Merge branch 'dev_robotaxi-d-app-module_2110_220915_2.11.0' into 'test_robotaxi-d-app-module_2110_220915_2.11.0.1'

Dev robotaxi d app module 2110 220915 2.11.0 See merge request zhjt/AndroidApp/MoGoEagleEye!247
2022-10-11 11:24:34 +00:00
parent 957b569bae d470cf38de
commit 7a98c3658c
13 changed files with 334 additions and 54 deletions
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
@@ -396,7 +396,7 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
        if (isAnimateRunning){
            stopAutopilotAnimation();
        }
-        mPresenter.autoDriveToNextStation(false);
+        mPresenter.autoDriveToNextStation();
    }

    /**
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -28,6 +28,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -52,6 +53,7 @@ import com.mogo.och.bus.util.BusAnalyticsManager;
 import com.mogo.och.bus.util.BusTrajectoryManager;
 import com.mogo.och.common.module.biz.constant.OchCommonConst;
 import com.mogo.och.common.module.biz.provider.LoginService;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.DateTimeUtil;
 import com.mogo.och.common.module.utils.PinYinUtil;
@@ -85,8 +87,6 @@ public class BusOrderModel {
    public double mLongitude = 0;
    public double mLatitude = 0;
    private Context mContext;
-    private Disposable mBusOrdersDisposable; //定时轮询小巴车订单
-    private List<String> prevBusOrderNos = new ArrayList<>();
    private final List<BusStationBean> stationList = new ArrayList<>();
    private BusRoutesResult busRoutesResult = null;
    /**
@@ -107,6 +107,9 @@ public class BusOrderModel {

    private volatile boolean isArrivedStation = false;

+    //0: 代表没有启动过 1代表是启动第一次，当>=1 代表是重试  每次到站/路线结束清空置为0
+    private volatile int firstStartAutopilot = 0;
+
    private LoginService loginService;

    private long prePassengerWriteOffTime = 0; //记录最后查询到乘客核销的时间
@@ -274,9 +277,7 @@ public class BusOrderModel {
    }

    public void release(){
-        if (mBusOrdersDisposable != null) {
-            mBusOrdersDisposable.dispose();
-        }
+
        startOrStopOrderLoop(false);
        startOrStopQueryPassengerWriteOff(false);
        MogoApisHandler.getInstance()
@@ -373,6 +374,8 @@ public class BusOrderModel {
                        refreshBusStationsCallback.updateEmptyUi();
                    }
                    clearAutopilotControlParameters();
+                    closeBeautificationMode();
+                    clearStartAutopilotTag();
                    return;
                }
                CallerLogger.INSTANCE.d(M_BUS + TAG, "获取到小巴路线数据: " + data );
@@ -470,11 +473,13 @@ public class BusOrderModel {
     * 服务端返回的OchBusRoutesResult逻辑， 离开站为当前站， 到达下一站后才会将下一站置为当前站，
     * 车机端展示是离开当前站，下一站设置为当前站， 所以服务端数据回来要做处理，不能直接渲染
     */
-    private void leaveStationSuccess(boolean isRestart) {
+    private void leaveStationSuccess() {
        //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启
-        if (isRestart || CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
+        if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
                == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
-            startAutopilot(isRestart);
+            startAutopilot(false);
+        }else {
+            firstStartAutopilot = 0;
        }

        if (isGoingToNextStation) {
@@ -497,6 +502,14 @@ public class BusOrderModel {
            return;
        }

+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()){
+            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
+                    ", 请稍候重试");
+            return;
+        }
+
+        firstStartAutopilot ++;
+
        triggerStartServiceEvent(isRestart, false);

        BusStationBean currentStation = stationList.get( backgroundCurrentStationIndex);
@@ -511,7 +524,8 @@ public class BusOrderModel {
        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);

        CallerLogger.INSTANCE.d( M_BUS + TAG, "开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
-                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName());
+                +" startLatLon="+currentStation.getName()+"，endLatLon="+nextStation.getName() +
+                "isRestart = " + isRestart);

        if (mControllerStatusCallback != null) {
            mControllerStatusCallback.startOpenAutopilot();
@@ -522,7 +536,6 @@ public class BusOrderModel {
     * 到站查询核销乘客
     */
    public void queryPassengerWriteOff(){
-        //todo 查询接口拿到核销乘客波播报
        if ( backgroundCurrentStationIndex > stationList.size() - 1 ) { //到站短时间内调用多次
            CallerLogger.INSTANCE.e( M_BUS + TAG, "数组越界" );
            return;
@@ -615,7 +628,7 @@ public class BusOrderModel {
    /**
     * 离站上报
     */
-    public void leaveStation(boolean isRestart){
+    public void leaveStation(){
        CallerLogger.INSTANCE.d(M_BUS + TAG,"leaveStation-backgroundCurrentStationIndex = "+backgroundCurrentStationIndex);
        String nextStationName = "";
        if (backgroundCurrentStationIndex < stationList.size() - 1){
@@ -633,7 +646,7 @@ public class BusOrderModel {
                        CallerLogger.INSTANCE.d( M_BUS + TAG, "自动驾驶开启开往下一站====" );
                        //需要更改当前站和下一站的状态 然后渲染
                         startOrStopQueryPassengerWriteOff(false);
-                         leaveStationSuccess(isRestart);
+                         leaveStationSuccess();
                         leaveTTSTips(finalNextStationName);
                         queryBusRoutes();
                    }
@@ -670,24 +683,25 @@ public class BusOrderModel {
     * 关闭美化模式
     */
    public void closeBeautificationMode() {
+        Logger.d("Route", "BusOrderModel -> closeBeautificationMode ==> isDemoMode:" + FunctionBuildConfig.isDemoMode);
        if (FunctionBuildConfig.isDemoMode) {//收车结束美化
            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
-            CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（收车）");
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false");
        }
    }

    /**
     * 开启自动驾驶到下一站
     */
-    public void autoDriveToNextStation(boolean isRestart) {
+    public void autoDriveToNextStation() {
        if ( backgroundCurrentStationIndex >= stationList.size() - 1 ) {
            // 当前站是最后一站，结束当前行程
            travelOver();
            return;
        }
-        leaveStation(isRestart);
+        leaveStation();
    }

    /**
@@ -735,15 +749,20 @@ public class BusOrderModel {
                        +"  isLeaving()="+currentStation.isLeaving());

        // 美化是否开始
+        Logger.d("Route", "BusOrderModel -> updateBusStatus ==> isDemoMode:" + FunctionBuildConfig.isDemoMode);
        if (FunctionBuildConfig.isDemoMode && (backgroundCurrentStationIndex >= 0
-                && backgroundCurrentStationIndex <= stationList.size()-1)
-                && stationList.get(backgroundCurrentStationIndex).isLeaving()){//行驶过程中设置美化
-            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
-            CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
+                && backgroundCurrentStationIndex <= stationList.size()-1)){//行驶过程中设置美化
+            if (stationList.get(backgroundCurrentStationIndex).isLeaving()){
+                startBeautificationMode();
+                CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
+            }else {
+                closeBeautificationMode();
+                CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：false（到站）");
+                clearStartAutopilotTag();
+            }
        }

+
        if ( currentStation.isLeaving() && slidePanelHideCallback != null) {
            slidePanelHideCallback.hideSlidePanel();
        }
@@ -755,6 +774,17 @@ public class BusOrderModel {
        BusTrajectoryManager.getInstance().syncTrajectoryInfo();
    }

+    private void clearStartAutopilotTag() {
+        firstStartAutopilot = 0;
+    }
+
+    private void startBeautificationMode() {
+        Logger.d("Route", "BusOrderModel -> startBeautificationMode ==> ignore = true");
+        FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
+        CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
+        CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+    }
+
    public void clearBusStationDatas(){
        if (refreshBusStationsCallback != null){
            refreshBusStationsCallback.clearBusStationsMarkers();
@@ -774,8 +804,11 @@ public class BusOrderModel {
    public void restartAutopilot() {
        CallerLogger.INSTANCE.d( M_BUS + TAG, "重启自动驾驶===" + isGoingToNextStation );
        //只去启动自动驾驶，不再去上报离站
-        startAutopilot(true);
-//        autoDriveToNextStation(true);
+        startAutopilot(firstStartAutopilot >= 1);
+    }
+
+    public boolean isRestartAutopilot(){
+        return firstStartAutopilot > 1;
    }

    /**
@@ -832,12 +865,12 @@ public class BusOrderModel {
        if (isArrivedStation) return;
        isArrivedStation = true;

-        if (FunctionBuildConfig.isDemoMode && backgroundCurrentStationIndex <= stationList.size() - 1) {//到达一站结束美化
-            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
-            CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（到最后一站）");
-        }
+//        if (FunctionBuildConfig.isDemoMode && backgroundCurrentStationIndex <= stationList.size() - 1) {//到达一站结束美化
+//            closeBeautificationMode();
+//            CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（到最后一站）");
+//        }
+
+
        CallerLogger.INSTANCE.d( M_BUS + TAG, "到站====currentStationIndex=" + backgroundCurrentStationIndex);
        isGoingToNextStation = false;

--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -9,6 +9,7 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.lifecycle.LifecycleOwner;

+import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
@@ -28,6 +29,7 @@ import com.mogo.och.bus.model.BusOrderModel;
 import com.mogo.och.bus.util.BusTrajectoryManager;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.SoundPoolHelper;
 import com.zhidao.socket.utils.LoginStatusUtil;

@@ -54,13 +56,14 @@ public class BusPresenter extends Presenter<BusFragment>
    private int currentAutopilotStatus = -1;
    private List<BusStationBean> mStationList = new ArrayList<>();
    private int mCurrentStation = 0;
-    private boolean isRestartAutopilot = false;
+//    private boolean isRestartAutopilot = false;

    public BusPresenter(BusFragment view) {
        super(view);
        //2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
        BusOrderModel.getInstance().init();
+        OCHAdasAbilityManager.getInstance().init(AbsMogoApplication.getApp());
    }

    @Override
@@ -89,23 +92,24 @@ public class BusPresenter extends Presenter<BusFragment>
        BusOrderModel.getInstance().setSlidePanelHideCallback(null);
        BusOrderModel.getInstance().setControllerStatusCallback(null);
        BusOrderModel.getInstance().setPassengerCallback(null);
+        OCHAdasAbilityManager.getInstance().release();
    }

    public void abortTask() {
        BusOrderModel.getInstance().abortTask();
    }

-    public void autoDriveToNextStation(boolean isRestart) {
+    public void autoDriveToNextStation() {
        currentAutopilotStatus = -1;
-        BusOrderModel.getInstance().autoDriveToNextStation(isRestart);
-        isRestartAutopilot = false;
+        BusOrderModel.getInstance().autoDriveToNextStation();
+//        isRestartAutopilot = false;
    }

    public void restartAutopilot() {
        if (BusOrderModel.getInstance().isGoingToNextStation()){
            currentAutopilotStatus = -1;
            BusOrderModel.getInstance().restartAutopilot();
-            isRestartAutopilot = true;
+//            isRestartAutopilot = true;
        }
    }

@@ -211,7 +215,7 @@ public class BusPresenter extends Presenter<BusFragment>
                    // 改变UI自动驾驶状态
                    runOnUIThread(() -> mView.onAutopilotStatusChanged(currentAutopilotStatus));
                    BusOrderModel.getInstance().triggerStartServiceEvent(
-                            isRestartAutopilot, true);
+                            BusOrderModel.getInstance().isRestartAutopilot(), true);
                }
                break;
            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
--- a/OCH/mogo-och-common-module/build.gradle
+++ b/OCH/mogo-och-common-module/build.gradle
@@ -73,4 +73,6 @@ dependencies {
        implementation project(':core:function-impl:mogo-core-function-v2x')
    }

+    implementation project(':libraries:mogo-adas')
+
 }
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
@@ -0,0 +1,215 @@
+package com.mogo.och.common.module.manager;
+
+import android.content.Context;
+
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotAbility;
+import com.zhidao.support.adas.high.common.ProtocolStatus;
+
+import chassis.Chassis;
+import chassis.VehicleStateOuterClass;
+import mogo.telematics.pad.MessagePad;
+import mogo_msg.MogoReportMsg;
+import perception.TrafficLightOuterClass;
+import prediction.Prediction;
+import record_cache.RecordPanelOuterClass;
+import system_master.SystemStatusInfo;
+
+/**
+ * Created on 2022/10/9
+ * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
+ * 目前定的是3秒回调一次
+ */
+public class OCHAdasAbilityManager {
+
+    private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
+
+
+    private boolean isAutopilotAbility = true;
+    private String autopilotAbilityReason = "";
+
+    private static final class SingletonHolder {
+        private static final OCHAdasAbilityManager INSTANCE = new OCHAdasAbilityManager();
+    }
+
+    public static OCHAdasAbilityManager getInstance() {
+        return SingletonHolder.INSTANCE;
+    }
+
+    public void init(Context context) {
+        initListeners();
+    }
+
+    public boolean getAutopilotAbilityStatus(){
+        return isAutopilotAbility;
+    }
+
+    public String getAutopilotUnAbilityReason(){
+        return autopilotAbilityReason;
+    }
+
+    private void initListeners() {
+        //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次
+        AdasManager.getInstance().setOnAdasListener(adasListener);
+    }
+
+    private void releaseListeners() {
+        AdasManager.getInstance().setOnAdasListener(null);
+    }
+
+    public void release() {
+        releaseListeners();
+    }
+
+    private final OnAdasListener adasListener = new OnAdasListener() {
+        @Override
+        public void onTrajectory(MessagePad.Header header, MessagePad.Trajectory trajectory) {
+
+        }
+
+        @Override
+        public void onTrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects trackedObjects) {
+
+        }
+
+        @Override
+        public void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo) {
+
+        }
+
+        @Override
+        public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
+
+        }
+
+        @Override
+        public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) {
+
+        }
+
+        @Override
+        public void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage) {
+
+        }
+
+        @Override
+        public void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights) {
+
+        }
+
+        @Override
+        public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
+
+        }
+
+        @Override
+        public void onPointCloud(byte[] pointCloud) {
+
+        }
+
+        @Override
+        public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) {
+
+        }
+
+        @Override
+        public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
+
+        }
+
+        @Override
+        public void onCarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp carConfigResp) {
+
+        }
+
+        @Override
+        public void onRecordResult(MessagePad.Header header, RecordPanelOuterClass.RecordPanel recordPanel) {
+
+        }
+
+        @Override
+        public void onGlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp globalPathResp) {
+
+        }
+
+        @Override
+        public void onWarn(MessagePad.Header header, MessagePad.Warn warn) {
+
+        }
+
+        @Override
+        public void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification) {
+
+        }
+
+        @Override
+        public void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo) {
+
+        }
+
+        @Override
+        public void onRecordDataConfigResp(MessagePad.Header header, MessagePad.RecordDataConfig config) {
+
+        }
+
+        @Override
+        public void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg) {
+
+        }
+
+        @Override
+        public void onError(ProtocolStatus status, byte[] bytes) {
+
+        }
+
+        @Override
+        public void onAutopilotAbility(AutopilotAbility ability) {
+            isAutopilotAbility = true;
+            autopilotAbilityReason = null;
+            if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || ability.gear == Chassis.GearPosition.GEAR_R) {
+                isAutopilotAbility = false;
+                autopilotAbilityReason = "挡位不正常";
+            }
+            if (isAutopilotAbility)
+                if (ability.brake > 0) {
+                    isAutopilotAbility = false;
+                    autopilotAbilityReason = "制动踏板被踩下";
+                }
+
+            if (isAutopilotAbility)
+                if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
+                    isAutopilotAbility = false;
+                    autopilotAbilityReason = "系统正在启动";
+                }
+            if (isAutopilotAbility)
+                if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
+                    isAutopilotAbility = false;
+                    autopilotAbilityReason = "系统正在关闭";
+                }
+            // 暂时先拦截及提示以上4种异常情况
+//            if (isAutopilotAbility)
+//                if (ability.statusInfo == null) {
+//                    isAutopilotAbility = false;
+//                    autopilotAbilityReason = "系统Topic不正常";
+//                }
+//            if (isAutopilotAbility)
+//                if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_FAULT) {
+//                    isAutopilotAbility = false;
+//                    autopilotAbilityReason = "系统异常";
+//                }
+//
+//            if (isAutopilotAbility)
+//                for (SystemStatusInfo.HealthInfo healthInfo : ability.statusInfo.getHealthInfoList()) {
+//                    if (healthInfo.getState() == SystemStatusInfo.HealthState.FAULT) {
+//                        isAutopilotAbility = false;
+//                        autopilotAbilityReason = healthInfo.getName() + " Topic异常";
+//                        break;
+//                    }
+//                }
+
+            Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
+        }
+    };
+}
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
@@ -12,4 +12,6 @@ public interface ITaxiControllerStatusCallback {
    void onVRModeChanged(boolean isVRMode);
    // 自车定位
    void onCarLocationChanged(Location location);
+    //开始开启自动驾驶
+    void startOpenAutopilot();
 }
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -37,6 +37,7 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.och.common.module.biz.constant.LoginStatusManager;
 import com.mogo.och.common.module.biz.constant.OchCommonConst;
 import com.mogo.och.common.module.biz.provider.LoginService;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.PinYinUtil;
 import com.mogo.och.common.module.utils.ToastUtilsOch;
@@ -791,7 +792,7 @@ public class TaxiModel {
                GsonUtil.jsonFromObject(data));

        if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.OnTheWayToEnd.getCode()){
-
+            Logger.d("Route", "TaxiModel -> updateNativeCurrentOrder ==> isDemoMode:" + FunctionBuildConfig.isDemoMode);
            if (FunctionBuildConfig.isDemoMode) {
                // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
@@ -838,6 +839,7 @@ public class TaxiModel {
        TaxiTrajectoryManager.getInstance().syncTrajectoryInfo();
        SharedPrefsMgr.getInstance(mContext).remove(TaxiConst.SP_KEY_OCH_TAXI_ORDER);
        isRestartAutopilot = false;
+        Logger.d("Route", "TaxiModel -> clearCurrentOCHOrder ==> isDemoMode:" + FunctionBuildConfig.isDemoMode);
        if (FunctionBuildConfig.isDemoMode) {
            // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
@@ -875,6 +877,12 @@ public class TaxiModel {
            return;
        }

+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()){
+            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
+                    ", 请稍候重试");
+            return;
+        }
+
        if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE
                == CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()) {
            // TODO: 2021/11/28 工控机存在刚开始状态为0，但是可以开启变为2，工控机解决前不显示此toast
@@ -897,12 +905,19 @@ public class TaxiModel {
        }

        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
-        CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s", GsonUtil.jsonFromObject(parameters)
-                + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr + " ,endSiteName=" + mCurrentOCHOrder.endSiteAddr);
+        CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s",
+                GsonUtil.jsonFromObject(parameters)
+                + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr
+                        + " ,endSiteName=" + mCurrentOCHOrder.endSiteAddr
+                        + "isRestartAutopilot = "+isRestartAutopilot);

        TaxiAnalyticsManager.getInstance().triggerStartAutopilotEvent(isRestartAutopilot, false,
                mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.orderNo);

+        if (mControllerStatusCallback != null) {
+            mControllerStatusCallback.startOpenAutopilot();
+        }
+
        // TODO: 2021/8/20 无工控机环境， 手动调起自动驾驶开启返回结果,有工控机环境要删除
 //        OCHTaxiUiController.getInstance().onAutoPilotStatusChanged( IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING, "开启自动驾驶" );
    }
@@ -1129,7 +1144,7 @@ public class TaxiModel {

                        TaxiAnalyticsManager.getInstance().triggerStartAutopilotEvent(isRestartAutopilot, true,
                                mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.orderNo);
-
+                        Logger.d("Route", "TaxiModel -> onAutopilotStatusResponse ==> isDemoMode:" + FunctionBuildConfig.isDemoMode);
                        if (FunctionBuildConfig.isDemoMode) {
                            // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -18,6 +18,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
 import com.mogo.och.common.module.biz.constant.LoginStatusManager;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.taxi.constant.TaxiConst;
 import com.mogo.och.taxi.constant.TaxiDriverRoleEnum;
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
@@ -51,6 +52,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
    public TaxiPresenter(TaxiFragment view) {
        super(view);
        TaxiModel.getInstance().init(AbsMogoApplication.getApp());
+        OCHAdasAbilityManager.getInstance().init(AbsMogoApplication.getApp());
        initListeners();
    }

@@ -73,6 +75,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
        TaxiModel.getInstance().setCarStatusCallback(this);
        TaxiModel.getInstance().setControllerStatusCallback(this);
        TaxiModel.getInstance().setOrderStatusCallback(this);
+        OCHAdasAbilityManager.getInstance().release();
    }

    private void releaseListeners() {
@@ -318,6 +321,13 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
        }
    }

+    @Override
+    public void startOpenAutopilot() {
+        runOnUIThread(() -> {
+            mView.startOrStopLoadingAnim(true);
+        });
+    }
+
    @Override
    public void loginSuccess(DriverStatusQueryRespBean data) {
        //设置 接单状态
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -247,7 +247,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
                }else if (!(boolean)ctvAutopilotStatusRL.getTag()){
                    ToastUtils.showShort(getResources().getString(R.string.module_och_taxi_auto_disable_tip1));
                }else {
-                    restartAutopilot();
+                    startAutopilot();
                }
            }
        });
@@ -542,7 +542,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
    /**
     * 重新开启自动驾驶
     */
-    public abstract void restartAutopilot();
+    public abstract void startAutopilot();


    public void changeOperationViewVisible(int visible) {
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -84,14 +84,13 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
    }

    @Override
-    public void restartAutopilot() {
+    public void startAutopilot() {
        // 在自动驾驶中，或者自己确认车辆环境可开启自动驾驶 则可点击
        if ((mPresenter.getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd ||
                mPresenter.getCurOrderStatus() == TaxiOrderStatusEnum.UserArriveAtStart)
                && !isStarting) {
-            CallerLogger.INSTANCE.d(M_TAXI + TAG, "restartAutopilot");
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "startAutopilot");
            mPresenter.startAutoPilot();
-            startOrStopLoadingAnim(true);
        }
    }

@@ -226,13 +225,6 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
        updateTaxiTestBarInfo(); //更新调试bar中信息
    }

-    public void startAutoPilot() {
-        if (!isStarting){
-            mPresenter.startAutoPilot();
-            startOrStopLoadingAnim(true);
-        }
-    }
-
    public void confirmAutopilotConditionByDriver(){
        mPresenter.confirmAutopilotConditionByDriver();
    }
@@ -380,7 +372,6 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
        findViewById(R.id.test_bar_on_the_way_to_end).setOnClickListener(v -> {
            if (!isStarting){
                mPresenter.startAutoPilot();
-                startOrStopLoadingAnim(true);
            }
            TaxiModel.getInstance().setOnTheWayToEndStation();
        });
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
@@ -13,7 +13,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.telematic.MogoProtocolMsg
@@ -118,6 +118,7 @@ class TeleMsgHandler : IMsgHandler {
                                        "1" -> true
                                        else -> false
                                    }
+                                Logger.d("Route", "TeleMsgHandler -> handleMsgFromServer ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore:" + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
                                timestamp = currTime
                                invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
                            } else {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -578,6 +578,7 @@ class DebugSettingView @JvmOverloads constructor(
            }
            FunctionBuildConfig.isDemoMode = isChecked
            tbIsDrawAutopilotTrajectoryData.isEnabled = !isChecked
+            Logger.d("Route", "DebugSettingView -> initView ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore: $isChecked" )
            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = isChecked
            if (!FunctionBuildConfig.isDemoMode) {
                tbIsDrawAutopilotTrajectoryData.isChecked = false
@@ -622,6 +623,7 @@ class DebugSettingView @JvmOverloads constructor(

        // 强制绘制引导线
        tbIsDrawAutopilotTrajectoryData.setOnCheckedChangeListener { _, isChecked ->
+            Logger.d("Route", "DebugSettingView -> initView2 ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore: $isChecked")
            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = isChecked
        }

--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -15,6 +15,7 @@ import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger;

 import org.jetbrains.annotations.NotNull;

@@ -61,6 +62,7 @@ public class MogoRouteOverlayManager implements

    @Override
    public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> items) {
+        Logger.d(TAG, "--- onAutopilotTrajectory ---:" + items.size());
        synchronized (queue) {
            queue.clear();
            queue.offer(items);
@@ -73,17 +75,20 @@ public class MogoRouteOverlayManager implements
            return;
        }
        if (isArriveAtStation.get()) {
+            Logger.d(TAG, "--- onLocationChanged 1 -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
            RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
            return;
        }
        boolean force = FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
        if (!force && autopilotMode.get() != 1) {
+            Logger.d(TAG, "--- onLocationChanged 2 -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
            RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
            return;
        }
        synchronized (queue) {
            List<MessagePad.TrajectoryPoint> items = queue.peekLast();
            if (items != null && !items.isEmpty()) {
+                Logger.d(TAG, "--- onLocationChanged -- [isDemo1: " + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData + ",isDemo2:" +FunctionBuildConfig.isDemoMode + ",isGps:" + isGps + ",mode:" + autopilotMode.get() + ",lon:" + location.getLongitude() + ",lat:" + location.getLatitude() + ",angle:" + location.getBearing() + "]");
                RouteOverlayDrawer.getInstance().drawTrajectoryList(items, location.getBearing());
            }
        }