+                app:layout_constraintTop_toBottomOf="@id/line2" />
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="4dp"
+                android:text="选中已注册接口点击更新取消注册\n选中未注册接口点击更新进行注册"
+                android:textSize="10sp"
+                app:layout_constraintBottom_toBottomOf="@id/update"
+                app:layout_constraintStart_toEndOf="@id/update"
+                app:layout_constraintTop_toTopOf="@id/update" />
+
+            <LinearLayout
+                android:id="@+id/layout_list_title"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="2dp"
+                android:orientation="horizontal"
+                app:layout_constraintEnd_toEndOf="parent"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toBottomOf="@id/update">
+
+                <RelativeLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_weight="1"
+                    android:paddingStart="5dp"
+                    android:paddingEnd="5dp">
+
+                    <TextView
+                        android:id="@+id/hint_registered"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_centerVertical="true"
+                        android:text="已注册接口" />
+
+                    <CheckBox
+                        android:id="@+id/registered_check_all"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_alignParentEnd="true"
+                        android:layout_centerVertical="true"
+                        android:layout_gravity="end"
+                        android:text="全选" />
+                </RelativeLayout>
+
+                <View
+                    android:layout_width="1dp"
+                    android:layout_height="match_parent"
+                    android:layout_gravity="bottom"
+                    android:background="@color/colorSlateGray" />
+
+                <RelativeLayout
+                    android:layout_width="0dp"
+                    android:layout_height="wrap_content"
+                    android:layout_weight="1"
+                    android:paddingStart="5dp"
+                    android:paddingEnd="5dp">
+
+                    <TextView
+                        android:id="@+id/hint_unregistered"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_centerVertical="true"
+                        android:paddingStart="5dp"
+                        android:paddingEnd="5dp"
+                        android:text="未注册接口" />
+
+                    <CheckBox
+                        android:id="@+id/unregistered_check_all"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_alignParentEnd="true"
+                        android:layout_centerVertical="true"
+                        android:text="全选" />
+                </RelativeLayout>
+            </LinearLayout>
+
+            <LinearLayout
+                android:layout_width="0dp"
+                android:layout_height="0dp"
+                android:orientation="horizontal"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintEnd_toEndOf="parent"
+                app:layout_constraintStart_toStartOf="parent"
+                app:layout_constraintTop_toBottomOf="@id/layout_list_title">
+
+                <androidx.recyclerview.widget.RecyclerView
+                    android:id="@+id/rec_registered"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1" />
+
+                <View
+                    android:layout_width="1dp"
+                    android:layout_height="match_parent"
+                    android:layout_gravity="bottom"
+                    android:background="@color/colorSlateGray" />
+
+                <androidx.recyclerview.widget.RecyclerView
+                    android:id="@+id/rec_unregistered"
+                    android:layout_width="0dp"
+                    android:layout_height="match_parent"
+                    android:layout_weight="1" />
+            </LinearLayout>
         </androidx.constraintlayout.widget.ConstraintLayout>
     </LinearLayout>
 </LinearLayout>

app_ipc_monitoring/src/main/res/layout/item_info.xml

@@ -15,7 +15,7 @@
         android:background="?android:attr/selectableItemBackground"
         android:gravity="center"
         android:text="INFO"
-        android:textColor="@drawable/item_text_color"
+        android:textColor="@color/item_text_color"
         android:textSize="14sp" />
 
 </LinearLayout>

app_ipc_monitoring/src/main/res/layout/item_info1.xml

@@ -15,7 +15,7 @@
         android:background="?android:attr/selectableItemBackground"
         android:gravity="center"
         android:text="INFO"
-        android:textColor="@drawable/item_text_color"
+        android:textColor="@color/item_text_color"
         android:textSize="16sp" />
 
 </LinearLayout>

app_ipc_monitoring/src/main/res/layout/item_interface.xml

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.cardview.widget.CardView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/header"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:layout_marginStart="3dp"
+    android:layout_marginTop="2dp"
+    android:layout_marginEnd="3dp"
+    android:layout_marginBottom="2dp"
+    android:foreground="?android:attr/selectableItemBackground">
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:gravity="center_vertical">
+
+        <TextView
+            android:id="@+id/index"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginStart="4dp"
+            android:textColor="@color/item_text_color1"
+            android:textSize="12sp" />
+
+        <CheckBox
+            android:id="@+id/item_check"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content" />
+
+        <TextView
+            android:id="@+id/name"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_marginStart="5dp"
+            android:layout_marginEnd="5dp"
+            android:ellipsize="marquee"
+            android:focusable="false"
+            android:marqueeRepeatLimit="marquee_forever"
+            android:singleLine="true"
+            android:text="sssds"
+            android:textColor="@color/item_text_color1"
+            android:textSize="15sp"
+            android:textStyle="bold" />
+
+    </LinearLayout>
+</androidx.cardview.widget.CardView>

app_ipc_monitoring/src/main/res/layout/item_special_vehicle.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:gravity="center"
+    android:orientation="vertical"
+    android:paddingStart="5dp"
+    android:paddingEnd="5dp">
+
+    <TextView
+        android:id="@+id/name"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="#fff"
+        android:textSize="14.5sp" />
+
+    <RadioGroup
+        android:id="@+id/item_group"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:orientation="vertical"/>
+</LinearLayout>

app_ipc_monitoring/src/main/res/layout/item_special_vehicle_option_radio_btn.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<RadioButton xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/r_btn"
+    style="@style/RadioBtnStyle"
+    android:text="0-未知" />

app_ipc_monitoring/src/main/res/values/styles.xml

@@ -31,4 +31,15 @@
     <style name="AppTheme.AppBarOverlay" parent="ThemeOverlay.AppCompat.Dark.ActionBar" />
 
     <style name="AppTheme.PopupOverlay" parent="ThemeOverlay.AppCompat.Light" />
+
+    <style name="RadioBtnStyle">
+        <item name="android:button">@null</item>
+        <item name="android:layout_marginTop">4dp</item>
+        <item name="android:layout_marginBottom">4dp</item>
+        <item name="android:textSize">22sp</item>
+        <item name="android:textColor">#fff</item>
+        <item name="android:layout_width">match_parent</item>
+        <item name="android:layout_height">35dp</item>
+        <item name="android:background">@drawable/radio_btn_bg</item>
+    </style>
 </resources>

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

@@ -401,6 +401,12 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     }
 
+    /**
+     * planning决策状态, 透传
+     */
+    override fun onPlanningActionMsg(header: MessagePad.Header?, planningActionMsg: MessagePad.PlanningActionMsg?) {
+    }
+
 
     override fun onError(status: ProtocolStatus, bytes: ByteArray) {
 

gradle.properties

@@ -89,9 +89,9 @@ WEBSOCKET_VERSION=1.1.7
 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级
 applicationId=com.mogo.launcer
 applicationName=IntelligentPilot
-# 清扫车版本号
-versionCode=1000000
-versionName=1.0.0
+# RoboBus司机端：2.5.1；RoboTaxi司机端：2.5.1；RoboTaxi乘客端：1.0.0
+versionCode=2090000
+versionName=2.9.0
 
 ################# 新架构模块Maven版本管理 #################
 MOGO_CORE_FUNCTION_AUTOPILOT_VERSION=0.0.58.10

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -1,15 +1,18 @@
 syntax = "proto3";
 package mogo.telematics.pad;
 
-enum ProtocolVersion{
+enum ProtocolVersion
+{
     Defaultver = 0;
-    CurrentVersion = 4; //每次修改proto文件增加1
+    CurrentVersion = 7; //每次修改proto文件增加1
 }
 
 enum MessageType
 {
     MsgTypeDefault = 0;
 
+    MsgTypePlanningDecisionState = 0x00001; //planning决策状态, 透传
+
     MsgTypeTrajectory = 0x10000; //局部轨迹,车前引导线
     MsgTypeTrackedObjects = 0x10001; //障碍物信息
     MsgTypeGnssInfo = 0x10002; //惯导信息
@@ -44,6 +47,9 @@ enum MessageType
     MsgTypeSetRainModeReq = 0x10113; //设置雨天模式
     MsgTypeRecordDataConfigReq = 0x10114; //数据采集配置查询请求
     MsgTypeRecordDataConfigResp = 0x10115; //数据采集配置查询应答
+    MsgTypeOperatorCmdReq = 0x10116; //操控指令
+    MsgTypeSubscribeDataReq = 0x10117; //数据订阅、取消订阅请求
+    MsgTypeSpecialVehicleTaskCmd = 0x10118; //特种车辆命令
 }
 
 message Header
@@ -75,6 +81,18 @@ message Trajectory
 }
 
 // message definition for MsgTypeTrackedObjects
+message SubSource
+{
+    uint32 source = 1; //[default = 0] v2v_bsm = 1 v2i_rsm = 2 v2v_ssm = 3 v2n_rsm = 4
+    string id = 2; //HEX_string
+}
+
+message TrackedSource
+{
+    uint32 source = 1; //lidar:1 camera:2 radar:3 v2x:4 vidar:5 falcon:6
+    repeated SubSource sub_source = 2;
+}
+
 message TrackedObject
 {
     uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle, 
@@ -92,6 +110,7 @@ message TrackedObject
     double speed = 11; //车辆速度
     uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
     double driverTime = 13; //驱动感知时间, abandoned
+    repeated TrackedSource tracked_source = 14;
 }
 
 message TrackedObjects
@@ -156,6 +175,7 @@ message PlanningObjects
 // message definition for MessageType: MsgTypeOBU
 // refer to obu.proto
 
+
 // message definition for MsgTypeTrajectoryDownloadReq
 message Line
 {
@@ -188,6 +208,7 @@ message BasicInfoResp
 {
     string sn = 1;
     uint32 environment = 2; //1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
+    uint32 role = 3; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
 }
 
 // message definition for MsgTypeSetAutopilotModeReq
@@ -199,7 +220,8 @@ message Location
     double heading = 4;
 }
 
-message RouteInfo{
+message RouteInfo
+{
     Location startLocation = 1;  
     string startName = 2;
     Location endLocation = 3;
@@ -333,7 +355,8 @@ message ArrivalNotification
 }
 
 // message definition for MsgTypeSystemCmdReq
-enum SystemCmdType {
+enum SystemCmdType
+{
     SYSTEMCMD_NONE = 0;
     SYSTEMCMD_REBOOT = 1;
 }
@@ -375,3 +398,69 @@ message RecordDataConfig
     repeated RecordDataType recordTypes = 1;
 }
 
+// message definition for MsgTypeSubscribeDataReq
+message SubscribeDataReq
+{
+    uint32 role = 1; //客户端角色：0: 司机屏，1: 乘客屏，2: 调试屏
+    uint32 reqType = 2; //1:订阅, 2:取消订阅
+    repeated uint32 dataTypes = 3; //订阅/取消订阅的消息类型列表, 透传的消息类型参考配置列表，其他消息类型见MsgType
+}
+
+// message definition for MsgTypeOperatorCmdReq
+enum OperatorCmdType
+{
+    OPERATOR_CMD_NONE = 0;
+    OPERATOR_CMD_CHANGE_LANE = 1;
+    OPERATOR_CMD_SET_ACCELERATED_SPEED = 2;
+    OPERATOR_CMD_SET_HORN = 3;
+}
+
+message OperatorCmdReq
+{
+    OperatorCmdType cmdType = 1;
+    double value = 2; //OPERATOR_CMD_CHANGE_LANE: 1: left 2: right
+                      //OPERATOR_CMD_SET_ACCELERATED_SPEED: accelerated speed
+                      //OPERATOR_CMD_SET_HORN: 1: honk 2: stop honking
+}
+
+//message definition for MsgTypePlanningDecisionState
+enum DrivingState
+{
+    NO_AUTODRIVING = 0; //不在自动驾驶状态
+    LANKE_KEEP = 1; //车道保持状态
+    TRAFFIC_LIGHT = 2; //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
+    FOLLOW_LANE_CHANGE_LEFT = 3; //follow全局择机向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示择机保持；driving_action:3 表示变道完成
+    FOLLOW_LANE_CHANGE_RIGHT = 4; //follow全局择机向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示择机保持；driving_action:3 表示变道完成
+    AUTO_LANE_CHANGE_LEFT = 5; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
+    AUTO_LANE_CHANGE_RIGHT = 6; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
+    LANE_AVOID_LEFT = 7; //主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
+    LANE_AVOID_RIGHT = 8; //主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
+    START_UP = 9; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步；
+    PULL_OVER = 10; //靠边停车状态： driving_action：1 表示正常靠边停车；driving_action:2 表示择机靠边停车；
+    UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应；
+}
+
+enum DrivingAction
+{
+    DRIVING_Action_STATE_NONE = 0;
+    DRIVING_ACTION_STATE_ONE = 1;
+    DRIVING_ACTION_STATE_TWO = 2;
+    DRIVING_ACTION_STATE_THREE = 3;
+    DRIVING_ACTION_STATE_FOUR = 4;
+}
+
+message DrivingActionMsg
+{
+    DrivingState driving_state = 1;
+    DrivingAction driving_action = 2;
+}
+
+message PlanningActionMsg
+{
+    DrivingActionMsg action_msg = 1;
+    double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值)
+}
+
+//message definition for MsgTypeSpecialVehicleTaskCmd
+//refer to special_vehicle_task_cmd.proto for details
+

libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto

@@ -12,5 +12,6 @@ message MogoPointCloud
     optional double self_roll = 5;
     optional double self_pitch = 6;
     optional double self_yaw = 7;
-    repeated int32 add_data = 8 [packed=true];
-}
+    repeated uint32 del_data = 8 [packed=true];
+    repeated double add_data = 9 [packed=true];
+}

libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto

@@ -0,0 +1,27 @@
+syntax = "proto2";
+package chassis;
+
+message RoboSweeperFuTianCleanCmd {
+    optional uint32 clean_open_requirement = 1 [default = 0]; //  清扫作业开启需求 0--no req 1--Req_clean_work, 2--No_clean_work
+    optional uint32 clean_mode_requirement = 2 [default = 0]; //  清扫作业模式需求 0--no req, 1--Sweeping mode, 2--Wash sweeper mode, 3--Pure wash mode, 4--Pure draw mode
+    optional uint32 clean_direction_requirement = 3 [default = 0]; //  清扫方向需求指 0--no req, 1--both side work, 2--left side work, 3--right side work
+    optional uint32 clean_intensity_requirement = 4 [default = 0]; //  作业强度需求 0--no req, 1--stand clean work, 2--strong clean work
+    optional uint32 dusk_close_requirement = 5 [default = 0];  //  降尘关闭需求 0--no req, 1--close dusk, 2--open dusk
+    optional uint32 suction_nozzlefle_open_requirement = 6 [default = 0]; //  吸嘴挡板需求 0--no req, 1--open, 2--close
+    optional uint32 spray_gun_open_requirement = 7 [default = 0];  // 喷雾枪需求 0--no req, 1--open, 2--close
+    optional uint32 sweepdisk_speed_requirement = 8 [default = 0]; // 扫盘加速需求 0--no req, 1--decelerate req, 2--accelerate req（扫盘加速需求，每点一次为加速一次，每次加速为5%pwm）
+}
+
+message RoboSweeperFuTianTaskCmd {
+    optional RoboSweeperFuTianCleanCmd  robo_sweeper_futian_clean_cmd = 1; // 福田清扫车清扫作业指令
+
+}
+
+message RoboVanSkywellTaskCmd {
+
+}
+
+message SpecialVehicleTaskCmd {
+    optional RoboSweeperFuTianTaskCmd robo_sweeper_futian_task_cmd = 1; // 福田清扫车业务指令
+    optional RoboVanSkywellTaskCmd robo_van_skywell_task_cmd = 2; // 开沃小巴业务指令
+}

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

@@ -36,15 +36,19 @@ import com.zhidao.support.adas.high.protocol.RawUnpack;
 import com.zhidao.support.adas.high.queue.WSByteQueueManager;
 import com.zhidao.support.adas.high.queue.WebSocketQueueManager;
 import com.zhidao.support.adas.high.socket.FpgaSocket;
+import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
+import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 import com.zhidao.support.adas.high.thread.DispatchHandler;
 import com.zhjt.service.chain.ChainLog;
 import com.zhjt.service.chain.TracingConstants;
 
 import java.util.HashSet;
+import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;
 import java.util.concurrent.atomic.AtomicInteger;
 
+import chassis.SpecialVehicleTaskCmdOuterClass;
 import mogo.telematics.pad.MessagePad;
 import okio.ByteString;
 
@@ -60,7 +64,7 @@ import okio.ByteString;
  * @UpdateRemark: 更新说明：
  * @Version: 1.0
  */
-public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener {
+public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener, SubscribeInterface.OnSubscribeInterfaceListener {
     private static final String TAG = AdasChannel.class.getSimpleName();
     private static final String THREAD_NAME_DISPATCH_EVENT = "IPCEventDispatchHandler";//除点云单独拆分线程以外都是用此名称
     private static final String THREAD_NAME_DISPATCH_POINT_CLOUD = "IPCPointCloudDispatchHandler";
@@ -104,6 +108,11 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * IPC固定IP查询工具类
      */
     private IPCFixationIPHelper ipcFixationIPHelper;
+    /**
+     * 工控机接口注册 连接成功后可以进行操作 乘客屏未null
+     * 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表
+     */
+    private SubscribeInterface subscribeInterface;
 
     public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) {
         this.onMultiDeviceListener = onMultiDeviceListener;
@@ -397,13 +406,22 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         sendCarConfigReq();
         ipcConnectedIp = ipAddress;
         ipcConnectedPort = port;
+        subscribeInterface = new SubscribeInterface(this);
         updateConnectStatus(Constants.IPC_CONNECTION_STATUS.CONNECTED, "已连接");
+        //根据连接配置 进行接口订阅或取消订阅配置
+        if (adasOptions != null) {
+            SubscribeInterfaceOptions options = adasOptions.getSubscribeInterfaceOptions();
+            if (options != null && options.getMessageTypes() != null && !options.getMessageTypes().isEmpty()) {
+                subscribeInterface.subscribeInterface(options.getRole(), options.getType(), options.getMessageTypes());
+            }
+        }
     }
 
     @Override
     public void onWebSocketConnectFailed(String t) {
         ipcConnectedIp = null;
         ipcConnectedPort = Constants.DEFAULT_PORT;
+        subscribeInterface = null;
         updateConnectStatus(Constants.IPC_CONNECTION_STATUS.DISCONNECTED, t);
     }
 
@@ -487,9 +505,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             clientPkFileName = "sn")
     private void updateConnectStatus(@Define.IPCConnectionStatus int status, @Nullable String reason) {
         ipcConnectionStatus.set(status);
-        if (adasConnectStatusListener != null) {
-            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
-        }
         if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
             startDispatchHandler();
             startCheckCompatibility();
@@ -500,6 +515,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             AdasManager.getInstance().setCarConfig(null);
             stopDispatchHandler();
         }
+        if (adasConnectStatusListener != null) {
+            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
+        }
         CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason);
     }
 
@@ -620,11 +638,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * 自动驾驶设备基础信息应答
      *
      * @param sn          SN
-     * @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
+     * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
+     * @param role        终端角色 详情参见{@link Constants.TERMINAL_ROLE}
      * @return boolean
      */
     @Override
-    public boolean sendBasicInfoResp(@NonNull String sn, int environment) {
+    public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role) {
         if (sn == null) {
             sn = "";
         }
@@ -632,6 +651,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .newBuilder()
                 .setSn(sn)
                 .setEnvironment(environment)
+                .setRole(role)
                 .build();
         return sendPBMessage(MessageType.TYPE_SEND_BASIC_INFO_RESP.typeCode, resp.toByteArray());
     }
@@ -947,5 +967,118 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build();
         return sendPBMessage(MessageType.TYPE_SEND_RECORD_DATA_CONFIG_REQ.typeCode, req.toByteArray());
     }
+
+    /**************************************注册接口相关*******************************************/
+    @Override
+    public boolean onSendSubscribe(byte[] bytes) {
+        return sendPBMessage(MessageType.TYPE_SEND_SUBSCRIBE_DATA_REQ.typeCode, bytes);
+    }
+
+    /**
+     * 获取已注册接口
+     */
+    @Override
+    public Set<MessageType> getSubscribedInterface() {
+        return subscribeInterface == null ? null : subscribeInterface.getSubscribedInterface();
+    }
+
+    /**
+     * 获取未注册接口
+     */
+    @Override
+    public Set<MessageType> getUnsubscribedInterface() {
+        return subscribeInterface == null ? null : subscribeInterface.getUnsubscribedInterface();
+    }
+
+    /**
+     * 根据参数查询是否已订阅
+     *
+     * @param messageType messageType
+     * @return 是否已订阅
+     */
+    @Override
+    public boolean isSubscribedInterface(@NonNull MessageType messageType) {
+        return subscribeInterface != null && subscribeInterface.isSubscribed(messageType);
+    }
+
+    /**
+     * 根据参数查询是否未订阅
+     *
+     * @param messageType messageType
+     * @return 是否未订阅
+     */
+    @Override
+    public boolean iUnsubscribedInterface(@NonNull MessageType messageType) {
+        return subscribeInterface != null && subscribeInterface.isUnsubscribed(messageType);
+    }
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role         角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type         注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageTypes 要操作的接口
+     * @return boolean
+     */
+    @Override
+    public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes) {
+        return subscribeInterface != null && subscribeInterface.subscribeInterface(role, type, messageTypes);
+    }
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role        角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type        注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageType 要操作的接口
+     * @return boolean
+     */
+    @Override
+    public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType) {
+        return subscribeInterface != null && subscribeInterface.subscribeInterface(role, type, messageType);
+    }
+
+
+    /**
+     * 福田清扫车业务指令下发
+     *
+     * @param fuTianTaskCmd 命令
+     * @return boolean
+     */
+    @Override
+    public boolean sendRoboSweeperFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd) {
+        SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd = SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd
+                .newBuilder()
+                .setRoboSweeperFutianTaskCmd(fuTianTaskCmd)
+                .build();
+        return sendSpecialVehicleTaskCmd(cmd);
+    }
+
+    /**
+     * 开沃小巴业务指令下发
+     *
+     * @param vanSkywellTaskCmd 命令
+     * @return boolean
+     */
+    @Override
+    public boolean sendRoboVanSkywellTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd) {
+        SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd = SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd
+                .newBuilder()
+                .setRoboVanSkywellTaskCmd(vanSkywellTaskCmd)
+                .build();
+        return sendSpecialVehicleTaskCmd(cmd);
+    }
+
+    /**
+     * 特种车辆命令下发
+     *
+     * @param cmd 命令
+     * @return boolean
+     */
+    @Override
+    public boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd) {
+        return sendPBMessage(MessageType.TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD.typeCode, cmd.toByteArray());
+    }
+
 }
 

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

@@ -7,10 +7,14 @@ import androidx.annotation.NonNull;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.AppPreferenceHelper;
 import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.Define;
+import com.zhidao.support.adas.high.common.MessageType;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 
 import java.util.HashSet;
+import java.util.Set;
 
+import chassis.SpecialVehicleTaskCmdOuterClass;
 import mogo.telematics.pad.MessagePad;
 
 /**
@@ -262,12 +266,13 @@ public class AdasManager implements IAdasNetCommApi {
      * 自动驾驶设备基础信息应答
      *
      * @param sn          SN
-     * @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
-     * @return
+     * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
+     * @param role        终端角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @return boolean
      */
     @Override
-    public boolean sendBasicInfoResp(@NonNull String sn, int environment) {
-        return mChannel != null && mChannel.sendBasicInfoResp(sn, environment);
+    public boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role) {
+        return mChannel != null && mChannel.sendBasicInfoResp(sn, environment, role);
     }
 
     /**
@@ -478,6 +483,103 @@ public class AdasManager implements IAdasNetCommApi {
         return mChannel != null && mChannel.sendRecordDataConfigReq();
     }
 
+    /**
+     * 获取已注册接口
+     */
+    @Override
+    public Set<MessageType> getSubscribedInterface() {
+        return mChannel == null ? null : mChannel.getSubscribedInterface();
+    }
+
+    /**
+     * 获取未注册接口
+     */
+    @Override
+    public Set<MessageType> getUnsubscribedInterface() {
+        return mChannel == null ? null : mChannel.getUnsubscribedInterface();
+    }
+
+    /**
+     * 根据参数查询是否已订阅
+     *
+     * @param messageType messageType
+     * @return 是否已订阅
+     */
+    @Override
+    public boolean isSubscribedInterface(@NonNull MessageType messageType) {
+        return mChannel != null && mChannel.isSubscribedInterface(messageType);
+    }
+
+    /**
+     * 根据参数查询是否未订阅
+     *
+     * @param messageType messageType
+     * @return 是否未订阅
+     */
+    @Override
+    public boolean iUnsubscribedInterface(@NonNull MessageType messageType) {
+        return mChannel != null && mChannel.iUnsubscribedInterface(messageType);
+    }
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role         角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type         注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageTypes 要操作的接口
+     * @return boolean
+     */
+    @Override
+    public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes) {
+        return mChannel != null && mChannel.subscribeInterface(role, type, messageTypes);
+    }
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role        角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type        注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageType 要操作的接口
+     * @return boolean
+     */
+    @Override
+    public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType) {
+        return mChannel != null && mChannel.subscribeInterface(role, type, messageType);
+    }
+
+    /**
+     * 福田清扫车业务指令下发
+     *
+     * @param fuTianTaskCmd 命令
+     * @return boolean
+     */
+    @Override
+    public boolean sendRoboSweeperFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd) {
+        return mChannel != null && mChannel.sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd);
+    }
+
+    /**
+     * 开沃小巴业务指令下发
+     *
+     * @param vanSkywellTaskCmd 命令
+     * @return boolean
+     */
+    @Override
+    public boolean sendRoboVanSkywellTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd) {
+        return mChannel != null && mChannel.sendRoboVanSkywellTaskCmd(vanSkywellTaskCmd);
+    }
+
+    /**
+     * 特种车辆命令下发
+     *
+     * @param cmd 命令
+     * @return boolean
+     */
+    @Override
+    public boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd) {
+        return mChannel != null && mChannel.sendSpecialVehicleTaskCmd(cmd);
+    }
+
     /**
      * 获取工控机固定IP列表
      *

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

@@ -1,5 +1,7 @@
 package com.zhidao.support.adas.high;
 
+import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
+
 import java.util.HashSet;
 
 /**
@@ -43,6 +45,11 @@ public class AdasOptions {
      */
     private HashSet<String> ipcFixationIP;
 
+    /**
+     * 订阅相关配置
+     */
+    private SubscribeInterfaceOptions subscribeInterfaceOptions;
+
     private AdasOptions() {
     }
 
@@ -72,6 +79,17 @@ public class AdasOptions {
             return this;
         }
 
+        /**
+         * 配置连接方式
+         *
+         * @param ipcConnectionMode
+         * @return
+         */
+        public Builder setIpcConnectionMode(int ipcConnectionMode) {
+            options.ipcConnectionMode = ipcConnectionMode;
+            return this;
+        }
+
         /**
          * 设置IPC主机地址
          *
@@ -96,13 +114,13 @@ public class AdasOptions {
         }
 
         /**
-         * 配置连接方式
+         * 接口注册参数
          *
-         * @param ipcConnectionMode
+         * @param subscribeInterfaceOptions
          * @return
          */
-        public Builder setIpcConnectionMode(int ipcConnectionMode) {
-            options.ipcConnectionMode = ipcConnectionMode;
+        public Builder setSubscribeInterfaceOptions(SubscribeInterfaceOptions subscribeInterfaceOptions) {
+            options.subscribeInterfaceOptions = subscribeInterfaceOptions;
             return this;
         }
 
@@ -122,6 +140,7 @@ public class AdasOptions {
         options.isClient = true;
         options.ipcAssignIP = null;
         options.ipcFixationIP = null;
+        options.subscribeInterfaceOptions = null;
         return options;
     }
 
@@ -141,6 +160,10 @@ public class AdasOptions {
         return ipcFixationIP;
     }
 
+    public SubscribeInterfaceOptions getSubscribeInterfaceOptions() {
+        return subscribeInterfaceOptions;
+    }
+
     public void setIpcAssignIP(String ipcAssignIP) {
         this.ipcAssignIP = ipcAssignIP;
     }
@@ -156,4 +179,8 @@ public class AdasOptions {
     public void setIpcFixationIP(HashSet<String> ipcFixationIP) {
         this.ipcFixationIP = ipcFixationIP;
     }
+
+    public void setSubscribeInterfaceOptions(SubscribeInterfaceOptions subscribeInterfaceOptions) {
+        this.subscribeInterfaceOptions = subscribeInterfaceOptions;
+    }
 }

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

@@ -4,7 +4,12 @@ import androidx.annotation.NonNull;
 
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.Define;
+import com.zhidao.support.adas.high.common.MessageType;
 
+import java.util.Set;
+
+import chassis.SpecialVehicleTaskCmdOuterClass;
 import mogo.telematics.pad.MessagePad;
 
 /**
@@ -57,10 +62,11 @@ public interface IAdasNetCommApi {
      * 自动驾驶设备基础信息应答
      *
      * @param sn          SN
-     * @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
-     * @return boolean
+     * @param environment 环境 详情参见{@link Constants.ENVIRONMENT}1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
+     * @param role        终端角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @return 加入WS发送消息队列是否成功
      */
-    boolean sendBasicInfoResp(@NonNull String sn, int environment);
+    boolean sendBasicInfoResp(@NonNull String sn, @Define.Environment int environment, @Define.TerminalRole int role);
 
     /**
      * 设置自动驾驶模式 启动自动驾驶
@@ -68,7 +74,7 @@ public interface IAdasNetCommApi {
      * @param mode      1: enter autopilot mode, 0: quit autopilot mode
      * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
      * @param routeInfo 自动驾驶路径信息
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo);
 
@@ -76,14 +82,14 @@ public interface IAdasNetCommApi {
      * 设置演示模式
      *
      * @param enable 1: enable, 0: disable
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendDemoModeReq(int enable);
 
     /**
      * 车机基础信息请求
      *
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendCarConfigReq();
 
@@ -94,7 +100,7 @@ public interface IAdasNetCommApi {
      * @param filename 文件路径
      * @param reasonID 接管原因id
      * @param reason   接管原因
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason);
 
@@ -103,7 +109,7 @@ public interface IAdasNetCommApi {
      *
      * @param id
      * @param type
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean startRecordPackage(int id, int type);
 
@@ -112,7 +118,7 @@ public interface IAdasNetCommApi {
      *
      * @param id
      * @param type
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean startRecordPackage(int id, int duration, int type);
 
@@ -123,7 +129,7 @@ public interface IAdasNetCommApi {
      * @param duration
      * @param type
      * @param bduration
-     * @return
+     * @return 加入WS发送消息队列是否成功
      */
     boolean startRecordPackage(int id, int duration, int type, int bduration);
 
@@ -132,7 +138,7 @@ public interface IAdasNetCommApi {
      *
      * @param id
      * @param type
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean stopRecordPackage(int id, int type);
 
@@ -144,7 +150,7 @@ public interface IAdasNetCommApi {
      * @param type      采集类型, 1:badcase, 2: map; 3: rests
      * @param isRecord  采集指令, true: 采集, false: 停止采集
      * @param bduration 前溯时长
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendRecordData(int id, int duration, int type, boolean isRecord, int bduration);
 
@@ -152,7 +158,7 @@ public interface IAdasNetCommApi {
      * 设置自动驾驶最大速度
      *
      * @param speedLimit 最大车辆速度 m/s
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendAutopilotSpeedReq(double speedLimit);
 
@@ -170,7 +176,7 @@ public interface IAdasNetCommApi {
      * @param flashYellow 黄灯总时间
      * @param laneDetail  灯态具体信息
      * @param timestamp   当前卫星时间, 单位: ms
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude,
                                  @NonNull String heading, @NonNull String direction, int lightId, int laneNo,
@@ -179,7 +185,7 @@ public interface IAdasNetCommApi {
     /**
      * 自动驾驶路径请求
      *
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendGlobalPathReq();
 
@@ -189,7 +195,7 @@ public interface IAdasNetCommApi {
      * @param type SystemCmdType。SYSTEMCMD_REBOOT 重启所有节点
      *             SystemCmdType。SYSTEMCMD_EMPLOY_NEW_IMAGE 使用新镜像（推镜像）
      *             SystemCmdType。SYSTEMCMD_SHUT_DOWN 关机
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendSystemCmdReq(@NonNull MessagePad.SystemCmdType type);
 
@@ -197,14 +203,14 @@ public interface IAdasNetCommApi {
      * 发送 轨迹下载请求
      *
      * @param line 线路相关参数详情见PB message_pad.proto -> Line
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendTrajectoryDownloadReq(MessagePad.Line line);
 
     /**
      * 发送 状态查询请求
      *
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendStatusQueryReq();
 
@@ -212,7 +218,7 @@ public interface IAdasNetCommApi {
      * 设置雨天模式
      *
      * @param enable 1: enable, 0: disable
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendRainModeReq(int enable);
 
@@ -220,10 +226,80 @@ public interface IAdasNetCommApi {
      * 数据采集配置查询
      * 0: all, 其他保留
      *
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendRecordDataConfigReq();
 
+    /**
+     * 获取已注册接口
+     */
+    Set<MessageType> getSubscribedInterface();
+
+    /**
+     * 获取未注册接口
+     */
+    Set<MessageType> getUnsubscribedInterface();
+
+    /**
+     * 根据参数查询是否已订阅
+     *
+     * @param messageType messageType
+     * @return 是否已订阅
+     */
+    boolean isSubscribedInterface(@NonNull MessageType messageType);
+
+    /**
+     * 根据参数查询是否未订阅
+     *
+     * @param messageType messageType
+     * @return 是否未订阅
+     */
+    boolean iUnsubscribedInterface(@NonNull MessageType messageType);
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role         角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type         注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageTypes 要操作的接口
+     * @return 加入WS发送消息队列是否成功
+     */
+    boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes);
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role        角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type        注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageType 要操作的接口
+     * @return 加入WS发送消息队列是否成功
+     */
+    boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType);
+
+    /**
+     * 福田清扫车业务指令下发
+     *
+     * @param fuTianTaskCmd 命令
+     * @return boolean
+     */
+    boolean sendRoboSweeperFuTianTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd);
+
+    /**
+     * 开沃小巴业务指令下发
+     *
+     * @param vanSkywellTaskCmd 命令
+     * @return boolean
+     */
+    boolean sendRoboVanSkywellTaskCmd(SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd);
+
+    /**
+     * 特种车辆命令下发
+     *
+     * @param cmd 命令
+     * @return boolean
+     */
+    boolean sendSpecialVehicleTaskCmd(SpecialVehicleTaskCmdOuterClass.SpecialVehicleTaskCmd cmd);
+
     // TODO 需求暂停 待讨论
 //    boolean getRoutes();
 
@@ -231,7 +307,7 @@ public interface IAdasNetCommApi {
      * 向工控机发送数据
      *
      * @param bytes 数据
-     * @return boolean
+     * @return 加入WS发送消息队列是否成功
      */
     boolean sendWsMessage(byte[] bytes);
 

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

@@ -170,6 +170,14 @@ public interface OnAdasListener {
      */
     void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config);
 
+    /**
+     * planning决策状态, 透传
+     *
+     * @param header            头
+     * @param planningActionMsg 数据
+     */
+    void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
+
     /**
      * 数据错误
      *

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

@@ -54,4 +54,60 @@ public class Constants {
          */
         int NOT_FOUND_ADDRESS = 0x04;
     }
+
+    /**
+     * 终端角色类型
+     */
+    public interface TERMINAL_ROLE {
+        /**
+         * 司机端
+         */
+        int DRIVER = 0;
+        /**
+         * 乘客端
+         */
+        int PASSENGER = 1;
+        /**
+         * 调试端
+         */
+        int DEBUG = 2;
+    }
+
+    /**
+     * 环境
+     */
+    public interface ENVIRONMENT {
+        /**
+         * 研发
+         */
+        int DEVELOP = 1;
+        /**
+         * 测试
+         */
+        int TEST = 2;
+        /**
+         * 生产
+         */
+        int PRODUCTION = 3;
+        /**
+         * 演示
+         */
+        int DEMO = 4;
+    }
+
+    /**
+     * 接口订阅类型
+     */
+    public interface SUBSCRIBE_TYPE {
+        /**
+         * 订阅
+         */
+        int SUBSCRIBE = 1;
+        /**
+         * 取消订阅
+         */
+        int UNSUBSCRIBE = 2;
+
+    }
+
 }

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

@@ -25,4 +25,25 @@ public final class Define {
     @Retention(RetentionPolicy.SOURCE)
     public @interface VersionCompatibilityDegree {
     }
+
+    @IntDef(flag = true, value = {Constants.TERMINAL_ROLE.DRIVER,
+            Constants.TERMINAL_ROLE.PASSENGER,
+            Constants.TERMINAL_ROLE.DEBUG})
+    @Retention(RetentionPolicy.SOURCE)
+    public @interface TerminalRole {
+    }
+
+    @IntDef(flag = true, value = {Constants.ENVIRONMENT.DEVELOP,
+            Constants.ENVIRONMENT.TEST,
+            Constants.ENVIRONMENT.PRODUCTION,
+            Constants.ENVIRONMENT.DEMO})
+    @Retention(RetentionPolicy.SOURCE)
+    public @interface Environment {
+    }
+
+    @IntDef(flag = true, value = {Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
+            Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE})
+    @Retention(RetentionPolicy.SOURCE)
+    public @interface SubscribeType {
+    }
 }

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

@@ -4,6 +4,7 @@ import mogo.telematics.pad.MessagePad;
 
 /**
  * 工控机发送或接收的类型
+ * 工控机接收接口必须包含TYPE_RECEIVE
  *
  * @author nie yunlong
  * @description 请求值
@@ -45,7 +46,12 @@ public enum MessageType {
     TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"),
     TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式"),
     TYPE_SEND_RECORD_DATA_CONFIG_REQ(MessagePad.MessageType.MsgTypeRecordDataConfigReq, "数据采集配置查询"),
-    TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置");
+    TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP(MessagePad.MessageType.MsgTypeRecordDataConfigResp, "数据采集配置"),
+    TYPE_SEND_SUBSCRIBE_DATA_REQ(MessagePad.MessageType.MsgTypeSubscribeDataReq, "数据订阅、取消订阅请求"),
+    TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令"),
+    //透传 原始pb文件中不存在以下type。由于Java中无法强转所以在ADAS_DATA message_pad.proto中放开注释
+    TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态");
+
 
     /**
      * 消息action code

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

@@ -29,6 +29,7 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg arrivalNotificationMessage;//到站提醒
     private IMsg statusQueryRespMessage;//状态查询应答
     private IMsg recordDataConfigRespMessage;//数据采集配置应答
+    private IMsg planningDecisionStateMessage;//planning决策状态
 
 
     @Override
@@ -135,6 +136,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 recordDataConfigRespMessage = new RecordDataConfigRespMessage();
             }
             return recordDataConfigRespMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_DECISION_STATE.typeCode) {
+            //planning决策状态
+            if (planningDecisionStateMessage == null) {
+                planningDecisionStateMessage = new PlanningDecisionStateMessage();
+            }
+            return planningDecisionStateMessage;
         } else {
             //MessageType.TYPE_DEFAULT.typeCode
             return null;

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

@@ -0,0 +1,23 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * planning决策状态, 透传
+ */
+public class PlanningDecisionStateMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        MessagePad.PlanningActionMsg planningActionMsg = MessagePad.PlanningActionMsg.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        if (adasListener != null) {
+            adasListener.onPlanningActionMsg(raw.getHeader(), planningActionMsg);
+        }
+    }
+}

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

@@ -0,0 +1,148 @@
+package com.zhidao.support.adas.high.subscribe;
+
+import androidx.annotation.NonNull;
+
+import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.Define;
+import com.zhidao.support.adas.high.common.MessageType;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Set;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * 工控机注册接口
+ * Taxi（红旗、东风） MAP260上线
+ * Bus 预计MAP260上线
+ */
+public class SubscribeInterface {
+
+    /**
+     * 已注册接口
+     */
+    private final Map<MessageType, Integer> subscribedInterface = new HashMap<>();
+    /**
+     * 未注册接口
+     */
+    private final Map<MessageType, Integer> unsubscribedInterface = new HashMap<>();
+
+    private final OnSubscribeInterfaceListener listener;
+
+    public interface OnSubscribeInterfaceListener {
+        boolean onSendSubscribe(byte[] bytes);
+    }
+
+    public SubscribeInterface(@NonNull OnSubscribeInterfaceListener listener) {
+        this.listener = listener;
+        if (listener == null) throw new RuntimeException();
+        init();
+    }
+
+
+    /**
+     * 获取已注册接口
+     */
+    public Set<MessageType> getSubscribedInterface() {
+        return subscribedInterface.keySet();
+    }
+
+    /**
+     * 获取未注册接口
+     */
+    public Set<MessageType> getUnsubscribedInterface() {
+        return unsubscribedInterface.keySet();
+    }
+
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role         角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type         注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageTypes 要操作的接口
+     * @return
+     */
+    public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull Set<MessageType> messageTypes) {
+        if (messageTypes == null) return false;
+        MessagePad.SubscribeDataReq.Builder builder = MessagePad.SubscribeDataReq.newBuilder();
+        builder.setRole(role).setReqType(type);
+        Map<MessageType, Integer> temp = new HashMap<>();
+        for (MessageType messageType : messageTypes) {
+            temp.put(messageType, messageType.typeCode.getNumber());
+        }
+        builder.addAllDataTypes(temp.values());
+        boolean isSendSucceed = listener.onSendSubscribe(builder.build().toByteArray());
+        if (isSendSucceed) {
+            for (MessageType messageType : messageTypes) {
+                if (type == Constants.SUBSCRIBE_TYPE.SUBSCRIBE) {
+                    if (!subscribedInterface.containsKey(messageType)) {
+                        subscribedInterface.put(messageType, messageType.typeCode.getNumber());
+                    }
+                    unsubscribedInterface.remove(messageType);
+                } else if (type == Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE) {
+                    if (!unsubscribedInterface.containsKey(messageType)) {
+                        unsubscribedInterface.put(messageType, messageType.typeCode.getNumber());
+                    }
+                    subscribedInterface.remove(messageType);
+                }
+            }
+        }
+
+
+        return false;
+    }
+
+    /**
+     * 注册或取消注册
+     *
+     * @param role        角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param type        注册类型 详情参见{@link Constants.SUBSCRIBE_TYPE}
+     * @param messageType 要操作的接口
+     * @return 是否加入ws发送队列
+     */
+    public boolean subscribeInterface(@Define.TerminalRole int role, @Define.SubscribeType int type, @NonNull MessageType messageType) {
+        if (messageType == null) return false;
+        MessagePad.SubscribeDataReq.Builder builder = MessagePad.SubscribeDataReq.newBuilder();
+        builder.setRole(role).setReqType(type).addDataTypes(messageType.typeCode.getNumber());
+        boolean isSendSucceed = listener.onSendSubscribe(builder.build().toByteArray());
+        if (isSendSucceed) {
+            if (type == Constants.SUBSCRIBE_TYPE.SUBSCRIBE) {
+                if (!subscribedInterface.containsKey(messageType)) {
+                    subscribedInterface.put(messageType, messageType.typeCode.getNumber());
+                }
+                unsubscribedInterface.remove(messageType);
+            } else if (type == Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE) {
+                if (!unsubscribedInterface.containsKey(messageType)) {
+                    unsubscribedInterface.put(messageType, messageType.typeCode.getNumber());
+                }
+                subscribedInterface.remove(messageType);
+            }
+        }
+        return false;
+    }
+
+    //根据参数查询是否已订阅
+    public boolean isSubscribed(@NonNull MessageType messageType) {
+        return subscribedInterface.containsKey(messageType);
+    }
+
+    //根据参数查询是否未订阅
+    public boolean isUnsubscribed(@NonNull MessageType messageType) {
+        return unsubscribedInterface.containsKey(messageType);
+    }
+
+    private void init() {
+        //默认RECEIVE的全部注册
+        MessageType[] types = MessageType.values();
+        if (types.length > 0) {
+            for (MessageType messageType : types) {
+                if (messageType.name().toLowerCase().contains("type_receive")) {
+                    subscribedInterface.put(messageType, messageType.typeCode.getNumber());
+                }
+            }
+        }
+    }
+
+}

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

@@ -0,0 +1,71 @@
+package com.zhidao.support.adas.high.subscribe;
+
+import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.Define;
+import com.zhidao.support.adas.high.common.MessageType;
+
+import java.util.Set;
+
+/**
+ * 订阅参数
+ */
+public class SubscribeInterfaceOptions {
+    @Define.TerminalRole
+    private int role = Constants.TERMINAL_ROLE.DRIVER;
+    @Define.SubscribeType
+    private int type = Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE;
+    private Set<MessageType> messageTypes;
+
+    private SubscribeInterfaceOptions() {
+    }
+
+    public int getRole() {
+        return role;
+    }
+
+    public int getType() {
+        return type;
+    }
+
+    public Set<MessageType> getMessageTypes() {
+        return messageTypes;
+    }
+
+    public static Builder newBuilder() {
+        return new Builder();
+    }
+
+    public static class Builder {
+        @Define.TerminalRole
+        private int role;
+        @Define.SubscribeType
+        private int type;
+        private Set<MessageType> messageTypes;
+
+        private Builder() {
+        }
+
+        public Builder setRole(@Define.TerminalRole int role) {
+            this.role = role;
+            return this;
+        }
+
+        public Builder setType(@Define.SubscribeType int type) {
+            this.type = type;
+            return this;
+        }
+
+        public Builder setMessageTypes(Set<MessageType> messageTypes) {
+            this.messageTypes = messageTypes;
+            return this;
+        }
+
+        public SubscribeInterfaceOptions build() {
+            SubscribeInterfaceOptions options = new SubscribeInterfaceOptions();
+            options.role = role;
+            options.type = type;
+            options.messageTypes = messageTypes;
+            return options;
+        }
+    }
+}