将ADAS LIB工程代码全部移动到鹰眼项目中

build.gradle

@@ -35,7 +35,7 @@ buildscript {
         classpath 'com.volcengine:apm_insight_plugin:1.4.1'
         classpath 'com.mogo.cloud:thread_opt:1.0.0'
         classpath 'com.mogo.cloud:systrace:1.0.1'
-
+        classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.8'
 //        classpath "com.bytedance.android.byteX:base-plugin:0.3.0"
 //        classpath "com.mogo.cloud:hook:${HOOK_LOG_VERSION}"
 

gradle.properties

@@ -113,6 +113,7 @@ MAP_AMAP_VERSION=2.1.16.6
 MAP_AUTONAVI_VERSION=2.1.16.6
 MOGO_MAP_VERSION=2.1.16.6
 MOGO_MAP_API_VERSION=2.1.16.6
+MOGO_ADAS_VERSION=2.1.16.6
 MOGO_SERVICE_VERSION=2.1.16.6
 MOGO_SERVICE_API_VERSION=2.1.16.6
 MOGO_CONNECTION_VERSION=2.1.16.6

libraries/mogo-adas/build.gradle

@@ -1,30 +1,29 @@
 plugins {
     id 'com.android.library'
-    id 'kotlin-android'
-    id 'kotlin-android-extensions'
-    id 'kotlin-kapt'
-    id 'com.alibaba.arouter'
+    id 'com.google.protobuf'
+//    id 'maven'
+}
+ext {
+    //自动驾驶产品版本号
+    AP_VERSION = "2.2.1"
 }
-
 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("${project.name.replace("-", "_").toUpperCase()}_VERSION")
+        def name = getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
+        versionName name
+//        buildConfigField "String", "VERSION_NAME", "\"${name}\""
+        buildConfigField "String", "AP_VERSION", "\"${AP_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 {
@@ -33,31 +32,75 @@ android {
             proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
         }
     }
+
+    sourceSets {
+        main {
+            java {
+                srcDir 'src/main/java'
+            }
+
+            proto {
+                srcDir 'src/main/proto'
+                include '**/*.proto'
+            }
+        }
+    }
+
+    protobuf {
+        protoc {
+            artifact = 'com.google.protobuf:protoc:3.6.1'
+        }
+
+        generateProtoTasks {
+            all().each { task ->
+                task.builtins {
+                    remove java
+                }
+                task.builtins {
+                    java {}
+                }
+            }
+        }
+    }
+
 }
 
 dependencies {
     implementation fileTree(dir: 'libs', include: ['*.jar'])
-    implementation rootProject.ext.dependencies.androidxappcompat
-
-    implementation rootProject.ext.dependencies.arouter
-    kapt rootProject.ext.dependencies.aroutercompiler
-
-    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        implementation rootProject.ext.dependencies.mogo_core_utils
-        implementation rootProject.ext.dependencies.mogomapapi
-        api rootProject.ext.dependencies.mapautomap
-        implementation rootProject.ext.dependencies.mogocommons
-
-        implementation rootProject.ext.dependencies.mogo_core_data
-
-    } else {
-        implementation project(':core:mogo-core-utils')
-        implementation project(':libraries:mogo-map-api')
-        api project(':libraries:map-autonavi')
-        implementation project(':foudations:mogo-commons')
-
-        implementation project(':core:mogo-core-data')
-    }
+    //okhttp3的依赖
+    implementation 'com.squareup.okhttp3:okhttp:3.12.3'
+    // parser
+    implementation rootProject.ext.dependencies.gson
+    // logger
+    //implementation 'com.orhanobut:logger:2.2.0'
+    //ProtoBuf
+    implementation 'com.google.protobuf:protobuf-java:3.6.1'
+    implementation 'com.google.protobuf:protoc:3.6.1'
+    implementation 'com.google.protobuf:protobuf-java-util:3.6.1'
+    implementation 'com.jcraft:jsch:0.1.55'
+//    api project(path: ':lib_recorder')
+    api "com.zhidao.support.recorder:recorder:1.0.0.3"
 }
 
-apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
+//task androidSourcesJar(type: Jar) {
+//    classifier = 'sources'
+//    from android.sourceSets.main.java.srcDirs
+//}
+////配置需要上传到maven仓库的文件
+//artifacts {
+//    archives androidSourcesJar
+//}
+//
+//uploadArchives {
+//    repositories.mavenDeployer {
+//        repository(url: RELEASE_REPO_URL) {
+//            authentication(userName: NAME, password: PASSWORD)
+//        }
+//        snapshotRepository(url: SNAPSHOT_REPOSITORY_URL) {
+//            authentication(userName: NAME, password: PASSWORD)
+//        }
+//        pom.groupId = GROUP
+//        pom.artifactId = POM_ARTIFACT_ID
+//        pom.version = VERSION
+//    }
+//}

libraries/mogo-adas/src/main/AndroidManifest.xml

@@ -1,5 +1,6 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.mogo.adas">
-
-
+    package="com.zhidao.support.adas.high" >
+    <uses-permission android:name="android.permission.ACCESS_BACKGROUND_LOCATION"/>
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
+    <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
 </manifest>

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

@@ -0,0 +1,693 @@
+package com.zhidao.support.adas.high;
+
+import static com.zhidao.support.adas.high.common.ActionTypeReceive.ACTION_WS_AUTOPILOT_CONTROL;
+import static com.zhidao.support.adas.high.udp.CupidUdpConstract.VIDEO_RENDER_IMAGE_UDP;
+
+import android.content.Context;
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.google.gson.Gson;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.jcraft.jsch.JSchException;
+import com.zhidao.support.adas.high.bean.AdasConfig;
+import com.zhidao.support.adas.high.bean.AutopilotControl;
+import com.zhidao.support.adas.high.bean.AutopilotSpeedParam;
+import com.zhidao.support.adas.high.bean.BaseInfo;
+import com.zhidao.support.adas.high.bean.BasicInfo;
+import com.zhidao.support.adas.high.bean.ConfigInfo;
+import com.zhidao.support.adas.high.bean.FaceLoginResponse;
+import com.zhidao.support.adas.high.bean.MapLocationInfo;
+import com.zhidao.support.adas.high.bean.SSHResult;
+import com.zhidao.support.adas.high.bean.record.RecordCauseParam;
+import com.zhidao.support.adas.high.bean.record.RecordDataParam;
+import com.zhidao.support.adas.high.common.ActionTypeReceive;
+import com.zhidao.support.adas.high.common.AppPreferenceHelper;
+import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.MgContextUtils;
+import com.zhidao.support.adas.high.common.SSH;
+import com.zhidao.support.adas.high.common.ThreadPoolManager;
+import com.zhidao.support.adas.high.msg.MyMessageFactory;
+import com.zhidao.support.adas.high.queue.UdpQueueManager;
+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.socket.read.OriginReadData;
+import com.zhidao.support.adas.high.socket.read.SocketReader;
+import com.zhidao.support.adas.high.udp.CupidUdpConstract;
+import com.zhidao.support.adas.high.udp.IConnectRtpListener;
+import com.zhidao.support.adas.high.udp.IGetH264Data;
+
+import org.json.JSONObject;
+
+import java.io.IOException;
+import java.util.List;
+
+import mogo.webproto.WebsocketHeader;
+import okhttp3.WebSocket;
+import okio.ByteString;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high
+ * @ClassName: AdasChannel
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/7 13:32
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/7 13:32
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IConnectRtpListener, IGetH264Data {
+    private static final String TAG = AdasChannel.class.getSimpleName();
+
+    private FpgaSocket mSocket;
+    private SocketReader socketReader;
+    private JSONObject jsonObject;
+    /**
+     * udp server
+     */
+    private CupidUdpConstract udpConstract;
+
+    /**
+     * ============是否运行
+     */
+    private volatile boolean isRunning;
+    private volatile boolean isConnected;
+    private volatile boolean flag = false;
+
+    private JSONObject location;
+    //是否使用队列处理数据
+    public static final boolean isUseQueue = false;
+    //录包信息
+    private RecordDataParam recordDataParam = null;
+    /**
+     * 配置信息同步接口只调用一次
+     */
+    private List<FaceLoginResponse.DataBean.ConfigInfoHistoryBean> configInfo;
+    /**
+     * 序列化rect
+     */
+    private Gson gson;
+    /**
+     * 消息工厂
+     */
+    private MyMessageFactory myMessageFactory;
+    private AutopilotSpeedParam speedParam;
+    private String ipAddr;//工控机IP
+    private RecordCauseParam recordCauseParam;
+    private SSH ssh;
+
+    @Override
+    public void setIPCIp(String ipAddr) {
+        this.ipAddr = ipAddr;
+    }
+
+    AdasChannel(Context context) {
+        this(context, null);
+    }
+
+    AdasChannel(Context context, String ipAddr) {
+        initData(context);
+        this.ipAddr = ipAddr;
+        initSocket();
+        if (TextUtils.isEmpty(ipAddr))
+            initUdpServer();
+
+    }
+
+    private void initData(Context context) {
+        MgContextUtils.setContext(context.getApplicationContext());
+        //消息工厂
+        myMessageFactory = new MyMessageFactory();
+        FaceLoginResponse.DataBean dataBean = AppPreferenceHelper.getInstance(context).getUserInfo();
+        if (dataBean != null) {
+            configInfo = dataBean.getConfigInfoHistory();
+        }
+        jsonObject = new JSONObject();
+        location = new JSONObject();
+        if (gson == null) {
+            gson = new Gson();
+        }
+    }
+
+    /**
+     * 初始化udp
+     */
+    private void initUdpServer() {
+        if (isUseQueue) {
+            UdpQueueManager.getInstance().registerAdasChannel(this);
+            UdpQueueManager.getInstance().initDector();
+        }
+        udpConstract = new CupidUdpConstract(VIDEO_RENDER_IMAGE_UDP);
+        udpConstract.setOnReceiverH264Data(this);
+        udpConstract.setOnConnectListener(this);
+        isRunning = true;
+        if (gson == null) {
+            gson = new Gson();
+        }
+    }
+
+    private void initSocket() {
+        mSocket = new FpgaSocket();
+        socketReader = new SocketReader();
+        mSocket.setWebSocketListener(this);
+        if (isUseQueue) {
+            WebSocketQueueManager.getInstance().registerWebSocketListener(this);
+            WebSocketQueueManager.getInstance().initDector();
+            WSByteQueueManager.getInstance().registerWebSocketListener(this);
+            WSByteQueueManager.getInstance().initDector();
+        }
+        //TODO 写死IP
+        if (!TextUtils.isEmpty(ipAddr)) {
+            isRunning = true;
+            getOnConnectionAddress(ipAddr);
+        }
+    }
+
+    private void connectSocket(String address) {
+        mSocket.connectWebSocket(address);
+    }
+
+    public void closeSocket() {
+        mSocket.closeWebSocket();
+    }
+
+    public void sendLocation(MapLocationInfo mapLocationInfo) {
+        if (!isConnected) {
+            return;
+        }
+        CupidLogUtils.e(mapLocationInfo.toString());
+        //locationType
+        /*
+        TODO
+        一次过滤：
+        mAMapLocation.getLocationType(); //通过以上方法获取定位类型，如果对定位类型要求比较高，可以过滤掉基站定位（类型6）结果。
+        二次过滤：
+        mAMapLocation. getAccuracy(); //通过以上方法获取定位精度，例如超过500M精度的定位结果可以考虑不在业务场景里使用。
+        6 基站定位结果 纯粹依赖移动、联通、电信等移动网络定位，定位精度在500米-5000米之间。
+        5 Wifi定位结果 属于网络定位，定位精度相对基站定位会更好，定位精度较高，在5米－200米之间。
+        4 缓存定位结果 返回一段时间前设备在同样的位置缓存下来的网络定位结果
+        1 GPS定位结果 通过设备GPS定位模块返回的定位结果，精度较高，在10米－100米左右
+         */
+        //纬度
+        double currentLat = mapLocationInfo.getLatitude();
+        //经度
+        double currentLng = mapLocationInfo.getLongitude();
+        //瞬时速度 m/s
+        float speed = mapLocationInfo.getSpeed();
+        /*if (BuildConfig.DEBUG) {
+            speed = 60.0f;
+        }*/
+        try {
+            //位置信息 action是2
+            jsonObject.put("action", ActionTypeReceive.ACTION_WS_GPS_TYPE.getmActionType());
+            location.put("latitude", currentLat + "");
+            location.put("longitude", currentLng + "");
+            location.put("speed", speed + "");
+            location.put("bearing", mapLocationInfo.getBearing() + "");
+            jsonObject.put("location", location);
+
+            mSocket.sendDataWebSocket(jsonObject.toString());
+
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    /**
+     * 基础信息
+     *
+     * @param basicInfo
+     */
+    public void sendWsBasicInfo(BasicInfo basicInfo) {
+        if (basicInfo == null) {
+            return;
+        }
+        String msg = gson.toJson(basicInfo);
+        mSocket.sendDataWebSocket(msg);
+    }
+
+    /**
+     * 向工控机发送数据
+     *
+     * @param info
+     */
+    @Override
+    public void sendBaseInfo(BaseInfo info) {
+        if (info == null) {
+            return;
+        }
+        String msg = gson.toJson(info);
+        Log.i("SendBaseInfo=", msg);
+        mSocket.sendDataWebSocket(msg);
+    }
+
+    private void sendIPCCmd(final String cmd) {
+        if (ssh == null) {
+//            String ip = ipAddr;
+            if (TextUtils.isEmpty(ipAddr)) {
+                //尝试从缓存中获取工控机IP
+//               String ip = AppPreferenceHelper.getInstance(MgContextUtils.getContext()).getUdpClientAddress();
+//                if (TextUtils.isEmpty(ip)) {
+                if (mAdasListener != null) {
+                    mAdasListener.onSSHResult(new SSHResult(SSHResult.RESULT_CODE.IP_UNKNOWN, cmd, "IPC IP未知"));
+                }
+                return;
+//                }
+            }
+            ThreadPoolManager.getsInstance().execute(new Runnable() {
+                @Override
+                public void run() {
+                    ssh = new SSH();
+                    try {
+                        ssh.connect(ipAddr, 22, "titan", "mogo@ZHIDAO10");
+                        SSHResult result = ssh.exec(cmd, "mogo@ZHIDAO10");
+                        if (mAdasListener != null)
+                            mAdasListener.onSSHResult(result);
+                    } catch (JSchException | IOException e) {
+                        if (mAdasListener != null)
+                            mAdasListener.onSSHResult(new SSHResult(SSHResult.RESULT_CODE.ERROR, cmd, e.getMessage()));
+                        e.printStackTrace();
+                    }
+                    ssh.disConnect();
+                    ssh = null;
+                }
+            });
+        }
+    }
+
+    @Override
+    public void shutdownIPC() {
+        sendIPCCmd("sudo -S shutdown -h now");
+    }
+
+    @Override
+    public void rebootIPC() {
+        sendIPCCmd("sudo -S reboot");
+    }
+
+    @Override
+    public void rebootAPDocker() {
+        sendIPCCmd("docker restart autocar_default_1");
+    }
+
+    /**
+     * 配置信息
+     *
+     * @param configInfo
+     */
+    public void sendWsConfigMessage(ConfigInfo configInfo) {
+        if (configInfo == null) {
+            return;
+        }
+        String msg = gson.toJson(configInfo);
+        mSocket.sendDataWebSocket(msg);
+    }
+
+    /**
+     * 发送ws消息
+     *
+     * @param msg 消息
+     */
+    public boolean sendWsMessage(String msg) {
+        boolean isSend = mSocket.sendDataWebSocket(msg);
+        CupidLogUtils.w("sendWsMessage===>" + msg + " ; " + isSend);
+        return isSend;
+    }
+
+    /**
+     * 线程标志
+     */
+    public void onResume() {
+        CupidLogUtils.e(TAG, "===>onResume isRunning===>" + isRunning);
+        if (!isRunning) {
+            isRunning = true;
+            if (TextUtils.isEmpty(ipAddr)) {
+                initUdpServer();
+            } else {
+                getOnConnectionAddress(ipAddr);
+            }
+        }
+    }
+
+    /**
+     * 暂停
+     */
+    public void onPause() {
+        isRunning = false;
+        if (udpConstract != null)
+            udpConstract.release();
+        if (isUseQueue) {
+            UdpQueueManager.getInstance().release();
+        }
+    }
+
+    public void onDestory() {
+        onPause();
+        mSocket.closeWebSocket();
+        if (configInfo != null) {
+            configInfo.clear();
+            configInfo = null;
+        }
+        if (location != null) {
+            location = null;
+        }
+        if (jsonObject != null) {
+            jsonObject = null;
+        }
+    }
+
+    /**
+     * 重置buffer
+     */
+    public void resetBuffer() {
+        if (udpConstract != null) {
+            udpConstract.resetBuffer();
+        }
+    }
+
+    /**
+     * 初始化webSocket
+     */
+    public void setUdpIsFirstInit() {
+        if (udpConstract != null)
+            udpConstract.setUdpIsFirstInit();
+    }
+
+    /**
+     * 处理webSocket text数据
+     *
+     * @param text
+     */
+    public void handlerWSMsg(String text) {
+        try {
+            JSONObject jsonObjectWs = new JSONObject(text);
+            String action = jsonObjectWs.optString("action");
+            if (TextUtils.isEmpty(action)) {
+                CupidLogUtils.w("--->action is null");
+                return;
+            }
+            myMessageFactory.createMessage(action).handlerMsg(gson, mAdasListener, text);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    public void handlerWSMsg(ByteString bytes) {
+        try {
+            if (socketReader != null) {
+                OriginReadData read = socketReader.read(bytes);
+                if (read == null) {
+                    //read 解析为空 默认解析view
+                    CupidLogUtils.w("--->websocket byte read null, analysis view");
+                    myMessageFactory.createMessage(0x101).handlerMsg(gson, mAdasListener, bytes.toByteArray());
+                    return;
+                }
+                WebsocketHeader.Header_websock header = WebsocketHeader.Header_websock.parseFrom(read.getHeader());
+                int headerType = header.getMsgType();
+                CupidLogUtils.w("--->websocket byte read header = " + headerType);
+                myMessageFactory.createMessage(headerType).handlerMsg(gson, mAdasListener, read.getPayload());
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+
+    @Override
+    public void onWebSocketConnectSuccess(WebSocket webSocket) {
+        isConnected = true;
+        CupidLogUtils.e("--->onWebSocketConnectSuccess");
+        if (mAdasMsgConnectStatusListener != null) {
+            mAdasMsgConnectStatusListener.onWebSocketConnectSuccess();
+            queryCarConfig();
+        }
+    }
+
+    @Override
+    public void onWebSocketConnectFailed(WebSocket webSocket, String t) {
+        isConnected = false;
+        CupidLogUtils.e("--->onWebSocketConnectFailed");
+        setUdpIsFirstInit();
+        if (mAdasMsgConnectStatusListener != null) {
+            mAdasMsgConnectStatusListener.onWebSocketConnectFailed(t);
+        }
+    }
+
+    @Override
+    public void onMessage(String message) {
+        handlerWSMsg(message);
+    }
+
+    @Override
+    public void onMessage(ByteString bytes) throws InvalidProtocolBufferException {
+        handlerWSMsg(bytes);
+    }
+
+    @Override
+    public void onConnectionSuccessRtp() {
+        CupidLogUtils.e(TAG, "--->onConnectionSuccessRtp");
+    }
+
+    @Override
+    public void onConnectionFailedRtp(String reason) {
+        CupidLogUtils.e(TAG, "--->onConnectionFailedRtp:" + reason);
+        // TODO 暂时注释 测试完成添加
+//        closeSocket();
+        setUdpIsFirstInit();
+        /*if (mRenderImageListener != null) {
+            mRenderImageListener.onConnectionFailedRtp(reason);
+        }*/
+    }
+
+    @Override
+    public void getOnConnectionAddress(String address) {
+        ipAddr = address;
+        CupidLogUtils.e(TAG, "--->getOnConnectionAddress" + address);
+        AppPreferenceHelper.getInstance(MgContextUtils.getContext()).saveUdpClientAddress(address);
+        connectSocket(address);
+        if (flag) {
+            flag = false;
+            if (configInfo != null && configInfo.size() > 0) {
+                if (isConnected) {
+                    mSocket.doConfigChanged(configInfo);
+                }
+            }
+        }
+
+    }
+
+    @Override
+    public void onDisconnectRtp() {
+        CupidLogUtils.e(TAG, "--->onDisconnectRtp");
+        setUdpIsFirstInit();
+    }
+
+    @Override
+    public void getH264Data(byte[] data, long receiverDataTimeUdp) {
+        //处理数据
+        String content = new String(data).trim();
+        CupidLogUtils.e("--->udp数据回调：" + content);
+        if (isUseQueue) {
+            UdpQueueManager.getInstance().addQueueData(content);
+        } else {
+            udpDataManage(content);
+        }
+    }
+
+    /**
+     * 处理udp数据
+     *
+     * @param content
+     */
+    public void udpDataManage(String content) {
+        if (!TextUtils.isEmpty(content)) {
+            if (gson == null) {
+                gson = new Gson();
+            }
+            try {
+                JSONObject jsonObject = new JSONObject(content);
+                String udpRenderAction = jsonObject.getString("action");
+                if (!TextUtils.isEmpty(udpRenderAction)) {
+                    //udp消息处理
+                    myMessageFactory.createMessage(udpRenderAction).handlerMsg(gson, mAdasListener, content);
+                }
+            } catch (Exception e) {
+                CupidLogUtils.e("--->json数据解析异常-换用protoBuf：" + e.toString());
+                myMessageFactory.createMessage("view").handlerMsg(gson, mAdasListener, content);
+                e.printStackTrace();
+            }
+        }
+    }
+
+    private OnAdasListener mAdasListener;
+    //连接状态listener
+    private OnAdasMsgConnectStatusListener mAdasMsgConnectStatusListener;
+
+    void setOnAdasListener(OnAdasListener adasListener) {
+        mAdasListener = adasListener;
+    }
+
+    void setOnAdasMsgConnectStatusListener(OnAdasMsgConnectStatusListener adasMsgConnectStatusListener) {
+        mAdasMsgConnectStatusListener = adasMsgConnectStatusListener;
+    }
+
+    @Override
+    public boolean controlAutopilotCarAuto() {
+        AutopilotControl autopilotControl = new AutopilotControl();
+        autopilotControl.setAction(ACTION_WS_AUTOPILOT_CONTROL.getmActionType());
+        AutopilotControl.ValuesBean autopilotControlValues = new AutopilotControl.ValuesBean();
+        autopilotControlValues.setMode(1);
+        autopilotControl.setValues(autopilotControlValues);
+        return sendWsMessage(gson.toJson(autopilotControl));
+    }
+
+    @Override
+    public boolean controlAutopilotCarHead() {
+        AutopilotControl autopilotControl = new AutopilotControl();
+        autopilotControl.setAction(ACTION_WS_AUTOPILOT_CONTROL.getmActionType());
+        AutopilotControl.ValuesBean autopilotControlValues = new AutopilotControl.ValuesBean();
+        autopilotControlValues.setMode(0);
+        autopilotControl.setValues(autopilotControlValues);
+        return sendWsMessage(gson.toJson(autopilotControl));
+    }
+
+    @Override
+    public boolean isSocketConnect() {
+        return mSocket.getWebSocket() != null;
+    }
+
+    @Override
+    public AdasConfig getAdasConfig() {
+        String address = AppPreferenceHelper.getInstance(MgContextUtils.getContext()).getUdpClientAddress();
+        String dockConfig = AppPreferenceHelper.getInstance(MgContextUtils.getContext()).getDockConfig();
+        if (TextUtils.isEmpty(dockConfig)) {
+            queryCarConfig();
+        }
+        AdasConfig adasConfig = new AdasConfig();
+        adasConfig.setAddress(address);
+        adasConfig.setDockVersion(dockConfig);
+        return adasConfig;
+    }
+
+    /**
+     * 查询config信息
+     */
+    private void queryCarConfig() {
+        sendWsMessage(Constants.QUERY_CAR_CONFIG);
+    }
+
+    @Override
+    public boolean aiCloudToAdasData(String msg) {
+        //位置信息 action是aiCloudToStartAutopilot
+        if (!TextUtils.isEmpty(msg)) {
+            return sendWsMessage(msg);
+        }
+        return false;
+    }
+
+    @Override
+    public boolean queryAutopilotRoute() {
+        //查询自动驾驶路径
+        return sendWsMessage(Constants.QUERY_GLOBAL_PATH);
+    }
+
+    @Override
+    public boolean queryAutopilotGuardian() {
+        //查询节点信息
+        return sendWsMessage(Constants.QUERY_GUARDIAN);
+    }
+
+    @Override
+    public boolean recordPackage(int type, int id) {
+        return recordBag(true, type, id, 0);
+    }
+
+    @Override
+    public boolean recordPackage(int type, int id, int duration) {
+        return recordBag(true, type, id, duration);
+    }
+
+    @Override
+    public boolean stopRecord(int type, int id) {
+        return recordBag(false, type, id, 0);
+    }
+
+    @Override
+    public boolean recordCause(String key, String name, String reason) {
+        if (recordCauseParam == null) {
+            recordCauseParam = new RecordCauseParam();
+        }
+        RecordCauseParam.Result result = new RecordCauseParam.Result();
+        result.setKey(key);
+        result.setFilename(name);
+        result.setReason(reason);
+        recordCauseParam.setResult(result);
+        return sendWsMessage(gson.toJson(recordCauseParam));
+    }
+
+    @Override
+    public boolean setSpeed(int speed) {
+        if (speedParam == null) {
+            speedParam = new AutopilotSpeedParam();
+        }
+        speedParam.setSpeed(speed);
+        String speedJson = gson.toJson(speedParam);
+        return sendWsMessage(speedJson);
+    }
+// TODO 需求暂停 待讨论
+//    @Override
+//    public boolean getRoutes() {
+//        return sendWsMessage(Constants.QUERY_ROUTES);
+//    }
+
+    private boolean recordBag(boolean isRecord, int type, int id, int duration) {
+        if (recordDataParam == null) {
+            recordDataParam = new RecordDataParam();
+        }
+        RecordDataParam.Result result = new RecordDataParam.Result();
+        result.setIsRecord(isRecord);
+        result.setType(type);
+        result.setId(id);
+        if (isRecord == true) {
+            if (duration > 0) {
+                result.setSustain(false);
+                result.setDuration(duration);
+            } else {
+                result.setSustain(true);
+            }
+        }
+        recordDataParam.setResult(result);
+        String param = gson.toJson(recordDataParam);
+        return sendWsMessage(param);
+
+    }
+
+    /**
+     * 接管原因
+     */
+
+
+    /**
+     * log是否显示
+     *
+     * @param isEnableLog
+     */
+    public void setEnableLog(boolean isEnableLog) {
+        CupidLogUtils.setEnableLog(isEnableLog);
+    }
+
+    /**
+     * log是否写入本地
+     *
+     * @param isWriteLog
+     */
+    public void setIsWriteLog(boolean isWriteLog) {
+        CupidLogUtils.setIsWriteLog(isWriteLog);
+    }
+
+}
+

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

@@ -0,0 +1,324 @@
+package com.zhidao.support.adas.high;
+
+import android.content.Context;
+
+import com.zhidao.support.adas.high.bean.AdasConfig;
+import com.zhidao.support.adas.high.bean.BaseInfo;
+import com.zhidao.support.adas.high.bean.BasicInfo;
+import com.zhidao.support.adas.high.bean.ConfigInfo;
+import com.zhidao.support.adas.high.bean.MapLocationInfo;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high
+ * @ClassName: AdasManager
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/7 13:13
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/7 13:13
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public class AdasManager implements IAdasNetCommApi {
+    private static volatile AdasManager ourInstance;
+
+    public void init(Context context) {
+        //登录信息，空默认配置
+
+    }
+
+    public static AdasManager getInstance() {
+        if (ourInstance == null) {
+            synchronized (AdasManager.class) {
+                if (ourInstance == null) {
+                    ourInstance = new AdasManager();
+                }
+            }
+        }
+        return ourInstance;
+    }
+
+    private AdasChannel mChannel;
+
+    private AdasManager() {
+
+    }
+
+
+    public void setOnAdasListener(OnAdasListener l) {
+        if (mChannel != null) {
+            mChannel.setOnAdasListener(l);
+        }
+    }
+
+    /**
+     * 获取 adas 连接状态
+     *
+     * @param onAdasConnectStatusListener
+     */
+    public void setOnAdasConnectStatusListener(OnAdasMsgConnectStatusListener onAdasConnectStatusListener) {
+        if (mChannel != null) {
+            mChannel.setOnAdasMsgConnectStatusListener(onAdasConnectStatusListener);
+        }
+    }
+
+    public synchronized void create(Context context) {
+        if (mChannel == null) {
+            mChannel = new AdasChannel(context);
+        }
+    }
+
+    public synchronized void create(Context context, String ipcIp) {
+        if (mChannel == null) {
+            mChannel = new AdasChannel(context, ipcIp);
+        }
+    }
+
+    public void pause() {
+        if (mChannel != null) {
+            mChannel.onPause();
+        }
+    }
+
+    public void resume() {
+        if (mChannel != null) {
+            mChannel.onResume();
+        }
+    }
+
+    public synchronized void destory() {
+        if (mChannel != null) {
+            mChannel.onDisconnectRtp();
+            mChannel.onPause();
+            mChannel.onDestory();
+            mChannel = null;
+        }
+    }
+
+    /**
+     * 发送速度信息
+     *
+     * @param mapLocationInfo
+     */
+    public void sendMapLocation(MapLocationInfo mapLocationInfo) {
+        if (mChannel != null) {
+            mChannel.sendLocation(mapLocationInfo);
+        }
+    }
+
+    /**
+     * 发送信息
+     *
+     * @param msg
+     */
+    public void sendMessage(String msg) {
+        if (mChannel != null) {
+            mChannel.sendWsMessage(msg);
+        }
+    }
+
+    /**
+     * 发送基础信息
+     *
+     * @param basicInfo
+     */
+    public void setBasicInfo(BasicInfo basicInfo) {
+        if (mChannel != null) {
+            mChannel.sendWsBasicInfo(basicInfo);
+        }
+    }
+
+    /**
+     * 发送配置信息
+     *
+     * @param configMsg
+     */
+    public void setConfigMsg(ConfigInfo configMsg) {
+        if (mChannel != null) {
+            mChannel.sendWsConfigMessage(configMsg);
+        }
+    }
+
+    /**
+     * 关闭socket连接
+     */
+    public void closeSocket() {
+        if (mChannel != null) {
+            mChannel.closeSocket();
+        }
+    }
+
+    /**
+     * 关闭所有通信
+     */
+    public void closeAllMsg() {
+        if (mChannel != null) {
+            mChannel.closeSocket();
+        }
+        pause();
+    }
+
+    /**
+     * 启动所有的通信
+     */
+    public void startAllMsg() {
+        resume();
+    }
+
+
+    @Override
+    public boolean controlAutopilotCarAuto() {
+        if (mChannel != null) {
+            return mChannel.controlAutopilotCarAuto();
+        }
+        return false;
+    }
+
+    @Override
+    public boolean controlAutopilotCarHead() {
+        if (mChannel != null) {
+            return mChannel.controlAutopilotCarHead();
+        }
+        return false;
+    }
+
+    @Override
+    public boolean isSocketConnect() {
+        if (mChannel != null) {
+            return mChannel.isSocketConnect();
+        }
+        return false;
+    }
+
+    @Override
+    public AdasConfig getAdasConfig() {
+        if (mChannel != null) {
+            return mChannel.getAdasConfig();
+        }
+        return null;
+    }
+
+    @Override
+    public boolean aiCloudToAdasData(String msg) {
+        if (mChannel != null) {
+            return mChannel.aiCloudToAdasData(msg);
+        }
+        return false;
+    }
+
+    @Override
+    public boolean queryAutopilotRoute() {
+        if (mChannel != null) {
+            return mChannel.queryAutopilotRoute();
+        }
+        return false;
+    }
+
+    @Override
+    public boolean queryAutopilotGuardian() {
+        if (mChannel != null) {
+            return mChannel.queryAutopilotGuardian();
+        }
+        return false;
+    }
+
+    @Override
+    public boolean recordPackage(int type, int id) {
+        if (mChannel != null) {
+            return mChannel.recordPackage(type, id);
+        }
+        return false;
+    }
+
+    @Override
+    public boolean recordPackage(int type, int id, int duration) {
+        if (mChannel != null) {
+            return mChannel.recordPackage(type, id, duration);
+        }
+        return false;
+    }
+
+    @Override
+    public boolean stopRecord(int type, int id) {
+        if (mChannel != null) {
+            return mChannel.stopRecord(type, id);
+        }
+        return false;
+    }
+
+    @Override
+    public boolean recordCause(String key, String name, String reason) {
+        return mChannel.recordCause(key, name, reason);
+    }
+
+    @Override
+    public boolean setSpeed(int speed) {
+        if (mChannel != null) {
+            return mChannel.setSpeed(speed);
+        }
+        return false;
+    }
+// TODO 需求暂停 待讨论 获取车辆轨迹文件
+//    @Override
+//    public boolean getRoutes() {
+//        if (mChannel!=null){
+//            return mChannel.getRoutes();
+//        }
+//        return false;
+//    }
+
+    @Override
+    public void setEnableLog(boolean isEnableLog) {
+        if (mChannel != null) {
+            mChannel.setEnableLog(isEnableLog);
+        }
+    }
+
+    @Override
+    public void setIsWriteLog(boolean isWriteLog) {
+        if (mChannel != null) {
+            mChannel.setIsWriteLog(isWriteLog);
+        }
+    }
+
+    @Override
+    public void setIPCIp(String ipAddr) {
+        if (mChannel != null) {
+            mChannel.setIPCIp(ipAddr);
+        }
+    }
+
+    /**
+     * 向工控机发送数据
+     *
+     * @param info
+     */
+    @Override
+    public void sendBaseInfo(BaseInfo info) {
+        if (mChannel != null) {
+            mChannel.sendBaseInfo(info);
+        }
+    }
+
+    @Override
+    public void shutdownIPC() {
+        if (mChannel != null) {
+            mChannel.shutdownIPC();
+        }
+    }
+
+    @Override
+    public void rebootIPC() {
+        if (mChannel != null) {
+            mChannel.rebootIPC();
+        }
+    }
+
+    @Override
+    public void rebootAPDocker() {
+        if (mChannel != null) {
+            mChannel.rebootAPDocker();
+        }
+    }
+}

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

@@ -0,0 +1,113 @@
+package com.zhidao.support.adas.high;
+
+import com.zhidao.support.adas.high.bean.AdasConfig;
+import com.zhidao.support.adas.high.bean.BaseInfo;
+
+/**
+ * @author nie yunlong
+ * @des adas 网络通信api
+ * @date 2020/7/14
+ */
+public interface IAdasNetCommApi {
+    /**
+     * 控制自动驾驶车辆 自动模式 自动驾驶
+     */
+    boolean controlAutopilotCarAuto();
+
+    /**
+     * 控制自动驾驶车辆 手动模式
+     */
+    boolean controlAutopilotCarHead();
+
+    /**
+     * socket 是否连接状态
+     *
+     * @return
+     */
+    boolean isSocketConnect();
+
+    /**
+     * 基础信息
+     */
+    AdasConfig getAdasConfig();
+
+    /**
+     * ai云
+     *
+     * @param msg
+     */
+    boolean aiCloudToAdasData(String msg);
+
+    /**
+     * 查询自动驾驶路径
+     */
+    boolean queryAutopilotRoute();
+
+    /**
+     * 查询节点监控信息
+     */
+    boolean queryAutopilotGuardian();
+
+    /**
+     * 数据采集
+     */
+    boolean recordPackage(int type, int id);
+
+    boolean recordPackage(int type, int id, int duration);
+
+    boolean stopRecord(int type, int id);
+
+    boolean recordCause(String key, String name, String reason);
+
+    /**
+     * 设置车速
+     * speed km/h
+     */
+    boolean setSpeed(int speed);
+
+    /**
+     * 查询轨迹文件
+     *
+     */
+// TODO 需求暂停 待讨论
+//    boolean getRoutes();
+
+    /**
+     * log是否显示
+     */
+    void setEnableLog(boolean isEnableLog);
+
+    /**
+     * log是否写入
+     */
+    void setIsWriteLog(boolean isWriteLog);
+
+    /**
+     * 设置工控机IP 如设置IP将不会执行自动搜索方式链接
+     *
+     * @param ipAddr
+     */
+    void setIPCIp(String ipAddr);
+
+    /**
+     * 向工控机发送数据
+     *
+     * @param info
+     */
+    void sendBaseInfo(BaseInfo info);
+
+    /**
+     * 向工控机发送关机命令
+     */
+    void shutdownIPC();
+
+    /**
+     * 向工控机发送重启命令
+     */
+    void rebootIPC();
+
+    /**
+     * 向工控机发送重启自动驾驶Docker命令
+     */
+    void rebootAPDocker();
+}

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

@@ -0,0 +1,156 @@
+package com.zhidao.support.adas.high;
+
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.SSHResult;
+import com.zhidao.support.adas.high.bean.IPCUpgradePatchDownloadStatusInfo;
+import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult;
+
+import java.util.List;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high
+ * @ClassName: OnAdasListener
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/9 20:28
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/9 20:28
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public interface OnAdasListener {
+    /**
+     * 报警信息
+     *
+     * @param warnMessageInfo
+     */
+    void onWarnMessage(WarnMessageInfo warnMessageInfo);
+
+    /**
+     * 视频宽高
+     *
+     * @param width
+     * @param height
+     */
+    void onVideoSize(int width, int height);
+
+    /**
+     * 车框
+     *
+     * @param rectInfo
+     */
+    void onRectData(RectInfo rectInfo);
+
+    /**
+     * 车辆状态数据
+     *
+     * @param carStateInfo
+     */
+    void onCarStateData(CarStateInfo carStateInfo);
+
+    /**
+     * 红绿灯状态
+     *
+     * @param lightStatueInfo
+     */
+    void onLightStateData(LightStatueInfo lightStatueInfo);
+
+    /**
+     * 周边渲染
+     *
+     * @param obstaclesInfo
+     */
+    void onObstaclesInfo(ObstaclesInfo obstaclesInfo);
+
+    /**
+     * 车道线渲染
+     *
+     * @param carLaneInfo
+     */
+    void onCarLaneInfo(CarLaneInfo carLaneInfo);
+
+    /**
+     * 自动驾驶状态
+     *
+     * @param autopilotStatus
+     */
+    void autopilotStatus(AutopilotStatus autopilotStatus);
+
+    /**
+     * 自动驾驶到站
+     *
+     * @param autopilotWayArrive
+     */
+    void autopilotArrive(AutopilotWayArrive autopilotWayArrive);
+    /**
+     * 接收到FPGA端发来的数据
+     *
+     * @param msg json格式
+     */
+    //void onMessage(String msg);
+
+    /**
+     * 自动驾驶路径
+     *
+     * @param route
+     */
+    void onAutopilotRoute(AutopilotRoute route);
+
+    /**
+     * 自动驾驶局部轨迹
+     *
+     * @param trajectoryList
+     */
+    void onAutopilotTrajectory(List<TrajectoryInfo> trajectoryList);
+
+    /**
+     * 工控机获取SN
+     *
+     * @param
+     */
+    void onAutopilotSNRequest();
+
+    /**
+     * 工控机监控节点
+     */
+    void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo);
+
+    /**
+     * 数据采集结果
+     */
+    void onAutopilotRecord(AutopilotRecordResult result);
+
+    /**
+     * 向IPC发送命令返回结果
+     *
+     * @param info
+     */
+    void onSSHResult(SSHResult info);
+
+    /**
+     * 升级状态
+     *
+     * @param info
+     */
+    void onUpgradeStateInfo(IPCUpgradeStateInfo info);
+
+    /**
+     * 升级包下载进度 0%~100%
+     *
+     * @param info
+     */
+    void onUpgradePatchDownloadStatus(IPCUpgradePatchDownloadStatusInfo info);
+
+}

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

@@ -0,0 +1,18 @@
+package com.zhidao.support.adas.high;
+
+/**
+ * @author nie yunlong
+ * @des 消息通信连接状态 回掉
+ * @date 2020/3/20
+ */
+public interface OnAdasMsgConnectStatusListener {
+    /**
+     * ws 连接成功
+     */
+    void onWebSocketConnectSuccess();
+
+    /**
+     * ws 连接失败
+     */
+    void onWebSocketConnectFailed(String t);
+}

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

@@ -0,0 +1,49 @@
+package com.zhidao.support.adas.high.bean;
+
+import com.zhidao.support.adas.high.BuildConfig;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/13
+ */
+public class AdasConfig {
+    private static final String VERSION = BuildConfig.VERSION_NAME;
+    private static final String AP_VERSION = BuildConfig.AP_VERSION;
+    private String address;
+    private String dockVersion;
+
+    /**
+     * MoGo-AP 版本
+     *
+     * @return
+     */
+    public String getAPVersion() {
+        return AP_VERSION;
+    }
+
+    /**
+     * SDK版本
+     *
+     * @return
+     */
+    public String getVersion() {
+        return VERSION;
+    }
+
+    public String getAddress() {
+        return address;
+    }
+
+    public void setAddress(String address) {
+        this.address = address;
+    }
+
+    public String getDockVersion() {
+        return dockVersion;
+    }
+
+    public void setDockVersion(String dockVersion) {
+        this.dockVersion = dockVersion;
+    }
+}

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

@@ -0,0 +1,46 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des
+ * @date 2020/7/14
+ */
+
+public class AutopilotConfig implements Serializable {
+
+    private String action;
+    private ResultBean result;
+
+    public String getAction() {
+        return action;
+    }
+
+    public ResultBean getResult() {
+        return result;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotWayArrive{" +
+                "action='" + action + '\'' +
+                ", result=" + result +
+                '}';
+    }
+
+    public static class ResultBean {
+        private String dock_version;
+
+        public String getDock_version() {
+            return dock_version;
+        }
+
+        @Override
+        public String toString() {
+            return "ResultBean{" +
+                    "dock_version='" + dock_version + '\'' +
+                    '}';
+        }
+    }
+}

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

@@ -0,0 +1,53 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des mode 0是手动 1是自动
+ * @date 2020/7/14
+ */
+
+public class AutopilotControl  implements Serializable {
+
+    /**
+     * action : autopilotmode
+     * values : {"mode":0}
+     */
+
+    private String action;
+    private ValuesBean values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    public static class ValuesBean {
+        /**
+         * mode : 0
+         */
+
+        private int mode;
+
+        public int getMode() {
+            return mode;
+        }
+
+        public void setMode(int mode) {
+            this.mode = mode;
+        }
+    }
+}
+

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

@@ -0,0 +1,75 @@
+package com.zhidao.support.adas.high.bean;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/6/21
+ */
+
+public class AutopilotRoute {
+
+    @SerializedName("action")
+    private String action;
+    @SerializedName("models")
+    private List<RouteModels> models;
+
+    public static class RouteModels {
+        @SerializedName("lat")
+        private Double lat;
+        @SerializedName("lon")
+        private Double lon;
+
+        public Double getLat() {
+            return lat;
+        }
+
+        public void setLat(Double lat) {
+            this.lat = lat;
+        }
+
+        public Double getLon() {
+            return lon;
+        }
+
+        public void setLon(Double lon) {
+            this.lon = lon;
+        }
+
+        @Override
+        public String toString() {
+            return "RouteModels{" +
+                    "lat=" + lat +
+                    ", lon=" + lon +
+                    '}';
+        }
+
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public List<RouteModels> getModels() {
+        return models;
+    }
+
+    public void setModels(List<RouteModels> models) {
+        this.models = models;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotRoute{" +
+                "action='" + action + '\'' +
+                ", models=" + models +
+                '}';
+    }
+}

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

@@ -0,0 +1,29 @@
+package com.zhidao.support.adas.high.bean;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/7/2
+ */
+public class AutopilotSnRequest {
+    private String action;
+    private String models;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public String getModels() {
+        return models;
+    }
+
+    public void setModels(String models) {
+        this.models = models;
+    }
+
+
+}

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

@@ -0,0 +1,39 @@
+package com.zhidao.support.adas.high.bean;
+
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/12/6
+ */
+public class AutopilotSpeedParam {
+    private final String action = "autospeed";
+    private SpeedParam result;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setSpeed(int speed){
+        if (result==null){
+            result = new SpeedParam();
+        }
+        result.setSpeed(speed);
+    }
+
+    public static class SpeedParam {
+        //车辆速度 m/s
+        private double speed;
+
+        public double getSpeed() {
+            return speed;
+        }
+
+        public void setSpeed(int speed) {
+            // speed km/h
+            // this.speed m/s
+            this.speed = speed/3.6;
+        }
+    }
+}

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

@@ -0,0 +1,139 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des
+ * @date 2020/7/14
+ */
+public class AutopilotStatus implements Serializable {
+
+    /**
+     * action : autopilotstate
+     * values : {"state":0,"reason":""}
+     */
+
+    private String action;
+    private ValuesBean values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    public static class ValuesBean {
+        /**
+         * 0是不可用 1是ready 2是自动驾驶start
+         *
+         * @return
+         */
+        private int state;
+        /**
+         * 车速 m/s
+         */
+        private float speed;
+        /**
+         * 不可用原因
+         */
+        private String reason;
+        /**
+         * 摄像头状态 1代表开启，0代表关闭
+         */
+        private int camera;
+        /**
+         * 雷达状态 1代表开启，0代表关闭
+         */
+        private int radar;
+        /**
+         * RTK状态 1代表开启，0代表关闭
+         */
+        private int rtk;
+        /**
+         * 自动驾驶状态 0非自动驾驶，1自动驾驶
+         */
+        private int pilotmode;
+
+        /**
+         * 自动驾驶车控状态
+         */
+        private int control_pilotmode;
+
+
+        public int getState() {
+            return state;
+        }
+
+        public void setState(int state) {
+            this.state = state;
+        }
+
+        public String getReason() {
+            return reason;
+        }
+
+        public void setReason(String reason) {
+            this.reason = reason;
+        }
+
+        public float getSpeed() {
+            return speed;
+        }
+
+        public void setSpeed(float speed) {
+            this.speed = speed;
+        }
+        public int getCamera() {
+            return camera;
+        }
+
+        public int getRadar() {
+            return radar;
+        }
+
+        public int getRtk() {
+            return rtk;
+        }
+
+        public int getPilotmode() {
+            return pilotmode;
+        }
+
+        public int getControl_pilotmode() {
+            return control_pilotmode;
+        }
+
+        @Override
+        public String toString() {
+            return "ValuesBean{" +
+                    "state=" + state +
+                    ", speed=" + speed +
+                    ", reason='" + reason + '\'' +
+                    ", camera=" + camera +
+                    ", radar=" + radar +
+                    ", rtk=" + rtk +
+                    ", pilotmode=" + pilotmode +
+                    ", control_pilotmode=" + control_pilotmode +
+                    '}';
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotStatus{" +
+                "action='" + action + '\'' +
+                ", values=" + values +
+                '}';
+    }
+}

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

@@ -0,0 +1,34 @@
+package com.zhidao.support.adas.high.bean;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/19
+ */
+public class AutopilotTrajectory {
+
+    @SerializedName("action")
+    private String action;
+    @SerializedName("models")
+    private List<TrajectoryInfo> models;
+
+    public String getAction() {
+        return action;
+    }
+
+    public List<TrajectoryInfo> getModels() {
+        return models;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotTrajectory{" +
+                "action='" + action + '\'' +
+                ", models=" + models +
+                '}';
+    }
+}

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

@@ -0,0 +1,115 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des
+ * @date 2020/7/14
+ */
+
+public class AutopilotWayArrive implements Serializable {
+
+
+    /**
+     * action :  autopilotArrive
+     * result : {"carType":0,"endLatLon":{"lat":116.7559675438664,"lon":116.7559675438664}}
+     */
+
+    private String action;
+    private ResultBean result;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ResultBean getResult() {
+        return result;
+    }
+
+    public void setResult(ResultBean result) {
+        this.result = result;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotWayArrive{" +
+                "action='" + action + '\'' +
+                ", result=" + result +
+                '}';
+    }
+
+    public static class ResultBean {
+        /**
+         * carType : 0
+         * endLatLon : {"lat":116.7559675438664,"lon":116.7559675438664}
+         */
+
+        private int carType;
+        private EndLatLonBean endLatLon;
+
+
+        public int getCarType() {
+            return carType;
+        }
+
+        public void setCarType(int carType) {
+            this.carType = carType;
+        }
+
+        public EndLatLonBean getEndLatLon() {
+            return endLatLon;
+        }
+
+        public void setEndLatLon(EndLatLonBean endLatLon) {
+            this.endLatLon = endLatLon;
+        }
+
+        @Override
+        public String toString() {
+            return "ResultBean{" +
+                    "carType=" + carType +
+                    ", endLatLon=" + endLatLon +
+                    '}';
+        }
+
+        public static class EndLatLonBean {
+            /**
+             * lat : 116.7559675438664
+             * lon : 116.7559675438664
+             */
+
+            private double lat;
+            private double lon;
+
+
+            public double getLat() {
+                return lat;
+            }
+
+            public void setLat(double lat) {
+                this.lat = lat;
+            }
+
+            public double getLon() {
+                return lon;
+            }
+
+            public void setLon(double lon) {
+                this.lon = lon;
+            }
+
+            @Override
+            public String toString() {
+                return "EndLatLonBean{" +
+                        "lat=" + lat +
+                        ", lon=" + lon +
+                        '}';
+            }
+        }
+    }
+}

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

@@ -0,0 +1,23 @@
+package com.zhidao.support.adas.high.bean;
+
+public abstract class BaseInfo<T> {
+    protected String action;
+    protected T values;
+
+
+    public BaseInfo(String action) {
+        this.action = action;
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public T getValues() {
+        return values;
+    }
+
+    public void setValues(T values) {
+        this.values = values;
+    }
+}

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

@@ -0,0 +1,61 @@
+package com.zhidao.support.adas.high.bean;
+
+/**
+ * 7.5.	自动驾驶设备基础信息
+ */
+public class BasicInfo {
+    private String action = "basicinfo";
+    private Values values;
+
+    public void setSn(String sn) {
+        if (values == null) {
+            values = new Values();
+        }
+        values.setSn(sn);
+    }
+
+    public void setTileid(String tileid) {
+        if (values == null) {
+            values = new Values();
+        }
+        values.setTileid(tileid);
+    }
+
+    public void setNetEnvironment(int environment) {
+        if (values == null) {
+            values = new Values();
+        }
+        values.setNetEnvironment(environment);
+    }
+
+    private static class Values {
+        private String sn;
+        private String tileid;
+        //研发环境 1;测试环境 2;生产环境 3;演示环境 4;
+        private int netEnvironment;
+
+        public String getSn() {
+            return sn;
+        }
+
+        public void setSn(String sn) {
+            this.sn = sn;
+        }
+
+        public String getTileid() {
+            return tileid;
+        }
+
+        public void setTileid(String tileid) {
+            this.tileid = tileid;
+        }
+
+        public int getNetEnvironment() {
+            return netEnvironment;
+        }
+
+        public void setNetEnvironment(int environment) {
+            this.netEnvironment = environment;
+        }
+    }
+}

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

@@ -0,0 +1,63 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.util.List;
+
+/**
+ * @author nie yunlong
+ * @des 车道线
+ * @date 2020/4/24
+ */
+public class CarLaneInfo {
+
+    private String action;
+
+    private List<CarLaneDetailInfo> models;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public List<CarLaneDetailInfo> getModels() {
+        return models;
+    }
+
+    public void setModels(List<CarLaneDetailInfo> models) {
+        this.models = models;
+    }
+
+    public static class CarLaneDetailInfo {
+        private String id;  //50～55, 50左黄，51左红，（52左白），53右黄，54右红，（55右白）
+        private String type;
+        private int color; //0白色，1黄色
+
+        public String getId() {
+            return id;
+        }
+
+        public void setId(String id) {
+            this.id = id;
+        }
+
+        public String getType() {
+            return type;
+        }
+
+        public void setType(String type) {
+            this.type = type;
+        }
+
+        public int getColor() {
+            return color;
+        }
+
+        public void setColor(int color) {
+            this.color = color;
+        }
+    }
+
+
+}

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

@@ -0,0 +1,261 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des 车辆状态
+ * @date 2020/3/12
+ */
+public class CarStateInfo implements Serializable {
+
+
+    /**
+     * action : “state”
+     * values : {"lon":116.8,"lat":39.4,"alt":22.3,"heading":87.5,"acceleration":0.5,"yaw_rate":0.3}
+     */
+
+    private String action;
+    private ValuesBean values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    public static class ValuesBean {
+        /**
+         * lon : 116.8
+         * lat : 39.4
+         * alt : 22.3
+         * heading : 87.5
+         * acceleration : 0.5
+         * yaw_rate : 0.3
+         */
+
+        private double lon;
+        private double lat;
+        private double alt;
+        private double heading;
+        private double acceleration;
+        private double yaw_rate;
+        //惯导车速 m/s
+        private float gnss_speed;
+        //车辆车速 m/s
+        private float vehicle_speed;
+        //gps时间
+        private String satelliteTime;
+        //UTC时间差
+        private long utcTimeDiffer;
+        //系统时间
+        private String systemTime;
+        //接收到数据的时间
+        private String receiverDataTime;
+        //接收到gps时间
+        private String adasSatelliteTime;
+        //开始接收数据时间
+        private String startReceiverDataTime;
+        //时间延迟
+        private long timeDiff=0;
+        private int turn_light; //转向灯状态 0是正常 1是左转 2是右转
+        private int flash_light; //双闪灯状态
+        private int brake_light; //刹车灯状态
+        private int frame_num;//统计发包个数
+
+        public int getFrame_num() {
+            return frame_num;
+        }
+
+        public void setFrame_num(int frame_num) {
+            this.frame_num = frame_num;
+        }
+
+        public long getTimeDiff() {
+            return timeDiff;
+        }
+
+        public void setTimeDiff(long timeDiff) {
+            this.timeDiff = timeDiff;
+        }
+
+        public String getReceiverDataTime() {
+            return receiverDataTime;
+        }
+
+        public void setReceiverDataTime(String receiverDataTime) {
+            this.receiverDataTime = receiverDataTime;
+        }
+
+        public String getAdasSatelliteTime() {
+            return adasSatelliteTime;
+        }
+
+        public void setAdasSatelliteTime(String adasSatelliteTime) {
+            this.adasSatelliteTime = adasSatelliteTime;
+        }
+
+        public String getSystemTime() {
+            return systemTime;
+        }
+
+        public void setSystemTime(String systemTime) {
+            this.systemTime = systemTime;
+        }
+
+        public float getGnss_speed() {
+            return gnss_speed;
+        }
+
+        public void setGnss_speed(float gnss_speed) {
+            this.gnss_speed = gnss_speed;
+        }
+
+        public float getVehicle_speed() {
+            return vehicle_speed;
+        }
+
+        public void setVehicle_speed(float vehicle_speed) {
+            this.vehicle_speed = vehicle_speed;
+        }
+
+        public int getTurn_light() {
+            return turn_light;
+        }
+
+        public void setTurn_light(int turn_light) {
+            this.turn_light = turn_light;
+        }
+
+        public int getFlash_light() {
+            return flash_light;
+        }
+
+        public void setFlash_light(int flash_light) {
+            this.flash_light = flash_light;
+        }
+
+        public int getBrake_light() {
+            return brake_light;
+        }
+
+        public void setBrake_light(int brake_light) {
+            this.brake_light = brake_light;
+        }
+
+        public double getLon() {
+            return lon;
+        }
+
+        public void setLon(double lon) {
+            this.lon = lon;
+        }
+
+        public double getLat() {
+            return lat;
+        }
+
+        public void setLat(double lat) {
+            this.lat = lat;
+        }
+
+        public double getAlt() {
+            return alt;
+        }
+
+        public void setAlt(double alt) {
+            this.alt = alt;
+        }
+
+        public double getHeading() {
+            return heading;
+        }
+
+        public void setHeading(double heading) {
+            this.heading = heading;
+        }
+
+        public double getAcceleration() {
+            return acceleration;
+        }
+
+        public void setAcceleration(double acceleration) {
+            this.acceleration = acceleration;
+        }
+
+        public double getYaw_rate() {
+            return yaw_rate;
+        }
+
+        public void setYaw_rate(double yaw_rate) {
+            this.yaw_rate = yaw_rate;
+        }
+
+        public String getSatelliteTime() {
+            return satelliteTime;
+        }
+
+        public void setSatelliteTime(String satelliteTime) {
+            this.satelliteTime = satelliteTime;
+        }
+
+        public long getUtcTimeDiffer() {
+            return utcTimeDiffer;
+        }
+
+        public void setUtcTimeDiffer(long utcTimeDiffer) {
+            this.utcTimeDiffer = utcTimeDiffer;
+        }
+
+        public String getStartReceiverDataTime() {
+            return startReceiverDataTime;
+        }
+
+        public void setStartReceiverDataTime(String startReceiverDataTime) {
+            this.startReceiverDataTime = startReceiverDataTime;
+        }
+
+
+        @Override
+        public String toString() {
+            return "ValuesBean{" +
+                    "lon=" + lon +
+                    ", lat=" + lat +
+                    ", alt=" + alt +
+                    ", heading=" + heading +
+                    ", acceleration=" + acceleration +
+                    ", yaw_rate=" + yaw_rate +
+                    ", gnss_speed=" + gnss_speed +
+                    ", vehicle_speed=" + vehicle_speed +
+                    ", satelliteTime='" + satelliteTime + '\'' +
+                    ", utcTimeDiffer='" + utcTimeDiffer + '\'' +
+                    ", systemTime='" + systemTime + '\'' +
+                    ", receiverDataTime='" + receiverDataTime + '\'' +
+                    ", startReceiverDataTime='" + startReceiverDataTime + '\'' +
+                    ", timeDiff=" + timeDiff +
+                    ", turn_light=" + turn_light +
+                    ", flash_light=" + flash_light +
+                    ", brake_light=" + brake_light +
+                    ", frame_num=" + frame_num +
+                    '}';
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "CarStateInfo{" +
+                "action='" + action + '\'' +
+                ", values=" + values +
+                '}';
+    }
+}

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

@@ -0,0 +1,129 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des 配置信息
+ * json	摄像头类型	enum	"0=小霸王           1=汇影"
+ * 车型	enum	"0=小轿车 1=SUV   2=中巴车    3=大巴车    4=大货车"
+ * 安装高度	float	1.2～1.5米
+ * FCW报警等级	enum	"0=关闭  1=近距离报警（不敏感） 2=远距离报警（敏感）"
+ * LDW报警等级	enum	"0=关闭 1=打开"
+ * Stop&Go提醒等级	enum	"0=关闭 1=打开"
+ * 自动驾驶状态	enum	"0=人工驾驶  1=自动驾驶"
+ * 车辆速度	float	0～130km/h
+ * @date 2020/3/12
+ */
+public class ConfigInfo implements Serializable {
+
+    /**
+     * action : config
+     * values : {"camera":0,"vehicle_type":"car","height":1.2,"fcw":1,"ldw":1,"stop_go":0}
+     */
+
+    private String action;
+    private ValuesBean values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    @Override
+    public String toString() {
+        return "ConfigInfo{" +
+                "action='" + action + '\'' +
+                ", values=" + values +
+                '}';
+    }
+
+    public static class ValuesBean {
+        /**
+         * camera : 0
+         * vehicle_type : car
+         * height : 1.2
+         * fcw : 1
+         * ldw : 1
+         * stop_go : 0
+         */
+
+        private int camera;
+        private String vehicle_type;
+        private double height;
+        private int fcw;
+        private int ldw;
+        private int stop_go;
+
+        public int getCamera() {
+            return camera;
+        }
+
+        public void setCamera(int camera) {
+            this.camera = camera;
+        }
+
+        public String getVehicle_type() {
+            return vehicle_type;
+        }
+
+        public void setVehicle_type(String vehicle_type) {
+            this.vehicle_type = vehicle_type;
+        }
+
+        public double getHeight() {
+            return height;
+        }
+
+        public void setHeight(double height) {
+            this.height = height;
+        }
+
+        public int getFcw() {
+            return fcw;
+        }
+
+        public void setFcw(int fcw) {
+            this.fcw = fcw;
+        }
+
+        public int getLdw() {
+            return ldw;
+        }
+
+        public void setLdw(int ldw) {
+            this.ldw = ldw;
+        }
+
+        public int getStop_go() {
+            return stop_go;
+        }
+
+        public void setStop_go(int stop_go) {
+            this.stop_go = stop_go;
+        }
+
+        @Override
+        public String toString() {
+            return "ValuesBean{" +
+                    "camera=" + camera +
+                    ", vehicle_type='" + vehicle_type + '\'' +
+                    ", height=" + height +
+                    ", fcw=" + fcw +
+                    ", ldw=" + ldw +
+                    ", stop_go=" + stop_go +
+                    '}';
+        }
+    }
+}

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

@@ -0,0 +1,62 @@
+package com.zhidao.support.adas.high.bean;
+
+/**
+ * 工控机升级
+ */
+public class IPCUpgradeInfo extends BaseInfo<IPCUpgradeInfo.Values> {
+    public IPCUpgradeInfo() {
+        super("ipc_upgrade");
+    }
+
+    /**
+     * 用户不同意升级
+     *
+     * @return
+     */
+    public static IPCUpgradeInfo cancel() {
+        IPCUpgradeInfo info = new IPCUpgradeInfo();
+        info.values = new IPCUpgradeInfo.Values();
+        info.values.state = 0;
+        return info;
+    }
+
+    /**
+     * 用户同意升级
+     *
+     * @return
+     */
+    public static IPCUpgradeInfo affirm() {
+        IPCUpgradeInfo info = new IPCUpgradeInfo();
+        info.values = new IPCUpgradeInfo.Values();
+        info.values.state = 1;
+        return info;
+    }
+
+    /**
+     * 升级流程完成确认
+     *
+     * @return
+     */
+    public static IPCUpgradeInfo upgradeFinishAffirm() {
+        IPCUpgradeInfo info = new IPCUpgradeInfo();
+        info.values = new IPCUpgradeInfo.Values();
+        info.values.state = 3;
+        return info;
+    }
+
+    public static class Values {
+        /**
+         * 0 不同意升级
+         * 1 同意升级
+         */
+        private int state;
+
+        public int getState() {
+            return state;
+        }
+
+        public void setState(int state) {
+            this.state = state;
+        }
+    }
+}

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

@@ -0,0 +1,120 @@
+package com.zhidao.support.adas.high.bean;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * 工控机升级包下载
+ */
+public class IPCUpgradePatchDownloadStatusInfo extends BaseInfo<IPCUpgradePatchDownloadStatusInfo.Values> {
+    /**
+     * 状态
+     */
+    public enum Status {
+        /**
+         * 下载完成
+         */
+        FINISHED(0, "完成"),
+        /**
+         * 正在下载
+         */
+        DOWNLOADING(1, "正在下载"),
+        /**
+         * 下载失败
+         */
+        FAILED(2, "下载失败");
+        public final int code;
+        public final String describe;
+
+        private Status(int code, String describe) {
+            this.code = code;
+            this.describe = describe;
+        }
+
+        public static Status getStatus(int code) {
+            switch (code) {
+                default:
+                case 0:
+                    return FINISHED;
+                case 1:
+                    return DOWNLOADING;
+                case 2:
+                    return FAILED;
+            }
+        }
+    }
+
+    public IPCUpgradePatchDownloadStatusInfo(String action) {
+        super(action);
+    }
+
+    /**
+     * 下载进度
+     *
+     * @return
+     */
+    public int getDownloadProgress() {
+        if (values == null) {
+            //数据解析出错
+            return -1;
+        } else {
+            return values.downloadProgress;
+        }
+    }
+
+    /**
+     * 下载状态
+     *
+     * @return {@link Status}
+     */
+    public int getDownloadStatus() {
+        if (values == null) {
+            //数据解析出错
+            return -1;
+        } else {
+            return values.downloadStatus;
+        }
+    }
+
+    /**
+     * 下载版本
+     */
+    public String getDownloadVersion() {
+        if (values == null) {
+            //数据解析出错
+            return null;
+        } else {
+            return values.downloadVersion;
+        }
+    }
+
+    public static class Values {
+        /**
+         * 下载进度
+         */
+        @SerializedName("progress")
+        private int downloadProgress;
+        /**
+         * 是否下载完成 0：完成   1：正在下载   2：下载失败
+         */
+        @SerializedName("status")
+        private int downloadStatus;
+        /**
+         * 下载版本
+         */
+        @SerializedName("version")
+        private String downloadVersion;
+
+
+        public void setDownloadProgress(int downloadProgress) {
+            this.downloadProgress = downloadProgress;
+        }
+
+        public void setDownloadStatus(int downloadStatus) {
+            this.downloadStatus = downloadStatus;
+        }
+
+        public void setDownloadVersion(String downloadVersion) {
+            this.downloadVersion = downloadVersion;
+        }
+    }
+}

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

@@ -0,0 +1,70 @@
+package com.zhidao.support.adas.high.bean;
+
+/**
+ * 工控机升级状态
+ */
+public class IPCUpgradeStateInfo extends BaseInfo<IPCUpgradeStateInfo.Values> {
+    /**
+     * 状态
+     */
+    public enum Status {
+        /**
+         * 成功
+         */
+        SUCCESSFUL(0, "升级成功"),
+        /**
+         * 失败
+         */
+        FAILED(1, "升级失败");
+        public final int code;
+        public final String describe;
+
+        private Status(int code, String describe) {
+            this.code = code;
+            this.describe = describe;
+        }
+
+        public static Status getStatus(int code) {
+            switch (code) {
+                default:
+                case 0:
+                    return FAILED;
+                case 1:
+                    return SUCCESSFUL;
+            }
+        }
+    }
+
+    public IPCUpgradeStateInfo(String action) {
+        super(action);
+    }
+
+    /**
+     * 获取升级状态
+     *
+     * @return @ {@link Status}
+     */
+    public int getUpgradeStatus() {
+        if (values == null) {
+            return 1;
+        } else {
+            return values.status;
+        }
+    }
+
+    public static class Values {
+        /**
+         * 0 升级不成功
+         * 1 升级成功
+         */
+        private int status;
+
+        public int getStatus() {
+            return status;
+        }
+
+        public void setStatus(int status) {
+            this.status = status;
+        }
+    }
+}

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

@@ -0,0 +1,143 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @des 红绿灯状态
+ * @date 2020/3/12
+ */
+public class LightStatueInfo implements Serializable {
+
+    /**
+     * action : light
+     * values : {"left":1,"right ":0,"straight":3,"u_turn":0,"left_time_remains":3,"right_time_remains":3,"straight_time_remains":3,"u_turn_time_remains":3}
+     */
+
+    private String action;
+    private ValuesBean values;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getValues() {
+        return values;
+    }
+
+    public void setValues(ValuesBean values) {
+        this.values = values;
+    }
+
+    @Override
+    public String toString() {
+        return "LightStatueInfo{" +
+                "action='" + action + '\'' +
+                ", values=" + values +
+                '}';
+    }
+
+    public static class ValuesBean {
+        /**
+         * left : 1
+         * right  : 0
+         * straight : 3
+         * u_turn : 0
+         * left_time_remains : 3
+         * right_time_remains : 3
+         * straight_time_remains : 3
+         * u_turn_time_remains : 3
+         */
+
+        private int left;
+        private int right;
+        private int straight;
+        private int u_turn;
+        private int left_time_remains;
+        private int right_time_remains;
+        private int straight_time_remains;
+        private int u_turn_time_remains;
+
+        public int getLeft() {
+            return left;
+        }
+
+        public void setLeft(int left) {
+            this.left = left;
+        }
+
+        public int getRight() {
+            return right;
+        }
+
+        public void setRight(int right) {
+            this.right = right;
+        }
+
+        public int getStraight() {
+            return straight;
+        }
+
+        public void setStraight(int straight) {
+            this.straight = straight;
+        }
+
+        public int getU_turn() {
+            return u_turn;
+        }
+
+        public void setU_turn(int u_turn) {
+            this.u_turn = u_turn;
+        }
+
+        public int getLeft_time_remains() {
+            return left_time_remains;
+        }
+
+        public void setLeft_time_remains(int left_time_remains) {
+            this.left_time_remains = left_time_remains;
+        }
+
+        public int getRight_time_remains() {
+            return right_time_remains;
+        }
+
+        public void setRight_time_remains(int right_time_remains) {
+            this.right_time_remains = right_time_remains;
+        }
+
+        public int getStraight_time_remains() {
+            return straight_time_remains;
+        }
+
+        public void setStraight_time_remains(int straight_time_remains) {
+            this.straight_time_remains = straight_time_remains;
+        }
+
+        public int getU_turn_time_remains() {
+            return u_turn_time_remains;
+        }
+
+        public void setU_turn_time_remains(int u_turn_time_remains) {
+            this.u_turn_time_remains = u_turn_time_remains;
+        }
+
+        @Override
+        public String toString() {
+            return "ValuesBean{" +
+                    "left=" + left +
+                    ", right=" + right +
+                    ", straight=" + straight +
+                    ", u_turn=" + u_turn +
+                    ", left_time_remains=" + left_time_remains +
+                    ", right_time_remains=" + right_time_remains +
+                    ", straight_time_remains=" + straight_time_remains +
+                    ", u_turn_time_remains=" + u_turn_time_remains +
+                    '}';
+        }
+    }
+}

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

@@ -0,0 +1,110 @@
+package com.zhidao.support.adas.high.bean;
+
+import android.os.Parcel;
+import android.os.Parcelable;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high.bean
+ * @ClassName: MapLocationInfo
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/9 14:32
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/9 14:32
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public class MapLocationInfo implements Parcelable {
+    //纬度
+    private double latitude;
+    //经度
+    private double longitude;
+    private float  speed;
+    private float  bearing;
+
+    public MapLocationInfo() {
+    }
+
+    public MapLocationInfo(double latitude, double longitude, float speed, float bearing) {
+        this.latitude = latitude;
+        this.longitude = longitude;
+        this.speed = speed;
+        this.bearing = bearing;
+    }
+
+    public double getLatitude() {
+        return latitude;
+    }
+
+    public void setLatitude(double latitude) {
+        this.latitude = latitude;
+    }
+
+    public double getLongitude() {
+        return longitude;
+    }
+
+    public void setLongitude(double longitude) {
+        this.longitude = longitude;
+    }
+
+    public float getSpeed() {
+        return speed;
+    }
+
+    public void setSpeed(float speed) {
+        this.speed = speed;
+    }
+
+    public float getBearing() {
+        return bearing;
+    }
+
+    public void setBearing(float bearing) {
+        this.bearing = bearing;
+    }
+
+
+    @Override
+    public int describeContents() {
+        return 0;
+    }
+
+    @Override
+    public void writeToParcel(Parcel dest, int flags) {
+        dest.writeDouble(this.latitude);
+        dest.writeDouble(this.longitude);
+        dest.writeFloat(this.speed);
+        dest.writeFloat(this.bearing);
+    }
+
+    protected MapLocationInfo(Parcel in) {
+        this.latitude = in.readDouble();
+        this.longitude = in.readDouble();
+        this.speed = in.readFloat();
+        this.bearing = in.readFloat();
+    }
+
+    public static final Parcelable.Creator<MapLocationInfo> CREATOR = new Parcelable.Creator<MapLocationInfo>() {
+        @Override
+        public MapLocationInfo createFromParcel(Parcel source) {
+            return new MapLocationInfo(source);
+        }
+
+        @Override
+        public MapLocationInfo[] newArray(int size) {
+            return new MapLocationInfo[size];
+        }
+    };
+
+    @Override
+    public String toString() {
+        return "MapLocationInfo{" +
+                "latitude=" + latitude +
+                ", longitude=" + longitude +
+                ", speed=" + speed +
+                ", bearing=" + bearing +
+                '}';
+    }
+}

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

@@ -0,0 +1,82 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.util.List;
+
+/**
+ * @author nie yunlong
+ * @des 周边物体渲染
+ * @date 2020/4/24
+ */
+public class ObstaclesInfo {
+
+    private String action;
+
+    private List<ObstaclesModelInfo> models;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public List<ObstaclesModelInfo> getModels() {
+        return models;
+    }
+
+    public void setModels(List<ObstaclesModelInfo> models) {
+        this.models = models;
+    }
+
+    public static class ObstaclesModelInfo {
+
+        private String id;  //50～55, 50左黄，51左红，（52左白），53右黄，54右红，（55右白）
+        private String type;
+        private double distance; //距离/米
+        private double direction; //正前为0，左为90，后为180，右为270
+        private double heading;  //物体的朝向角，90～270属于逆向车辆
+
+        public String getId() {
+            return id;
+        }
+
+        public void setId(String id) {
+            this.id = id;
+        }
+
+        public String getType() {
+            return type;
+        }
+
+        public void setType(String type) {
+            this.type = type;
+        }
+
+        public double getDistance() {
+            return distance;
+        }
+
+        public void setDistance(double distance) {
+            this.distance = distance;
+        }
+
+        public double getDirection() {
+            return direction;
+        }
+
+        public void setDirection(double direction) {
+            this.direction = direction;
+        }
+
+        public double getHeading() {
+            return heading;
+        }
+
+        public void setHeading(double heading) {
+            this.heading = heading;
+        }
+    }
+
+
+}

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

@@ -0,0 +1,344 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.util.List;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high.bean
+ * @ClassName: RectInfo
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/9 20:22
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/9 20:22
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public class RectInfo {
+    private String type;
+    private String action;
+    private List<RectBean> models;
+    private float fps;
+
+    public float getFps() {
+        return fps;
+    }
+
+    public void setFps(float fps) {
+        this.fps = fps;
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public String getType() {
+        return type;
+    }
+
+    public void setType(String type) {
+        this.type = type;
+    }
+
+    public List<RectBean> getModels() {
+        return models;
+    }
+
+    public void setModels(List<RectBean> models) {
+        this.models = models;
+    }
+
+    public static class RectBean {
+        private int id;
+        private double xl;
+        private double xr;
+        private double yb;
+        private double yt;
+        //距离x轴值
+        private double distance_x;
+        //距离y轴值
+        private double distance_y;
+        //type="car" 是车辆
+        private String type;
+        //纬度
+        private double lat;
+        //经度
+        private double lon;
+        //朝向
+        private double heading;
+        //系统时间
+        private String systemTime;
+        //gps 时间
+        private String satelliteTime;
+        //海拔高度
+        private double alt;
+        //车牌id
+        private String carId;
+        //uuid
+        private String uuid;
+        //color
+        private String color;
+        //speed
+        private double speed;
+        //危险等级 1 绿,2 黄,3 红
+        private int drawlevel;
+        //长
+        private float length;
+        //宽
+        private float width;
+        //高
+        private float height;
+        //驱动时间
+        private String driverTime;
+        /**
+         * 数据来源精度 0 - 普通定位、1 - 高精定位
+         */
+        public int dataAccuracy = 1;
+
+        /**
+         * 实际距离，使用 distanceX 和 distanceY 计算
+         */
+        public double distance;
+
+        public int getDataAccuracy() {
+            return dataAccuracy;
+        }
+
+        public void setDataAccuracy(int dataAccuracy) {
+            this.dataAccuracy = dataAccuracy;
+        }
+
+        public double getDistance() {
+            return distance;
+        }
+
+        public void setDistance(double distance) {
+            this.distance = distance;
+        }
+
+        public String getSystemTime() {
+            return systemTime;
+        }
+
+        public void setSystemTime(String systemTime) {
+            this.systemTime = systemTime;
+        }
+
+        public String getSatelliteTime() {
+            return satelliteTime;
+        }
+
+        public void setSatelliteTime(String satelliteTime) {
+            this.satelliteTime = satelliteTime;
+        }
+
+        public double getAlt() {
+            return alt;
+        }
+
+        public void setAlt(double alt) {
+            this.alt = alt;
+        }
+
+        public String getCarId() {
+            return carId;
+        }
+
+        public void setCarId(String carId) {
+            this.carId = carId;
+        }
+
+        public String getUuid() {
+            return uuid;
+        }
+
+        public void setUuid(String uuid) {
+            this.uuid = uuid;
+        }
+
+        public String getColor() {
+            return color;
+        }
+
+        public void setColor(String color) {
+            this.color = color;
+        }
+
+        public float getLength() {
+            return length;
+        }
+
+        public void setLength(float length) {
+            this.length = length;
+        }
+
+        public float getWidth() {
+            return width;
+        }
+
+        public void setWidth(float width) {
+            this.width = width;
+        }
+
+        public float getHeight() {
+            return height;
+        }
+
+        public void setHeight(float height) {
+            this.height = height;
+        }
+
+        public int getDrawlevel() {
+            return drawlevel;
+        }
+
+        public void setDrawlevel(int drawlevel) {
+            this.drawlevel = drawlevel;
+        }
+
+        public double getSpeed() {
+            return speed;
+        }
+
+        public void setSpeed(double speed) {
+            this.speed = speed;
+        }
+
+        public double getLat() {
+            return lat;
+        }
+
+        public void setLat(double lat) {
+            this.lat = lat;
+        }
+
+        public double getLon() {
+            return lon;
+        }
+
+        public void setLon(double lon) {
+            this.lon = lon;
+        }
+
+        public double getDistance_x() {
+            return distance_x;
+        }
+
+        public void setDistance_x(double distance_x) {
+            this.distance_x = distance_x;
+        }
+
+        public double getDistance_y() {
+            return distance_y;
+        }
+
+        public void setDistance_y(double distance_y) {
+            this.distance_y = distance_y;
+        }
+
+        public double getHeading() {
+            return heading;
+        }
+
+        public void setHeading(double heading) {
+            this.heading = heading;
+        }
+
+        public String getType() {
+            return type;
+        }
+
+        public void setType(String type) {
+            this.type = type;
+        }
+
+        public int getId() {
+            return id;
+        }
+
+        public void setId(int id) {
+            this.id = id;
+        }
+
+        public double getXl() {
+            return xl;
+        }
+
+        public void setXl(double xl) {
+            this.xl = xl;
+        }
+
+        public double getXr() {
+            return xr;
+        }
+
+        public void setXr(double xr) {
+            this.xr = xr;
+        }
+
+        public double getYb() {
+            return yb;
+        }
+
+        public void setYb(double yb) {
+            this.yb = yb;
+        }
+
+        public double getYt() {
+            return yt;
+        }
+
+        public void setYt(double yt) {
+            this.yt = yt;
+        }
+
+        public String getDriverTime() {
+            return driverTime;
+        }
+
+        public void setDriverTime(String driverTime) {
+            this.driverTime = driverTime;
+        }
+
+        @Override
+        public String toString() {
+            return "RectBean{" +
+                    "id=" + id +
+                    ", xl=" + xl +
+                    ", xr=" + xr +
+                    ", yb=" + yb +
+                    ", yt=" + yt +
+                    ", distance_x=" + distance_x +
+                    ", distance_y=" + distance_y +
+                    ", type='" + type + '\'' +
+                    ", lat=" + lat +
+                    ", lon=" + lon +
+                    ", heading=" + heading +
+                    ", systemTime='" + systemTime + '\'' +
+                    ", satelliteTime='" + satelliteTime + '\'' +
+                    ", alt=" + alt +
+                    ", carId='" + carId + '\'' +
+                    ", uuid='" + uuid + '\'' +
+                    ", color='" + color + '\'' +
+                    ", speed=" + speed +
+                    ", drawlevel=" + drawlevel +
+                    ", length=" + length +
+                    ", width=" + width +
+                    ", height=" + height +
+                    ", driverTime=" + driverTime +
+                    '}';
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "RectInfo{" +
+                ", action='" + action + '\'' +
+                ", models=" + models +
+                '}';
+    }
+}

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

@@ -0,0 +1,139 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.util.List;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/10/16
+ *
+ * 自动驾驶参数
+ */
+class RemoteControlAutoPilotParameters {
+
+    private String action;
+
+    private RemoteControlAutoPilotParameters.ValuesBean result;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public ValuesBean getResult() {
+        return result;
+    }
+
+    public void setResult(ValuesBean result) {
+        this.result = result;
+    }
+
+    @Override
+    public String toString() {
+        return "RemoteControlAutoPilotParameters{" +
+                "action='" + action + '\'' +
+                ", result=" + result +
+                '}';
+    }
+
+    public static class ValuesBean {
+        public AutoPilotLonLat startLatLon;
+        public List< AutoPilotLonLat > wayLatLons;
+        public AutoPilotLonLat endLatLon;
+        public float speedLimit;
+        public int vehicleType;// 运营类型
+
+        public static class AutoPilotLonLat {
+            public double lat;
+            public double lon;
+
+            public AutoPilotLonLat() {
+            }
+
+            public AutoPilotLonLat( double lat, double lon ) {
+                this.lat = lat;
+                this.lon = lon;
+            }
+
+            public double getLat() {
+                return lat;
+            }
+
+            public void setLat(double lat) {
+                this.lat = lat;
+            }
+
+            public double getLon() {
+                return lon;
+            }
+
+            public void setLon(double lon) {
+                this.lon = lon;
+            }
+
+            @Override
+            public String toString() {
+                return "AutoPilotLonLat{" +
+                        "lat=" + lat +
+                        ", lon=" + lon +
+                        '}';
+            }
+        }
+
+
+        public AutoPilotLonLat getStartLatLon() {
+            return startLatLon;
+        }
+
+        public void setStartLatLon(AutoPilotLonLat startLatLon) {
+            this.startLatLon = startLatLon;
+        }
+
+        public List<AutoPilotLonLat> getWayLatLons() {
+            return wayLatLons;
+        }
+
+        public void setWayLatLons(List<AutoPilotLonLat> wayLatLons) {
+            this.wayLatLons = wayLatLons;
+        }
+
+        public AutoPilotLonLat getEndLatLon() {
+            return endLatLon;
+        }
+
+        public void setEndLatLon(AutoPilotLonLat endLatLon) {
+            this.endLatLon = endLatLon;
+        }
+
+        public float getSpeedLimit() {
+            return speedLimit;
+        }
+
+        public void setSpeedLimit(float speedLimit) {
+            this.speedLimit = speedLimit;
+        }
+
+        public int getVehicleType() {
+            return vehicleType;
+        }
+
+        public void setVehicleType(int vehicleType) {
+            this.vehicleType = vehicleType;
+        }
+
+        @Override
+        public String toString() {
+            return "RemoteControlAutoPilotParameters{" +
+                    "startLatLon=" + startLatLon +
+                    ", wayLatLons=" + wayLatLons +
+                    ", endLatLon=" + endLatLon +
+                    ", speedLimit=" + speedLimit +
+                    ", vehicleType=" + vehicleType +
+                    '}';
+        }
+    }
+
+}

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

@@ -0,0 +1,23 @@
+package com.zhidao.support.adas.high.bean;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/12/7
+ */
+public class RouteInfo {
+
+    private String id;
+
+    private double startLat;
+
+    private double startLon;
+
+    private double endLat;
+
+    private double endLon;
+
+    private String path;
+
+
+}

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

@@ -0,0 +1,36 @@
+package com.zhidao.support.adas.high.bean;
+
+/**
+ * SSH返回结果
+ */
+public class SSHResult {
+
+    public interface RESULT_CODE {
+        /**
+         * 工控机IP未知
+         */
+        int IP_UNKNOWN = -2;
+        /**
+         * 网络异常或连接异常或IO异常
+         */
+        int ERROR = -1;
+        /**
+         * 命令下发成功
+         */
+        int SEND_SUCCEED = 0;
+        /**
+         * 其他值根据Shell返回结果而定 >0
+         */
+
+    }
+
+    public final int code;
+    public final String cmd;
+    public final String msg;
+
+    public SSHResult(int code, String cmd, String msg) {
+        this.code = code;
+        this.cmd = cmd;
+        this.msg = msg;
+    }
+}

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

@@ -0,0 +1,125 @@
+package com.zhidao.support.adas.high.bean;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/21
+ */
+public class TrajectoryInfo {
+    //经度
+    @SerializedName("lon")
+    private Double lon;
+    //纬度
+    @SerializedName("lat")
+    private Double lat;
+    //高度
+    @SerializedName("alt")
+    private Double alt;
+    //时间 秒s
+    @SerializedName("time")
+    private Double time;
+    //速度 m/s
+    @SerializedName("velocity")
+    private Double velocity;
+    //加速度
+    @SerializedName("acceleration")
+    private Double acceleration;
+    //速度方向
+    @SerializedName("theta")
+    private Double theta;
+    //曲率
+    @SerializedName("kappa")
+    private Double kappa;
+    //从起点到目前的总距离
+    @SerializedName("accumulated_dis")
+    private Double accumulatedDis;
+
+    public void setLon(Double lon) {
+        this.lon = lon;
+    }
+
+    public void setLat(Double lat) {
+        this.lat = lat;
+    }
+
+    public void setAlt(Double alt) {
+        this.alt = alt;
+    }
+
+    public void setTime(Double time) {
+        this.time = time;
+    }
+
+    public void setVelocity(Double velocity) {
+        this.velocity = velocity;
+    }
+
+    public void setAcceleration(Double acceleration) {
+        this.acceleration = acceleration;
+    }
+
+    public void setTheta(Double theta) {
+        this.theta = theta;
+    }
+
+    public void setKappa(Double kappa) {
+        this.kappa = kappa;
+    }
+
+    public void setAccumulatedDis(Double accumulatedDis) {
+        this.accumulatedDis = accumulatedDis;
+    }
+
+    public Double getLon() {
+        return lon;
+    }
+
+    public Double getLat() {
+        return lat;
+    }
+
+    public Double getAlt() {
+        return alt;
+    }
+
+    public Double getTime() {
+        return time;
+    }
+
+    public Double getVelocity() {
+        return velocity;
+    }
+
+    public Double getAcceleration() {
+        return acceleration;
+    }
+
+    public Double getTheta() {
+        return theta;
+    }
+
+    public Double getKappa() {
+        return kappa;
+    }
+
+    public Double getAccumulatedDis() {
+        return accumulatedDis;
+    }
+
+    @Override
+    public String toString() {
+        return "TrajectoryModels{" +
+                "lon=" + lon +
+                ", lat=" + lat +
+                ", alt=" + alt +
+                ", time='" + time + '\'' +
+                ", velocity=" + velocity +
+                ", acceleration=" + acceleration +
+                ", theta=" + theta +
+                ", kappa=" + kappa +
+                ", accumulatedDis=" + accumulatedDis +
+                '}';
+    }
+}

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

@@ -0,0 +1,28 @@
+package com.zhidao.support.adas.high.bean;
+
+import java.io.Serializable;
+
+/**
+ * @author nie yunlong
+ * @description
+ * @date 2018/9/6
+ */
+public class UserInfo implements Serializable {
+
+    private String userId;
+
+    public String getUserId() {
+        return userId;
+    }
+
+    public void setUserId(String userId) {
+        this.userId = userId;
+    }
+
+    @Override
+    public String toString() {
+        return "UserInfo{" +
+                "userId='" + userId + '\'' +
+                '}';
+    }
+}

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

@@ -0,0 +1,80 @@
+package com.zhidao.support.adas.high.bean;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high.bean
+ * @ClassName: WarnMessageInfo
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/9 20:40
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/9 20:40
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public class WarnMessageInfo {
+    /**
+     * content : 小心前车
+     * level : 2
+     * type : 20
+     * value :
+     */
+
+    private String content;
+    private String level;
+    private String type;
+    private String value;
+
+    public WarnMessageInfo() {
+    }
+
+    public WarnMessageInfo(String type, String content, String value, String level) {
+        this.type = type;
+        this.content = content;
+        this.value = value;
+        this.level = level;
+    }
+
+    public String getContent() {
+        return content;
+    }
+
+    public void setContent(String content) {
+        this.content = content;
+    }
+
+    public String getLevel() {
+        return level;
+    }
+
+    public void setLevel(String level) {
+        this.level = level;
+    }
+
+    public String getType() {
+        return type;
+    }
+
+    public void setType(String type) {
+        this.type = type;
+    }
+
+    public String getValue() {
+        return value;
+    }
+
+    public void setValue(String value) {
+        this.value = value;
+    }
+
+
+    @Override
+    public String toString() {
+        return "WarnMessageInfo{" +
+                "content='" + content + '\'' +
+                ", level='" + level + '\'' +
+                ", type='" + type + '\'' +
+                ", value='" + value + '\'' +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/guardian/AutopilotGuardianInfo.java

@@ -0,0 +1,113 @@
+package com.zhidao.support.adas.high.bean.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * @author songkenan
+ * @des 节点监控
+ * @date 2021/7/7
+ */
+public class AutopilotGuardianInfo implements Serializable {
+    //接口名称
+    @SerializedName("action")
+    private String action;
+    //监控项名称
+    @SerializedName("agentName")
+    private String agentName;
+    //车牌号
+    @SerializedName("carNum")
+    private String carNum;
+    //车型
+    @SerializedName("carType")
+    private String carType;
+    //monitorType
+    @SerializedName("monitorType")
+    private String monitorType;
+    //sn
+    @SerializedName("sn")
+    private String sn;
+    //时间
+    @SerializedName("time")
+    private long time;
+    @SerializedName("modules")
+    private GuardianModule modules;
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public String getAgentName() {
+        return agentName;
+    }
+
+    public void setAgentName(String agentName) {
+        this.agentName = agentName;
+    }
+
+    public String getCarNum() {
+        return carNum;
+    }
+
+    public void setCarNum(String carNum) {
+        this.carNum = carNum;
+    }
+
+    public String getCarType() {
+        return carType;
+    }
+
+    public void setCarType(String carType) {
+        this.carType = carType;
+    }
+
+    public String getMonitorType() {
+        return monitorType;
+    }
+
+    public void setMonitorType(String monitorType) {
+        this.monitorType = monitorType;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public long getTime() {
+        return time;
+    }
+
+    public void setTime(long time) {
+        this.time = time;
+    }
+
+    public GuardianModule getModules() {
+        return modules;
+    }
+
+    public void setModules(GuardianModule modules) {
+        this.modules = modules;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotGuardianInfo{" +
+                "action='" + action + '\'' +
+                ", agentName='" + agentName + '\'' +
+                ", carNum='" + carNum + '\'' +
+                ", carType='" + carType + '\'' +
+                ", monitorType='" + monitorType + '\'' +
+                ", modules=" + modules +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/guardian/GuardianItem.java

@@ -0,0 +1,39 @@
+package com.zhidao.support.adas.high.bean.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/12/10
+ */
+public class GuardianItem {
+    @SerializedName("name")
+    private String name;
+    @SerializedName("value")
+    private String value;
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    public String getValue() {
+        return value;
+    }
+
+    public void setValue(String value) {
+        this.value = value;
+    }
+
+    @Override
+    public String toString() {
+        return "GuardianItem{" +
+                "name='" + name + '\'' +
+                ", value='" + value + '\'' +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/guardian/GuardianItemsName.java

@@ -0,0 +1,41 @@
+package com.zhidao.support.adas.high.bean.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/12/10
+ */
+public class GuardianItemsName {
+    @SerializedName("name")
+    private String name;
+    @SerializedName("items")
+    private List<GuardianItem> items;
+
+    public String getName() {
+        return name;
+    }
+
+    public void setName(String name) {
+        this.name = name;
+    }
+
+    public List<GuardianItem> getItems() {
+        return items;
+    }
+
+    public void setItems(List<GuardianItem> items) {
+        this.items = items;
+    }
+
+    @Override
+    public String toString() {
+        return "GuardianItemsName{" +
+                "name='" + name + '\'' +
+                ", items=" + items +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/guardian/GuardianModule.java

@@ -0,0 +1,41 @@
+package com.zhidao.support.adas.high.bean.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/12/10
+ */
+public class GuardianModule {
+    @SerializedName("itemsname")
+    private List<GuardianItemsName> itemsname;
+    @SerializedName("submodules")
+    private List<GuardianSubmodule> submodules;
+
+    public List<GuardianItemsName> getItemsname() {
+        return itemsname;
+    }
+
+    public void setItemsname(List<GuardianItemsName> itemsname) {
+        this.itemsname = itemsname;
+    }
+
+    public List<GuardianSubmodule> getSubmodules() {
+        return submodules;
+    }
+
+    public void setSubmodules(List<GuardianSubmodule> submodules) {
+        this.submodules = submodules;
+    }
+
+    @Override
+    public String toString() {
+        return "GuardianModule{" +
+                "itemsname=" + itemsname +
+                ", submodules=" + submodules +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/guardian/GuardianSubmodule.java

@@ -0,0 +1,85 @@
+package com.zhidao.support.adas.high.bean.guardian;
+
+import androidx.core.internal.view.SupportSubMenu;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/12/10
+ */
+public class GuardianSubmodule {
+    @SerializedName("modulename")
+    private String modulename;
+    @SerializedName("subnodes")
+    private List<Subnode> subnodes;
+
+    public String getModulename() {
+        return modulename;
+    }
+
+    public void setModulename(String modulename) {
+        this.modulename = modulename;
+    }
+
+    public List<Subnode> getSubnodes() {
+        return subnodes;
+    }
+
+    public void setSubnodes(List<Subnode> subnodes) {
+        this.subnodes = subnodes;
+    }
+
+    public static class Subnode {
+        @SerializedName("nodename")
+        private String nodename;
+        @SerializedName("nodeitems")
+        private List<GuardianItemsName> nodeitems;
+        @SerializedName("topicitems")
+        private List<GuardianItemsName> topicitems;
+
+        public String getNodename() {
+            return nodename;
+        }
+
+        public void setNodename(String nodename) {
+            this.nodename = nodename;
+        }
+
+        public List getNodeitems() {
+            return nodeitems;
+        }
+
+        public void setNodeitems(List nodeitems) {
+            this.nodeitems = nodeitems;
+        }
+
+        public List<GuardianItemsName> getTopicitems() {
+            return topicitems;
+        }
+
+        public void setTopicitems(List<GuardianItemsName> topicitems) {
+            this.topicitems = topicitems;
+        }
+
+        @Override
+        public String toString() {
+            return "Subnode{" +
+                    "nodename='" + nodename + '\'' +
+                    ", nodeitems=" + nodeitems +
+                    ", topicitems=" + topicitems +
+                    '}';
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "GuardianSubmodule{" +
+                "modulename='" + modulename + '\'' +
+                ", subnodes=" + subnodes +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/record/AutopilotIdentifyInfo.java

@@ -0,0 +1,75 @@
+package com.zhidao.support.adas.high.bean.record;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/8/26
+ */
+public class AutopilotIdentifyInfo {
+
+    @SerializedName("action")
+    private String action;
+    @SerializedName("result")
+    private Result result;
+
+    public static class Result {
+        @SerializedName("panel")
+        private AutopilotRecordResult panel;
+        @SerializedName("passwd")
+        private String passwd;
+        @SerializedName("user")
+        private String user;
+
+        public AutopilotRecordResult getPanel() {
+            return panel;
+        }
+
+        public void setPanel(AutopilotRecordResult panel) {
+            this.panel = panel;
+        }
+
+        public String getPasswd() {
+            return passwd;
+        }
+
+        public void setPasswd(String passwd) {
+            this.passwd = passwd;
+        }
+
+        public String getUser() {
+            return user;
+        }
+
+        public void setUser(String user) {
+            this.user = user;
+        }
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public void setAction(String action) {
+        this.action = action;
+    }
+
+    public Result getResult() {
+        return result;
+    }
+
+    public void setResult(Result result) {
+        this.result = result;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotIdentifyInfo{" +
+                "action='" + action + '\'' +
+                ", result=" + result +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/record/AutopilotRecordResult.java

@@ -0,0 +1,171 @@
+package com.zhidao.support.adas.high.bean.record;
+
+import com.google.gson.annotations.SerializedName;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @ 自动驾驶数据采集结果
+ * @date 2021/11/8
+ */
+public class AutopilotRecordResult {
+    //磁盘可用空间（M）
+    @SerializedName("disk_free")
+    private Integer diskFree;
+    //采集时长（秒）
+    @SerializedName("duration")
+    private double duration;
+    //保存的文件名
+    @SerializedName("filename")
+    private String filename;
+    //其他信息，包含错误信息等
+    @SerializedName("note")
+    private String note;
+    //域控制器定义的bag key
+    @SerializedName("key")
+    private String key;
+    //采集状态：100 - 采集成功，自动结束
+    //101 - 采集成功，收到结束指令
+    //102 -- 达到最大采集时长
+    //103 --达到最大采集空间
+    //200 - 采集失败
+    //201 - 采集中
+    //300 - 开始采集
+    @SerializedName("stat")
+    private int stat;
+    //任务类型：1-badcase采集任务,2-地图数据采集任务
+    @SerializedName("type")
+    private int type;
+    //任务id
+    @SerializedName("id")
+    private int id;
+    //时间戳，格式：YYYY-MM-DD-hh-mm-ss
+    @SerializedName("timestamp")
+    private String timestamp;
+    //此次数据总大小（M）
+    @SerializedName("total_size")
+    private Integer totalSize;
+    //触发指令
+    @SerializedName("triggerinfo")
+    private Triggerinfo triggerinfo;
+    //各topic数据量
+    @SerializedName("records")
+    private List<Records> records;
+
+    public static class Triggerinfo {
+        //是否为人工接管时自动采集：true - 自动采集 false - 手动触发
+        @SerializedName("auto_trig")
+        private Boolean autoTrig;
+        //触发采集附带的信息，如任务ID，时间戳等。若为自动采集则此项忽略
+        @SerializedName("trig_msg")
+        private String trigMsg;
+
+        public Boolean getAutoTrig() {
+            return autoTrig;
+        }
+
+        public String getTrigMsg() {
+            return trigMsg;
+        }
+
+        @Override
+        public String toString() {
+            return "Triggerinfo{" +
+                    "autoTrig=" + autoTrig +
+                    ", trigMsg='" + trigMsg + '\'' +
+                    '}';
+        }
+    }
+
+    public static class Records {
+        //数据记录数
+        @SerializedName("nums")
+        private Integer nums;
+        //数据来源的topic名
+        @SerializedName("topic")
+        private String topic;
+
+        public Integer getNums() {
+            return nums;
+        }
+
+        public String getTopic() {
+            return topic;
+        }
+
+        @Override
+        public String toString() {
+            return "Records{" +
+                    "nums=" + nums +
+                    ", topic='" + topic + '\'' +
+                    '}';
+        }
+    }
+
+    public Integer getDiskFree() {
+        return diskFree;
+    }
+
+    public double getDuration() {
+        return duration;
+    }
+
+    public String getFilename() {
+        return filename;
+    }
+
+    public String getNote() {
+        return note;
+    }
+
+    public String getKey() {
+        return key;
+    }
+
+    public List<Records> getRecords() {
+        return records;
+    }
+
+    public int getStat() {
+        return stat;
+    }
+
+    public int getType() {
+        return type;
+    }
+
+    public int getId() {
+        return id;
+    }
+
+    public String getTimestamp() {
+        return timestamp;
+    }
+
+    public Integer getTotalSize() {
+        return totalSize;
+    }
+
+    public Triggerinfo getTriggerinfo() {
+        return triggerinfo;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotRecordResult{" +
+                "diskFree=" + diskFree +
+                ", duration=" + duration +
+                ", filename='" + filename + '\'' +
+                ", note='" + note + '\'' +
+                ", key='" + key + '\'' +
+                ", stat=" + stat +
+                ", type=" + type +
+                ", id=" + id +
+                ", timestamp='" + timestamp + '\'' +
+                ", totalSize=" + totalSize +
+                ", triggerinfo=" + triggerinfo +
+                ", records=" + records +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/record/RecordCauseParam.java

@@ -0,0 +1,66 @@
+package com.zhidao.support.adas.high.bean.record;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/8/25
+ */
+
+public class RecordCauseParam {
+    private final String action = "record_cause";
+    private Result result;
+
+    public String getAction() {
+        return action;
+    }
+
+    public Result getResult() {
+        return result;
+    }
+
+    public void setResult(Result result) {
+        this.result = result;
+    }
+
+    public static class Result{
+        //bag key 唯一标识
+        private String key;
+        //文件路径
+        private String filename;
+        //接管原因
+        private String reason;
+
+        public String getKey() {
+            return key;
+        }
+
+        public void setKey(String key) {
+            this.key = key;
+        }
+
+        public String getFilename() {
+            return filename;
+        }
+
+        public void setFilename(String filename) {
+            this.filename = filename;
+        }
+
+        public String getReason() {
+            return reason;
+        }
+
+        public void setReason(String reason) {
+            this.reason = reason;
+        }
+
+    }
+
+    @Override
+    public String toString() {
+        return "RecordDataParam{" +
+                "action='" + action + '\'' +
+                ", result='" + result + '\'' +
+                '}';
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/record/RecordDataParam.java

@@ -0,0 +1,113 @@
+package com.zhidao.support.adas.high.bean.record;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/8/25
+ */
+
+public class RecordDataParam {
+    private final String action = "record_data";
+    private Result result;
+
+    public String getAction() {
+        return action;
+    }
+
+    public Result getResult() {
+        return result;
+    }
+
+    public void setResult(Result result) {
+        this.result = result;
+    }
+
+    public static class Result{
+        //采集时间
+        private String time;
+        //采集指令 true 采集 ， false 停止采集
+        private boolean isRecord;
+        //采集类型 1 badcase; 2 map; 3 rests
+        private int type;
+        //采集id
+        private int id;
+        //是否持续采集
+        private boolean sustain;
+        //采集时间长
+        private int duration;
+        //余留字段
+        private String note;
+
+        public String getTime() {
+            return time;
+        }
+
+        public void setTime(String time) {
+            this.time = time;
+        }
+
+        public boolean getIsRecord() {
+            return isRecord;
+        }
+
+        public void setIsRecord(boolean isRecord) {
+            this.isRecord = isRecord;
+        }
+
+        public boolean isRecord() {
+            return isRecord;
+        }
+
+        public void setRecord(boolean record) {
+            isRecord = record;
+        }
+
+        public int getType() {
+            return type;
+        }
+
+        public void setType(int type) {
+            this.type = type;
+        }
+
+        public int getId() {
+            return id;
+        }
+
+        public void setId(int id) {
+            this.id = id;
+        }
+
+        public boolean isSustain() {
+            return sustain;
+        }
+
+        public void setSustain(boolean sustain) {
+            this.sustain = sustain;
+        }
+
+        public int getDuration() {
+            return duration;
+        }
+
+        public void setDuration(int duration) {
+            this.duration = duration;
+        }
+
+        public String getNote() {
+            return note;
+        }
+
+        public void setNote(String note) {
+            this.note = note;
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "RecordDataParam{" +
+                "action='" + action + '\'' +
+                ", result='" + result + '\'' +
+                '}';
+    }
+}

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

@@ -0,0 +1,152 @@
+package com.zhidao.support.adas.high.common;
+
+/**
+ * 接收的Action
+ *
+ * @author nie yunlong
+ * @description 请求值
+ * @date 2018/7/3
+ */
+public enum ActionTypeReceive {
+
+    /**
+     * udp 消息渲染 action
+     */
+    ACTION_WS_MSG_RENDER_TYPE("view", 0x101, "渲染流 渲染图像"),
+    /**
+     * 周边物体的状态
+     */
+    ACTION_WS_OBSTACLES_MESSAGE_TYPE("obstacles", -1, "周边物体的状态"),
+    /**
+     * 车道线渲染
+     */
+    ACTION_WS_LANES_MESSAGE_TYPE("lanes", -1, "车道线渲染"),
+    /**
+     * 车辆状态
+     */
+    ACTION_WS_CAR_STATE_TYPE("state", 0x102, "车辆状态"),
+    /**
+     * ws 报警消息 action
+     */
+    ACTION_WS_MSG_WARNING_TYPE("warn", -1, "ws 报警消息"),
+    /**
+     * 红绿灯状态
+     */
+    ACTION_UDP_LIGHT_STATE_TYPE("light", -1, "udp 红绿灯状态"),
+    /**
+     * gps数据
+     */
+    ACTION_WS_GPS_TYPE("gdgps", -1, "gps 数据"),
+    /**
+     * 自动驾驶状态
+     */
+    ACTION_WS_AUTOPILOT_STATUE("autopilotstate", -1, "自动驾驶状态"),
+    /**
+     * 自动驾驶控制
+     */
+    ACTION_WS_AUTOPILOT_CONTROL("autopilotmode", -1, "自动驾驶控制"),
+    /**
+     * obu红绿灯数据
+     */
+    ACTION_WS_AI_CLOUD_OBU_RED_GREEN_LIGHT_TYPE("obuTrafficLight", -1, "obu红绿灯数据"),
+    /**
+     * ai云
+     */
+    ACTION_WS_AI_CLOUD_TYPE("aiCloudToStartAutopilot", -1, "云端控制自动驾驶"),
+    /**
+     * 图片大小
+     */
+    ACTION_WS_MSG_IMAGE_SIZE_TYPE("imagesize", -1, "ws 图片大小"),
+    /**
+     * ai云推送 在线车辆
+     */
+    ACTION_WS_AI_CLOUD_ONLINE_CAR_TYPE("aiCloudToOnLineCar", -1, "云端推送在线车辆"),
+    /**
+     * 自动驾驶站点通信
+     */
+    ACTION_WS_AUTOPILOT_WAY_ARRIVE("autopilotArrive", -1, "自动驾驶站点"),
+    /**
+     * 获取自动驾驶路径
+     */
+    ACTION_WS_AUTOPILOT_ROUTE("global_path", -1, "自动驾驶路径"),
+    /**
+     * 查询自动驾驶路径
+     */
+    ACTION_WS_AUTOPILOT_QUERY_ROUTE("query_global_path", -1, "查询自动驾驶路径"),
+    /**
+     * 工控机请求SN
+     */
+    ACTION_WS_AUTOPILOT_SN_REQUEST("autopilotSN", -1, "工控机请求SN"),
+    /**
+     * 监控车辆节点
+     */
+    ACTION_WS_AUTOPILOT_GUARDIAN("guardian", 0x105, "监控车辆节点"),
+    /**
+     * 采集信息
+     */
+    ACTION_WS_AUTOPILOT_IDENTIFY("identify", -1, "FTP消息"),
+    /**
+     * 局部轨迹
+     */
+    ACTION_WS_AUTOPILOT_TRAJECTORY("trajectory", 0x100, "局部轨迹"),
+    /**
+     * car dock 基础信息
+     */
+    ACTION_WS_AUTOPILOT_CAR_CONFIG("car_config", -1, "car_config"),
+    /**
+     * 轨迹列表 routes
+     */
+    ACTION_WS_AUTOPILOT_ROUTES("route_list", 0x104, "轨迹列表"),
+    /**
+     * 工控机升级包下载状态
+     */
+    ACTION_WS_AUTOPILOT_UPGRADE_PATCH_DOWNLOAD_STATUS("ipc_upgrade_patch_download_status", -1, "IPC升级包下载状态"),
+    /**
+     * 工控机升级进度
+     */
+    ACTION_WS_AUTOPILOT_UPGRADE_STATUS("ipc_upgrade_status", -1, "IPC升级状态");
+
+    /**
+     * 消息action 类型
+     */
+    String mActionType;
+
+    /**
+     * 消息action code
+     */
+    int mActionCode;
+    /**
+     * 描述
+     */
+    String mMsgDesc;
+
+    ActionTypeReceive(String actionType, int actionCode, String msgDesc) {
+        this.mActionType = actionType;
+        this.mActionCode = actionCode;
+        this.mMsgDesc = msgDesc;
+    }
+
+    public String getmActionType() {
+        return mActionType;
+    }
+
+    public void setmActionType(String mActionType) {
+        this.mActionType = mActionType;
+    }
+
+    public int getmActionCode() {
+        return mActionCode;
+    }
+
+    public void setmActionCode(int mActionCode) {
+        this.mActionCode = mActionCode;
+    }
+
+    public String getmMsgDesc() {
+        return mMsgDesc;
+    }
+
+    public void setmMsgDesc(String mMsgDesc) {
+        this.mMsgDesc = mMsgDesc;
+    }
+}

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

@@ -0,0 +1,280 @@
+package com.zhidao.support.adas.high.common;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.text.TextUtils;
+import android.util.Base64;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.bean.FaceLoginResponse;
+import com.zhidao.support.adas.high.bean.UserInfo;
+
+import java.io.ByteArrayInputStream;
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.ObjectInputStream;
+import java.io.ObjectOutputStream;
+import java.io.Serializable;
+
+/**
+ * Created by nie yunlong on 2018/4/13.
+ * sharePreference 操作
+ * 根据 具体情况来写
+ */
+
+public class AppPreferenceHelper implements IPreferencesHelper {
+
+    public static AppPreferenceHelper appPreferenceHelper;
+    /**
+     * 保存deviceId 文件名称
+     */
+    private final String              UDP_RECEIVER_ADDRESS_FILE_NAME = "upd_receive";
+
+    /**
+     * 假的数据 share
+     */
+    private final String FAKE_DATA_PRE_FILE_NAME = "data_fake";
+    /**
+     * 用户信息
+     */
+    private final String USER_INFO_FILE_NAME     = "user_info";
+
+    /**
+     * 保存raw
+     */
+    private final String CONFIG_RAW_FILE_NAME = "raw_config";
+
+    private final String USER_NAME = "user_name";
+
+
+    private final String CONFIG_PRE_FILE_NAME = "config";
+
+    /**
+     * 用户信息pre
+     */
+    private final SharedPreferences mUserLoginInfoPre;
+    /**
+     * 假的数据share
+     */
+    private final SharedPreferences mFakeDataPre;
+
+    private final SharedPreferences mRawConfigPre;
+    /**
+     * 手机Id
+     */
+    private       SharedPreferences mDevicePre;
+    /**
+     * 配置标志位
+     */
+    private       SharedPreferences mConfigPre;
+    /**
+     * 默认data
+     */
+    private       String            defaultData = "{\"configInfoHistory\":[{\"kCode\":\"d_fcw_touch\",\"kName\":\"前车碰撞预警\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0},{\"kCode\":\"d_fcw_start\",\"kName\":\"前车启动提醒\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0},{\"kCode\":\"d_hdw_driver\",\"kName\":\"驾驶员疲劳/危险预警\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0},{\"kCode\":\"d_fcw_person\",\"kName\":\"行人碰撞预警\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0},{\"kCode\":\"d_hdw_sliding\",\"kName\":\"溜车碰撞预警\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0},{\"kCode\":\"d_ldw_out\",\"kName\":\"车道线偏离预警\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0},{\"kCode\":\"d_hmw_follow\",\"kName\":\"跟车距离预警\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0},{\"kCode\":\"d_volume_size\",\"kName\":\"音量大小\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"60\",\"userId\":0},{\"kCode\":\"is_use_ar_navBar\",\"kName\":\"是否使用AR导航\",\"kOrder\":1,\"kType\":\"aided_driving_dic\",\"kVal\":\"5\",\"userId\":0}]}";
+
+    public static AppPreferenceHelper getInstance(Context context) {
+        if (appPreferenceHelper == null) {
+            appPreferenceHelper = new AppPreferenceHelper(context.getApplicationContext());
+        }
+        return appPreferenceHelper;
+    }
+
+    private AppPreferenceHelper(Context context) {
+        mDevicePre = context.getSharedPreferences(UDP_RECEIVER_ADDRESS_FILE_NAME, Context.MODE_PRIVATE);
+        mUserLoginInfoPre = context.getSharedPreferences(USER_INFO_FILE_NAME, Context.MODE_PRIVATE);
+        mFakeDataPre = context.getSharedPreferences(FAKE_DATA_PRE_FILE_NAME, Context.MODE_PRIVATE);
+        mRawConfigPre = context.getSharedPreferences(CONFIG_RAW_FILE_NAME, Context.MODE_PRIVATE);
+        mConfigPre = context.getSharedPreferences(CONFIG_PRE_FILE_NAME, Context.MODE_PRIVATE);
+    }
+
+    @Override
+    public void saveUdpClientAddress(String address) {
+        mDevicePre.edit().putString("upd_client_address", address).apply();
+    }
+
+    @Override
+    public String getUdpClientAddress() {
+        return mDevicePre.getString("upd_client_address", null);
+    }
+
+    @Override
+    public void saveDockConfig(String dockConfig) {
+        mDevicePre.edit().putString("dock_version", dockConfig).apply();
+    }
+
+    @Override
+    public String getDockConfig() {
+        return mDevicePre.getString("dock_version", null);
+    }
+
+    @Override
+    public void setUserInfo(FaceLoginResponse.DataBean loginResponse) {
+
+        try {
+            saveUser(mUserLoginInfoPre, "userInfo", loginResponse);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+
+    @Override
+    public FaceLoginResponse.DataBean getUserInfo() {
+        return getUser(mUserLoginInfoPre, "userInfo");
+    }
+
+    @Override
+    public void setConfigNaviMapVis(int selectIndex) {
+        mFakeDataPre.edit().putInt("selectIndex", selectIndex).apply();
+    }
+
+    @Override
+    public int getConfigNaviMapVis() {
+        return mFakeDataPre.getInt("selectIndex", 1);
+    }
+
+
+    private void saveUser(SharedPreferences sharedPreferences, String key, FaceLoginResponse.DataBean user) throws Exception {
+        if (user instanceof Serializable) {
+            SharedPreferences.Editor editor = sharedPreferences.edit();
+            ByteArrayOutputStream baos = new ByteArrayOutputStream();
+            try {
+                ObjectOutputStream oos = new ObjectOutputStream(baos);
+                //把对象写到流里
+                oos.writeObject(user);
+                String temp = new String(Base64.encode(baos.toByteArray(), Base64.DEFAULT));
+                editor.putString(key, temp);
+                editor.commit();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        } else {
+            throw new Exception("User must implements Serializable");
+        }
+    }
+
+
+    private FaceLoginResponse.DataBean getUser(SharedPreferences sharedPreferences, String key) {
+        String temp = sharedPreferences.getString(key, "");
+        FaceLoginResponse.DataBean user = null;
+        try {
+            if (!TextUtils.isEmpty(temp)) {
+                ByteArrayInputStream bais = new ByteArrayInputStream(Base64.decode(temp.getBytes(), Base64.DEFAULT));
+                ObjectInputStream ois = new ObjectInputStream(bais);
+                user = (FaceLoginResponse.DataBean) ois.readObject();
+            }
+        } catch (IOException e) {
+        } catch (ClassNotFoundException e1) {
+
+        }
+        try {
+            if (user == null) {
+                //是空的 使用默认的配置
+                Gson gson = new Gson();
+                FaceLoginResponse.DataBean dataConfig = gson.fromJson(defaultData, FaceLoginResponse.DataBean.class);
+
+                saveUser(mUserLoginInfoPre, "userInfo", dataConfig);
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return user;
+    }
+
+    @Override
+    public void saveUserUnInfo(UserInfo userInfo) {
+        if (userInfo == null) {
+            userInfo = new UserInfo();
+        }
+        if (userInfo instanceof Serializable) {
+            SharedPreferences.Editor editor = mUserLoginInfoPre.edit();
+            ByteArrayOutputStream baos = new ByteArrayOutputStream();
+            try {
+                ObjectOutputStream oos = new ObjectOutputStream(baos);
+                //把对象写到流里
+                oos.writeObject(userInfo);
+                String temp = new String(Base64.encode(baos.toByteArray(), Base64.DEFAULT));
+                editor.putString("userInfoId", temp);
+                editor.apply();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    @Override
+    public UserInfo getUserUnInfo() {
+        String temp = mUserLoginInfoPre.getString("userInfoId", "");
+        ByteArrayInputStream bais = new ByteArrayInputStream(Base64.decode(temp.getBytes(), Base64.DEFAULT));
+        UserInfo user = null;
+        try {
+            ObjectInputStream ois = new ObjectInputStream(bais);
+            user = (UserInfo) ois.readObject();
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        if (user == null) {
+            user = new UserInfo();
+        }
+        return user;
+    }
+
+    @Override
+    public void setConfigInitResutl(boolean flag) {
+        mConfigPre.edit().putBoolean("configInit", flag).apply();
+    }
+
+    @Override
+    public boolean getConfigInitResutl() {
+        return mConfigPre.getBoolean("configInit", false);
+    }
+
+
+    @Override
+    public void setSelectCarInfo(String brand, String model, String style) {
+        mConfigPre.edit().putString("brand", brand).putString("model", model).putString("style", style).apply();
+    }
+
+    @Override
+    public String getSelectBrand() {
+        return mConfigPre.getString("brand", "");
+    }
+
+    @Override
+    public String getSelectModel() {
+        return mConfigPre.getString("model", "");
+    }
+
+    @Override
+    public String getSelectStyle() {
+        return mConfigPre.getString("style", "");
+    }
+
+
+
+    @Override
+    public void saveRawPath(int rawName, String rawPath) {
+
+        mRawConfigPre.edit().putString("" + rawName, rawPath).apply();
+    }
+
+    @Override
+    public String getRawPath(int rawName) {
+        return mRawConfigPre.getString("" + rawName, "");
+    }
+
+    @Override
+    public void clearRawConfig(int rawName) {
+        mRawConfigPre.edit().putString("" + rawName, "").apply();
+    }
+
+    @Override
+    public void setAppAttachTime(long time) {
+        mRawConfigPre.edit().putLong("appAttachTime", time).commit();
+    }
+
+    @Override
+    public long getAppAttachTime() {
+        return mRawConfigPre.getLong("appAttachTime", 3000);
+    }
+}

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

@@ -0,0 +1,84 @@
+package com.zhidao.support.adas.high.common;
+
+import java.io.ByteArrayOutputStream;
+import java.io.Closeable;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+
+/**
+ * Created by nie yunlong on 2018/4/9.
+ * IO 操作
+ */
+
+public class BaseIoUtils {
+
+    public static final int DEFAULT_IMAGE_TOTAL_SIZE = 500 * 1024; // 500 Kb
+
+    /**
+     * 从输入流中获取数据
+     *
+     * @param inStream 输入流
+     * @return
+     * @throws Exception
+     */
+    public static byte[] readInputStreamToByte(InputStream inStream) throws Exception {
+        ByteArrayOutputStream outStream = new ByteArrayOutputStream();
+        byte[] buffer = new byte[1024];
+        int len = 0;
+        while ((len = inStream.read(buffer)) != -1) {
+            outStream.write(buffer, 0, len);
+        }
+        inStream.close();
+        return outStream.toByteArray();
+    }
+
+    /**
+     * 从输入流中获取数据
+     *
+     * @param inStream 输入流
+     * @return
+     * @throws Exception
+     */
+    public static String readInputStreamToString(InputStream inStream) throws Exception {
+        ByteArrayOutputStream outStream = new ByteArrayOutputStream();
+        byte[] buffer = new byte[1024];
+        int len = 0;
+        while ((len = inStream.read(buffer)) != -1) {
+            outStream.write(buffer, 0, len);
+        }
+        inStream.close();
+        return outStream.toString("utf-8");
+    }
+
+    public static void closeSilently(Closeable closeable) {
+
+        try {
+            if (closeable != null) {
+                closeable.close();
+            }
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+
+    }
+
+    public static boolean copyStream(InputStream is, OutputStream os, int bufferSize)
+            throws IOException {
+        int current = 0;
+        int total = is.available();
+        if (total <= 0) {
+            total = DEFAULT_IMAGE_TOTAL_SIZE;
+        }
+
+        final byte[] bytes = new byte[bufferSize];
+        int count;
+        while ((count = is.read(bytes, 0, bufferSize)) != -1) {
+            os.write(bytes, 0, count);
+            current += count;
+        }
+        os.flush();
+        return true;
+    }
+
+}

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

@@ -0,0 +1,276 @@
+package com.zhidao.support.adas.high.common;
+
+import android.content.Context;
+import android.os.Environment;
+import android.os.StatFs;
+
+import java.io.BufferedInputStream;
+import java.io.BufferedOutputStream;
+import java.io.ByteArrayOutputStream;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+import java.io.IOException;
+
+public class BaseSDCardHelper {
+
+	// 判断SD卡是否被挂载
+	public static boolean isSDCardMounted() {
+		// return Environment.getExternalStorageState().equals("mounted");
+		return Environment.getExternalStorageState().equals(
+				Environment.MEDIA_MOUNTED);
+	}
+
+	// 获取SD卡的根目录
+	public static String getSDCardBaseDir() {
+		if (isSDCardMounted()) {
+			return Environment.getExternalStorageDirectory().getAbsolutePath();
+		}
+		return null;
+	}
+
+
+	// 获取SD卡的完整空间大小，返回MB
+	public static long getSDCardSize() {
+		if (isSDCardMounted()) {
+			StatFs fs = new StatFs(getSDCardBaseDir());
+			int count = fs.getBlockCount();
+			int size = fs.getBlockSize();
+			return count * size / 1024 / 1024;
+		}
+		return 0;
+	}
+
+	// 获取SD卡的剩余空间大小
+	public static long getSDCardFreeSize() {
+		if (isSDCardMounted()) {
+			StatFs fs = new StatFs(getSDCardBaseDir());
+			int count = fs.getFreeBlocks();
+			int size = fs.getBlockSize();
+			return count * size / 1024 / 1024;
+		}
+		return 0;
+	}
+
+	// 获取SD卡的可用空间大小
+	public static long getSDCardAvailableSize() {
+		if (isSDCardMounted()) {
+			StatFs fs = new StatFs(getSDCardBaseDir());
+			int count = fs.getAvailableBlocks();
+			int size = fs.getBlockSize();
+			return count * size / 1024 / 1024;
+		}
+		return 0;
+	}
+
+	// 往SD卡的公有目录下保存文件
+	public static boolean saveFileToSDCardPublicDir(byte[] data, String type,
+			String fileName) {
+		BufferedOutputStream bos = null;
+		if (isSDCardMounted()) {
+			File file = Environment.getExternalStoragePublicDirectory(type);
+			try {
+				bos = new BufferedOutputStream(new FileOutputStream(new File(
+						file, fileName)));
+				bos.write(data);
+				bos.flush();
+				return true;
+			} catch (Exception e) {
+				e.printStackTrace();
+			} finally {
+				try {
+					bos.close();
+				} catch (IOException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
+			}
+		}
+		return false;
+	}
+
+	// 往SD卡的自定义目录下保存文件
+	public static boolean saveFileToSDCardCustomDir(byte[] data, String dir,
+			String fileName) {
+		BufferedOutputStream bos = null;
+		if (isSDCardMounted()) {
+			File file = new File(getSDCardBaseDir() + File.separator + dir);
+			if (!file.exists()) {
+				file.mkdirs();// 递归创建自定义目录
+			}
+			try {
+				bos = new BufferedOutputStream(new FileOutputStream(new File(
+						file, fileName)));
+				bos.write(data);
+				bos.flush();
+				return true;
+			} catch (Exception e) {
+				e.printStackTrace();
+			} finally {
+				try {
+					bos.close();
+				} catch (IOException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
+			}
+		}
+		return false;
+	}
+
+	// 往SD卡的私有Files目录下保存文件
+	public static boolean saveFileToSDCardPrivateFilesDir(byte[] data,
+                                                          String type, String fileName, Context context) {
+		BufferedOutputStream bos = null;
+		if (isSDCardMounted()) {
+			File file = context.getExternalFilesDir(type);
+			try {
+				bos = new BufferedOutputStream(new FileOutputStream(new File(
+						file, fileName)));
+				bos.write(data);
+				bos.flush();
+				return true;
+			} catch (Exception e) {
+				e.printStackTrace();
+			} finally {
+				try {
+					bos.close();
+				} catch (IOException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
+			}
+		}
+		return false;
+	}
+
+	// 往SD卡的私有Cache目录下保存文件
+	public static boolean saveFileToSDCardPrivateCacheDir(byte[] data,
+                                                          String fileName, Context context) {
+		BufferedOutputStream bos = null;
+		if (isSDCardMounted()) {
+			File file = context.getExternalCacheDir();
+			try {
+				bos = new BufferedOutputStream(new FileOutputStream(new File(
+						file, fileName)));
+				bos.write(data);
+				bos.flush();
+				return true;
+			} catch (Exception e) {
+				e.printStackTrace();
+			} finally {
+				try {
+					bos.close();
+				} catch (IOException e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
+			}
+		}
+		return false;
+	}
+
+	// 从SD卡获取文件
+	public static byte[] loadFileFromSDCard(String fileDir) {
+		BufferedInputStream bis = null;
+		ByteArrayOutputStream baos = new ByteArrayOutputStream();
+
+		try {
+			bis = new BufferedInputStream(
+					new FileInputStream(new File(fileDir)));
+			byte[] buffer = new byte[8 * 1024];
+			int c = 0;
+			while ((c = bis.read(buffer)) != -1) {
+				baos.write(buffer, 0, c);
+				baos.flush();
+			}
+			return baos.toByteArray();
+		} catch (Exception e) {
+			e.printStackTrace();
+		} finally {
+			try {
+				baos.close();
+				if (bis != null) {
+					bis.close();
+				}
+			} catch (IOException e) {
+				e.printStackTrace();
+			}
+		}
+		return null;
+	}
+
+	// 获取SD卡公有目录的路径
+	public static String getSDCardPublicDir(String type) {
+		return Environment.getExternalStoragePublicDirectory(type).toString();
+	}
+
+	// 获取SD卡私有Cache目录的路径
+	public static String getSDCardPrivateCacheDir(Context context) {
+		return context.getExternalCacheDir().getAbsolutePath();
+	}
+
+	// 获取SD卡私有Files目录的路径
+	public static String getSDCardPrivateFilesDir(Context context, String type) {
+		return context.getExternalFilesDir(type).getAbsolutePath();
+	}
+
+	// 获取SD卡文件目录的路径
+	public static String getSDCardPrivateFilesDirOne(Context context,
+                                                     String type) {
+		return Environment.getExternalStorageDirectory().getAbsolutePath()
+				+ File.separator + type;
+	}
+
+	/*
+	 * 获取sdcard绝对物理路径
+	 */
+	public static String getSDCardPath() {
+		if (isSDCardMounted()) {
+			return Environment.getExternalStorageDirectory().getAbsolutePath();
+		} else {
+			return null;
+		}
+	}
+
+	/**
+	 * 删除文件夹
+	 * @param path
+	 */
+	public   static boolean deleteAllFilesOfDir(File path) {
+		if (!path.exists()){
+			return false;
+		}
+		if (path.isFile()) {
+			path.delete();
+			return true;
+		}
+		File[] files = path.listFiles();
+		for (int i = 0; i < files.length; i++) {
+			deleteAllFilesOfDir(files[i]);
+		}
+		path.delete();
+		System.out.println("删除文件夹成功");
+		return true;
+	}
+	/**
+	 * 删除文件夹2
+	 * @param path
+	 */
+	public   static void deleteAllFilesOfDir2(File path) {
+		if (!path.exists()){
+			return ;
+		}
+		if (path.isFile()) {
+			path.delete();
+			return ;
+		}
+		File[] files = path.listFiles();
+		for (int i = 0; i < files.length; i++) {
+			deleteAllFilesOfDir(files[i]);
+		}
+		path.delete();
+		System.out.println("删除文件夹成功");
+	}
+
+}

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

@@ -0,0 +1,139 @@
+package com.zhidao.support.adas.high.common;
+
+import android.text.TextUtils;
+
+import java.text.ParseException;
+import java.text.SimpleDateFormat;
+import java.util.Calendar;
+import java.util.Date;
+import java.util.TimeZone;
+
+/**
+ * @author nie yunlong
+ * @description
+ * @date 2018/7/25
+ */
+public class BaseTimeUtils {
+
+
+    /**
+     * 格式化日期
+     *
+     * @return
+     */
+    public static String[] formatTimeDate() {
+        Date d = new Date();
+        SimpleDateFormat sdf = new SimpleDateFormat("yyyy/MM/dd-HH:mm");
+        String time = sdf.format(d);
+        if (!TextUtils.isEmpty(time) && time.contains("-")) {
+            String[] timeSplit = time.split("-");
+            return timeSplit;
+        }
+        return null;
+    }
+
+    /**
+     * 格式化时间
+     *
+     * @param time
+     * @return
+     */
+    public static String formatTimeDate1(long time) {
+        Date date = new Date();
+        date.setTime(time);
+        SimpleDateFormat sdf = new SimpleDateFormat("HH:mm");
+        return sdf.format(date);
+    }
+
+    /**
+     * 格式化时间
+     *
+     * @param time
+     * @return
+     */
+    public static String formatTimeDate(long time, String format) {
+        Date date = new Date();
+        date.setTime(time);
+        SimpleDateFormat sdf = new SimpleDateFormat(format);
+        return sdf.format(date);
+    }
+
+    /**
+     * 格式化时间
+     *
+     * @return
+     */
+    public static String formatTimeDate2() {
+        Date date = new Date();
+        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd");
+        return sdf.format(date);
+    }
+
+    public static String formatTimeDate3() {
+        Date date = new Date();
+        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd_HH:mm:ss");
+        return sdf.format(date);
+    }
+
+
+    /**
+     *
+     * <p>Description: 本地时间转化为UTC时间</p>
+     * @param localTime
+     * @return
+     * @author wgs
+     * @date  2018年10月19日 下午2:23:43
+     *
+     */
+    public static Date localToUTC(String localTime) {
+//        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+//        Date localDate= null;
+//        try {
+//            localDate = sdf.parse(localTime);
+//        } catch (ParseException e) {
+//            e.printStackTrace();
+//        }
+        long localTimeInMillis=Long.parseLong(localTime);
+        /** long时间转换成Calendar */
+        Calendar calendar= Calendar.getInstance();
+        calendar.setTimeInMillis(localTimeInMillis);
+        /** 取得时间偏移量 */
+        int zoneOffset = calendar.get(java.util.Calendar.ZONE_OFFSET);
+        /** 取得夏令时差 */
+        int dstOffset = calendar.get(java.util.Calendar.DST_OFFSET);
+        /** 从本地时间里扣除这些差量，即可以取得UTC时间*/
+        calendar.add(java.util.Calendar.MILLISECOND, -(zoneOffset + dstOffset));
+        /** 取得的时间就是UTC标准时间 */
+        Date utcDate=new Date(calendar.getTimeInMillis());
+        return utcDate;
+    }
+
+    /**
+     *
+     * <p>Description:UTC时间转化为本地时间 </p>
+     * @param utcTime
+     * @return
+     * @author wgs
+     * @date  2018年10月19日 下午2:23:24
+     *
+     */
+    public static Date utcToLocal(String utcTime){
+        SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+        sdf.setTimeZone(TimeZone.getTimeZone("UTC"));
+        Date utcDate = null;
+        try {
+            utcDate = sdf.parse(utcTime);
+        } catch (ParseException e) {
+            e.printStackTrace();
+        }
+        sdf.setTimeZone(TimeZone.getDefault());
+        Date locatlDate = null;
+        String localTime = sdf.format(utcDate.getTime());
+        try {
+            locatlDate = sdf.parse(localTime);
+        } catch (ParseException e) {
+            e.printStackTrace();
+        }
+        return locatlDate;
+    }
+}

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

@@ -0,0 +1,52 @@
+package com.zhidao.support.adas.high.common;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: PACKAGE_NAME
+ * @ClassName: com.zhidao.lib.adas.high.common.Constants
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/7 15:53
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/7 15:53
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public class Constants {
+    /**
+     * ws 主机地址 需要从udp里面获取
+     */
+    public static final String WS_IP_HOST_HEAD = "ws:";
+    /**
+     * ws 端口以及资源名称
+     */
+    public static final String WS_PORT = ":4110/xvideo-detector";
+    /**
+     * 端口
+     */
+    public static final String WS_PORT_=":4110";
+
+    /**
+     * 发送位置信息 action
+     */
+    public static final int WS_SEND_LOCATION = 2;
+
+    /**
+     * 查询自动驾驶轨迹
+     */
+    public static final String QUERY_GLOBAL_PATH = "{\"action\":\"query_global_path\",\"result\":null}";
+    /**
+     * 查询节点信息
+     */
+    public static final String QUERY_GUARDIAN = "{\"action\":\"query_guardian\",\"result\":null}";
+
+    /**
+     * 查询docker版本
+     */
+    public static final String QUERY_CAR_CONFIG = "{\"action\":\"car_config\",\"result\":null}";
+
+    /**
+     * 查询轨迹
+     */
+    public static final String QUERY_ROUTES = "{\"action\":\"query_routes\",\"result\":null}";
+}

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

@@ -0,0 +1,85 @@
+package com.zhidao.support.adas.high.common;
+
+import android.util.Log;
+
+import com.zhidao.support.adas.high.BuildConfig;
+
+/**
+ * @author nie yunlong
+ * @description video-lib
+ * @date 2018/6/15
+ */
+public class CupidLogUtils {
+    /**
+     * 默认是打开日志
+     */
+//    private static boolean mIsEnableLog = BuildConfig.DEBUG;
+    private static boolean mIsEnableLog = true;
+    /**
+     * 是否写日志
+     */
+    private static boolean isWriteLog = true;
+
+    /**
+     * @param isEnableLog true开启 false关闭
+     */
+    public static void setEnableLog(boolean isEnableLog) {
+        mIsEnableLog = isEnableLog;
+    }
+
+
+    public static boolean isIsWriteLog() {
+        return isWriteLog;
+    }
+
+    public static void setIsWriteLog(boolean isWriteLog) {
+        CupidLogUtils.isWriteLog = isWriteLog;
+    }
+
+    public static void i(String tag, String msg) {
+        if (!mIsEnableLog) {
+            return;
+        }
+        Log.i(tag, msg);
+    }
+
+    public static void w(String tag, String msg) {
+        if (!mIsEnableLog) {
+            return;
+        }
+        Log.w(tag, msg);
+    }
+
+    public static void e(String tag, String msg) {
+        if (!mIsEnableLog) {
+            return;
+        }
+        Log.e(tag, msg);
+    }
+
+    public static void e(String msg) {
+        if (!mIsEnableLog) {
+            return;
+        }
+        Log.e("elita_lib", msg);
+    }
+
+    public static void w(String msg) {
+        if (!mIsEnableLog) {
+            return;
+        }
+        Log.e("elita_lib", msg);
+    }
+
+    /**
+     * 写文件
+     *
+     * @param msg
+     */
+    public static void writeOwnerCarStateLog(String msg) {
+        if (!isWriteLog) {
+            return;
+        }
+        LogSaveManage.getInstance().saveWrite(msg);
+    }
+}

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

@@ -0,0 +1,516 @@
+package com.zhidao.support.adas.high.common;
+
+public class DigitalTrans {
+
+    /**
+     * 数字字符串转ASCII码字符串
+     *
+     * @param content 字符串
+     * @return ASCII字符串
+     */
+    public static String StringToAsciiString(String content) {
+        String result = "";
+        int max = content.length();
+        for (int i = 0; i < max; i++) {
+            char c = content.charAt(i);
+            String b = Integer.toHexString(c);
+            result = result + b;
+        }
+        return result;
+    }
+
+    /**
+     * 十六进制转字符串
+     *
+     * @param hexString  十六进制字符串
+     * @param encodeType 编码类型4：Unicode，2：普通编码
+     * @return 字符串
+     */
+    public static String hexStringToString(String hexString, int encodeType) {
+        String result = "";
+        int max = hexString.length() / encodeType;
+        for (int i = 0; i < max; i++) {
+            char c = (char) DigitalTrans.hexStringToAlgorism(hexString
+                    .substring(i * encodeType, (i + 1) * encodeType));
+            result += c;
+        }
+        return result;
+    }
+
+    /**
+     * 十六进制字符串装十进制
+     *
+     * @param hex 十六进制字符串
+     * @return 十进制数值
+     */
+    public static int hexStringToAlgorism(String hex) {
+        hex = hex.toUpperCase();
+        int max = hex.length();
+        int result = 0;
+        for (int i = max; i > 0; i--) {
+            char c = hex.charAt(i - 1);
+            int algorism = 0;
+            if (c >= '0' && c <= '9') {
+                algorism = c - '0';
+            } else {
+                algorism = c - 55;
+            }
+            result += Math.pow(16, max - i) * algorism;
+        }
+        return result;
+    }
+
+    /**
+     * 十六转二进制
+     *
+     * @param hex 十六进制字符串
+     * @return 二进制字符串
+     */
+    public static String hexStringToBinary(String hex) {
+        hex = hex.toUpperCase();
+        String result = "";
+        int max = hex.length();
+        for (int i = 0; i < max; i++) {
+            char c = hex.charAt(i);
+            switch (c) {
+                case '0':
+                    result += "0000";
+                    break;
+                case '1':
+                    result += "0001";
+                    break;
+                case '2':
+                    result += "0010";
+                    break;
+                case '3':
+                    result += "0011";
+                    break;
+                case '4':
+                    result += "0100";
+                    break;
+                case '5':
+                    result += "0101";
+                    break;
+                case '6':
+                    result += "0110";
+                    break;
+                case '7':
+                    result += "0111";
+                    break;
+                case '8':
+                    result += "1000";
+                    break;
+                case '9':
+                    result += "1001";
+                    break;
+                case 'A':
+                    result += "1010";
+                    break;
+                case 'B':
+                    result += "1011";
+                    break;
+                case 'C':
+                    result += "1100";
+                    break;
+                case 'D':
+                    result += "1101";
+                    break;
+                case 'E':
+                    result += "1110";
+                    break;
+                case 'F':
+                    result += "1111";
+                    break;
+            }
+        }
+        return result;
+    }
+
+    /**
+     * ASCII码字符串转数字字符串
+     *
+     * @param content ASCII字符串
+     * @return 字符串
+     */
+    public static String AsciiStringToString(String content) {
+        String result = "";
+        int length = content.length() / 2;
+        for (int i = 0; i < length; i++) {
+            String c = content.substring(i * 2, i * 2 + 2);
+            int a = hexStringToAlgorism(c);
+            char b = (char) a;
+            String d = String.valueOf(b);
+            result += d;
+        }
+        return result;
+    }
+
+    /**
+     * 将十进制转换为指定长度的十六进制字符串
+     *
+     * @param algorism  int 十进制数字
+     * @param maxLength int 转换后的十六进制字符串长度
+     * @return String 转换后的十六进制字符串
+     */
+    public static String algorismToHEXString(int algorism, int maxLength) {
+        String result = "";
+        result = Integer.toHexString(algorism);
+
+        if (result.length() % 2 == 1) {
+            result = "0" + result;
+        }
+        return patchHexString(result.toUpperCase(), maxLength);
+    }
+
+    /**
+     * 字节数组转为普通字符串（ASCII对应的字符）
+     *
+     * @param bytearray byte[]
+     * @return String
+     */
+    public static String bytetoString(byte[] bytearray) {
+        String result = "";
+        char temp;
+
+        int length = bytearray.length;
+        for (int i = 0; i < length; i++) {
+            temp = (char) bytearray[i];
+            result += temp;
+        }
+        return result;
+    }
+
+    /**
+     * 二进制字符串转十进制
+     *
+     * @param binary 二进制字符串
+     * @return 十进制数值
+     */
+    public static int binaryToAlgorism(String binary) {
+        int max = binary.length();
+        int result = 0;
+        for (int i = max; i > 0; i--) {
+            char c = binary.charAt(i - 1);
+            int algorism = c - '0';
+            result += Math.pow(2, max - i) * algorism;
+        }
+        return result;
+    }
+
+    /**
+     * 十进制转换为十六进制字符串
+     *
+     * @param algorism int 十进制的数字
+     * @return String 对应的十六进制字符串
+     */
+    public static String algorismToHEXString(int algorism) {
+        String result = "";
+        result = Integer.toHexString(algorism);
+
+        if (result.length() % 2 == 1) {
+            result = "0" + result;
+
+        }
+        result = result.toUpperCase();
+
+        return result;
+    }
+
+    /**
+     * HEX字符串前补0，主要用于长度位数不足。
+     *
+     * @param str       String 需要补充长度的十六进制字符串
+     * @param maxLength int 补充后十六进制字符串的长度
+     * @return 补充结果
+     */
+    static public String patchHexString(String str, int maxLength) {
+        String temp = "";
+        for (int i = 0; i < maxLength - str.length(); i++) {
+            temp = "0" + temp;
+        }
+        str = (temp + str).substring(0, maxLength);
+        return str;
+    }
+
+    /**
+     * 将一个字符串转换为int
+     *
+     * @param s          String 要转换的字符串
+     * @param defaultInt int 如果出现异常,默认返回的数字
+     * @param radix      int 要转换的字符串是什么进制的,如16 8 10.
+     * @return int 转换后的数字
+     */
+    public static int parseToInt(String s, int defaultInt, int radix) {
+        int i = 0;
+        try {
+            i = Integer.parseInt(s, radix);
+        } catch (NumberFormatException ex) {
+            i = defaultInt;
+        }
+        return i;
+    }
+
+    /**
+     * 将一个十进制形式的数字字符串转换为int
+     *
+     * @param s          String 要转换的字符串
+     * @param defaultInt int 如果出现异常,默认返回的数字
+     * @return int 转换后的数字
+     */
+    public static int parseToInt(String s, int defaultInt) {
+        int i = 0;
+        try {
+            i = Integer.parseInt(s);
+        } catch (NumberFormatException ex) {
+            i = defaultInt;
+        }
+        return i;
+    }
+
+    /**
+     * 十六进制字符串转为Byte数组,每两个十六进制字符转为一个Byte
+     *
+     * @param hex 十六进制字符串
+     * @return byte 转换结果
+     */
+    public static byte[] hexStringToByte(String hex) {
+        int max = hex.length() / 2;
+        byte[] bytes = new byte[max];
+        String binarys = DigitalTrans.hexStringToBinary(hex);
+        for (int i = 0; i < max; i++) {
+            bytes[i] = (byte) DigitalTrans.binaryToAlgorism(binarys.substring(
+                    i * 8 + 1, (i + 1) * 8));
+            if (binarys.charAt(8 * i) == '1') {
+                bytes[i] = (byte) (0 - bytes[i]);
+            }
+        }
+        return bytes;
+    }
+
+    /**
+     * 十六进制串转化为byte数组
+     *
+     * @return the array of byte
+     */
+    public static final byte[] hex2byte(String hex)
+            throws IllegalArgumentException {
+        if (hex.length() % 2 != 0) {
+            throw new IllegalArgumentException();
+        }
+        char[] arr = hex.toCharArray();
+        byte[] b = new byte[hex.length() / 2];
+        for (int i = 0, j = 0, l = hex.length(); i < l; i++, j++) {
+            String swap = "" + arr[i++] + arr[i];
+            int byteint = Integer.parseInt(swap, 16) & 0xFF;
+            b[j] = new Integer(byteint).byteValue();
+        }
+        return b;
+    }
+
+    /**
+     * 字节数组转换为十六进制字符串
+     *
+     * @param b byte[] 需要转换的字节数组
+     * @return String 十六进制字符串
+     */
+    public static final String byte2hex(byte b[]) {
+        if (b == null) {
+            throw new IllegalArgumentException(
+                    "Argument b ( byte array ) is null! ");
+        }
+        String hs = "";
+        String stmp = "";
+        for (int n = 0; n < b.length; n++) {
+            stmp = Integer.toHexString(b[n] & 0xff);
+            if (stmp.length() == 1) {
+                hs = hs + "0" + stmp;
+            } else {
+                hs = hs + stmp;
+            }
+        }
+        return hs.toUpperCase();
+    }
+
+    /**
+     * 字符串转换成十六进制字符串
+     *
+     * @param String str 待转换的ASCII字符串
+     * @return String 每个Byte之间空格分隔，如: [61 6C 6B]
+     */
+    public static String str2HexStr(String str) {
+
+        char[] chars = "0123456789ABCDEF".toCharArray();
+        StringBuilder sb = new StringBuilder("");
+        byte[] bs = str.getBytes();
+        int bit;
+
+        for (int i = 0; i < bs.length; i++) {
+            bit = (bs[i] & 0x0f0) >> 4;
+            sb.append(chars[bit]);
+            bit = bs[i] & 0x0f;
+            sb.append(chars[bit]);
+            sb.append(' ');
+        }
+        return sb.toString().trim();
+    }
+
+    /**
+     * 十六进制转换字符串
+     *
+     * @param String str Byte字符串(Byte之间无分隔符 如:[616C6B])
+     * @return String 对应的字符串
+     */
+    public static String hexStr2Str(String hexStr) {
+        String str = "0123456789ABCDEF";
+        char[] hexs = hexStr.toCharArray();
+        byte[] bytes = new byte[hexStr.length() / 2];
+        int n;
+
+        for (int i = 0; i < bytes.length; i++) {
+            n = str.indexOf(hexs[2 * i]) * 16;
+            n += str.indexOf(hexs[2 * i + 1]);
+            bytes[i] = (byte) (n & 0xff);
+        }
+        return new String(bytes);
+    }
+
+    /**
+     * bytes转换成十六进制字符串
+     *
+     * @param byte[] b byte数组
+     * @return String 每个Byte值之间空格分隔
+     */
+    public static String byte2HexStr(byte[] b) {
+        String stmp = "";
+        StringBuilder sb = new StringBuilder("");
+        for (int n = 0; n < b.length; n++) {
+            stmp = Integer.toHexString(b[n] & 0xFF);
+            sb.append((stmp.length() == 1) ? "0" + stmp : stmp);
+            sb.append(" ");
+        }
+        return sb.toString().toUpperCase().trim();
+    }
+
+    /**
+     * bytes字符串转换为Byte值
+     *
+     * @param String src Byte字符串，每个Byte之间没有分隔符
+     * @return byte[]
+     */
+    public static byte[] hexStr2Bytes(String src) {
+        int m = 0, n = 0;
+        int l = src.length() / 2;
+        System.out.println(l);
+        byte[] ret = new byte[l];
+        for (int i = 0; i < l; i++) {
+            m = i * 2 + 1;
+            n = m + 1;
+            ret[i] = Byte.decode("0x" + src.substring(i * 2, m) + src.substring(m, n));
+        }
+        return ret;
+    }
+
+    /**
+     * String的字符串转换成unicode的String
+     *
+     * @param String strText 全角字符串
+     * @return String 每个unicode之间无分隔符
+     * @throws Exception
+     */
+    public static String strToUnicode(String strText)
+            throws Exception {
+        char c;
+        StringBuilder str = new StringBuilder();
+        int intAsc;
+        String strHex;
+        for (int i = 0; i < strText.length(); i++) {
+            c = strText.charAt(i);
+            intAsc = (int) c;
+            strHex = Integer.toHexString(intAsc);
+            if (intAsc > 128)
+                str.append("\\u" + strHex);
+            else // 低位在前面补00
+                str.append("\\u00" + strHex);
+        }
+        return str.toString();
+    }
+
+    /**
+     * unicode的String转换成String的字符串
+     *
+     * @param String hex 16进制值字符串 （一个unicode为2byte）
+     * @return String 全角字符串
+     */
+    public static String unicodeToString(String hex) {
+        int t = hex.length() / 6;
+        StringBuilder str = new StringBuilder();
+        for (int i = 0; i < t; i++) {
+            String s = hex.substring(i * 6, (i + 1) * 6);
+            // 高位需要补上00再转
+            String s1 = s.substring(2, 4) + "00";
+            // 低位直接转
+            String s2 = s.substring(4);
+            // 将16进制的string转为int
+            int n = Integer.valueOf(s1, 16) + Integer.valueOf(s2, 16);
+            // 将int转换为字符
+            char[] chars = Character.toChars(n);
+            str.append(new String(chars));
+        }
+        return str.toString();
+    }
+
+    /**
+     * 整型数据拆分为长度为2的字节数组，低8位存放在序号小的元素，高8位存放在序号大的元素中(大端存储)
+     *
+     * @param data
+     * @return
+     */
+    public static byte[] intTo2Byte(int data) {
+        byte[] byteArray = new byte[2];
+        byteArray[0] = (byte) (data >> 8);
+        byteArray[1] = (byte) data;
+        return byteArray;
+    }
+
+    /**
+     * 将两个字节拼接还原成无符号的整型数据
+     * 数据域中的数据都按小端存储，示例：数据0x1234，则Byte0为0x34,Byte1为0x12
+     *
+     * @param byte1
+     * @param byte2
+     * @return
+     */
+    public static int joint2ByteToInt(byte byte1, byte byte2) {
+        int result = byte1 & 0xFF;
+        result = (result << 8) | (0x00FF & byte2);
+        return result;
+    }
+
+    /**
+     * 拼接两个byte[]
+     *
+     * @param
+     * @param
+     * @return
+     */
+    public static byte[] concatBytes(byte[] bt1, byte[] bt2) {
+        if (bt1 == null) {
+            return bt2;
+        }
+        if (bt2 == null) {
+            return bt1;
+        }
+        byte[] bt3 = new byte[bt1.length + bt2.length];
+        System.arraycopy(bt1, 0, bt3, 0, bt1.length);
+        System.arraycopy(bt2, 0, bt3, bt1.length, bt2.length);
+        return bt3;
+    }
+
+    //获得本机cpu大小端
+    public static boolean isBigendian() {
+        short i = 0x1;
+        boolean bRet = ((i >> 8) == 0x1);
+        return bRet;
+    }
+
+}

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

@@ -0,0 +1,63 @@
+package com.zhidao.support.adas.high.common;
+
+import android.os.Handler;
+import android.os.HandlerThread;
+import android.os.Looper;
+
+import java.util.concurrent.ArrayBlockingQueue;
+import java.util.concurrent.Executor;
+import java.util.concurrent.ThreadFactory;
+import java.util.concurrent.ThreadPoolExecutor;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicInteger;
+
+public class HandlerThreadManager {
+    private volatile static HandlerThread sBackgroundHandlerThread;
+    private volatile static HandlerThread sIOHandlerThread;
+    private volatile static Handler sBackgroundHandler;
+    private volatile static Handler sMainHandler;
+
+    public static Handler getBackgroundHandler() {
+        if (sBackgroundHandler == null) {
+            sBackgroundHandler = new Handler(getBackgroundHandlerThread().getLooper());
+        }
+        return sBackgroundHandler;
+    }
+
+    public static HandlerThread getBackgroundHandlerThread() {
+        synchronized (HandlerThreadManager.class) {
+            if (sBackgroundHandlerThread == null) {
+                sBackgroundHandlerThread = new HandlerThread("autopilot_bgd_thread");
+                sBackgroundHandlerThread.start();
+            }
+        }
+        return sBackgroundHandlerThread;
+    }
+
+    private static HandlerThread getVideoHandlerThread() {
+        synchronized (HandlerThreadManager.class) {
+            if (sIOHandlerThread == null) {
+                sIOHandlerThread = new HandlerThread("autopilot_video_thread");
+                sIOHandlerThread.start();
+            }
+        }
+        return sIOHandlerThread;
+    }
+
+
+    public static Handler getMainHandler() {
+        if (sMainHandler == null) {
+            sMainHandler = new Handler(Looper.getMainLooper());
+        }
+        return sMainHandler;
+    }
+
+    public static final Executor EXECUTOR = new ThreadPoolExecutor(2, 5, 60L, TimeUnit.SECONDS, new ArrayBlockingQueue<Runnable>(30),
+            new ThreadFactory() {
+                private final AtomicInteger mCount = new AtomicInteger(1);
+
+                public Thread newThread(Runnable r) {
+                    return new Thread(r, "autopilot-thread-pool" + mCount.getAndIncrement());
+                }
+            });
+}

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

@@ -0,0 +1,135 @@
+package com.zhidao.support.adas.high.common;
+
+
+import com.zhidao.support.adas.high.bean.FaceLoginResponse;
+import com.zhidao.support.adas.high.bean.UserInfo;
+
+/**
+ * Created by nie yunlong on 2018/4/13.
+ */
+
+public interface IPreferencesHelper {
+    /**
+     * 保存udp client address
+     *
+     * @param address
+     */
+    void saveUdpClientAddress(String address);
+
+    /**
+     * 获取client address
+     *
+     * @return
+     */
+    String getUdpClientAddress();
+
+    /**
+     * 保存dock config
+     *
+     * @param dockConfig
+     */
+    void saveDockConfig(String dockConfig);
+
+    /**
+     * 获取dock config
+     *
+     * @return
+     */
+    String getDockConfig();
+
+    /**
+     * 设置用户信息
+     *
+     * @param loginResponse
+     */
+    void setUserInfo(FaceLoginResponse.DataBean loginResponse);
+
+    /**
+     * 获取用户信息
+     *
+     * @return
+     */
+    FaceLoginResponse.DataBean getUserInfo();
+
+    /**
+     * 假的 以后干掉
+     *
+     * @param selectIndex
+     */
+    void setConfigNaviMapVis(int selectIndex);
+
+    /**
+     * @return
+     */
+    int getConfigNaviMapVis();
+
+    /**
+     * @param userInfo
+     */
+    void saveUserUnInfo(UserInfo userInfo);
+
+    /**
+     * 用户ID userInfo 用于扩展
+     *
+     * @return
+     */
+    UserInfo getUserUnInfo();
+
+
+    /**
+     * 初始化标志位
+     *
+     * @param flag
+     */
+    void setConfigInitResutl(boolean flag);
+
+    /**
+     * 初始化标志位
+     *
+     * @return
+     */
+    boolean getConfigInitResutl();
+
+
+
+    void setSelectCarInfo(String brand, String model, String style);
+
+    String getSelectBrand();
+
+    String getSelectModel();
+
+    String getSelectStyle();
+
+
+    /**
+     * raw
+     *
+     * @param rawPath
+     */
+    void saveRawPath(int rawName, String rawPath);
+
+    /**
+     * @param rawName
+     * @return
+     */
+    String getRawPath(int rawName);
+
+    /**
+     *
+     */
+    void clearRawConfig(int rawName);
+
+    /**
+     * app 启动开始时间
+     *
+     * @param time
+     */
+    void setAppAttachTime(long time);
+
+    /**
+     * 获取
+     * @return
+     */
+    long getAppAttachTime();
+
+}

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

@@ -0,0 +1,70 @@
+package com.zhidao.support.adas.high.common;
+
+import android.text.TextUtils;
+
+import com.zhidao.support.adas.high.thread.QueuedWork;
+
+import java.io.File;
+
+public
+/**
+ *  @author nie yunlong
+ *  @des
+ *  @date 2021/3/4
+ */
+class LogSaveManage {
+    private static final LogSaveManage ourInstance = new LogSaveManage();
+    //当前保存的文件路径
+    private String currentSaveFilePath;
+    //6M
+    private final long FILE_LIMIT_SIZE = 6 * 1024 * 1024;
+
+    static LogSaveManage getInstance() {
+        return ourInstance;
+    }
+
+    private LogSaveManage() {
+    }
+
+    /**
+     * 保存文件
+     *
+     * @param msg
+     */
+    public synchronized void saveWrite(final String msg) {
+        QueuedWork.runInBack(new Runnable() {
+            @Override
+            public void run() {
+                try {
+                    String logFilePath = createFileReturnPath();
+                    FileUtils.writeFile(logFilePath, msg, true);
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+            }
+        });
+
+    }
+
+    /**
+     * 创建文件
+     *
+     * @return
+     */
+    private synchronized String createFileReturnPath() throws Exception {
+        if (!TextUtils.isEmpty(currentSaveFilePath)) {
+            long fileSize = FileUtils.getFileSizeLong(new File(currentSaveFilePath));
+            if (fileSize <= FILE_LIMIT_SIZE) {
+                return currentSaveFilePath;
+            }
+        }
+        //大于6M
+        String filePath = BaseSDCardHelper.getSDCardPrivateFilesDir(MgContextUtils.getContext(), "adas-log") + File.separator + BaseTimeUtils.formatTimeDate3() + "-log.txt";
+        //把日志保存到文件
+        boolean isCreateFileSuccess = FileUtils.createOrExistsFile(filePath);
+        if (isCreateFileSuccess) {
+            currentSaveFilePath = filePath;
+        }
+        return currentSaveFilePath;
+    }
+}

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

@@ -0,0 +1,33 @@
+package com.zhidao.support.adas.high.common;
+
+import android.content.Context;
+
+/**
+ * @author nie yunlong
+ * @des 上下文管理
+ * @date 2019/5/13
+ */
+public class MgContextUtils {
+    /**
+     * 上下文
+     */
+    private static Context mContext;
+
+    /**
+     * 设置上下文
+     *
+     * @param context
+     */
+    public static void setContext(Context context) {
+        mContext = context.getApplicationContext();
+    }
+
+    /**
+     * 获取上下文
+     *
+     * @return
+     */
+    public static Context getContext() {
+        return mContext;
+    }
+}

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

@@ -0,0 +1,52 @@
+package com.zhidao.support.adas.high.common;
+
+/**
+ * @author nie yunlong
+ * @description 请求值
+ * @date 2018/7/3
+ */
+public enum RequestWsMsgType {
+
+    /**
+     * 获取视频信息
+     */
+    MSG_GET_VIDEO_INFO(1, "get video info"),
+    /**
+     * 视频分辨率
+     */
+    MSG_SEND_LOCATION(2, "视频分辨率"),
+    /**
+     * 上传配置
+     */
+    MSG_SEND_UPLOAD_CONFIG(3, "上传配置"),
+
+    MSG_SEND_CLOSE(5, "关闭socket");
+    int    mMsgType;
+    /**
+     * 描述
+     */
+    String mMsgDesc;
+
+    RequestWsMsgType(int msgType, String msgDesc) {
+        this.mMsgType = msgType;
+        this.mMsgDesc = msgDesc;
+    }
+
+    /**
+     * 获取msgType
+     *
+     * @return
+     */
+    public int getMsgType() {
+        return mMsgType;
+    }
+
+    /**
+     * 获取描述
+     *
+     * @return
+     */
+    public String getmMsgDesc() {
+        return mMsgDesc;
+    }
+}

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

@@ -0,0 +1,150 @@
+package com.zhidao.support.adas.high.common;
+
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.jcraft.jsch.ChannelExec;
+import com.jcraft.jsch.JSch;
+import com.jcraft.jsch.JSchException;
+import com.jcraft.jsch.Session;
+import com.zhidao.support.adas.high.bean.SSHResult;
+
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.util.Properties;
+
+public class SSH {
+    private static final String TAG = SSH.class.getSimpleName();
+
+    private Session session = null;
+    private ChannelExec channelExec = null;
+    ByteArrayOutputStream err = null;
+    StringBuffer outBuf = null;
+
+    public ByteArrayOutputStream getErr() {
+        return err;
+    }
+
+    public StringBuffer getOutBuf() {
+        return outBuf;
+    }
+
+    public Session getSession() {
+        return session;
+    }
+
+    public ChannelExec getChannelExec() {
+        return channelExec;
+    }
+
+    /**
+     * 使用用户名、密码连接
+     *
+     * @param host     主机ip
+     * @param port     主机端口
+     * @param username 主机用户名
+     * @param password 主机密码
+     * @throws JSchException
+     */
+    public void connect(String host, int port, String username, String password) throws JSchException {
+        JSch jsch = new JSch();
+        session = jsch.getSession(username, host, port);
+        session.setPassword(password);
+        Properties config = new Properties();
+        config.put("StrictHostKeyChecking", "no");
+        session.setConfig(config);
+        session.setTimeout(30000);
+        session.connect();
+        Log.i(TAG, "Connected to " + host + ".");
+    }
+
+    /**
+     * 使用授信连接
+     *
+     * @param host       主机ip
+     * @param username   主机用户名
+     * @param privateKey 私钥路径
+     * @throws JSchException
+     */
+    public void connect(String host, String username, String privateKey) throws JSchException {
+        JSch jsch = new JSch();
+        jsch.addIdentity(privateKey);
+        session = jsch.getSession(username, host);
+
+        Properties config = new Properties();
+        config.put("StrictHostKeyChecking", "no");
+        session.setConfig(config);
+        session.setTimeout(30000);
+        session.connect();
+        Log.i(TAG, "Connected to " + host + ".");
+    }
+
+    /**
+     * 执行
+     *
+     * @param cmd 命令
+     * @return 状态
+     * @throws JSchException
+     * @throws IOException
+     */
+    public SSHResult exec(String cmd) throws JSchException, IOException {
+        return exec(cmd, null);
+    }
+
+    public SSHResult exec(String cmd, String suPwd) throws JSchException, IOException {
+        int exitStatus = 0;
+        channelExec = (ChannelExec) session.openChannel("exec");
+        channelExec.setInputStream(null);
+        err = new ByteArrayOutputStream();
+        channelExec.setErrStream(err);
+        channelExec.setCommand(cmd);
+        InputStream in = channelExec.getInputStream();
+        OutputStream out = channelExec.getOutputStream();
+        channelExec.connect();
+        if (!TextUtils.isEmpty(suPwd) && (cmd.contains("sudo") || cmd.contains("su"))) {
+            out.write((suPwd + "\n").getBytes()); //这里是密码后跟了一个换行符
+            out.flush();
+        }
+        outBuf = new StringBuffer();
+        byte[] tmp = new byte[1024];
+        while (true) {
+            while (in.available() > 0) {
+                int i = in.read(tmp, 0, 1024);
+                if (i < 0) break;
+                outBuf.append(new String(tmp, 0, i));
+            }
+            if (channelExec.isClosed()) {
+                if (in.available() > 0) continue;
+                exitStatus = channelExec.getExitStatus();
+                break;
+            }
+            try {
+                Thread.sleep(1000L);
+            } catch (Exception e) {
+            }
+        }
+        channelExec.disconnect();
+        if (exitStatus == 0) {
+            String outInfo = this.getOutBuf().toString();
+            return new SSHResult(exitStatus, cmd, outInfo);
+        } else {
+            String errInfo = this.getErr().toString();
+            return new SSHResult(exitStatus, cmd, errInfo);
+        }
+    }
+
+    /**
+     * 断开连接
+     */
+    public void disConnect() {
+        if (channelExec != null) {
+            channelExec.disconnect();
+        }
+        if (session != null) {
+            session.disconnect();
+        }
+    }
+
+}

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

@@ -0,0 +1,127 @@
+package com.zhidao.support.adas.high.common;
+
+
+import java.util.concurrent.ArrayBlockingQueue;
+import java.util.concurrent.Callable;
+import java.util.concurrent.Executors;
+import java.util.concurrent.Future;
+import java.util.concurrent.ThreadPoolExecutor;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 线程池
+ * Created by xfk on 2018/9/30.
+ */
+
+public class ThreadPoolManager<T> {
+
+    /**
+     * 根据cpu的数量动态的配置核心线程数和最大线程数
+     */
+    private static final int CPU_COUNT = Runtime.getRuntime().availableProcessors();
+    /**
+     * 核心线程数 = CPU核心数 + 1
+     */
+    private static final int CORE_POOL_SIZE = CPU_COUNT + 1;
+    /**
+     * 线程池最大线程数 = CPU核心数 * 2 + 1
+     */
+    private static final int MAXIMUM_POOL_SIZE = CPU_COUNT * 2 + 1;
+    /**
+     * 非核心线程闲置时超时1s
+     */
+    private static final int KEEP_ALIVE = 1;
+    /**
+     * 线程池的对象
+     */
+    private ThreadPoolExecutor executor;
+
+    /**
+     * 要确保该类只有一个实例对象，避免产生过多对象消费资源，所以采用单例模式
+     */
+    private ThreadPoolManager() {
+    }
+
+    private volatile static ThreadPoolManager INSTANCE;
+
+    public static ThreadPoolManager getsInstance() {
+        if (INSTANCE == null) {
+            synchronized (ThreadPoolManager.class) {
+                if (INSTANCE == null) {
+                    INSTANCE = new ThreadPoolManager();
+                }
+            }
+
+        }
+        return INSTANCE;
+    }
+
+    /**
+     * 开启一个无返回结果的线程
+     *
+     * @param r
+     */
+    public void execute(Runnable r) {
+        if (executor == null) {
+            /**
+             * corePoolSize:核心线程数
+             * maximumPoolSize：线程池所容纳最大线程数(workQueue队列满了之后才开启)
+             * keepAliveTime：非核心线程闲置时间超时时长
+             * unit：keepAliveTime的单位
+             * workQueue：等待队列，存储还未执行的任务
+             * threadFactory：线程创建的工厂
+             * handler：异常处理机制
+             *
+             */
+            executor = new ThreadPoolExecutor(CORE_POOL_SIZE, MAXIMUM_POOL_SIZE,
+                    KEEP_ALIVE, TimeUnit.SECONDS, new ArrayBlockingQueue<Runnable>(200),
+                    Executors.defaultThreadFactory(), new ThreadPoolExecutor.AbortPolicy());
+        }
+        // 把一个任务丢到了线程池中
+        try {
+            executor.execute(r);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+    }
+
+    /**
+     * 开启一个有返回结果的线程
+     *
+     * @param r
+     * @return
+     */
+    public Future<T> submit(Callable<T> r) {
+        if (executor == null) {
+            /**
+             * corePoolSize:核心线程数
+             * maximumPoolSize：线程池所容纳最大线程数(workQueue队列满了之后才开启)
+             * keepAliveTime：非核心线程闲置时间超时时长
+             * unit：keepAliveTime的单位
+             * workQueue：等待队列，存储还未执行的任务
+             * threadFactory：线程创建的工厂
+             * handler：异常处理机制
+             *
+             */
+            executor = new ThreadPoolExecutor(CORE_POOL_SIZE, MAXIMUM_POOL_SIZE,
+                    KEEP_ALIVE, TimeUnit.SECONDS, new ArrayBlockingQueue<Runnable>(20),
+                    Executors.defaultThreadFactory(), new ThreadPoolExecutor.AbortPolicy());
+        }
+        // 把一个任务丢到了线程池中
+        return executor.submit(r);
+    }
+
+    /**
+     * 把任务移除等待队列
+     *
+     * @param r
+     */
+    public void cancel(Runnable r) {
+        if (r != null) {
+            executor.getQueue().remove(r);
+        }
+    }
+
+}
+

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

@@ -0,0 +1,22 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+/**
+ * @author nie yunlong
+ * @des
+ * @date 2020/3/12
+ */
+public interface IMsg {
+    /**
+     * 处理消息
+     *
+     * @param msg
+     */
+    void handlerMsg(Gson gson, OnAdasListener adasListener, String msg);
+
+    void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg);
+
+}

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

@@ -0,0 +1,20 @@
+package com.zhidao.support.adas.high.msg;
+
+/**
+ * 生产产品的工厂
+ */
+public interface IMyMessageFactory {
+    /**
+     *
+     * @param messageType 消息类型
+     * @return
+     */
+    public IMsg createMessage(String messageType);
+
+    /**
+     *
+     * @param messageCode 消息类型
+     * @return
+     */
+    public IMsg createMessage(int messageCode);
+}  

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

@@ -0,0 +1,11 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.protobuf.util.JsonFormat;
+
+/**
+ * @author nie yunlong
+ * @des 消息处理中心
+ * @date 2020/3/12
+ */
+public abstract class MyAbstractMessageHandler implements IMsg {
+}

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

@@ -0,0 +1,242 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.text.TextUtils;
+
+import com.zhidao.support.adas.high.common.ActionTypeReceive;
+
+/**
+ * @author nie yunlong
+ * @des 简易工厂
+ * @date 2020/3/12
+ */
+public class MyMessageFactory implements IMyMessageFactory {
+    /**
+     * udp 渲染 image
+     */
+    private IMsg udpRenderImageMsg;
+    /**
+     * ws 报警 消息
+     */
+    private IMsg wsWarnMessage;
+    /**
+     * ws 图像size
+     */
+    private IMsg wsImageSizeMessage;
+    /**
+     * 空实现
+     */
+    private IMsg nuImplMessage;
+    /**
+     * udp 车辆状态消息
+     */
+    private IMsg udpCarStateMessage;
+    /**
+     * 红绿灯状态
+     */
+    private IMsg udpLightStateMessage;
+    /**
+     * 周边物体的状态
+     */
+    private IMsg udpObstaclesMessage;
+
+    /**
+     * 局部轨迹消息
+     */
+    private IMsg trajectoryMessage;
+
+    /**
+     * 监控信息
+     */
+    private IMsg guardianMessage;
+    /**
+     * 车道线渲染
+     */
+    private IMsg lanesMessage;
+    /**
+     * 自动驾驶状态
+     */
+    private IMsg autopilotStatusMessage;
+    /**
+     * 自动驾驶到站
+     */
+    private IMsg autopilotArriveMessage;
+    /**
+     * 自动驾驶路径
+     */
+    private IMsg autopilotRouteMessage;
+    /**
+     * 工控机获取SN
+     */
+    private IMsg autopilotSNMessage;
+    /**
+     * 数据采集信息
+     */
+    private IMsg autopilotIdentify;
+    /**
+     * 工控机升级状态
+     */
+    private IMsg autopilotUpgradeStatusMessage;
+    /**
+     * car dock 基础信息
+     */
+    private IMsg autopilotConfig;
+    /**
+     * 工控机升级进度
+     */
+    private IMsg autopilotUpgradePatchDownloadStatusMessage;
+
+
+    @Override
+    public IMsg createMessage(String messageType) {
+        if (TextUtils.isEmpty(messageType)) {
+            if (nuImplMessage == null) {
+                nuImplMessage = new NuImplMessage();
+            }
+            return nuImplMessage;
+        }
+        if (messageType.equals(ActionTypeReceive.ACTION_WS_MSG_RENDER_TYPE.getmActionType())) {
+            //udp render
+            if (udpRenderImageMsg == null) {
+                udpRenderImageMsg = new UdpRenderImageMessage();
+            }
+            return udpRenderImageMsg;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_MSG_WARNING_TYPE.getmActionType())) {
+            //ws 报警消息
+            if (wsWarnMessage == null) {
+                wsWarnMessage = new WsWarnMessage();
+            }
+            return wsWarnMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_MSG_IMAGE_SIZE_TYPE.getmActionType())) {
+            //ws 报警消息
+            if (wsImageSizeMessage == null) {
+                wsImageSizeMessage = new WsImageSizeMessage();
+            }
+            return wsImageSizeMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_CAR_STATE_TYPE.getmActionType())) {
+            //udp 车辆消息
+            if (udpCarStateMessage == null) {
+                udpCarStateMessage = new UdpCarStateMessage();
+            }
+            return udpCarStateMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_UDP_LIGHT_STATE_TYPE.getmActionType())) {
+            //udp 红绿灯状态
+            if (udpLightStateMessage == null) {
+                udpLightStateMessage = new UdpLightStateMessage();
+            }
+            return udpLightStateMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_OBSTACLES_MESSAGE_TYPE.getmActionType())) {
+            //udp 周边物体的状态
+            if (udpObstaclesMessage == null) {
+                udpObstaclesMessage = new UdpObstaclesMessage();
+            }
+            return udpObstaclesMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_LANES_MESSAGE_TYPE.getmActionType())) {
+            // 车道线渲染
+            if (lanesMessage == null) {
+                lanesMessage = new UdpLanesMessage();
+            }
+            return lanesMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_STATUE.getmActionType())) {
+            //ws 自动驾驶状态
+            if (autopilotStatusMessage == null) {
+                autopilotStatusMessage = new WsAutopilotStatusMessage();
+            }
+            return autopilotStatusMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_WAY_ARRIVE.getmActionType())) {
+            //自送驾驶到站
+            if (autopilotArriveMessage == null) {
+                autopilotArriveMessage = new WsAutopilotArriveMessage();
+            }
+            return autopilotArriveMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_ROUTE.getmActionType())) {
+            //自动驾驶路径
+            if (autopilotRouteMessage == null) {
+                autopilotRouteMessage = new WsAutopilotRouteMessage();
+            }
+            return autopilotRouteMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_SN_REQUEST.getmActionType())) {
+            //工控机获取sn
+            if (autopilotSNMessage == null) {
+                autopilotSNMessage = new WsAutopilotSNMessage();
+            }
+            return autopilotSNMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_IDENTIFY.getmActionType())) {
+            //数据采集信息
+            if (autopilotIdentify == null) {
+                autopilotIdentify = new WsAutopilotIdentify();
+            }
+            return autopilotIdentify;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_TRAJECTORY.getmActionType())) {
+            //局部轨迹
+            if (trajectoryMessage == null) {
+                trajectoryMessage = new WsAutopilotTrajectoryMessage();
+            }
+            return trajectoryMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_CAR_CONFIG.getmActionType())) {
+            //dock config
+            if (autopilotConfig == null) {
+                autopilotConfig = new WsAutopilotConfig();
+            }
+            return autopilotConfig;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_UPGRADE_STATUS.getmActionType())) {
+            //ws 工控机升级状态
+            if (autopilotUpgradeStatusMessage == null) {
+                autopilotUpgradeStatusMessage = new WsAutopilotUpgradeStatusMessage();
+            }
+            return autopilotUpgradeStatusMessage;
+        } else if (messageType.equals(ActionTypeReceive.ACTION_WS_AUTOPILOT_UPGRADE_PATCH_DOWNLOAD_STATUS.getmActionType())) {
+            //ws 工控机升级进度
+            if (autopilotUpgradePatchDownloadStatusMessage == null) {
+                autopilotUpgradePatchDownloadStatusMessage = new WsAutopilotUpgradePatchDownloadStatusMessage();
+            }
+            return autopilotUpgradePatchDownloadStatusMessage;
+        }
+
+        if (nuImplMessage == null) {
+            nuImplMessage = new NuImplMessage();
+        }
+        return nuImplMessage;
+    }
+
+    @Override
+    public IMsg createMessage(int messageCode) {
+        if (messageCode == 0) {
+            if (nuImplMessage == null) {
+                nuImplMessage = new NuImplMessage();
+            }
+            return nuImplMessage;
+        }
+        if (messageCode == ActionTypeReceive.ACTION_WS_MSG_RENDER_TYPE.getmActionCode()) {
+            //感知数据
+            if (udpRenderImageMsg == null) {
+                udpRenderImageMsg = new UdpRenderImageMessage();
+            }
+            return udpRenderImageMsg;
+        } else if (messageCode == ActionTypeReceive.ACTION_WS_CAR_STATE_TYPE.getmActionCode()) {
+            //定位数据
+            if (udpCarStateMessage == null) {
+                udpCarStateMessage = new UdpCarStateMessage();
+            }
+            return udpCarStateMessage;
+        } else if (messageCode == (ActionTypeReceive.ACTION_WS_AUTOPILOT_TRAJECTORY.getmActionCode())) {
+            //局部轨迹
+            if (trajectoryMessage == null) {
+                trajectoryMessage = new WsAutopilotTrajectoryMessage();
+            }
+            return trajectoryMessage;
+        } else if (messageCode == (ActionTypeReceive.ACTION_WS_AUTOPILOT_ROUTES.getmActionCode())) {
+            //轨迹列表
+
+        } else if (messageCode == (ActionTypeReceive.ACTION_WS_AUTOPILOT_GUARDIAN.getmActionCode())) {
+            //监控信息
+            if (guardianMessage == null) {
+                guardianMessage = new WsAutopilotGuardian();
+            }
+            return guardianMessage;
+        }
+        if (nuImplMessage == null) {
+            nuImplMessage = new NuImplMessage();
+        }
+        return nuImplMessage;
+    }
+}

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

@@ -0,0 +1,23 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+/**
+ * @author nie yunlong
+ * @des 空实现防止空指针
+ * @date 2020/3/12
+ */
+public class NuImplMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,72 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.common.BaseTimeUtils;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.Date;
+
+import mogo.status.CarStatus;
+
+/**
+ * @author nie yunlong
+ * @des udp 车辆状态
+ * @date 2020/3/12
+ */
+public class UdpCarStateMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        CupidLogUtils.w("CarStateData", "===>carStateInfo" + adasListener);
+        CarStateInfo carStateInfo = gson.fromJson(msg, CarStateInfo.class);
+//        String satelliteTime = carStateInfo.getValues().getSatelliteTime();
+//        long systemTime = System.currentTimeMillis();
+//        Date date = BaseTimeUtils.localToUTC(String.valueOf(System.currentTimeMillis()));
+//        long time = date.getTime();
+//        long l = Long.parseLong(satelliteTime)-time;
+//        CupidLogUtils.w("CarStateData", "carStateInfo2 pad system time="+systemTime);
+//        CupidLogUtils.w("CarStateData", "carStateInfo2 pad utc time=" + time);
+//        CupidLogUtils.w("CarStateData", "carStateInfo2 gkj utc time=" + satelliteTime);
+//        CupidLogUtils.w("CarStateData", "carStateInfo2 time difference=" + l);
+        if (adasListener != null) {
+            adasListener.onCarStateData(carStateInfo);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+        try {
+            CarStatus.Status status = CarStatus.Status.parseFrom(msg);
+            if (status != null) {
+                CarStateInfo carStateInfo = new CarStateInfo();
+                carStateInfo.setAction("state");
+                CarStateInfo.ValuesBean values = new CarStateInfo.ValuesBean();
+                values.setLon(status.getLon());
+                values.setLat(status.getLat());
+                values.setAlt(status.getAlt());
+                values.setHeading(status.getHeading());
+                values.setAcceleration(status.getAcceleration());
+                values.setYaw_rate(status.getYawRate());
+                values.setGnss_speed(status.getGnssSpeed());
+                values.setVehicle_speed(status.getVehicleSpeed());
+                values.setSatelliteTime(status.getSatelliteTime());
+                values.setSystemTime(status.getSystemTime());
+                values.setTurn_light(status.getTurnLight());
+                values.setFlash_light(status.getFlashLight());
+                values.setBrake_light(status.getBrakeLight());
+                values.setFrame_num(status.getFrameNum());
+                carStateInfo.setValues(values);
+                if (adasListener != null) {
+                    adasListener.onCarStateData(carStateInfo);
+                    CupidLogUtils.w("UdpCarStateMessage", "" + carStateInfo.toString());
+                }
+            }
+        } catch (InvalidProtocolBufferException e) {
+            e.printStackTrace();
+        }
+    }
+
+}

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

@@ -0,0 +1,28 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.CarLaneInfo;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+/**
+ * @author nie yunlong
+ * @des udp 车道线渲染
+ * @date 2020/3/12
+ */
+public class UdpLanesMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        //udp 车道线渲染
+        CarLaneInfo carLaneInfo = gson.fromJson(msg, CarLaneInfo.class);
+        if (adasListener != null) {
+            adasListener.onCarLaneInfo(carLaneInfo);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,29 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.CarStateInfo;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+/**
+ * @author nie yunlong
+ * @des udp 红绿灯状态
+ * @date 2020/3/12
+ */
+public class UdpLightStateMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        //udp 红绿灯状态
+        LightStatueInfo lightStatueInfo = gson.fromJson(msg, LightStatueInfo.class);
+        if (adasListener != null) {
+            adasListener.onLightStateData(lightStatueInfo);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,29 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+/**
+ * @author nie yunlong
+ * @des udp 周边物体渲染
+ * @date 2020/3/12
+ */
+public class UdpObstaclesMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        //udp 周边物体渲染
+        ObstaclesInfo obstaclesInfo = gson.fromJson(msg, ObstaclesInfo.class);
+        if (adasListener != null) {
+            adasListener.onObstaclesInfo(obstaclesInfo);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,101 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.text.TextUtils;
+
+import com.google.gson.Gson;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.ArrayList;
+
+import adas.Adas;
+
+/**
+ * @author nie yunlong
+ * @des udp渲染
+ * @date 2020/3/12
+ */
+public class UdpRenderImageMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        //渲染图像流
+        RectInfo rectInfo = gson.fromJson(msg, RectInfo.class);
+        CupidLogUtils.e("UdpRenderImageMessage--->json：num = " + rectInfo.getModels().size());
+        if (adasListener != null) {
+            adasListener.onRectData(rectInfo);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+        Adas.ViwesMsg viewMsg = null;
+        try {
+            viewMsg = Adas.ViwesMsg.parseFrom(msg);
+        } catch (InvalidProtocolBufferException e) {
+            CupidLogUtils.e("UdpRenderImageMessage--->protoBuf Exception：" + e.toString());
+            e.printStackTrace();
+        }
+        if (viewMsg != null) {
+            if (TextUtils.equals(viewMsg.getAction(), "view")) {
+                RectInfo rectInfo = new RectInfo();
+                rectInfo.setAction(viewMsg.getAction());
+                ArrayList<RectInfo.RectBean> rectBeans = new ArrayList<>();
+                for (int i = 0; i < viewMsg.getModelsList().size(); i++) {
+                    RectInfo.RectBean rectBean = new RectInfo.RectBean();
+                    rectBean.setYt(viewMsg.getModels(i).getYt());
+                    rectBean.setYb(viewMsg.getModels(i).getYb());
+                    rectBean.setXr(viewMsg.getModels(i).getXr());
+                    rectBean.setXl(viewMsg.getModels(i).getXl());
+                    rectBean.setDistance_x(viewMsg.getModels(i).getDistanceX());
+                    rectBean.setDistance_y(viewMsg.getModels(i).getDistanceY());
+                    rectBean.setType(viewMsg.getModels(i).getType());
+                    rectBean.setLat(viewMsg.getModels(i).getLat());
+                    rectBean.setLon(viewMsg.getModels(i).getLon());
+                    rectBean.setHeading(viewMsg.getModels(i).getHeading());
+                    rectBean.setSystemTime(viewMsg.getModels(i).getSystemTime());
+                    rectBean.setSatelliteTime(viewMsg.getModels(i).getSatelliteTime());
+                    rectBean.setAlt(viewMsg.getModels(i).getAlt());
+                    rectBean.setCarId(viewMsg.getModels(i).getCarId());
+                    rectBean.setUuid(viewMsg.getModels(i).getUuid());
+                    rectBean.setColor(viewMsg.getModels(i).getColor());
+                    rectBean.setSpeed(viewMsg.getModels(i).getSpeed());
+                    rectBean.setDrawlevel(viewMsg.getModels(i).getDrawlevel());
+                    rectBean.setLength(viewMsg.getModels(i).getLength());
+                    rectBean.setWidth(viewMsg.getModels(i).getWidth());
+                    rectBean.setHeight(viewMsg.getModels(i).getHeight());
+                    rectBean.setDriverTime(viewMsg.getModels(i).getDriverTime());
+//                    if (viewMsg.getModels(i).getDriverTime()!=null){
+//                        String s16 = conversionTime(viewMsg.getModels(i).getDriverTime());
+//                        if (s16!=null){
+//                            CupidLogUtils.e("UdpRenderImageMessage--->time===>s16=" + s16);
+//                            String s13 = s16.substring(0, 13);
+//                            CupidLogUtils.e("UdpRenderImageMessage--->time===>s13=" + s13);
+//                            rectBean.setDriverTime(s13);
+//                        }else {
+//                            rectBean.setDriverTime(viewMsg.getModels(i).getDriverTime());
+//                        }
+//                    }
+                    rectBeans.add(rectBean);
+                }
+                rectInfo.setModels(rectBeans);
+                if (adasListener != null) {
+                    adasListener.onRectData(rectInfo);
+                    CupidLogUtils.e("UdpRenderImageMessage--->protoBuf===>：rectInfo = " + rectInfo.toString());
+                }
+            }
+        }
+    }
+
+    public String conversionTime(String str) {
+        StringBuffer stringBuffer = new StringBuffer("");
+        for (int i = 0; i < str.length(); i++) {
+            if (str.charAt(i) != '.') {
+                stringBuffer.append(str.charAt(i));
+            }
+        }
+        return stringBuffer.toString();
+    }
+}

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

@@ -0,0 +1,29 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.bean.AutopilotWayArrive;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+/**
+ * @author nie yunlong
+ * @des ws自动驾驶到站
+ * @date 2020/3/12
+ */
+public class WsAutopilotArriveMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        //ws 自动驾驶状态
+        AutopilotWayArrive autopilotWayArrive = gson.fromJson(msg, AutopilotWayArrive.class);
+        if (adasListener != null) {
+            adasListener.autopilotArrive(autopilotWayArrive);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,34 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AdasConfig;
+import com.zhidao.support.adas.high.bean.AutopilotConfig;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.adas.high.common.AppPreferenceHelper;
+import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.MgContextUtils;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/11/17
+ */
+public class WsAutopilotConfig extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        AutopilotConfig autopilotConfig = gson.fromJson(msg, AutopilotConfig.class);
+        AutopilotConfig.ResultBean result = autopilotConfig.getResult();
+        if (result!=null){
+            String dockVersion = result.getDock_version();
+            AppPreferenceHelper.getInstance(MgContextUtils.getContext()).saveDockConfig(dockVersion);
+        }
+
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,51 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.google.protobuf.ByteString;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.google.protobuf.util.JsonFormat;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.adas.high.bean.guardian.GuardianItemsName;
+import com.zhidao.support.adas.high.bean.guardian.GuardianModule;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.ArrayList;
+
+import mogo.guardian.MogoGuardian;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/7/7
+ */
+public class WsAutopilotGuardian extends MyAbstractMessageHandler{
+    private final JsonFormat.Printer printer = JsonFormat.printer();
+    private AutopilotGuardianInfo info;
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+//        CupidLogUtils.w("WsAutopilotGuardian===>"+msg);
+        AutopilotGuardianInfo autopilotGuardian = gson.fromJson(msg, AutopilotGuardianInfo.class);
+        if (adasListener != null) {
+            adasListener.onAutopilotGuardian(autopilotGuardian);
+        }
+
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+        try {
+            MogoGuardian.GuardianProto proto = MogoGuardian.GuardianProto.parseFrom(msg);
+            String print = printer.print(proto);
+            info = gson.fromJson(print, AutopilotGuardianInfo.class);
+            if (adasListener != null) {
+                adasListener.onAutopilotGuardian(info);
+                CupidLogUtils.w("WsAutopilotGuardian===>"+ info.toString());
+
+            }
+        } catch (InvalidProtocolBufferException e) {
+            e.printStackTrace();
+        }
+    }
+}

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

@@ -0,0 +1,75 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.content.Intent;
+import android.os.Handler;
+import android.os.Message;
+import android.text.TextUtils;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.record.AutopilotIdentifyInfo;
+import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult;
+import com.zhidao.support.adas.high.common.AppPreferenceHelper;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.HandlerThreadManager;
+import com.zhidao.support.adas.high.common.MgContextUtils;
+import com.zhidao.support.recorder.RecordDataManager;
+import com.zhidao.support.recorder.activity.LoginSftpActivity;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/7/7
+ */
+public class WsAutopilotIdentify extends MyAbstractMessageHandler {
+    private static final int SHOW_RECORDER = 0x01;
+    private boolean isConnect = false;
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        CupidLogUtils.w("WsAutopilotIdentify===>" + msg);
+        AutopilotIdentifyInfo info = gson.fromJson(msg, AutopilotIdentifyInfo.class);
+        AutopilotIdentifyInfo.Result result = info.getResult();
+        AutopilotRecordResult panel = result.getPanel();
+        if (adasListener!=null){
+            adasListener.onAutopilotRecord(panel);
+        }
+//        if (panel!=null){
+//            int stat = panel.getStat();
+//            if (stat==1){
+//                final String user = result.getUser();
+//                final String passwd = result.getPasswd();
+//                String timestamp = panel.getTimestamp();
+//                final String udpClientAddress = AppPreferenceHelper.getInstance(MgContextUtils.getContext()).getUdpClientAddress();
+//                if (TextUtils.isEmpty(user) || TextUtils.isEmpty(passwd) || TextUtils.isEmpty(udpClientAddress)) {
+//                    CupidLogUtils.w("ftp message error");
+//                    return;
+//                }
+//                RecordDataManager.getInstance().init(MgContextUtils.getContext(),timestamp , udpClientAddress, 22, user, passwd);
+//                isConnect = RecordDataManager.getInstance().connectSftp();
+//                handler.removeMessages(SHOW_RECORDER);
+//                handler.sendEmptyMessage(SHOW_RECORDER);
+//            }
+//        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+
+    private Handler handler = new Handler(HandlerThreadManager.getMainHandler().getLooper()) {
+        @Override
+        public void handleMessage(Message msg) {
+            super.handleMessage(msg);
+            if (isConnect) {
+                RecordDataManager.getInstance().record();
+            } else {
+                Intent intent = new Intent(MgContextUtils.getContext(), LoginSftpActivity.class);
+                intent.addFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
+                MgContextUtils.getContext().startActivity(intent);
+            }
+        }
+    };
+
+}

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

@@ -0,0 +1,26 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+/**
+ * 自动驾驶路径
+ */
+public class WsAutopilotRouteMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+//        CupidLogUtils.w("WsAutopilotRouteMessage===>"+msg);
+        AutopilotRoute autopilotRoute = gson.fromJson(msg, AutopilotRoute.class);
+        if (adasListener != null) {
+            adasListener.onAutopilotRoute(autopilotRoute);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,29 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotTrajectory;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import mogo.trajectory.TrajectoryOuterClass;
+
+/**
+ * 自动驾驶路径
+ */
+public class WsAutopilotRoutesMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,27 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotSnRequest;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+/**
+ * 自动驾驶路径
+ */
+public class WsAutopilotSNMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+//        CupidLogUtils.w("WsAutopilotSNMessage===>"+msg);
+        AutopilotSnRequest autopilotSn = gson.fromJson(msg, AutopilotSnRequest.class);
+        if (adasListener != null) {
+            adasListener.onAutopilotSNRequest();
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,28 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+/**
+ * @author nie yunlong
+ * @des ws自动驾驶状态
+ * @date 2020/3/12
+ */
+public class WsAutopilotStatusMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        //ws 自动驾驶状态
+        AutopilotStatus autopilotStatus = gson.fromJson(msg, AutopilotStatus.class);
+        if (adasListener != null) {
+            adasListener.autopilotStatus(autopilotStatus);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,60 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
+import com.zhidao.support.adas.high.bean.AutopilotTrajectory;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.TrajectoryInfo;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import mogo.trajectory.TrajectoryOuterClass;
+
+/**
+ * 自动驾驶路径
+ */
+public class WsAutopilotTrajectoryMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        CupidLogUtils.w("WsAutopilotTrajectoryMessage===>"+msg);
+        AutopilotTrajectory trajectory = gson.fromJson(msg, AutopilotTrajectory.class);
+        if (adasListener != null) {
+            adasListener.onAutopilotTrajectory(trajectory.getModels());
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+        try {
+            TrajectoryOuterClass.Trajectory trajectory = TrajectoryOuterClass.Trajectory.parseFrom(msg);
+            List<TrajectoryOuterClass.TrajectoryPoint> pointsList = trajectory.getPointsList();
+            ArrayList<TrajectoryInfo> trajectoryInfos = new ArrayList<>();
+            for (int i = 0;i<pointsList.size();i++){
+                TrajectoryOuterClass.TrajectoryPoint point = pointsList.get(i);
+                TrajectoryInfo trajectoryInfo = new TrajectoryInfo();
+                trajectoryInfo.setLon(point.getX());
+                trajectoryInfo.setLat(point.getY());
+                trajectoryInfo.setAlt(point.getZ());
+                trajectoryInfo.setTime(point.getT());
+                trajectoryInfo.setVelocity(point.getV());
+                trajectoryInfo.setAcceleration(point.getA());
+                trajectoryInfo.setTheta(point.getTheta());
+                trajectoryInfo.setKappa(point.getKappa());
+                trajectoryInfo.setAccumulatedDis(point.getS());
+                trajectoryInfos.add(trajectoryInfo);
+            }
+            if (adasListener != null) {
+                adasListener.onAutopilotTrajectory(trajectoryInfos);
+                CupidLogUtils.e("WsAutopilotTrajectoryMessage--->" + trajectoryInfos.toString());
+            }
+        } catch (InvalidProtocolBufferException e) {
+            e.printStackTrace();
+        }
+
+    }
+}

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

@@ -0,0 +1,25 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.IPCUpgradePatchDownloadStatusInfo;
+
+/**
+ * @des 工控机升级包下载状态
+ * @date 2020/3/12
+ */
+public class WsAutopilotUpgradePatchDownloadStatusMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        IPCUpgradePatchDownloadStatusInfo autopilotStatus = gson.fromJson(msg, IPCUpgradePatchDownloadStatusInfo.class);
+        if (adasListener != null) {
+            adasListener.onUpgradePatchDownloadStatus(autopilotStatus);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,25 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
+
+/**
+ * @des 工控机升级状态
+ * @date 2020/3/12
+ */
+public class WsAutopilotUpgradeStatusMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        IPCUpgradeStateInfo autopilotStatus = gson.fromJson(msg, IPCUpgradeStateInfo.class);
+        if (adasListener != null) {
+            adasListener.onUpgradeStateInfo(autopilotStatus);
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,40 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+import org.json.JSONException;
+import org.json.JSONObject;
+
+/**
+ * @author nie yunlong
+ * @des 图像大小
+ * @date 2020/3/12
+ */
+public class WsImageSizeMessage extends MyAbstractMessageHandler {
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        JSONObject jsonObject = null;
+        try {
+            jsonObject = new JSONObject(msg);
+            JSONObject videoInfo = jsonObject.optJSONObject("values");
+            if (videoInfo != null) {
+                int width = videoInfo.optInt("width");
+                int height = videoInfo.optInt("height");
+                CupidLogUtils.e("--->width" + width + ",height" + height);
+                if (adasListener != null) {
+                    adasListener.onVideoSize(width, height);
+                }
+            }
+        } catch (JSONException e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,43 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.queue.UdpMsgModel;
+
+import org.json.JSONException;
+import org.json.JSONObject;
+
+/**
+ * @author nie yunlong
+ * @des 报警消息
+ * @date 2020/3/12
+ */
+public class WsWarnMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+        try {
+            JSONObject jsonObject = new JSONObject(msg);
+            JSONObject warning = jsonObject.optJSONObject("values");
+            if (warning != null) {
+                String type = warning.optString("type");
+                String content = warning.optString("content");
+                String value = warning.optString("value");
+                String level = warning.optString("level");
+                CupidLogUtils.e(String.format("--->type:%s, content:%s, value:%s, level:%s", type, content, value, level));
+                if (adasListener != null) {
+                    adasListener.onWarnMessage(new WarnMessageInfo(type, content, value, level));
+                }
+            }
+        } catch (JSONException e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, byte[] msg) {
+
+    }
+}

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

@@ -0,0 +1,96 @@
+package com.zhidao.support.adas.high.queue;
+
+import java.util.Iterator;
+import java.util.concurrent.BlockingDeque;
+import java.util.concurrent.LinkedBlockingDeque;
+
+/**
+ * 公共缓存队列
+ * 只做两件事：（1）生产；（2）消费
+ */
+public class PublicQueue<T> {
+
+    private BlockingDeque<T> blockingDeque = new LinkedBlockingDeque<>();//缓冲区
+
+    public static PublicQueue publicQueue;
+
+    public static synchronized <T> PublicQueue<T> getInstance() {
+        if (publicQueue == null) {
+            publicQueue = new PublicQueue<T>();
+        }
+        return publicQueue;
+    }
+
+    public void add(T msg) {
+
+        try {
+            blockingDeque.put(msg);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+    }
+
+    /**
+     * 先移除最新的然后添加最新的
+     *
+     * @param msg
+     */
+    public void removeLastPutLast(T msg) {
+
+        try {
+            //移除最新的 然后把最新的添加到队尾
+            blockingDeque.takeFirst();
+            blockingDeque.put(msg);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+    }
+
+
+    public T remove() {
+
+        T t = null;
+        try {
+            t = blockingDeque.take();
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+
+        return t;
+    }
+
+    /**
+     * 清空所有数据
+     */
+    public void clear(){
+        if (blockingDeque!=null){
+            blockingDeque.clear();
+        }
+    }
+    /**
+     * 获取个数
+     *
+     * @return
+     */
+    public int getSize() {
+        return blockingDeque.size();
+    }
+
+    /**
+     * 移除最后一个
+     */
+    public void removeLast() {
+        blockingDeque.removeLast();
+    }
+
+
+    public String iteratorData(){
+        StringBuilder stringBuilder=new StringBuilder();
+        Iterator<T> iterater = blockingDeque.iterator();
+        while (iterater.hasNext()){
+            T data = iterater.next();
+            stringBuilder.append(","+data);
+        }
+        return stringBuilder.toString();
+    }
+}

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

@@ -0,0 +1,62 @@
+package com.zhidao.support.adas.high.queue;
+
+import okio.ByteString;
+
+/**
+ * author nieyunlong
+ *
+ * @des
+ * @date 2021/3/10
+ */
+public class UdpMsgModel {
+
+    /**
+     * 发送数据类型
+     * 1 json,2 pb
+     */
+    private int type;
+
+    /**
+     * 当前接收到的时间
+     */
+    private long receiverDataTimeUdp;
+
+    /**
+     * udp 数据
+     */
+    private String content;
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    public long getReceiverDataTimeUdp() {
+        return receiverDataTimeUdp;
+    }
+
+    public void setReceiverDataTimeUdp(long receiverDataTimeUdp) {
+        this.receiverDataTimeUdp = receiverDataTimeUdp;
+    }
+
+    public String getContent() {
+        return content;
+    }
+
+    public void setContent(String content) {
+        this.content = content;
+    }
+
+
+    @Override
+    public String toString() {
+        return "UdpMsgModel{" +
+                "receiverDataTimeUdp=" + receiverDataTimeUdp +
+                ", content='" + content + '\'' +
+                ", type='" + type + '\'' +
+                '}';
+    }
+}

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

@@ -0,0 +1,101 @@
+package com.zhidao.support.adas.high.queue;
+
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.thread.QueuedWork;
+import com.zhidao.support.adas.high.thread.callback.NormalCallback;
+
+import java.util.concurrent.Future;
+
+/**
+ * author : peng hongqiu
+ * e-mail : penghongqiu@163.com
+ * date   : 2020/12/22  11:46
+ * desc   :
+ * version:
+ */
+public class UdpQueueManager {
+
+    private static UdpQueueManager sInstance = new UdpQueueManager();
+    //存储dup发送的数据
+    PublicQueue<String> publicQueue = new PublicQueue<>();
+    //实时消费
+    private boolean runConsumerFlag = true;
+    private AdasChannel adasChannel;
+    private RealTimeConsumerFrameMission realTimeConsumerFrameMission;
+    private Future<String> mFutureTask;
+
+    public static UdpQueueManager getInstance() {
+        return sInstance;
+    }
+
+    private UdpQueueManager() {
+
+    }
+
+
+    public void addQueueData(String data) {
+        publicQueue.add(data);
+    }
+
+    public void registerAdasChannel(AdasChannel adasChannel) {
+        this.adasChannel = adasChannel;
+    }
+
+
+    /**
+     * 实时消费帧 消费完一帧 立马取最新一帧
+     */
+    private class RealTimeConsumerFrameMission extends NormalCallback<String> {
+        //消费者
+        private PublicQueue<String> mPublicQueue;
+
+        public RealTimeConsumerFrameMission(PublicQueue<String> publicQueue) {
+            mPublicQueue = publicQueue;
+        }
+
+        @Override
+        public String doInBackground() {
+            try {
+                while (runConsumerFlag) {
+                    String data = mPublicQueue.remove();
+                    if (adasChannel != null) {
+                        adasChannel.udpDataManage(data);
+                    }
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+            return super.doInBackground();
+        }
+
+        public void stop() {
+            runConsumerFlag = false;
+        }
+    }
+
+    public synchronized void initDector() {
+        CupidLogUtils.w("===>UdpQueueManager initDector");
+        release();
+        runConsumerFlag = true;
+        if (realTimeConsumerFrameMission == null){
+            realTimeConsumerFrameMission = new RealTimeConsumerFrameMission(publicQueue);
+        }
+        mFutureTask = QueuedWork.submit(null, realTimeConsumerFrameMission);
+    }
+
+    public void release() {
+        publicQueue.clear();
+        stopCallBack();
+    }
+
+    private void stopCallBack() {
+        if (realTimeConsumerFrameMission != null) {
+            realTimeConsumerFrameMission.stop();
+            realTimeConsumerFrameMission = null;
+        }
+        if (mFutureTask != null) {
+            mFutureTask.cancel(true);
+        }
+    }
+}

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

@@ -0,0 +1,107 @@
+package com.zhidao.support.adas.high.queue;
+
+
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.socket.FpgaSocket;
+import com.zhidao.support.adas.high.thread.QueuedWork;
+import com.zhidao.support.adas.high.thread.callback.NormalCallback;
+
+import java.util.concurrent.Future;
+
+import okio.ByteString;
+
+/**
+ * author : peng hongqiu
+ * e-mail : penghongqiu@163.com
+ * date   : 2020/12/22  11:46
+ * desc   :
+ * version:
+ */
+public class WSByteQueueManager {
+
+    private static WSByteQueueManager sInstance = new WSByteQueueManager();
+    //存储dup/websocket发送的数据
+    PublicQueue<ByteString> publicQueue = new PublicQueue<>();
+    private RealTimeConsumerFrameMission realTimeConsumerFrameMission;
+
+    private Future<ByteString> mFutureTask;
+
+    private FpgaSocket.IWebSocketConnectListener webSocketConnectListener;
+
+    public static WSByteQueueManager getInstance() {
+        return sInstance;
+    }
+
+    private WSByteQueueManager() {
+
+    }
+
+
+    public void addQueueData(ByteString data) {
+//        CupidLogUtils.w("====>生产者几个数据" + publicQueue.getSize() + ",list" + publicQueue.iteratorData());
+        publicQueue.add(data);
+    }
+
+    public void registerWebSocketListener(FpgaSocket.IWebSocketConnectListener webSocketConnectListener) {
+        this.webSocketConnectListener = webSocketConnectListener;
+    }
+
+
+    /**
+     * 实时消费帧 消费完一帧 立马取最新一帧
+     */
+    private class RealTimeConsumerFrameMission extends NormalCallback<ByteString>{
+        //消费者
+        private PublicQueue<ByteString> mPublicQueue;
+        //实时消费
+        private boolean runConsumerFlag = true;
+        public RealTimeConsumerFrameMission(PublicQueue<ByteString> publicQueue) {
+            mPublicQueue = publicQueue;
+        }
+        public ByteString doInBackground() {
+            try {
+                while (runConsumerFlag) {
+//                    CupidLogUtils.w("===>消费者==>ConsumerDataMission");
+                    ByteString data = mPublicQueue.remove();
+//                    CupidLogUtils.w("===>socket消费者" + data + ",内容个数" + mPublicQueue.getSize() + "\n所有数据" + mPublicQueue.iteratorData());
+                    if (webSocketConnectListener != null) {
+                        webSocketConnectListener.onMessage(data);
+                    }
+
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+            return super.doInBackground();
+        }
+
+        public void stop() {
+            runConsumerFlag = false;
+        }
+
+    }
+
+
+    public synchronized void initDector() {
+        release();
+        realTimeConsumerFrameMission = new RealTimeConsumerFrameMission(publicQueue);
+        mFutureTask = QueuedWork.submit(null,realTimeConsumerFrameMission);
+
+    }
+
+    public void release() {
+        publicQueue.clear();
+        stopCallBack();
+    }
+
+    private void stopCallBack() {
+        if (realTimeConsumerFrameMission != null) {
+            realTimeConsumerFrameMission.stop();
+            realTimeConsumerFrameMission = null;
+        }
+        if (mFutureTask != null) {
+            mFutureTask.cancel(true);
+        }
+    }
+
+}

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

@@ -0,0 +1,105 @@
+package com.zhidao.support.adas.high.queue;
+
+
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.socket.FpgaSocket;
+import com.zhidao.support.adas.high.thread.QueuedWork;
+import com.zhidao.support.adas.high.thread.callback.NormalCallback;
+
+import java.util.concurrent.Future;
+
+/**
+ * author : peng hongqiu
+ * e-mail : penghongqiu@163.com
+ * date   : 2020/12/22  11:46
+ * desc   :
+ * version:
+ */
+public class WebSocketQueueManager {
+
+    private static WebSocketQueueManager sInstance = new WebSocketQueueManager();
+    //存储dup/websocket发送的数据
+    PublicQueue<String> publicQueue = new PublicQueue<>();
+    private RealTimeConsumerFrameMission realTimeConsumerFrameMission;
+
+    private Future<String> mFutureTask;
+
+    private FpgaSocket.IWebSocketConnectListener webSocketConnectListener;
+
+    public static WebSocketQueueManager getInstance() {
+        return sInstance;
+    }
+
+    private WebSocketQueueManager() {
+
+    }
+
+
+    public void addQueueData(String data) {
+//        CupidLogUtils.w("====>生产者几个数据" + publicQueue.getSize() + ",list" + publicQueue.iteratorData());
+        publicQueue.add(data);
+    }
+
+    public void registerWebSocketListener(FpgaSocket.IWebSocketConnectListener webSocketConnectListener) {
+        this.webSocketConnectListener = webSocketConnectListener;
+    }
+
+
+    /**
+     * 实时消费帧 消费完一帧 立马取最新一帧
+     */
+    private class RealTimeConsumerFrameMission extends NormalCallback<String>{
+        //消费者
+        private PublicQueue<String> mPublicQueue;
+        //实时消费
+        private boolean runConsumerFlag = true;
+        public RealTimeConsumerFrameMission(PublicQueue<String> publicQueue) {
+            mPublicQueue = publicQueue;
+        }
+        public String doInBackground() {
+            try {
+                while (runConsumerFlag) {
+//                    CupidLogUtils.w("===>消费者==>ConsumerDataMission");
+                    String data = mPublicQueue.remove();
+//                    CupidLogUtils.w("===>socket消费者" + data + ",内容个数" + mPublicQueue.getSize() + "\n所有数据" + mPublicQueue.iteratorData());
+                    if (webSocketConnectListener != null) {
+                        webSocketConnectListener.onMessage(data);
+                    }
+
+                }
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+            return super.doInBackground();
+        }
+
+        public void stop() {
+            runConsumerFlag = false;
+        }
+
+    }
+
+
+    public synchronized void initDector() {
+        release();
+        realTimeConsumerFrameMission = new RealTimeConsumerFrameMission(publicQueue);
+        mFutureTask = QueuedWork.submit(null,realTimeConsumerFrameMission);
+
+    }
+
+    public void release() {
+        publicQueue.clear();
+        stopCallBack();
+    }
+
+    private void stopCallBack() {
+        if (realTimeConsumerFrameMission != null) {
+            realTimeConsumerFrameMission.stop();
+            realTimeConsumerFrameMission = null;
+        }
+        if (mFutureTask != null) {
+            mFutureTask.cancel(true);
+        }
+    }
+
+}

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

@@ -0,0 +1,325 @@
+package com.zhidao.support.adas.high.socket;
+
+import android.graphics.Bitmap;
+import android.text.TextUtils;
+
+import com.google.gson.Gson;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.bean.FaceLoginResponse;
+import com.zhidao.support.adas.high.common.DigitalTrans;
+import com.zhidao.support.adas.high.common.RequestWsMsgType;
+import com.zhidao.support.adas.high.queue.WSByteQueueManager;
+import com.zhidao.support.adas.high.queue.WebSocketQueueManager;
+
+import org.json.JSONArray;
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import java.io.File;
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+
+import adas.Adas;
+import okhttp3.OkHttpClient;
+import okhttp3.Request;
+import okhttp3.Response;
+import okhttp3.WebSocket;
+import okhttp3.WebSocketListener;
+import okio.ByteString;
+
+import static com.zhidao.support.adas.high.common.Constants.WS_IP_HOST_HEAD;
+import static com.zhidao.support.adas.high.common.Constants.WS_PORT;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high
+ * @ClassName: FpgaSocket
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/7 13:36
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/7 13:36
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public class FpgaSocket implements IWebSocket {
+    private OkHttpClient client;
+
+    private WebSocket mWebSocket;
+
+    private EchoWebSocketListener listener;
+
+    private Request request;
+
+    private OkHttpClient.Builder okBuilder;
+
+    private JSONObject jsonObject;
+    /**
+     * 是否是用户主动关闭socket
+     */
+    private boolean isUserCloseWebSocket = false;
+
+    public FpgaSocket() {
+        init();
+    }
+
+    private void init() {
+        if (listener == null) {
+            listener = new EchoWebSocketListener();
+        }
+        if (okBuilder == null) {
+            okBuilder = new OkHttpClient.Builder();
+            okBuilder.readTimeout(20, TimeUnit.SECONDS);
+            okBuilder.connectTimeout(20, TimeUnit.SECONDS);
+        }
+        if (client == null) {
+            client = okBuilder.build();
+        }
+    }
+
+    @Override
+    public void connectWebSocket(String address) {
+        String wsHost = WS_IP_HOST_HEAD + address + WS_PORT;
+        CupidLogUtils.e("--->connectWebSocket" + wsHost);
+        init();
+        if (client != null) {
+            request = new Request.Builder()
+                    .url(wsHost)
+                    .build();
+            client.newWebSocket(request, listener);
+        }
+    }
+
+    @Override
+    public void closeWebSocket() {
+        CupidLogUtils.e("===>closeWebSocket");
+        if (AdasChannel.isUseQueue){
+            WebSocketQueueManager.getInstance().release();
+            WSByteQueueManager.getInstance().release();
+        }
+        isUserCloseWebSocket = true;
+        listener = null;
+        jsonObject = null;
+        if (mWebSocket != null) {
+            boolean isClose = mWebSocket.close(1000, null);
+            CupidLogUtils.e("===>webSocket关闭了吗" + isClose);
+
+            mWebSocket.cancel();
+            mWebSocket = null;
+        }
+        client = null;
+        request = null;
+        listener = null;
+    }
+
+    @Override
+    public boolean sendDataWebSocket(String data) {
+        if (mWebSocket != null) {
+            boolean result = mWebSocket.send(data);
+            CupidLogUtils.e("FpgaSocket--->sendDataWebSocket--->String: " + data + ", result= " + result);
+            return result;
+        }
+        return false;
+    }
+
+    @Override
+    public boolean sendDataWebSocket(ByteString data) {
+        if (mWebSocket != null) {
+            boolean result = mWebSocket.send(data);
+            CupidLogUtils.e("FpgaSocket--->sendDataWebSocket--->ByteString: " + data + ", result= " + result);
+            return result;
+        }
+        return false;
+    }
+
+    @Override
+    public void getConfigData(String appId, String userId) {
+        CupidLogUtils.e("FpgaSocket--->getConfigData appId: " + appId + ", userId:" + userId);
+    }
+
+    @Override
+    public void doConfigChanged(int type, String ip, List<FaceLoginResponse.DataBean.ConfigInfoHistoryBean> configInfos) {
+        CupidLogUtils.e("FpgaSocket--->doConfigChanged, type: " + type + " ip: " + ip + " configInfos:" + configInfos);
+    }
+
+    @Override
+    public void doConfigChanged(List<FaceLoginResponse.DataBean.ConfigInfoHistoryBean> configInfos) {
+        CupidLogUtils.e("FpgaSocket--->doConfigChanged,  configInfos:" + configInfos);
+        JSONObject jsonObject = new JSONObject();
+        //上传配置信息
+        //位置信息 action是3
+        try {
+            jsonObject.put("action", RequestWsMsgType.MSG_SEND_UPLOAD_CONFIG.getMsgType());
+            jsonObject.put("config", new JSONArray(new Gson().toJson(configInfos)));
+            sendDataWebSocket(jsonObject.toString());
+        } catch (JSONException e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void saveShotPic(Bitmap bitmap) {
+        CupidLogUtils.e("FpgaSocket--->saveShotPic");
+    }
+
+    @Override
+    public void getTouchImage(String url, double x, double y) {
+        CupidLogUtils.e("FpgaSocket--->getTouchImage, url: " + url + " ,x: " + x + " ,y: " + y);
+    }
+
+    @Override
+    public void doRecognizeImage(File file, String deviceId, String tag) {
+        CupidLogUtils.e("FpgaSocket--->doRecognizeImage");
+    }
+
+    @Override
+    public void getUserAchieveInfo(String userId) {
+        CupidLogUtils.e("FpgaSocket--->getUserAchieveInfo, userId:" + userId);
+    }
+
+    @Override
+    public void getNaviInfo(int type) {
+        CupidLogUtils.e("FpgaSocket--->getNaviInfo, type:" + type);
+    }
+
+    @Override
+    public void syncMedalDetailInfo(String userId, int action, String medalType) {
+        CupidLogUtils.e("FpgaSocket--->syncMedalDetailInfo");
+    }
+
+    @Override
+    public void getCarModelInfo(String s, int id) {
+        CupidLogUtils.e("FpgaSocket--->getCarModelInfo");
+    }
+
+    @Override
+    public void doUpdateCarInfo(String userId, String brandId, String brandName, String modelId, String modelName, String styleId, String styleName) {
+        CupidLogUtils.e("FpgaSocket--->doUpdateCarInfo");
+    }
+
+    @Override
+    public void getApkAndFireWareInfo(String deviceId, String userId, int apkVersionCode, int xvideoCppVersionCode, int appId) {
+        CupidLogUtils.e("FpgaSocket--->getApkAndFireWareInfo");
+    }
+
+    @Override
+    public void getFireWareBaseInfo(String baseUrl) {
+        CupidLogUtils.e("FpgaSocket--->getFireWareBaseInfo");
+    }
+
+    @Override
+    public void sendFirmWareUpdateInfo(String baseUrl, String json) {
+        CupidLogUtils.e("FpgaSocket--->sendFirmWareUpdateInfo");
+    }
+
+    @Override
+    public void startNavigate(String userId, String naviStartName, String naviEndName) {
+        CupidLogUtils.e("FpgaSocket--->startNavigate");
+    }
+
+    @Override
+    public void syncUserNavigateInfo(String navigateId, String longtitude, String latitude, String poId, String currentSpeed) {
+        CupidLogUtils.e("FpgaSocket--->syncUserNavigateInfo");
+    }
+
+    @Override
+    public void doVerticalLineConfigCompleted() {
+        CupidLogUtils.e("FpgaSocket--->doVerticalLineConfigCompleted");
+    }
+
+    @Override
+    public void doSyncCarSpaceInfo(String carLength, String carWidth, String carHeight) {
+        CupidLogUtils.e("FpgaSocket--->doSyncCarSpaceInfo");
+    }
+
+    private IWebSocketConnectListener mWebSocketConnectListener;
+
+    public interface IWebSocketConnectListener {
+        void onWebSocketConnectSuccess(WebSocket webSocket);
+
+        void onWebSocketConnectFailed(WebSocket webSocket,String t);
+
+        void onMessage(String message);
+
+        void onMessage(ByteString bytes) throws InvalidProtocolBufferException;
+    }
+
+    public void setWebSocketListener(IWebSocketConnectListener listener) {
+        mWebSocketConnectListener = listener;
+    }
+
+    public class EchoWebSocketListener extends WebSocketListener {
+        @Override
+        public void onOpen(WebSocket webSocket, Response response) {
+            super.onOpen(webSocket, response);
+            mWebSocket = webSocket;
+            CupidLogUtils.e("--->websocket response connect success");
+            mWebSocketConnectListener.onWebSocketConnectSuccess(webSocket);
+        }
+
+        @Override
+        public void onMessage(WebSocket webSocket, String text) {
+            super.onMessage(webSocket, text);
+            CupidLogUtils.e("--->websocket response connect text" + text);
+            if (TextUtils.isEmpty(text)) {
+                return;
+            }
+            if (AdasChannel.isUseQueue) {
+                WebSocketQueueManager.getInstance().addQueueData(text);
+            } else {
+                mWebSocketConnectListener.onMessage(text);
+            }
+        }
+
+
+        @Override
+        public void onMessage(WebSocket webSocket, ByteString bytes) {
+            super.onMessage(webSocket, bytes);
+            CupidLogUtils.e("--->websocket response connect byte" + bytes.hex());
+            if (bytes==null){
+                return;
+            }
+            if (AdasChannel.isUseQueue) {
+                WSByteQueueManager.getInstance().addQueueData(bytes);
+            } else {
+                try {
+                    mWebSocketConnectListener.onMessage(bytes);
+                } catch (InvalidProtocolBufferException e) {
+                    e.printStackTrace();
+                }
+            }
+
+        }
+
+        @Override
+        public void onClosing(WebSocket webSocket, int code, String reason) {
+            super.onClosing(webSocket, code, reason);
+            mWebSocket = null;
+            CupidLogUtils.e("--->websocket onClosing==> onClosing" + reason);
+        }
+
+        @Override
+        public void onClosed(WebSocket webSocket, int code, String reason) {
+            super.onClosed(webSocket, code, reason);
+            mWebSocket = null;
+            CupidLogUtils.e("--->websocket onClosed ==> " + reason);
+            mWebSocketConnectListener.onWebSocketConnectFailed(webSocket,reason);
+        }
+
+        @Override
+        public void onFailure(WebSocket webSocket, Throwable t, Response response) {
+            super.onFailure(webSocket, t, response);
+            mWebSocket = null;
+            CupidLogUtils.e("--->websocket onFailure ===>" + t.getMessage());
+            mWebSocketConnectListener.onWebSocketConnectFailed(webSocket,t.toString());
+
+        }
+    }
+
+    public WebSocket getWebSocket() {
+        return mWebSocket;
+    }
+
+}

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

@@ -0,0 +1,154 @@
+package com.zhidao.support.adas.high.socket;
+
+import android.graphics.Bitmap;
+
+import com.zhidao.support.adas.high.bean.FaceLoginResponse;
+
+import java.io.File;
+import java.util.List;
+
+import okio.ByteString;
+
+/**
+ * @ProjectName: lib-adas-fpga
+ * @Package: com.zhidao.lib.adas.high
+ * @ClassName: IWebSocket
+ * @Description: java类作用描述
+ * @Author: fenghl
+ * @CreateDate: 2020/2/7 13:28
+ * @UpdateUser: 更新者：
+ * @UpdateDate: 2020/2/7 13:28
+ * @UpdateRemark: 更新说明：
+ * @Version: 1.0
+ */
+public interface IWebSocket {
+    /**
+     * 连接socket
+     */
+    void connectWebSocket(String address);
+
+    /**
+     * 关闭webSocket
+     */
+    void closeWebSocket();
+
+    /**
+     * websocket send data
+     *
+     * @param data
+     */
+    boolean sendDataWebSocket(String data);
+    boolean sendDataWebSocket(ByteString data);
+
+    /**
+     * 云端拉取配置信息
+     *
+     * @param
+     */
+    void getConfigData(String appId, String userId);
+
+    /**
+     * 更改云端配置信息
+     *
+     * @param configInfos
+     */
+    void doConfigChanged(int type, String ip, List<FaceLoginResponse.DataBean.ConfigInfoHistoryBean> configInfos);
+
+    /**
+     * 上传配置
+     * @param configInfos
+     */
+    void doConfigChanged( List<FaceLoginResponse.DataBean.ConfigInfoHistoryBean> configInfos);
+
+    /**
+     * 保存图片
+     */
+    void saveShotPic(Bitmap bitmap);
+
+
+    /**
+     * @param x
+     * @param y
+     */
+    void getTouchImage(String url, double x, double y);
+
+    /**
+     * @param file
+     * @param deviceId
+     * @param tag
+     */
+    void doRecognizeImage(File file, String deviceId, String tag);
+
+    /**
+     * @param userId
+     */
+    void getUserAchieveInfo(String userId);
+
+
+    /**
+     * 从板子上获取导航信息
+     *
+     * @param type 10/角度  11/位置
+     */
+    void getNaviInfo(int type);
+
+
+    /**
+     * 同步成就信息
+     *
+     * @param userId
+     * @param action
+     * @param medalType
+     */
+    void syncMedalDetailInfo(String userId, int action, String medalType);
+
+
+    /**
+     * 获取品牌车型车款信息
+     *
+     * @param s
+     */
+    void getCarModelInfo(String s, int id);
+
+    void doUpdateCarInfo(String userId, String brandId, String brandName, String modelId, String modelName, String styleId, String styleName);
+
+    /**
+     * 获取apk 以及 固件升级信息
+     *
+     * @param deviceId
+     * @param userId
+     * @param apkVersionCode
+     * @param xvideoCppVersionCode
+     * @param appId 2是专业版
+     */
+    void getApkAndFireWareInfo(String deviceId, String userId, int apkVersionCode, int xvideoCppVersionCode,int appId);
+
+    /**
+     * 获取固件基础信息
+     */
+    void getFireWareBaseInfo(String baseUrl);
+
+    /**
+     * 发送板子 更新升级信息
+     * @param baseUrl
+     * @param json
+     */
+    void sendFirmWareUpdateInfo(String baseUrl,String json);
+
+    void startNavigate(String userId, String naviStartName, String naviEndName);
+
+    void syncUserNavigateInfo(String navigateId, String longtitude, String latitude, String poId, String currentSpeed);
+
+
+    void doVerticalLineConfigCompleted();
+
+
+    /**
+     * 给板子同步长宽高信息
+     * @param carLength
+     * @param carWidth
+     * @param carHeight
+     */
+    void doSyncCarSpaceInfo(String carLength, String carWidth, String carHeight);
+}
+

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

@@ -0,0 +1,62 @@
+package com.zhidao.support.adas.high.socket;
+
+/**
+ * @author nie yunlong
+ * @description 接收消息type
+ * @date 2018/7/3
+ */
+public enum SocketMsgType {
+
+    /**
+     * 警告
+     */
+    MSG_WARNING_TYPE(1, "警告"),
+    /**
+     * 视频分辨率
+     */
+    MSG_VIDEO_INFO_TYPE(2, "视频分辨率"),
+
+    /**
+     * 控制台开
+     */
+    MSG_CONSOLE_OPEN_TYPE(3, "控制台开"),
+    /**
+     * 控制台关
+     */
+    MSG_CONSOLE_CLOSE_TYPE(4, "控制台关"),
+    /**
+     * 车道线曲率
+     */
+    MSG_CONSOLE_ROAD_TYPE(11, "车道线曲率"),
+    /**
+     * 是否是最左侧车道
+     */
+    MSG_IS_ROAD_LEFT(10, "获取位置"),
+
+    /**
+     * 获取通知进度
+     */
+    MSG_UPGRADE_NOTIFY(12,"通知进度");
+
+
+    int    mMsgType;
+    String mMsgContent;
+
+    SocketMsgType(int msgType, String msgContent) {
+        this.mMsgType = msgType;
+        this.mMsgContent = msgContent;
+    }
+
+    /**
+     * 获取msgType
+     *
+     * @return
+     */
+    public int getMsgType() {
+        return mMsgType;
+    }
+
+    public String getmMsgContent() {
+        return mMsgContent;
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/read/DefaultMessageProtocol.java

@@ -0,0 +1,50 @@
+package com.zhidao.support.adas.high.socket.read;
+
+import com.zhidao.support.adas.high.common.DigitalTrans;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/20
+ */
+public class DefaultMessageProtocol implements IMessageProtocol{
+    @Override
+    public int getMagicCodeLength() {
+        return 2;
+    }
+
+    @Override
+    public int getPackageLength() {
+        return 4;
+    }
+
+    @Override
+    public int getOffsetLength() {
+        return 2;
+    }
+
+    public int getOutHeader(){
+        return getMagicCodeLength()+getPackageLength()+getOffsetLength();
+    }
+
+    @Override
+    public int getHeaderLength(byte[] offset) {
+        if (offset == null) {
+            return 0;
+        }
+        String lengthStr = DigitalTrans.byte2hex(offset);
+        int length = DigitalTrans.hexStringToAlgorism(lengthStr);
+        return length - 8;
+    }
+
+    @Override
+    public int getPayloadLength(byte[] readData,byte[] offset) {
+        if (readData == null){
+            return 0;
+        }
+        if (offset == null){
+            return DigitalTrans.hexStringToAlgorism(DigitalTrans.byte2hex(readData));
+        }
+        return 0;
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/read/IMessageProtocol.java

@@ -0,0 +1,35 @@
+package com.zhidao.support.adas.high.socket.read;
+
+import java.nio.ByteOrder;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/20
+ */
+public interface IMessageProtocol {
+    /**
+     * 获取magicCode的长度
+     */
+    int getMagicCodeLength();
+
+    /**
+     * 包长度
+     */
+    int getPackageLength();
+
+    /**
+     * 数据偏移量的长度
+     */
+    int getOffsetLength();
+
+    /**
+     * 获取header数据长度
+     */
+    int getHeaderLength(byte[] offset);
+
+    /**
+     * 消息体长度
+     */
+    int getPayloadLength(byte[] readData,byte[] offset);
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/read/OriginReadData.java

@@ -0,0 +1,103 @@
+package com.zhidao.support.adas.high.socket.read;
+
+import com.zhidao.support.adas.high.common.DigitalTrans;
+
+import java.io.Serializable;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/20
+ */
+public class OriginReadData implements Serializable {
+    /**
+     * 用于检查数据是否为正确数据
+     * mg=0x6d67
+     */
+    private byte[] magicCode;
+
+    /**
+     * 包长度
+     */
+    private byte[] packageLength;
+
+    /**
+     * 偏移量，用于计算header长度
+     */
+    private byte[] offset;
+
+    /**
+     * 头部消息，装载消息类型等
+     * 长度=offset-out_header.length
+     */
+    private byte[] header;
+
+    /**
+     * 负载数据：真实上报的数据
+     */
+    private byte[] payload;
+
+
+    /**
+     * 获取out_header 由魔数、包大小、payload偏移量组成；
+     * 用于识别连接数据和数据报解码使用。
+     * 固定8个字节，否则出错。
+     */
+    public byte[] getOutHeaderBytes() {
+        byte[] bytes = DigitalTrans.concatBytes(getMagicCode(), getPackageLength());
+        byte[] outHeader = DigitalTrans.concatBytes(bytes, getOffset());
+        return outHeader;
+    }
+
+    /**
+     * 获取完整的数据
+     *
+     * @return
+     */
+    public byte[] getOriginDataBytes() {
+        byte[] bytes = DigitalTrans.concatBytes(getOutHeaderBytes(), getHeader());
+        byte[] originData = DigitalTrans.concatBytes(bytes, getPayload());
+        return originData;
+    }
+
+
+    public byte[] getMagicCode() {
+        return magicCode;
+    }
+
+    public void setMagicCode(byte[] magicCode) {
+        this.magicCode = magicCode;
+    }
+
+    public byte[] getPackageLength() {
+        return packageLength;
+    }
+
+    public void setPackageLength(byte[] packageLength) {
+        this.packageLength = packageLength;
+    }
+
+    public byte[] getOffset() {
+        return offset;
+    }
+
+    public void setOffset(byte[] offset) {
+        this.offset = offset;
+    }
+
+    public byte[] getHeader() {
+        return header;
+    }
+
+    public void setHeader(byte[] header) {
+        this.header = header;
+    }
+
+    public byte[] getPayload() {
+        return payload;
+    }
+
+    public void setPayload(byte[] payload) {
+        this.payload = payload;
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/read/SocketReader.java

@@ -0,0 +1,69 @@
+package com.zhidao.support.adas.high.socket.read;
+
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.DigitalTrans;
+import com.zhidao.support.adas.high.udp.CupidUdpConstract;
+
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.IntBuffer;
+import java.util.Arrays;
+
+import okio.ByteString;
+
+/**
+ * @author song kenan
+ * @des
+ * @date 2021/10/20
+ */
+public class SocketReader {
+    private DefaultMessageProtocol messageProtocol;
+    private static final byte[] mg = new byte[]{(byte) 0x6d, 0x67};
+
+    public SocketReader() {
+        messageProtocol = new DefaultMessageProtocol();
+    }
+
+    public OriginReadData read(ByteString bytes) {
+        OriginReadData originalData = new OriginReadData();
+        OriginReadData originReadData = readData(bytes, originalData);
+        //分发
+        return originReadData;
+
+    }
+
+    private synchronized OriginReadData readData(ByteString bytes, OriginReadData originalData) {
+//        CupidLogUtils.w("--->websocket byte read bytes :"+bytes.hex());
+        //读取magicCode
+        ByteString magicCode = bytes.substring(0, messageProtocol.getMagicCodeLength());
+        originalData.setMagicCode(magicCode.toByteArray());
+//        CupidLogUtils.w("--->websocket byte read magic :"+magicCode.hex());
+        if (Arrays.equals(magicCode.toByteArray(), mg)) {
+            //读取offset
+            ByteString offset = bytes.substring(messageProtocol.getMagicCodeLength(), messageProtocol.getMagicCodeLength() + messageProtocol.getOffsetLength());
+            originalData.setOffset(offset.toByteArray());
+//            CupidLogUtils.w("--->websocket byte read offset :"+offset.hex()+";offset length="+ DigitalTrans.hexStringToAlgorism(offset.hex()));
+            //读取packageLength
+            ByteString packageLength = bytes.substring(messageProtocol.getMagicCodeLength() + messageProtocol.getOffsetLength(), messageProtocol.getOutHeader());
+            originalData.setPackageLength(packageLength.toByteArray());
+//            CupidLogUtils.w("--->websocket byte read packageLength :"+packageLength.hex()+";pl="+ DigitalTrans.hexStringToAlgorism(packageLength.hex()));
+            //读取header
+            ByteString header = bytes.substring(messageProtocol.getOutHeader(), messageProtocol.getOutHeader() + messageProtocol.getHeaderLength(offset.toByteArray()));
+            originalData.setHeader(header.toByteArray());
+//            CupidLogUtils.w("--->websocket byte read header :"+header.hex());
+            //读取payload
+            ByteString payload = bytes.substring(messageProtocol.getOutHeader() + messageProtocol.getHeaderLength(offset.toByteArray()));
+            originalData.setPayload(payload.toByteArray());
+//            CupidLogUtils.w("--->websocket byte read payload :"+payload.hex());
+            return originalData;
+        } else {
+            CupidLogUtils.w("--->websocket byte read magicCode error 丢弃");
+            return null;
+        }
+
+
+    }
+
+
+}

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

@@ -0,0 +1,84 @@
+/*
+Copyright 2017 yangchong211（github.com/yangchong211）
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+package com.zhidao.support.adas.high.thread;
+
+
+
+import com.zhidao.support.adas.high.thread.callback.NormalCallback;
+import com.zhidao.support.adas.high.thread.callback.ThreadCallback;
+
+import java.util.concurrent.Callable;
+
+/**
+ * @param <T>
+ */
+public final class CallableWrapper<T> implements Callable<T> {
+
+    private ThreadCallback<T> callback;
+
+    private Callable<T> proxy;
+
+    /**
+     * 构造方法
+     *
+     * @param proxy 线程优先级
+     */
+    public CallableWrapper(Callable<T> proxy, NormalCallback<T> normalCallback) {
+        this.proxy = proxy;
+        this.callback = normalCallback;
+    }
+
+    /**
+     * 详细可以看我的GitHub：https://github.com/yangchong211
+     * 自定义Callable继承Callable<T>类，Callable 是在 JDK1.5 增加的。
+     * Callable 的 call() 方法可以返回值和抛出异常
+     *
+     * @return 泛型
+     * @throws Exception 异常
+     */
+    @Override
+    public T call() {
+        if (callback != null) {
+            //开始
+            callback.onStart();
+        }
+        T t = null;
+        try {
+            t = proxy == null ? null : proxy.call();
+            if (callback != null) {
+                T callInBackground = callback.doInBackground();
+                if (callInBackground != null) {
+                    t = callInBackground;
+                }
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+            //异常错误
+            if (callback != null) {
+                callback.onError(e);
+            }
+        } finally {
+            //完成
+            if (callback != null) {
+                callback.onCompleted();
+            }
+        }
+        return t;
+    }
+
+
+}

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

@@ -0,0 +1,141 @@
+package com.zhidao.support.adas.high.thread;
+
+import android.os.Handler;
+import android.os.Looper;
+
+
+import com.zhidao.support.adas.high.thread.callback.NormalCallback;
+
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.Callable;
+import java.util.concurrent.Future;
+import java.util.concurrent.LinkedBlockingDeque;
+import java.util.concurrent.ThreadFactory;
+import java.util.concurrent.ThreadPoolExecutor;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicInteger;
+
+/**
+ * Created by nieyunlong on 17/8/8.
+ * 队列
+ */
+
+public class QueuedWork {
+
+    private static Handler uiHandler;
+
+    /*sdk请求量不是很大*/
+    private static final int MAX_MISSION_COUNT = 1; //设置线程池最大线程个数
+    private static final int CPU_COUNT = Runtime.getRuntime().availableProcessors();
+    // We want at least 2 threads and at most 4 threads in the core pool,
+    // preferring to have 1 less than the CPU count to avoid saturating
+    // the CPU with background work
+//    private static final int CORE_POOL_SIZE = Math.max(2, Math.min(CPU_COUNT - 1, 4));
+    private static final int CORE_POOL_SIZE = 3;
+    private static final int MAXIMUM_POOL_SIZE = CPU_COUNT * 2 + 1;
+
+    public static final ThreadPoolExecutor THREAD_POOL_EXECUTOR;
+
+    static {
+        ThreadPoolExecutor threadPoolExecutor = new ThreadPoolExecutor(CORE_POOL_SIZE, MAXIMUM_POOL_SIZE, 30, TimeUnit.SECONDS,
+                new LinkedBlockingDeque<Runnable>(128));
+        threadPoolExecutor.allowCoreThreadTimeOut(true);
+        THREAD_POOL_EXECUTOR = threadPoolExecutor;
+    }
+
+
+    public static void runInMain(Runnable paramRunnable) {
+        if (uiHandler == null)
+            uiHandler = new Handler(Looper.getMainLooper());
+        uiHandler.post(paramRunnable);
+    }
+
+    public static void runInBack(Runnable task) {
+        THREAD_POOL_EXECUTOR.execute(task);
+    }
+
+    /**
+     * 建议停止正在执行的任务
+     */
+    public static void shutDownNow() {
+        THREAD_POOL_EXECUTOR.shutdownNow();
+    }
+
+    /**
+     * 建议停止正在执行的任务
+     */
+    public static void shutDown() {
+        THREAD_POOL_EXECUTOR.shutdown();
+    }
+
+    /**
+     * 发射任务
+     * 提交任务有返回值
+     * 当我们使用submit来提交任务时,它会返回一个future,我们就可以通过这个future来判断任务是否执行成功，
+     * 还可以通过future的get方法来获取返回值。如果子线程任务没有完成，get方法会阻塞住直到任务完成，
+     * 而使用get(long timeout, TimeUnit unit)方法则会阻塞一段时间后立即返回，这时候有可能任务并没有执行完。
+     *
+     * @param callable callable
+     * @param <T>      type
+     * @return {@link Future}
+     */
+    public static <T> Future<T> submit(Callable<T> callable, NormalCallback<T> normalCallback) {
+        callable = new CallableWrapper<>(callable, normalCallback);
+        Future<T> result = THREAD_POOL_EXECUTOR.submit(callable);
+        return result;
+    }
+
+    /**
+     * 移除队列里面的任务
+     */
+    public static int getQueueSize() {
+        if (null != THREAD_POOL_EXECUTOR) {
+            BlockingQueue<Runnable> queue = THREAD_POOL_EXECUTOR.getQueue();
+            return queue.size();
+        }
+        return 0;
+    }
+
+
+    public static abstract class ZSAsyncTask<Result> {
+
+        protected Runnable thread;
+
+        protected void onPreExecute() {
+        }
+
+        protected abstract Result doInBackground();
+
+        protected void onPostExecute(Result paramResult) {
+        }
+
+        public final ZSAsyncTask<Result> execute() {
+            this.thread = new Runnable() {
+                public void run() {
+                    final Result var1 = ZSAsyncTask.this.doInBackground();
+                    QueuedWork.runInMain(new Runnable() {
+                        public void run() {
+                            ZSAsyncTask.this.onPostExecute(var1);
+                        }
+                    });
+                }
+            };
+            QueuedWork.runInMain(new Runnable() {
+                public void run() {
+                    //pre execute
+                    ZSAsyncTask.this.onPreExecute();
+                    runInBack(ZSAsyncTask.this.thread);
+                }
+            });
+            return this;
+        }
+    }
+
+    private static final ThreadFactory sThreadFactory = new ThreadFactory() {
+        private final AtomicInteger mCount = new AtomicInteger(1);
+
+        public Thread newThread(Runnable r) {
+            return new Thread(r, "ZSAsyncTask #" + mCount.getAndIncrement());
+        }
+    };
+}