From 808e772cce3bdae69e350b4e757af448f72b2b5e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=91=A3=E5=AE=8F=E5=AE=87?= <martindhy@gmail.com>
Date: Wed, 22 Sep 2021 21:14:08 +0800
Subject: [PATCH] =?UTF-8?q?=E5=87=86=E5=A4=87=E6=8A=BD=E7=A6=BBAutoPilot?=
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MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: 董宏宇 <martindhy@gmail.com>
---
 .idea/gradle.xml                              |  1 +
 .../och/bus/presenter/OchBusPresenter.java    |  6 +-
 .../com/mogo/och/taxi/MogoOCHTaxiModel.java   |  4 +-
 .../com/mogo/och/taxi/ui/OCHTaxiFragment.java |  2 +-
 .../java/com/mogo/och/BaseOchFragment.java    |  2 +-
 .../mogo-core-function-autopilot/.gitignore   |  1 +
 .../mogo-core-function-autopilot/build.gradle | 67 +++++++++++++++++++
 .../consumer-rules.pro                        |  0
 .../gradle.properties                         |  3 +
 .../proguard-rules.pro                        | 21 ++++++
 .../src/main/AndroidManifest.xml              |  5 ++
 .../autopilot/MoGoAutoPilotProvider.java      | 56 ++++++++++++++++
 .../AdasControlCommandParameter.java          |  2 +-
 .../core/data/autopilot}/AdasOCHData.java     |  2 +-
 .../RemoteControlAutoPilotParameters.java     | 17 +++--
 .../eagle/core/data/model/V2XThreatIndInfo.kt | 44 ------------
 core/mogo-core-function-api/README.md         |  5 ++
 .../api/autopilot/IMoGoAutoPilotProvider.java | 32 +++++++++
 .../IMoGoAutoPilotStatusListener.java         | 38 +++++++++++
 .../extensions/entrance/EntranceFragment.java |  3 +-
 .../autopilot/AutoPilotRemoteController.java  |  2 +-
 .../dispatch/DispatchAutoPilotManager.java    |  4 +-
 .../service/intent/MockIntentHandler.java     |  2 +-
 .../service/adas/IMogoADASController.java     |  1 +
 .../service/adas/IMogoAdasOCHCallback.java    |  2 +-
 .../service/impl/adas/MogoADASController.java |  5 +-
 settings.gradle                               |  2 +
 27 files changed, 257 insertions(+), 72 deletions(-)
 create mode 100644 core/function-impl/mogo-core-function-autopilot/.gitignore
 create mode 100644 core/function-impl/mogo-core-function-autopilot/build.gradle
 create mode 100644 core/function-impl/mogo-core-function-autopilot/consumer-rules.pro
 create mode 100644 core/function-impl/mogo-core-function-autopilot/gradle.properties
 create mode 100644 core/function-impl/mogo-core-function-autopilot/proguard-rules.pro
 create mode 100644 core/function-impl/mogo-core-function-autopilot/src/main/AndroidManifest.xml
 create mode 100644 core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java
 rename {services/mogo-service/src/main/java/com/mogo/service/impl/adas => core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot}/AdasControlCommandParameter.java (87%)
 rename {services/mogo-service-api/src/main/java/com/mogo/service/adas/entity => core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot}/AdasOCHData.java (88%)
 rename {services/mogo-service-api/src/main/java/com/mogo/service/adas => core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot}/RemoteControlAutoPilotParameters.java (79%)
 delete mode 100644 core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/model/V2XThreatIndInfo.kt
 create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java
 create mode 100644 core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java

diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 4232005431..3518080771 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -18,6 +18,7 @@
             <option value="$PROJECT_DIR$/app" />
             <option value="$PROJECT_DIR$/core" />
             <option value="$PROJECT_DIR$/core/function-impl" />
+            <option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-autopilot" />
             <option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-check" />
             <option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-hmi" />
             <option value="$PROJECT_DIR$/core/function-impl/mogo-core-function-notice" />
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java
index 88b3cfad93..1f343a7c16 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java
@@ -12,7 +12,6 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.data.BaseData;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.commons.network.SubscribeImpl;
-import com.mogo.commons.network.Utils;
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.HostConst;
@@ -31,12 +30,11 @@ import com.mogo.och.bus.bean.UpdateSiteStatusRequest;
 import com.mogo.och.bus.fragment.OchBusFragment;
 import com.mogo.och.bus.net.IOchBusApiService;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.service.adas.RemoteControlAutoPilotParameters;
-import com.mogo.service.adas.entity.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.RequestOptions;
 import com.mogo.utils.network.utils.GsonUtil;
-import com.mogo.utils.storage.SharedPrefsMgr;
 
 import java.util.ArrayList;
 import java.util.List;
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java
index 0af32891ae..1ea5b41f81 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java
@@ -15,8 +15,8 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.HostConst;
 import com.mogo.och.taxi.ui.OCHTaxiUiController;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.service.adas.RemoteControlAutoPilotParameters;
-import com.mogo.service.adas.entity.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 import com.mogo.service.cloud.socket.IMogoLifecycleListener;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 import com.mogo.service.intent.IMogoIntentListener;
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
index be246c3d75..d03c206237 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
@@ -26,7 +26,7 @@ import com.mogo.och.taxi.R;
 import com.mogo.och.view.SlidePanelView;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.adas.IMogoAdasRouteCallBack;
-import com.mogo.service.adas.entity.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.logger.Logger;
diff --git a/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java b/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
index 394fbebf61..887ffdbf1e 100644
--- a/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
+++ b/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
@@ -17,7 +17,7 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.view.OnPreventFastClickListener;
 import com.mogo.och.view.SlidePanelView;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
 import com.mogo.utils.logger.Logger;
 
 /**
diff --git a/core/function-impl/mogo-core-function-autopilot/.gitignore b/core/function-impl/mogo-core-function-autopilot/.gitignore
new file mode 100644
index 0000000000..42afabfd2a
--- /dev/null
+++ b/core/function-impl/mogo-core-function-autopilot/.gitignore
@@ -0,0 +1 @@
+/build
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-autopilot/build.gradle b/core/function-impl/mogo-core-function-autopilot/build.gradle
new file mode 100644
index 0000000000..bd30d9d646
--- /dev/null
+++ b/core/function-impl/mogo-core-function-autopilot/build.gradle
@@ -0,0 +1,67 @@
+plugins {
+    id 'com.android.library'
+    id 'kotlin-android'
+    id 'kotlin-android-extensions'
+    id 'kotlin-kapt'
+    id 'com.alibaba.arouter'
+}
+android {
+    compileSdkVersion rootProject.ext.android.compileSdkVersion
+    // buildToolsVersion rootProject.ext.android.buildToolsVersion
+    defaultConfig {
+        minSdkVersion rootProject.ext.android.minSdkVersion
+        targetSdkVersion rootProject.ext.android.targetSdkVersion
+        versionCode Integer.valueOf(VERSION_CODE)
+        versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
+
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+        consumerProguardFiles 'consumer-rules.pro'
+        //ARouter apt 参数
+        kapt {
+            useBuildCache = false
+            arguments {
+                arg("AROUTER_MODULE_NAME", project.getName())
+            }
+        }
+
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+
+}
+
+dependencies {
+    implementation fileTree(dir: 'libs', include: ['*.jar'])
+    implementation rootProject.ext.dependencies.kotlinstdlibjdk7
+    implementation rootProject.ext.dependencies.androidxccorektx
+    implementation rootProject.ext.dependencies.androidxappcompat
+    implementation rootProject.ext.dependencies.androidxconstraintlayout
+    implementation rootProject.ext.dependencies.arouter
+    implementation rootProject.ext.dependencies.rxandroid
+
+    kapt rootProject.ext.dependencies.aroutercompiler
+
+    implementation "com.zhidao.support.adas:high:1.2.0.2"
+
+    if (Boolean.valueOf(RELEASE)) {
+
+    } else {
+
+        implementation project(':core:mogo-core-data')
+        implementation project(':core:mogo-core-utils')
+        implementation project(':core:mogo-core-function-api')
+        implementation project(':core:mogo-core-function-call')
+    }
+}
+
+apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
diff --git a/core/function-impl/mogo-core-function-autopilot/consumer-rules.pro b/core/function-impl/mogo-core-function-autopilot/consumer-rules.pro
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/core/function-impl/mogo-core-function-autopilot/gradle.properties b/core/function-impl/mogo-core-function-autopilot/gradle.properties
new file mode 100644
index 0000000000..1126e026c9
--- /dev/null
+++ b/core/function-impl/mogo-core-function-autopilot/gradle.properties
@@ -0,0 +1,3 @@
+GROUP=com.mogo.eagle.core
+POM_ARTIFACT_ID=function-autopilot
+VERSION_CODE=1
diff --git a/core/function-impl/mogo-core-function-autopilot/proguard-rules.pro b/core/function-impl/mogo-core-function-autopilot/proguard-rules.pro
new file mode 100644
index 0000000000..481bb43481
--- /dev/null
+++ b/core/function-impl/mogo-core-function-autopilot/proguard-rules.pro
@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/AndroidManifest.xml b/core/function-impl/mogo-core-function-autopilot/src/main/AndroidManifest.xml
new file mode 100644
index 0000000000..7e30806cb7
--- /dev/null
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/AndroidManifest.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.mogo.eagle.core.function.hmi">
+
+</manifest>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java
new file mode 100644
index 0000000000..dd0bf443e9
--- /dev/null
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java
@@ -0,0 +1,56 @@
+package com.mogo.eagle.core.function.autopilot;
+
+import android.content.Context;
+
+import com.mogo.eagle.core.data.autopilot.AdasControlCommandParameter;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotProvider;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
+import com.mogo.eagle.core.utilcode.util.LogUtils;
+import com.zhidao.support.adas.high.AdasManager;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/22 8:43 下午
+ */
+public class MoGoAutoPilotProvider implements IMoGoAutoPilotProvider {
+
+    private static final String TAG = "MogoAutoPilotProvider";
+
+    @Override
+    public void init(Context context) {
+
+    }
+
+    @Override
+    public void startAutoPilot(RemoteControlAutoPilotParameters result) {
+        if (AdasManager.getInstance().isSocketConnect()) {
+            AdasControlCommandParameter parameter = new AdasControlCommandParameter(TAG, result);
+            AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter));
+        } else {
+            LogUtils.eTag(TAG, "车机与工控机链接失败，无法开启自动驾驶");
+        }
+    }
+
+    @Override
+    public void cancelAutoPilot() {
+        if (AdasManager.getInstance().isSocketConnect()) {
+            AdasManager.getInstance().controlAutopilotCarHead();
+        } else {
+            LogUtils.eTag(TAG, "车机与工控机链接失败，无法断开自动驾驶");
+        }
+    }
+
+    @Override
+    public int getAutopilotStatus() {
+//        int status = IMoGoAutoPilotStatusListener.STATUS_AUTOPILOT_DISABLE;
+//        try {
+//            status = adasProvider.autopilotStateCall().getState();
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//        }
+        return 0;
+    }
+
+}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasControlCommandParameter.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasControlCommandParameter.java
similarity index 87%
rename from services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasControlCommandParameter.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasControlCommandParameter.java
index 391b8fcb72..66bcbd48fd 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasControlCommandParameter.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasControlCommandParameter.java
@@ -1,4 +1,4 @@
-package com.mogo.service.impl.adas;
+package com.mogo.eagle.core.data.autopilot;
 
 public
 /**
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/AdasOCHData.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasOCHData.java
similarity index 88%
rename from services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/AdasOCHData.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasOCHData.java
index d9d8f501b6..248be4cbf7 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/AdasOCHData.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AdasOCHData.java
@@ -1,4 +1,4 @@
-package com.mogo.service.adas.entity;
+package com.mogo.eagle.core.data.autopilot;
 
 public
 /**
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/RemoteControlAutoPilotParameters.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/RemoteControlAutoPilotParameters.java
similarity index 79%
rename from services/mogo-service-api/src/main/java/com/mogo/service/adas/RemoteControlAutoPilotParameters.java
rename to core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/RemoteControlAutoPilotParameters.java
index 9089d57260..42dbb6571f 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/RemoteControlAutoPilotParameters.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/RemoteControlAutoPilotParameters.java
@@ -1,18 +1,17 @@
-package com.mogo.service.adas;
+package com.mogo.eagle.core.data.autopilot;
 
 import java.util.List;
 
-public
 /**
- * @author congtaowang
- * @since 2020/10/16
- *
- * 自动驾驶参数
+ * @author donghongyu
+ * @since 2021/09/22
+ * <p>
+ * 启动自动驾驶参数
  */
-class RemoteControlAutoPilotParameters {
+public class RemoteControlAutoPilotParameters {
 
     public AutoPilotLonLat startLatLon;
-    public List< AutoPilotLonLat > wayLatLons;
+    public List<AutoPilotLonLat> wayLatLons;
     public AutoPilotLonLat endLatLon;
     public float speedLimit;
     public int vehicleType;// 运营类型
@@ -28,7 +27,7 @@ class RemoteControlAutoPilotParameters {
         public AutoPilotLonLat() {
         }
 
-        public AutoPilotLonLat( double lat, double lon ) {
+        public AutoPilotLonLat(double lat, double lon) {
             this.lat = lat;
             this.lon = lon;
         }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/model/V2XThreatIndInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/model/V2XThreatIndInfo.kt
deleted file mode 100644
index 43e103e990..0000000000
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/model/V2XThreatIndInfo.kt
+++ /dev/null
@@ -1,44 +0,0 @@
-package com.mogo.eagle.core.data.model
-
-/**
- *@author        xiaoyuzhou
- *@date          2021/9/14 3:51 下午
- */
-class V2XThreatIndInfo {
-//    /**
-//     * RV temperary vehicle ID
-//     */
-//    private val vehicle_id: String? = null
-//    /**
-//     * V2V threat status 0: update 1: add 2: delete
-//     * range(0..2)
-//     * [com.zhidao.support.obu.constants.ObuConstants.STATUS]
-//     */
-//    private val status = 0
-//
-//    /**
-//     * RV threat information 目前判断RV方向使用的是 ext_info 中的 target_classification 变量
-//     */
-//    private val threat_info: V2vThreat? = null
-//
-//    /**
-//     * 目前判断RV方向使用的是 ext_info 中的 target_classification 变量
-//     * The extension information of V2V threat
-//     */
-//    private val ext_info: V2vThreatExt? = null
-//
-//    /**
-//     * RV basic information
-//     */
-//    private val basic_info: MovingObjectInfo? = null
-//    /**
-//     * Wgs84坐标系，线性经纬度轨迹列表
-//     */
-//    private val locus_list: List<com.mogo.eagle.core.data.map.MogoLatLng>? = null
-//
-//    /**
-//     * 高德坐标系Gcj，线性经纬度轨迹列表
-//     */
-//    private val gd_locus_list: List<com.mogo.eagle.core.data.map.MogoLatLng>? = null
-
-}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/README.md b/core/mogo-core-function-api/README.md
index de56e4f933..eb29446f79 100644
--- a/core/mogo-core-function-api/README.md
+++ b/core/mogo-core-function-api/README.md
@@ -1,5 +1,10 @@
 ### 模块说明
 本模块定义业务层具备那些功能，不提供具体业务实现；所有具体业务实现均在mogo-core-function-impl模块中
+
+base
+    IMoGoFunctionProvider--------带界面的功能模块
+    IMoGoFunctionServerProvider--服务类型的功能模块
+
 adas--域控制器相关
 chat--车聊聊相关
 check--车辆检测相关
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java
new file mode 100644
index 0000000000..6c19059386
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotProvider.java
@@ -0,0 +1,32 @@
+package com.mogo.eagle.core.function.api.autopilot;
+
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/22 8:27 下午
+ * 自动驾驶节点
+ */
+public interface IMoGoAutoPilotProvider extends IMoGoFunctionServerProvider {
+
+    /**
+     * 开启自动驾驶
+     *
+     * @param result
+     */
+    void startAutoPilot(RemoteControlAutoPilotParameters result);
+
+    /**
+     * 结束自动驾驶
+     */
+    void cancelAutoPilot();
+
+    /**
+     * 获取车辆自动驾驶状态
+     *
+     * @return
+     */
+    int getAutopilotStatus();
+
+}
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java
new file mode 100644
index 0000000000..70fc0a5efa
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java
@@ -0,0 +1,38 @@
+package com.mogo.eagle.core.function.api.autopilot;
+
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/22 8:59 下午
+ * 自动驾驶状态回调监听
+ */
+public interface IMoGoAutoPilotStatusListener {
+
+    /**
+     * 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
+     */
+    int STATUS_AUTOPILOT_DISABLE = 0;
+    /**
+     * 可自动驾驶，工控机连接正常，且处于人工干预状态
+     */
+    int STATUS_AUTOPILOT_ENABLE = 1;
+    /**
+     * 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
+     */
+    int STATUS_AUTOPILOT_RUNNING = 2;
+
+
+    /**
+     * 到站
+     * @param data 所到车站的简单信息
+     */
+    void onArriveAt( AdasOCHData data );
+
+    /**
+     * 自动驾驶状态发生改变
+     * @param state {@link #STATUS_AUTOPILOT_DISABLE}
+     * @param reason 不能自动驾驶的原因
+     */
+    void onStateChanged(int state, String reason);
+}
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
index bddd39a1c2..9222f2e503 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -14,7 +14,6 @@ import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
-import android.widget.CheckedTextView;
 import android.widget.EditText;
 import android.widget.FrameLayout;
 import android.widget.ImageButton;
@@ -73,7 +72,7 @@ import com.mogo.module.service.receiver.MogoReceiver;
 import com.mogo.module.share.manager.ServiceApisManager;
 import com.mogo.service.IMogoServiceApis;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.service.adas.entity.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 import com.mogo.service.analytics.IMogoAnalytics;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 import com.mogo.service.entrance.ButtonIndex;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
index acd8e143a5..b47d2c7884 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java
@@ -2,7 +2,7 @@ package com.mogo.module.service.autopilot;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 import com.mogo.service.cloud.socket.IMogoSocketManager;
 import com.mogo.utils.logger.Logger;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
index b86dd5b92b..d9072f5020 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
@@ -19,8 +19,8 @@ import com.mogo.module.service.dispatch.model.DispatchServiceModel;
 import com.mogo.module.service.dispatch.model.IDispatch;
 import com.mogo.service.IMogoServiceApis;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.service.adas.RemoteControlAutoPilotParameters;
-import com.mogo.service.adas.entity.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 import com.mogo.service.entrance.IMogoEntranceAutopilotStatusClickListener;
 import com.mogo.utils.logger.Logger;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
index 49e85549d5..09e151a475 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
@@ -38,7 +38,7 @@ import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.R;
 import com.mogo.module.service.status.EnvStatusManager;
 import com.mogo.module.service.timedelay.TimeDelayUploadManager;
-import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
 import com.mogo.service.adas.entity.ADASCarStateInfo;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.entrance.ButtonIndex;
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
index a51025c29d..f513af0775 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
@@ -1,6 +1,7 @@
 package com.mogo.service.adas;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
index 81998f8a6b..c09a6113b5 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
@@ -1,6 +1,6 @@
 package com.mogo.service.adas;
 
-import com.mogo.service.adas.entity.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 
 public
 /**
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 9b7690056e..7721ef5944 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -13,6 +13,7 @@ import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
+import com.mogo.eagle.core.data.autopilot.AdasControlCommandParameter;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.module.adas.AdasProvider;
@@ -26,11 +27,11 @@ import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
 import com.mogo.service.adas.IMogoAdasRouteCallBack;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
-import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
 import com.mogo.service.adas.entity.ADASCarStateInfo;
 import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.adas.entity.ADASWarnMessage;
-import com.mogo.service.adas.entity.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 import com.mogo.service.adas.entity.CarModelListResponse;
 import com.mogo.service.datamanager.IMogoDataManager;
 import com.mogo.service.impl.singleton.SingletonsHolder;
diff --git a/settings.gradle b/settings.gradle
index 76ddba2563..8beb0265f7 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -27,6 +27,8 @@ include ':core:function-impl:mogo-core-function-obu-mogo'
 include ':core:function-impl:mogo-core-function-check'
 // 云公告相关的业务，UI写到HMI，这里只处理数据及功能逻辑
 include ':core:function-impl:mogo-core-function-notice'
+// 自动驾驶相关能力，控制自动驾驶，获取自动驾驶识别信息，自车感知预警等
+include ':core:function-impl:mogo-core-function-autopilot'
 
 
 // 服务