完成新架构的域控制器的监听及数据改造

Signed-off-by: 董宏宇 <martindhy@gmail.com>

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusPresenter.java

@@ -30,8 +30,8 @@ import com.mogo.och.bus.bean.UpdateSiteStatusRequest;
 import com.mogo.och.bus.fragment.OchBusFragment;
 import com.mogo.och.bus.net.IOchBusApiService;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.RequestOptions;
 import com.mogo.utils.network.utils.GsonUtil;
@@ -307,10 +307,10 @@ public class OchBusPresenter extends Presenter< OchBusFragment > implements IMog
         currentStation.setIsCurrentSite( STATION_STATUS_LEAVING );
         nextStation.setIsCurrentSite( STATION_STATUS_ARRIVING );
 
-        AutoPilotControlParameters currentAutopilot = new AutoPilotControlParameters();
+        AutopilotControlParameters currentAutopilot = new AutopilotControlParameters();
         currentAutopilot.isSpeakVoice = !isRestart;
-        currentAutopilot.startLatLon = new AutoPilotControlParameters.AutoPilotLonLat( currentStation.getLat(), currentStation.getLon() );
-        currentAutopilot.endLatLon = new AutoPilotControlParameters.AutoPilotLonLat( nextStation.getLat(), nextStation.getLon() );
+        currentAutopilot.startLatLon = new AutopilotControlParameters.AutoPilotLonLat( currentStation.getLat(), currentStation.getLon() );
+        currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat( nextStation.getLat(), nextStation.getLon() );
         currentAutopilot.vehicleType = VEHICLE_TYPE;
         Logger.d( TAG, "开启自动驾驶====" + currentAutopilot );
         MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData( currentAutopilot );
@@ -354,7 +354,7 @@ public class OchBusPresenter extends Presenter< OchBusFragment > implements IMog
     }
 
     @Override
-    public void onArriveAt( AutoPilotStationInfo data ) {
+    public void onArriveAt( AutopilotStationInfo data ) {
         if ( currentStationIndex >= stationList.size() - 1 ) {
             Logger.e( TAG, "到站异常，取消后续操作" );
             return;

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java

@@ -15,8 +15,8 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.HostConst;
 import com.mogo.och.taxi.ui.OCHTaxiUiController;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.service.cloud.socket.IMogoLifecycleListener;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 import com.mogo.service.intent.IMogoIntentListener;
@@ -714,7 +714,7 @@ class MogoOCHTaxiModel {
      */
     private class OCHArriveNotifyCallback implements IMogoAdasOCHCallback {
         @Override
-        public void onArriveAt( AutoPilotStationInfo data ) {
+        public void onArriveAt( AutopilotStationInfo data ) {
             if ( data == null ) {
                 return;
             }
@@ -853,10 +853,10 @@ class MogoOCHTaxiModel {
             return;
         }
 
-        AutoPilotControlParameters parameters = new AutoPilotControlParameters();
+        AutopilotControlParameters parameters = new AutopilotControlParameters();
         parameters.vehicleType = mCurrentOCHOrder.orderType;
-        parameters.startLatLon = new AutoPilotControlParameters.AutoPilotLonLat( mCurrentOCHOrder.drivingRoutes.get( 0 ).wgsLat, mCurrentOCHOrder.drivingRoutes.get( 0 ).wgsLon );
-        parameters.endLatLon = new AutoPilotControlParameters.AutoPilotLonLat( mCurrentOCHOrder.drivingRoutes.get( 1 ).wgsLat, mCurrentOCHOrder.drivingRoutes.get( 1 ).wgsLon );
+        parameters.startLatLon = new AutopilotControlParameters.AutoPilotLonLat( mCurrentOCHOrder.drivingRoutes.get( 0 ).wgsLat, mCurrentOCHOrder.drivingRoutes.get( 0 ).wgsLon );
+        parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat( mCurrentOCHOrder.drivingRoutes.get( 1 ).wgsLat, mCurrentOCHOrder.drivingRoutes.get( 1 ).wgsLon );
         MogoApisHandler.getInstance()
                 .getApis()
                 .getAdasControllerApi()

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java

@@ -26,7 +26,7 @@ import com.mogo.och.taxi.R;
 import com.mogo.och.view.SlidePanelView;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.adas.IMogoAdasRouteCallBack;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.logger.Logger;
@@ -524,7 +524,7 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
     }
 
     @Override
-    public void onArriveAt(AutoPilotStationInfo data) {
+    public void onArriveAt(AutopilotStationInfo data) {
         Logger.d( TAG, "行程结束");
         MogoApisHandler.getInstance().getApis().getAdasControllerApi().cancelAutopilot();
     }

OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java

@@ -17,7 +17,7 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.view.OnPreventFastClickListener;
 import com.mogo.och.view.SlidePanelView;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.utils.logger.Logger;
 
 /**
@@ -135,12 +135,12 @@ public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> e
         findViewById(R.id.btnAutopilotControl).setOnClickListener(view ->
                 {
 //                    Logger.d("lianglihui","模拟 站点下发工控");
-                    AutoPilotControlParameters currentAutopilot = new AutoPilotControlParameters();
+                    AutopilotControlParameters currentAutopilot = new AutopilotControlParameters();
                     currentAutopilot.isSpeakVoice = true;
                     // 万集东门站
-                    currentAutopilot.startLatLon = new AutoPilotControlParameters.AutoPilotLonLat(40.194795425,116.724476409);
+                    currentAutopilot.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.194795425,116.724476409);
                     // 市政府前街18号
-                    currentAutopilot.endLatLon = new AutoPilotControlParameters.AutoPilotLonLat(40.1939540844,116.720067);
+                    currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1939540844,116.720067);
                     // 订单运营类型 （9出租车，10小巴）
                     currentAutopilot.vehicleType = 10;
                     Logger.d(TAG, "模拟 订单站点下发：" + currentAutopilot);

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

@@ -0,0 +1,75 @@
+package com.mogo.eagle.core.function.autopilot
+
+import android.content.Context
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.utilcode.util.GsonUtils
+import com.mogo.eagle.core.utilcode.util.LogUtils
+import com.zhidao.support.adas.high.AdasManager
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/22 8:43 下午
+ */
+@Route(path = MogoServicePaths.PATH_AUTO_PILOT)
+class MoGoAutopilotProvider :
+    IMoGoAutopilotProvider {
+    private val TAG = "MoGoAutoPilotProvider"
+
+    override val functionName: String
+        get() = TAG
+
+
+    override fun init(context: Context) {
+        // 初始化ADAS 域控制器
+        //AdasManager.getInstance().create(context)
+
+    }
+
+
+    override fun connectAutoPilot() {
+
+
+    }
+
+
+    override fun startAutoPilot(result: AutopilotControlParameters) {
+        if (AdasManager.getInstance().isSocketConnect) {
+            val parameter =
+                AutopilotControlCmdParameter(
+                    TAG,
+                    result
+                )
+            AdasManager.getInstance().aiCloudToAdasData(GsonUtils.toJson(parameter))
+        } else {
+            LogUtils.eTag(TAG, "车机与工控机链接失败，无法开启自动驾驶")
+        }
+    }
+
+    override fun cancelAutoPilot() {
+        if (AdasManager.getInstance().isSocketConnect) {
+            AdasManager.getInstance().controlAutopilotCarHead()
+        } else {
+            LogUtils.eTag(TAG, "车机与工控机链接失败，无法断开自动驾驶")
+        }
+    }
+
+    override fun getAutopilotStatus(): Int {
+//        int status = IMoGoAutoPilotStatusListener.STATUS_AUTOPILOT_DISABLE;
+//        try {
+//            status = adasProvider.autopilotStateCall().getState();
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//        }
+        return 0
+    }
+
+
+    override fun recordPackage(): Boolean {
+        return AdasManager.getInstance().recordPackage()
+    }
+
+}

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/utils/AdasObjectConvertUtils.kt

@@ -0,0 +1,10 @@
+package com.mogo.eagle.core.function.autopilot.utils
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/18 1:32 下午
+ */
+class AdasObjectConvertUtils {
+
+}
+

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -7,11 +7,11 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo
+import com.mogo.eagle.core.data.autopilot.*
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -38,7 +38,7 @@ class DebugSettingView @JvmOverloads constructor(
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
-    IMoGoAutoPilotStatusListener {
+    IMoGoAutopilotStatusListener {
 
     private val TAG = "DebugSettingView"
 
@@ -107,19 +107,37 @@ class DebugSettingView @JvmOverloads constructor(
         tvObuInfo.text = GsonUtils.toJson(obuStatusInfo)
     }
 
-    /**
-     * 自动驾驶相关回调
-     */
-    override fun onAutoPilotArriveAtStation(data: AutoPilotStationInfo?) {
-
-    }
-
-    override fun onAutoPilotStateChanged(state: Int, reason: String?) {
-
-    }
-
-    override fun onAutoPilotStatusResponse(autoPilotStatusInfo: AutoPilotStatusInfo?) {
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
         tvAutopilotInfo.text = GsonUtils.toJson(autoPilotStatusInfo)
     }
 
+    override fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?) {
+
+    }
+
+    override fun onAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
+
+    }
+
+    override fun onAutopilotRoute(autopilotRoute: AutopilotRouteInfo?) {
+
+    }
+
+    override fun onAutopilotSNRequest() {
+
+    }
+
+    override fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
+
+    }
+
+    override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrafficData>?) {
+
+    }
+
+    override fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
+
+    }
+
+
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt

@@ -5,8 +5,8 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.LogUtils
@@ -68,10 +68,10 @@ class AutoPilotStatusView @JvmOverloads constructor(
     }
     private fun startAutoPilot() {
         val currentAutopilot =
-            AutoPilotControlParameters()
+            AutopilotControlParameters()
         currentAutopilot.isSpeakVoice = false
-        currentAutopilot.startLatLon = AutoPilotControlParameters.AutoPilotLonLat(40.199157289445921,116.73675895051454);
-        currentAutopilot.endLatLon = AutoPilotControlParameters.AutoPilotLonLat(40.199255159538758,116.73274535677977);
+        currentAutopilot.startLatLon = AutopilotControlParameters.AutoPilotLonLat(40.199157289445921,116.73675895051454);
+        currentAutopilot.endLatLon = AutopilotControlParameters.AutoPilotLonLat(40.199255159538758,116.73274535677977);
         currentAutopilot.vehicleType = 10
         MogoApisHandler.getInstance().apis.adasControllerApi.aiCloudToAdasData(currentAutopilot)
     }
@@ -103,7 +103,7 @@ class AutoPilotStatusView @JvmOverloads constructor(
         }
     }
 
-    override fun onArriveAt(data: AutoPilotStationInfo?) {
+    override fun onArriveAt(data: AutopilotStationInfo?) {
 
     }
 

core/mogo-core-data/build.gradle

@@ -45,6 +45,9 @@ dependencies {
     implementation fileTree(dir: 'libs', include: ['*.jar'])
     implementation rootProject.ext.dependencies.kotlinstdlibjdk7
     implementation rootProject.ext.dependencies.androidxappcompat
+
+    implementation rootProject.ext.dependencies.gson
+
     if (Boolean.valueOf(RELEASE)) {
 
     } else {

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotCarStateInfo.java

@@ -1,14 +1,13 @@
-package com.mogo.service.adas.entity;
+package com.mogo.eagle.core.data.autopilot;
 
 import java.io.Serializable;
 
 /**
- * @author nie yunlong
- * @des 车辆状态
- * @date 2020/3/12
+ * @author donghongyu
+ * @des 自车辆状态
+ * @date 2021/10/18
  */
-public class ADASCarStateInfo implements Serializable {
-
+public class AutopilotCarStateInfo implements Serializable {
 
     /**
      * action : “state”
@@ -17,6 +16,15 @@ public class ADASCarStateInfo implements Serializable {
 
     private String action;
     private ValuesBean values;
+    private float fps;
+
+    public float getFps() {
+        return fps;
+    }
+
+    public void setFps(float fps) {
+        this.fps = fps;
+    }
 
     public String getAction() {
         return action;
@@ -52,46 +60,105 @@ public class ADASCarStateInfo implements Serializable {
         private double yaw_rate;
         //惯导车速 m/s
         private float gnss_speed;
-        //gps 时间
+        //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;
-        // udp收到数据的时间
-        private String startReceiverDataTime;
+        //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 ) {
+        public void setAdasSatelliteTime(String adasSatelliteTime) {
             this.adasSatelliteTime = adasSatelliteTime;
         }
 
-        public String getStartReceiverDataTime() {
-            return startReceiverDataTime;
+        public String getSystemTime() {
+            return systemTime;
         }
 
-        public void setStartReceiverDataTime( String startReceiverDataTime ) {
-            this.startReceiverDataTime = startReceiverDataTime;
+        public void setSystemTime(String systemTime) {
+            this.systemTime = systemTime;
         }
 
         public float getGnss_speed() {
             return gnss_speed;
         }
 
-        public void setGnss_speed( float gnss_speed ) {
+        public void setGnss_speed(float gnss_speed) {
             this.gnss_speed = gnss_speed;
         }
 
-        public String getSatelliteTime() {
-            return satelliteTime;
+        public float getVehicle_speed() {
+            return vehicle_speed;
         }
 
-        public void setSatelliteTime( String satelliteTime ) {
-            this.satelliteTime = satelliteTime;
+        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() {
@@ -142,22 +209,31 @@ public class ADASCarStateInfo implements Serializable {
             this.yaw_rate = yaw_rate;
         }
 
-        public String getSystemTime() {
-            return systemTime;
+        public String getSatelliteTime() {
+            return satelliteTime;
         }
 
-        public void setSystemTime( String systemTime ) {
-            this.systemTime = systemTime;
+        public void setSatelliteTime(String satelliteTime) {
+            this.satelliteTime = satelliteTime;
         }
 
-        public String getReceiverDataTime() {
-            return receiverDataTime;
+        public long getUtcTimeDiffer() {
+            return utcTimeDiffer;
         }
 
-        public void setReceiverDataTime( String receiverDataTime ) {
-            this.receiverDataTime = receiverDataTime;
+        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{" +
@@ -167,6 +243,18 @@ public class ADASCarStateInfo implements Serializable {
                     ", 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 +
                     '}';
         }
     }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlCmdParameter.java

@@ -0,0 +1,27 @@
+package com.mogo.eagle.core.data.autopilot;
+
+public
+/**
+ * @author congtaowang
+ * @since 2020/10/22
+ *
+ * 域控制器 控制指令发送
+ */
+class AutopilotControlCmdParameter {
+
+    public String action;
+    public Object result;
+
+    public AutopilotControlCmdParameter(String action, Object result) {
+        this.action = action;
+        this.result = result;
+    }
+
+    @Override
+    public String toString() {
+        return "AutoPilotControlCmdParameter{" +
+                "action='" + action + '\'' +
+                ", result=" + result +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.java

@@ -0,0 +1,54 @@
+package com.mogo.eagle.core.data.autopilot;
+
+import java.util.List;
+
+/**
+ * @author donghongyu
+ * @since 2021/09/22
+ * <p>
+ * 启动自动驾驶参数
+ */
+public class AutopilotControlParameters {
+
+    public AutoPilotLonLat startLatLon;
+    public List<AutoPilotLonLat> wayLatLons;
+    public AutoPilotLonLat endLatLon;
+    public float speedLimit;
+    public int vehicleType;// 运营类型
+    /**
+     * 是否播放adas的 开始自动驾驶 语音
+     */
+    public boolean isSpeakVoice = true;
+
+    public static class AutoPilotLonLat {
+        public double lat;
+        public double lon;
+
+        public AutoPilotLonLat() {
+        }
+
+        public AutoPilotLonLat(double lat, double lon) {
+            this.lat = lat;
+            this.lon = lon;
+        }
+
+        @Override
+        public String toString() {
+            return "AutoPilotLonLat{" +
+                    "lat=" + lat +
+                    ", lon=" + lon +
+                    '}';
+        }
+    }
+
+    @Override
+    public String toString() {
+        return "RemoteControlAutoPilotParameters{" +
+                "startLatLon=" + startLatLon +
+                ", wayLatLons=" + wayLatLons +
+                ", endLatLon=" + endLatLon +
+                ", speedLimit=" + speedLimit +
+                ", vehicleType=" + vehicleType +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotGuardianStatusInfo.java

@@ -0,0 +1,164 @@
+package com.mogo.eagle.core.data.autopilot;
+
+import com.google.gson.annotations.SerializedName;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotCpuState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotDiskState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotHardwareState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotMemState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotNetFlowState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotNodeState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotProgramState;
+import com.mogo.eagle.core.data.autopilot.guardian.AutopilotTopicState;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/18 12:54 下午
+ * 工控机节点状态信息
+ */
+public class AutopilotGuardianStatusInfo implements Serializable {
+    @SerializedName("action")
+    private String action;
+    @SerializedName("value")
+    private AutopilotGuardianResult value;
+
+    public static class AutopilotGuardianResult {
+        //车辆类型 WEY-长城 DF-东风 BYD-比亚迪 JINLV-金旅
+        @SerializedName("cartype")
+        private String carType;
+        //车牌号
+        @SerializedName("carnum")
+        private String carNum;
+        //ws连接状态 0-非链接 1-链接
+        @SerializedName("websocket_state")
+        private String wsState;
+        //ai云长链状态 0-非链接 1-链接
+        @SerializedName("aicloud_state")
+        private String aiCloudState;
+        //感知 eagle_hz
+        @SerializedName("eagle_hz")
+        private String eagleHz;
+        //软件节点
+        @SerializedName("nodestate")
+        private List<AutopilotNodeState> nodeState;
+        //topic
+        @SerializedName("topicstate")
+        private List<AutopilotTopicState> topicState;
+        //硬件节点
+        @SerializedName("hardwarestate")
+        private List<AutopilotHardwareState> hardwareState;
+        //CPU
+        @SerializedName("cpustate")
+        private AutopilotCpuState cpuState;
+        //内存
+        @SerializedName("memstate")
+        private AutopilotMemState memState;
+        //硬盘状态
+        @SerializedName("diskstate")
+        private List<AutopilotDiskState> diskState;
+        //占CPU最多的10个程序
+        @SerializedName("programcpustate")
+        private List<AutopilotProgramState> programCpuState;
+        //占内存最多的10个程序
+        @SerializedName("programmemstate")
+        private List<AutopilotProgramState> programMemState;
+        //流量
+        @SerializedName("netflowstate")
+        private List<AutopilotNetFlowState> netFlowState;
+
+
+        public String getCarType() {
+            return carType;
+        }
+
+        public String getCarNum() {
+            return carNum;
+        }
+
+        public String getWsState() {
+            return wsState;
+        }
+
+        public String getAiCloudState() {
+            return aiCloudState;
+        }
+
+        public List<AutopilotNodeState> getNodeState() {
+            return nodeState;
+        }
+
+        public List<AutopilotHardwareState> getHardwareState() {
+            return hardwareState;
+        }
+
+        public AutopilotCpuState getCpuState() {
+            return cpuState;
+        }
+
+        public AutopilotMemState getMemState() {
+            return memState;
+        }
+
+        public List<AutopilotDiskState> getDiskState() {
+            return diskState;
+        }
+
+        public String getEagleHz() {
+            return eagleHz;
+        }
+
+        public List<AutopilotProgramState> getProgramCpuState() {
+            return programCpuState;
+        }
+
+        public List<AutopilotProgramState> getProgramMemState() {
+            return programMemState;
+        }
+
+        public List<AutopilotNetFlowState> getNetFlowState() {
+            return netFlowState;
+        }
+
+        public List<AutopilotTopicState> getTopicState() {
+            return topicState;
+        }
+
+        @Override
+        public String toString() {
+            return "AutopilotGuardianResult{" +
+                    "carType='" + carType + '\'' +
+                    ", carNum='" + carNum + '\'' +
+                    ", wsState='" + wsState + '\'' +
+                    ", aiCloudState='" + aiCloudState + '\'' +
+                    ", eagleHz='" + eagleHz + '\'' +
+                    ", nodeState=" + nodeState +
+                    ", topicState=" + topicState +
+                    ", hardwareState=" + hardwareState +
+                    ", cpuState=" + cpuState +
+                    ", memState=" + memState +
+                    ", diskState=" + diskState +
+                    ", programCpuState=" + programCpuState +
+                    ", programMemState=" + programMemState +
+                    ", netFlowState=" + netFlowState +
+                    '}';
+        }
+    }
+
+    public String getAction() {
+        return action;
+    }
+
+    public AutopilotGuardianResult getValue() {
+        return value;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotGuardianInfo{" +
+                "action='" + action + '\'' +
+                ", value=" + value +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotRouteInfo.java

@@ -1,6 +1,5 @@
-package com.mogo.module.service.dispatch.bean;
+package com.mogo.eagle.core.data.autopilot;
 
-import com.google.gson.annotations.SerializedName;
 
 import java.util.List;
 
@@ -10,17 +9,13 @@ import java.util.List;
  * @date 2021/6/21
  */
 
-public class AutopilotRoute {
+public class AutopilotRouteInfo {
 
-    @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() {

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStationInfo.java

@@ -0,0 +1,53 @@
+package com.mogo.eagle.core.data.autopilot;
+
+/**
+ * @author congtaowang
+ * @since 2021/1/18
+ * <p>
+ * 自动驾驶网约车回调数据
+ */
+public class AutopilotStationInfo {
+
+    private int type;
+    private double lon;
+    private double lat;
+
+    public AutopilotStationInfo(int type, double lon, double lat) {
+        this.type = type;
+        this.lon = lon;
+        this.lat = lat;
+    }
+
+    public int getType() {
+        return type;
+    }
+
+    public void setType(int type) {
+        this.type = type;
+    }
+
+    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;
+    }
+
+    @Override
+    public String toString() {
+        return "AutoPilotStationInfo{" +
+                "type=" + type +
+                ", lon=" + lon +
+                ", lat=" + lat +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatus.java

@@ -1,4 +1,4 @@
-package com.mogo.module.service.dispatch.bean;
+package com.mogo.eagle.core.data.autopilot;
 
 import java.io.Serializable;
 

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

@@ -0,0 +1,61 @@
+package com.mogo.eagle.core.data.autopilot
+
+import java.io.Serializable
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/12 8:16 下午
+ * 域控制器状态信息
+ * 不建议自己初始化此对象，建议使用 CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+ */
+class AutopilotStatusInfo : Serializable {
+    /**
+     * 当前链接的IP地址, 默认地址 192.168.1.102
+     */
+    var connectIP: String = "0.0.0.0"
+    var connectStatus = false
+    var version: String = "v0.0"
+
+    /**
+     * 定位是否可用
+     */
+    var locationStatus = false
+    var locationLat = 0.0
+    var locationLon = 0.0
+
+    /**
+     * 车速 m/s
+     */
+    var speed = 0f
+
+    /**
+     * 自动驾驶状态 0是不可用 1是ready 2是自动驾驶start
+     */
+    var state = 0
+
+    /**
+     * 不可用原因
+     */
+    var reason: String = ""
+
+    /**
+     * 摄像头状态 1代表开启，0代表关闭
+     */
+    var camera = 0
+
+    /**
+     * 雷达状态 1代表开启，0代表关闭
+     */
+    var radar = 0
+
+    /**
+     * RTK状态 1代表开启，0代表关闭
+     */
+    var rtk = 0
+
+    /**
+     * 自动驾驶状态 0非自动驾驶，1自动驾驶
+     */
+    var pilotmode = 0
+
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotWarnMessage.java

@@ -1,13 +1,13 @@
-package com.mogo.service.adas.entity;
+package com.mogo.eagle.core.data.autopilot;
+
 
-public
 /**
  * @author congtaowang
  * @since 2020/10/25
- *
+ * <p>
  * 描述
  */
-class ADASWarnMessage {
+public class AutopilotWarnMessage {
 
     public String content;
     public String level;
@@ -15,7 +15,7 @@ class ADASWarnMessage {
     /**
      * 警告消息类型
      * <p>
-     * {@link com.mogo.service.adas.MogoADASWarnType}
+     * {@link MogoADASWarnType}
      */
     public int type;
     public String value;

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/MogoADASWarnType.java

@@ -1,13 +1,13 @@
-package com.mogo.service.adas;
+package com.mogo.eagle.core.data.autopilot;
+
 
-public
 /**
  * @author congtaowang
  * @since 2020/10/25
- *
+ * <p>
  * 描述
  */
-interface MogoADASWarnType {
+public interface MogoADASWarnType {
 
     /**
      * 行人报警

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotCpuState.java

@@ -0,0 +1,81 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des CPU状态
+ * @date 2021/8/11
+ */
+public class AutopilotCpuState {
+    //cup总使用率
+    @SerializedName("all")
+    private Double all;
+    @SerializedName("cpu1")
+    private Double cpu1;
+    @SerializedName("cpu2")
+    private Double cpu2;
+    @SerializedName("cpu3")
+    private Double cpu3;
+    @SerializedName("cpu4")
+    private Double cpu4;
+    @SerializedName("cpu5")
+    private Double cpu5;
+    @SerializedName("cpu6")
+    private Double cpu6;
+    @SerializedName("cpu7")
+    private Double cpu7;
+    @SerializedName("cpu8")
+    private Double cpu8;
+
+    public Double getAll() {
+        return all;
+    }
+
+    public Double getCpu1() {
+        return cpu1;
+    }
+
+    public Double getCpu2() {
+        return cpu2;
+    }
+
+    public Double getCpu3() {
+        return cpu3;
+    }
+
+    public Double getCpu4() {
+        return cpu4;
+    }
+
+    public Double getCpu5() {
+        return cpu5;
+    }
+
+    public Double getCpu6() {
+        return cpu6;
+    }
+
+    public Double getCpu7() {
+        return cpu7;
+    }
+
+    public Double getCpu8() {
+        return cpu8;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotCpuState{" +
+                "all=" + all +
+                ", cpu1=" + cpu1 +
+                ", cpu2=" + cpu2 +
+                ", cpu3=" + cpu3 +
+                ", cpu4=" + cpu4 +
+                ", cpu5=" + cpu5 +
+                ", cpu6=" + cpu6 +
+                ", cpu7=" + cpu7 +
+                ", cpu8=" + cpu8 +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotDiskState.java

@@ -0,0 +1,65 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 磁盘信息
+ * @date 2021/8/11
+ */
+public class AutopilotDiskState {
+    //磁盘总大小
+    @SerializedName("diskall")
+    private String diskall;
+    //磁盘空闲大小
+    @SerializedName("diskfree")
+    private String diskfree;
+    //磁盘挂在目录
+    @SerializedName("diskmount")
+    private String diskmount;
+    //磁盘名称
+    @SerializedName("diskname")
+    private String diskname;
+    //磁盘使用百分比
+    @SerializedName("diskpercent")
+    private String diskpercent;
+    //磁盘已使用大小
+    @SerializedName("diskuse")
+    private String diskuse;
+
+    public String getDiskall() {
+        return diskall;
+    }
+
+    public String getDiskfree() {
+        return diskfree;
+    }
+
+    public String getDiskmount() {
+        return diskmount;
+    }
+
+    public String getDiskname() {
+        return diskname;
+    }
+
+    public String getDiskpercent() {
+        return diskpercent;
+    }
+
+    public String getDiskuse() {
+        return diskuse;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotDiskState{" +
+                "diskall='" + diskall + '\'' +
+                ", diskfree='" + diskfree + '\'' +
+                ", diskmount='" + diskmount + '\'' +
+                ", diskname='" + diskname + '\'' +
+                ", diskpercent='" + diskpercent + '\'' +
+                ", diskuse='" + diskuse + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotHardwareState.java

@@ -0,0 +1,41 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 硬件状态
+ * @date 2021/7/26
+ */
+public class AutopilotHardwareState {
+    /**
+     * 0不正常
+     */
+    @SerializedName("run_hz")
+    private String runHz;
+    @SerializedName("set_hz")
+    private String setHz;
+    @SerializedName("topic_name")
+    private String topicName;
+
+    public String getRunHz() {
+        return runHz;
+    }
+
+    public String getSetHz() {
+        return setHz;
+    }
+
+    public String getTopicName() {
+        return topicName;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotHardwareState{" +
+                "runHz='" + runHz + '\'' +
+                ", setHz='" + setHz + '\'' +
+                ", topicName='" + topicName + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotMemState.java

@@ -0,0 +1,49 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 内存状态
+ * @date 2021/8/11
+ */
+public class AutopilotMemState {
+    //空闲内存(M)
+    @SerializedName("free")
+    private String free;
+    //内存使用百分比
+    @SerializedName("percent_mem")
+    private String percentMem;
+    //总内存（M）
+    @SerializedName("total_mem")
+    private String totalMem;
+    //使用的内存(M)
+    @SerializedName("used_mem")
+    private String usedMem;
+
+    public String getFree() {
+        return free;
+    }
+
+    public String getPercentMem() {
+        return percentMem;
+    }
+
+    public String getTotalMem() {
+        return totalMem;
+    }
+
+    public String getUsedMem() {
+        return usedMem;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotMemState{" +
+                "free='" + free + '\'' +
+                ", percentMem='" + percentMem + '\'' +
+                ", totalMem='" + totalMem + '\'' +
+                ", usedMem='" + usedMem + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNetFlowState.java

@@ -0,0 +1,38 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 占用内存的程序
+ * @date 2021/8/16
+ */
+public class AutopilotNetFlowState {
+    @SerializedName("netname")
+    private String netName;
+    @SerializedName("recv_flow")
+    private String recvFlow;
+    @SerializedName("send_flow")
+    private String sendFlow;
+
+    public String getNetName() {
+        return netName;
+    }
+
+    public String getRecvFlow() {
+        return recvFlow;
+    }
+
+    public String getSendFlow() {
+        return sendFlow;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotNetFlowState{" +
+                "netName='" + netName + '\'' +
+                ", recvFlow='" + recvFlow + '\'' +
+                ", sendFlow='" + sendFlow + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotNodeState.java

@@ -0,0 +1,34 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 工控机节点状态
+ * @date 2021/7/7
+ */
+public class AutopilotNodeState {
+    /**
+     * -on-开启， off-关闭
+     */
+    @SerializedName("node_name")
+    private String nodeName;
+    @SerializedName("node_state")
+    private String nodeState;
+
+    public String getNodeName() {
+        return nodeName;
+    }
+
+    public String getNodeState() {
+        return nodeState;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotNodeState{" +
+                "nodeName='" + nodeName + '\'' +
+                ", nodeState='" + nodeState + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotProgramState.java

@@ -0,0 +1,41 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des 占用内存的程序
+ * @date 2021/8/16
+ */
+public class AutopilotProgramState {
+    //cpu
+    @SerializedName("cpu_percent")
+    private String cpuPercent;
+    //内存
+    @SerializedName("mem_percent")
+    private String memPercent;
+    //name
+    @SerializedName("prog_name")
+    private String progName;
+
+    public String getCpuPercent() {
+        return cpuPercent;
+    }
+
+    public String getMemPercent() {
+        return memPercent;
+    }
+
+    public String getProgName() {
+        return progName;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotProgramState{" +
+                "cpuPercent='" + cpuPercent + '\'' +
+                ", memPercent='" + memPercent + '\'' +
+                ", progName='" + progName + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/guardian/AutopilotTopicState.java

@@ -0,0 +1,39 @@
+package com.mogo.eagle.core.data.autopilot.guardian;
+
+import com.google.gson.annotations.SerializedName;
+
+/**
+ * @author song kenan
+ * @des topic info
+ * @date 2021/8/16
+ */
+public class AutopilotTopicState {
+
+    @SerializedName("run_hz")
+    private String runHz;
+    @SerializedName("set_hz")
+    private String setHz;
+    @SerializedName("topic_name")
+    private String topicName;
+
+    public String getRunHz() {
+        return runHz;
+    }
+
+    public String getSetHz() {
+        return setHz;
+    }
+
+    public String getTopicName() {
+        return topicName;
+    }
+
+    @Override
+    public String toString() {
+        return "AutopilotTopicState{" +
+                "runHz='" + runHz + '\'' +
+                ", setHz='" + setHz + '\'' +
+                ", topicName='" + topicName + '\'' +
+                '}';
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/TrafficTypeEnum.kt

@@ -74,6 +74,25 @@ enum class TrafficTypeEnum(
         "道路施工",
         R.raw.v2x_shigong_warning,
         R.raw.v2x_shigong_warning
-    )
+    );
+
+    companion object {
+        @JvmStatic
+        fun getType(type: Int): TrafficTypeEnum {
+            return when (type) {
+                TYPE_TRAFFIC_ID_WEI_ZHI.type -> TYPE_TRAFFIC_ID_WEI_ZHI
+                TYPE_TRAFFIC_ID_PEOPLE.type -> TYPE_TRAFFIC_ID_PEOPLE
+                TYPE_TRAFFIC_ID_BICYCLE.type -> TYPE_TRAFFIC_ID_BICYCLE
+                TYPE_TRAFFIC_ID_TA_CHE.type -> TYPE_TRAFFIC_ID_TA_CHE
+                TYPE_TRAFFIC_ID_MOTO.type -> TYPE_TRAFFIC_ID_MOTO
+                TYPE_TRAFFIC_ID_BUS.type -> TYPE_TRAFFIC_ID_BUS
+                TYPE_TRAFFIC_ID_TRUCK.type -> TYPE_TRAFFIC_ID_TRUCK
+                TYPE_TRAFFIC_ID_CAMERA.type -> TYPE_TRAFFIC_ID_CAMERA
+                TYPE_TRAFFIC_ID_SPECIAL_VEHICLE.type -> TYPE_TRAFFIC_ID_SPECIAL_VEHICLE
+                TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG.type -> TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG
+                else -> TYPE_TRAFFIC_ID_WEI_ZHI
+            }
+        }
+    }
 
 }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/traffic/TrafficData.kt

@@ -18,6 +18,16 @@ class TrafficData {
      */
     var uuid: String = ""
 
+    /**
+     * 车牌id
+     */
+    var carId: String = ""
+
+    /**
+     * 数据来源精度 0 - 普通定位、1 - 高精定位
+     */
+    var dataAccuracy = 1
+
     /**
      * 识别物体的纬度
      */

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotIdentifyListener.java

@@ -1,22 +0,0 @@
-package com.mogo.eagle.core.function.api.autopilot;
-
-import com.mogo.eagle.core.data.traffic.TrafficData;
-
-import java.util.List;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/9/23 11:23 上午
- * 自动驾驶识别数据监听，回调后做数据可视化呈现
- */
-public interface IMoGoAutoPilotIdentifyListener {
-
-    /**
-     * 识别交通元素数据发生更新
-     *
-     * @param trafficData 交通元素信息列表
-     */
-    void onIdentifyDataUpdate(List<TrafficData> trafficData);
-
-
-}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java

@@ -1,48 +0,0 @@
-package com.mogo.eagle.core.function.api.autopilot;
-
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/9/22 8:59 下午
- * 自动驾驶状态回调监听
- */
-public interface IMoGoAutoPilotStatusListener {
-
-    /**
-     * 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
-     */
-    int STATUS_AUTOPILOT_DISABLE = 0;
-    /**
-     * 可自动驾驶，工控机连接正常，且处于人工干预状态
-     */
-    int STATUS_AUTOPILOT_ENABLE = 1;
-    /**
-     * 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
-     */
-    int STATUS_AUTOPILOT_RUNNING = 2;
-
-
-    /**
-     * 自动驾驶到站
-     *
-     * @param data 所到车站的简单信息
-     */
-    void onAutoPilotArriveAtStation(AutoPilotStationInfo data);
-
-    /**
-     * 自动驾驶状态发生改变
-     *
-     * @param state  {@link #STATUS_AUTOPILOT_DISABLE}
-     * @param reason 不能自动驾驶的原因
-     */
-    void onAutoPilotStateChanged(int state, String reason);
-
-    /**
-     * 自动驾驶状态信息
-     *
-     * @param autoPilotStatusInfo 状态信息
-     */
-    void onAutoPilotStatusResponse(AutoPilotStatusInfo autoPilotStatusInfo);
-}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.java

@@ -0,0 +1,44 @@
+package com.mogo.eagle.core.function.api.autopilot;
+
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/22 8:27 下午
+ * 自动驾驶节点
+ */
+public interface IMoGoAutopilotProvider extends IMoGoFunctionServerProvider {
+
+    /**
+     * 连接自动驾驶域控制器
+     */
+    void connectAutoPilot();
+
+    /**
+     * 开启自动驾驶
+     *
+     * @param result
+     */
+    void startAutoPilot(AutopilotControlParameters result);
+
+    /**
+     * 结束自动驾驶
+     */
+    void cancelAutoPilot();
+
+    /**
+     * 获取车辆自动驾驶状态
+     *
+     * @return
+     */
+    int getAutopilotStatus();
+
+    /**
+     * 开启域控制器录制bag包
+     *
+     * @return true-成功,false-失败
+     */
+    boolean recordPackage();
+
+}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt

@@ -0,0 +1,83 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import com.mogo.eagle.core.data.autopilot.*
+import com.mogo.eagle.core.data.traffic.TrafficData
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/22 8:59 下午
+ * 自动驾驶状态回调监听
+ */
+interface IMoGoAutopilotStatusListener {
+
+    /**
+     * 自动驾驶状态信息
+     *
+     * @param autoPilotStatusInfo 状态信息
+     */
+    fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo)
+
+    /**
+     * 自动驾驶到站
+     *
+     * @param autopilotWayArrive 所到车站的简单信息
+     */
+    fun onAutopilotArriveAtStation(autopilotWayArrive: AutopilotStationInfo?)
+
+
+    /**
+     * 车辆状态数据
+     *
+     * @param autoPilotCarStateInfo
+     */
+    fun onAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?)
+
+    /**
+     * 自动驾驶路径
+     *
+     * @param autopilotRoute
+     */
+    fun onAutopilotRoute(autopilotRoute: AutopilotRouteInfo?)
+
+    /**
+     * 工控机获取SN
+     */
+    fun onAutopilotSNRequest()
+
+    /**
+     * 工控机监控节点
+     */
+    fun onAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?)
+
+    /**
+     * 识别交通元素数据发生更新
+     *
+     * @param trafficData 交通元素信息列表
+     */
+    fun onAutopilotIdentifyDataUpdate(trafficData: List<TrafficData>?)
+
+    /**
+     * 报警信息
+     *
+     * @param autopilotWarnMessage 预警信息
+     */
+    fun onAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?)
+
+
+    companion object {
+        /**
+         * 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
+         */
+        const val STATUS_AUTOPILOT_DISABLE = 0
+
+        /**
+         * 可自动驾驶，工控机连接正常，且处于人工干预状态
+         */
+        const val STATUS_AUTOPILOT_ENABLE = 1
+
+        /**
+         * 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
+         */
+        const val STATUS_AUTOPILOT_RUNNING = 2
+    }
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt

@@ -1,7 +1,7 @@
 package com.mogo.eagle.core.function.call.autopilot
 
 import com.mogo.eagle.core.data.constants.MogoServicePaths
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotProvider
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
 
 /**
@@ -10,9 +10,9 @@ import com.mogo.eagle.core.function.call.base.CallerBase
  * 域控制器管理
  */
 object CallerAutoPilotManager {
-    private val providerApi: IMoGoAutoPilotProvider
+    private val providerApi: IMoGoAutopilotProvider
         get() = CallerBase.getApiInstance(
-            IMoGoAutoPilotProvider::class.java,
+            IMoGoAutopilotProvider::class.java,
             MogoServicePaths.PATH_AUTO_PILOT
         )
 

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt

@@ -1,9 +1,9 @@
 package com.mogo.eagle.core.function.call.autopilot
 
 import androidx.annotation.Nullable
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener
+import com.mogo.eagle.core.data.autopilot.*
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.util.GsonUtils
@@ -15,26 +15,27 @@ import com.mogo.eagle.core.utilcode.util.LogUtils
  * 域控制器相关的回调监听
  */
 object CallerAutoPilotStatusListenerManager : CallerBase() {
-    private val TAG = "CallerAutopilotListenerManager"
+    private val TAG = "CallerAutoPilotStatusListenerManager"
 
     // 存储最后一次回调的数据，当有新当位置注册了监听将此数据回调过去，防止有些模块注册顺序问题导致无法获取最新状态
-    private var mAutoPilotStatusInfo: AutoPilotStatusInfo = AutoPilotStatusInfo()
+    private var mAutopilotStatusInfo: AutopilotStatusInfo = AutopilotStatusInfo()
 
     // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
-    private val mAutoPilotStatusListeners: HashMap<String, IMoGoAutoPilotStatusListener> = HashMap()
+    private val M_AUTOPILOT_STATUS_LISTENERS: HashMap<String, IMoGoAutopilotStatusListener> =
+        HashMap()
 
     /**
      * 查询AutoPilot状态
      */
-    fun getAutoPilotStatusInfo(): AutoPilotStatusInfo {
-        return mAutoPilotStatusInfo
+    fun getAutoPilotStatusInfo(): AutopilotStatusInfo {
+        return mAutopilotStatusInfo
     }
 
     /**
      * 查询AutoPilot状态
      */
     fun getAutoPilotStatusInfoJsonString(): String {
-        return GsonUtils.toJson(mAutoPilotStatusInfo)
+        return GsonUtils.toJson(mAutopilotStatusInfo)
     }
 
     /**
@@ -44,10 +45,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
      */
     fun addListener(
         @Nullable tag: String,
-        @Nullable listener: IMoGoAutoPilotStatusListener
+        @Nullable listener: IMoGoAutopilotStatusListener
     ) {
-        mAutoPilotStatusListeners[tag] = listener
-        listener.onAutoPilotStatusResponse(mAutoPilotStatusInfo)
+        M_AUTOPILOT_STATUS_LISTENERS[tag] = listener
+        listener.onAutopilotStatusResponse(mAutopilotStatusInfo)
     }
 
     /**
@@ -55,7 +56,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
      * @param tag 标记，用来注销监听使用
      */
     fun removeListener(@Nullable tag: String) {
-        mAutoPilotStatusListeners.remove(tag)
+        M_AUTOPILOT_STATUS_LISTENERS.remove(tag)
     }
 
     /**
@@ -63,9 +64,9 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
      * @param listener 要删除的监听对象
      */
     fun removeListener(@Nullable listener: IMoGoObuStatusListener) {
-        mAutoPilotStatusListeners.forEach {
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
             if (it.value == listener) {
-                mAutoPilotStatusListeners.remove(it.key)
+                M_AUTOPILOT_STATUS_LISTENERS.remove(it.key)
             }
         }
     }
@@ -74,53 +75,125 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
      * 自动驾驶状态信息回调
      */
     @Synchronized
-    fun invokeAutoPilotStatusListener() {
-        LogUtils.dTag(TAG, "$mAutoPilotStatusInfo")
-        invokeAutoPilotStatusListener(mAutoPilotStatusInfo)
+    fun invokeAutoPilotStatus() {
+        LogUtils.dTag(TAG, "$mAutopilotStatusInfo")
+        invokeAutoPilotStatus(mAutopilotStatusInfo)
     }
 
     /**
-     * 自动驾驶状态信息回调
-     * @param autoPilotStatusInfo 自动驾驶状态信息
+     * 自动驾驶状态信息 回调
+     * @param autopilotStatusInfo 自动驾驶状态信息
      */
     @Synchronized
-    fun invokeAutoPilotStatusListener(autoPilotStatusInfo: AutoPilotStatusInfo) {
-        LogUtils.dTag(TAG, "$autoPilotStatusInfo")
-        mAutoPilotStatusInfo = autoPilotStatusInfo
-        mAutoPilotStatusListeners.forEach {
+    fun invokeAutoPilotStatus(autopilotStatusInfo: AutopilotStatusInfo) {
+        LogUtils.dTag(TAG, "$autopilotStatusInfo")
+        mAutopilotStatusInfo = autopilotStatusInfo
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
             LogUtils.dTag(TAG, "tag:$tag listener:$listener")
-            listener.onAutoPilotStatusResponse(mAutoPilotStatusInfo)
+            listener.onAutopilotStatusResponse(mAutopilotStatusInfo)
         }
     }
 
     /**
-     * 自动驾驶网约车回调数据 回调
-     * @param autoPilotStationInfo 自动驾驶网约车回调数据
+     * 自动驾驶站点信息  回调
+     * @param autopilotStationInfo 自动驾驶网约车回调数据
      */
-    fun invokeArriveAtStationListener(autoPilotStationInfo: AutoPilotStationInfo) {
-        LogUtils.dTag(TAG, "$autoPilotStationInfo")
-        mAutoPilotStatusListeners.forEach {
+    @Synchronized
+    fun invokeArriveAtStation(autopilotStationInfo: AutopilotStationInfo) {
+        LogUtils.dTag(TAG, "$autopilotStationInfo")
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
             LogUtils.dTag(TAG, "tag:$tag listener:$listener")
-            listener.onAutoPilotArriveAtStation(autoPilotStationInfo)
+            listener.onAutopilotArriveAtStation(autopilotStationInfo)
         }
     }
 
     /**
-     * 自动驾驶状态回调
-     * @param state
-     * @param reason
+     * 车辆状态数据 回调
+     * @param autoPilotCarStateInfo
      */
-    fun invokeStateChangedListener(state: Int, reason: String) {
-        LogUtils.dTag(TAG, "$state $reason")
-        mAutoPilotStatusListeners.forEach {
+    @Synchronized
+    fun invokeAutopilotCarStateData(autoPilotCarStateInfo: AutopilotCarStateInfo?) {
+        LogUtils.dTag(TAG, "$autoPilotCarStateInfo")
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
             LogUtils.dTag(TAG, "tag:$tag listener:$listener")
-            listener.onAutoPilotStateChanged(state, reason)
+            listener.onAutopilotCarStateData(autoPilotCarStateInfo)
+        }
+    }
+
+    /**
+     * 自动驾驶路径 回调
+     * @param routeInfo
+     */
+    @Synchronized
+    fun invokeAutopilotRoute(routeInfo: AutopilotRouteInfo?) {
+        LogUtils.dTag(TAG, "$routeInfo")
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutopilotRoute(routeInfo)
+        }
+    }
+
+    /**
+     * 工控机获取SN 回调
+     */
+    @Synchronized
+    fun invokeAutopilotSNRequest() {
+        LogUtils.dTag(TAG, "")
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutopilotSNRequest()
+        }
+    }
+
+    /**
+     * 工控机监控节点 回调
+     */
+    @Synchronized
+    fun invokeAutopilotGuardian(guardianInfo: AutopilotGuardianStatusInfo?) {
+        LogUtils.dTag(TAG, "$guardianInfo")
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutopilotGuardian(guardianInfo)
+        }
+    }
+
+    /**
+     * 识别交通元素数据发生更新 回调
+     */
+    @Synchronized
+    fun invokeIdentifyDataUpdate(trafficData: List<TrafficData>?) {
+        LogUtils.dTag(TAG, "$trafficData")
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutopilotIdentifyDataUpdate(trafficData)
+        }
+    }
+
+    /**
+     * 报警信息 回调
+     */
+    @Synchronized
+    fun invokeAutopilotWarnMessage(autopilotWarnMessage: AutopilotWarnMessage?) {
+        LogUtils.dTag(TAG, "$autopilotWarnMessage")
+        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutopilotWarnMessage(autopilotWarnMessage)
         }
     }
 

gradle.properties

@@ -182,7 +182,7 @@ MOGO_TRAFFICLIVE_VERSION=1.1.46
 # 定位服务
 MOGO_LOCATION_VERSION=1.1.46
 # 自研地图
-MAP_SDK_VERSION=1.0.1-vr-1.1.3
+MAP_SDK_VERSION=1.0.1-vr-1.1.5
 #################架构升级新的版本号
 MOGO_CORE_FUNCTION_HMI_VERSION=1.0.0
 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级

libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java

@@ -349,28 +349,28 @@ public class AMapViewWrapper implements IMogoMapView,
         Logger.d(TAG, "设置的样式 = %s", ui);
         if (checkAMapView()) {
             switch (ui) {
-                case CarUp_2D:
-                case CarUp_3D:
-                case NorthUP_2D:
-                    setUIMode(ui);
-                    break;
+//                case CarUp_2D:
+//                case CarUp_3D:
+//                case NorthUP_2D:
+//                    setUIMode(ui);
+//                    break;
                 case Type_VR:
                     mMapView.getMapAutoViewHelper().setScaleVRMode(true);
                     mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_VR);
                     return;
-                case Type_Light:
-                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
-                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
-                    mIsLightStyle = true;
-                    break;
-                case Type_Night:
-                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
-                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
-                    mIsLightStyle = false;
-                    break;
-                case Type_AUTO_LIGHT_Night:
-                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
-                    break;
+//                case Type_Light:
+//                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
+//                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_DAY);
+//                    mIsLightStyle = true;
+//                    break;
+//                case Type_Night:
+//                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(false);
+//                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_NIGHT);
+//                    mIsLightStyle = false;
+//                    break;
+//                case Type_AUTO_LIGHT_Night:
+//                    mMapView.getMapAutoViewHelper().setAutoSwitchStyle(true);
+//                    break;
             }
 
         }

modules/mogo-module-adas/build.gradle

@@ -1,6 +1,10 @@
-apply plugin: 'com.android.library'
-apply plugin: 'com.alibaba.arouter'
-
+plugins {
+    id 'com.android.library'
+    id 'kotlin-android'
+    id 'kotlin-android-extensions'
+    id 'kotlin-kapt'
+    id 'com.alibaba.arouter'
+}
 android {
     compileSdkVersion rootProject.ext.android.compileSdkVersion
     // buildToolsVersion rootProject.ext.android.buildToolsVersion
@@ -10,14 +14,15 @@ android {
         versionCode Integer.valueOf(VERSION_CODE)
         versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
 
-        javaCompileOptions {
-            annotationProcessorOptions {
-                arguments = [AROUTER_MODULE_NAME: project.getName()]
-            }
-        }
-
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
         consumerProguardFiles 'consumer-rules.pro'
+        //ARouter apt 参数
+        kapt {
+            useBuildCache = false
+            arguments {
+                arg("AROUTER_MODULE_NAME", project.getName())
+            }
+        }
     }
 
     buildTypes {
@@ -37,10 +42,10 @@ dependencies {
 
     implementation rootProject.ext.dependencies.androidxappcompat
     implementation rootProject.ext.dependencies.androidxconstraintlayout
-    implementation rootProject.ext.dependencies.arouter
     implementation rootProject.ext.dependencies.rxandroid
 
-    annotationProcessor rootProject.ext.dependencies.aroutercompiler
+    implementation rootProject.ext.dependencies.arouter
+    kapt rootProject.ext.dependencies.aroutercompiler
 
     // 现有的ADAS的通讯SDK，需要将里面的东西融合到我们项目中
     compileOnly rootProject.ext.dependencies.adasapi
@@ -61,6 +66,7 @@ dependencies {
         implementation project(':modules:mogo-module-common')
 
         implementation project(':core:mogo-core-data')
+        implementation project(':core:mogo-core-function-api')
         implementation project(':core:mogo-core-function-call')
     }
 }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasAutoPilotManager.java

@@ -12,6 +12,8 @@ import android.location.Location;
 import android.os.Handler;
 import android.os.Message;
 
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
@@ -129,12 +131,12 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<DispatchAdas
     }
 
     @Override
-    public void notifyAutopilotState(AutopilotStatus autopilotStatus) {
+    public void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
         AdasServiceModel.getInstance().uploadAutopilotStatus(autopilotStatus);
     }
 
     @Override
-    public void autopilotRoute(AutopilotRoute autopilotRoute) {
+    public void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
 //        if (autopilotRoute == null || autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
 //            return;
 //        }
@@ -226,12 +228,10 @@ public class AdasAutoPilotManager implements IMogoOnMessageListener<DispatchAdas
     }
 
     public void testNotifyAutopilotState() {
-        AutopilotStatus autopilotStatus = new AutopilotStatus();
-        AutopilotStatus.ValuesBean valuesBean = new AutopilotStatus.ValuesBean();
-        valuesBean.setReason("123");
-        valuesBean.setSpeed(123);
-        valuesBean.setState(0);
-        autopilotStatus.setValues(valuesBean);
+        AutopilotStatusInfo autopilotStatus = new AutopilotStatusInfo();
+        autopilotStatus.setReason("123");
+        autopilotStatus.setSpeed(123);
+        autopilotStatus.setState(0);
         AdasServiceModel.getInstance().uploadAutopilotStatus(autopilotStatus);
     }
 

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java

@@ -1,29 +1,28 @@
 package com.mogo.module.adas;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
 import com.google.gson.Gson;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.eagle.core.data.traffic.TrafficData;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.module.adas.model.AdasServiceModel;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
-import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
-import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
-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.LightStatueInfo;
-import com.zhidao.support.adas.high.bean.ObstaclesInfo;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
 import com.zhidao.support.obu.ami.AmiClientManager;
 
 import java.util.ArrayList;
+import java.util.List;
 import java.util.concurrent.TimeUnit;
 
 import io.reactivex.Flowable;
@@ -33,7 +32,7 @@ import io.reactivex.schedulers.Schedulers;
 /**
  * Created by XuYong on 2021/4/25 14:43
  */
-public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
+public class AdasEventManager implements OnAdasMsgConnectStatusListener, IMoGoAutopilotStatusListener {
 
     private final String TAG = "AdasEventManager";
 
@@ -48,12 +47,13 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     //自动驾驶车速度
     private float mCurrentAutopilotSpeed = 0;
     //自动驾驶状态
-    private AutopilotStatus.ValuesBean mAutopilotValuesStatus = null;
+    private AutopilotStatusInfo mAutopilotValuesStatus = null;
 
     private IAdasProviderBizListener providerBizListener;
 
     private AdasEventManager() {
         gson = GsonUtil.getGson();
+        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     public static AdasEventManager getInstance() {
@@ -98,157 +98,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         iAdasStatusListeners.clear();
     }
 
-    @Override
-    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-        Logger.d(TAG, "onWarnMessage " + warnMessageInfo);
-        //报警model
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-                listener.onWarnMessage(warnMessageInfo);
-            }
-        }
-    }
-
-    @Override
-    public void onVideoSize(int width, int height) {
-        Logger.d(TAG, "onVideoSize");
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-            }
-        }
-    }
-
-    @Override
-    public void onRectData(RectInfo rectInfo) {
-        Logger.d(TAG, "onRectData " + rectInfo);
-        try {
-            for (IAdasDataListener listener : iAdasEventListeners) {
-                if (listener != null) {
-                    listener.onRectData(rectInfo);
-                }
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    @Override
-    public void onCarStateData(CarStateInfo carStateInfo) {
-        //Logger.d(TAG, "onCarStateData " + carStateInfo);
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-                listener.ownerCarStateInfo(gson.toJson(carStateInfo));
-            }
-        }
-
-        //can数据转发
-        CarStateInfo.ValuesBean bean = carStateInfo.getValues();
-        if (bean != null) {
-            int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
-            AmiClientManager.getInstance().setTurnLightState(turn_light);
-        }
-
-    }
-
-    @Override
-    public void onLightStateData(LightStatueInfo lightStatueInfo) {
-        Logger.d(TAG, "onLightStateData " + lightStatueInfo);
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-            }
-        }
-    }
-
-    @Override
-    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
-        Logger.d(TAG, "onObstaclesInfo " + obstaclesInfo);
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-            }
-        }
-    }
-
-    @Override
-    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
-        Logger.d(TAG, "onCarLaneInfo " + carLaneInfo);
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-            }
-        }
-    }
-
-    @Override
-    public void autopilotStatus(AutopilotStatus autopilotStatus) {
-        Logger.d(TAG, "autopilotStatus " + autopilotStatus);
-        AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
-        if (autopilotStatusValues != null) {
-            // 初始化自动驾驶状态信息
-            AutoPilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
-            autopilotStatusInfo.setAutopilotStatus(autopilotStatusValues.getState());
-            autopilotStatusInfo.setAutoDriveStatus(autopilotStatusValues.getPilotmode());
-            autopilotStatusInfo.setErrorReason(autopilotStatusValues.getReason());
-            autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
-            autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
-            autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
-            autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
-            // 初始化自动驾驶状态信息
-            autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
-            autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
-
-            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
-
-            int state = autopilotStatusValues.getState();
-            float speed = autopilotStatusValues.getSpeed();
-            mCurrentAutopilotStatus = state;
-            mCurrentAutopilotSpeed = speed;
-            this.mAutopilotValuesStatus = autopilotStatus.getValues();
-            for (IAdasDataListener listener : iAdasEventListeners) {
-                if (listener != null) {
-                    listener.notifyAutopilotState(autopilotStatus);
-                }
-            }
-        }
-    }
-
-    @Override
-    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
-        Logger.d(TAG, "autopilotArrive " + autopilotWayArrive);
-        if (autopilotWayArrive != null) {
-            AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
-            if (result != null) {
-                AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
-                if (endLatLon != null) {
-                    AdasAIDLAutopilotArriveModel adasAIDLAutopilotArriveModel = new AdasAIDLAutopilotArriveModel();
-                    adasAIDLAutopilotArriveModel.setCarType(result.getCarType());
-                    double lon = endLatLon.getLon();
-                    double lat = endLatLon.getLat();
-                    adasAIDLAutopilotArriveModel.setLat(lat);
-                    adasAIDLAutopilotArriveModel.setLon(lon);
-                    Logger.d(TAG, "autopilotArrive reportSite");
-                    reportSite(lon, lat);
-                    for (IAdasDataListener listener : iAdasEventListeners) {
-                        if (listener != null) {
-                            listener.autopilotArrive(adasAIDLAutopilotArriveModel);
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    @Override
-    public void onAutopilotRoute(AutopilotRoute autopilotRoute) {
-        if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
-            Logger.d(TAG, "onAutopilotRoute is null !");
-            return;
-        }
-        Logger.d(TAG, "onAutopilotRoute : " + autopilotRoute.toString());
-        for (IAdasDataListener listener : iAdasEventListeners) {
-            if (listener != null) {
-                listener.autopilotRoute(autopilotRoute);
-            }
-        }
-    }
 
     @Override
     public void onAutopilotSNRequest() {
@@ -259,11 +108,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         }
     }
 
-    @Override
-    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
-
-    }
-
     @Override
     public void onWebSocketConnectSuccess() {
         Logger.d(TAG, "webSocket 连接成功");
@@ -271,7 +115,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
         CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(true);
 
-        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
         for (IAdasStatusListener listener : iAdasStatusListeners) {
             listener.onServiceConnected();
         }
@@ -283,7 +127,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         Logger.d(TAG, "webSocket 连接失败 reason:" + reason);
         CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
         CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(false);
-        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
         for (IAdasStatusListener listener : iAdasStatusListeners) {
             listener.onServiceDisconnected();
         }
@@ -319,4 +163,96 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     public void setProviderBizListener(IAdasProviderBizListener listener) {
         providerBizListener = listener;
     }
+
+    @Override
+    public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
+        Logger.d(TAG, "autopilotStatus " + autoPilotStatusInfo);
+        int state = autoPilotStatusInfo.getState();
+        float speed = autoPilotStatusInfo.getSpeed();
+        mCurrentAutopilotStatus = state;
+        mCurrentAutopilotSpeed = speed;
+        this.mAutopilotValuesStatus = autoPilotStatusInfo;
+        for (IAdasDataListener listener : iAdasEventListeners) {
+            if (listener != null) {
+                listener.notifyAutopilotState(autoPilotStatusInfo);
+            }
+        }
+    }
+
+    @Override
+    public void onAutopilotArriveAtStation(AutopilotStationInfo autopilotWayArrive) {
+        Logger.d(TAG, "autopilotArrive " + autopilotWayArrive);
+        if (autopilotWayArrive != null) {
+            double lon = autopilotWayArrive.getLon();
+            double lat = autopilotWayArrive.getLat();
+            Logger.d(TAG, "autopilotArrive reportSite");
+            reportSite(lon, lat);
+            for (IAdasDataListener listener : iAdasEventListeners) {
+                if (listener != null) {
+                    listener.autopilotArrive(autopilotWayArrive);
+                }
+            }
+        }
+    }
+
+    @Override
+    public void onAutopilotCarStateData(@Nullable AutopilotCarStateInfo autoPilotCarStateInfo) {
+        Logger.d(TAG, "onCarStateData " + autoPilotCarStateInfo);
+        for (IAdasDataListener listener : iAdasEventListeners) {
+            if (listener != null) {
+                listener.ownerCarStateInfo(gson.toJson(autoPilotCarStateInfo));
+            }
+        }
+
+        //can数据转发
+        AutopilotCarStateInfo.ValuesBean bean = autoPilotCarStateInfo.getValues();
+        if (bean != null) {
+            int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
+            AmiClientManager.getInstance().setTurnLightState(turn_light);
+        }
+    }
+
+    @Override
+    public void onAutopilotRoute(@Nullable AutopilotRouteInfo autopilotRoute) {
+        if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
+            Logger.d(TAG, "onAutopilotRoute is null !");
+            return;
+        }
+        Logger.d(TAG, "onAutopilotRoute : " + autopilotRoute.toString());
+        for (IAdasDataListener listener : iAdasEventListeners) {
+            if (listener != null) {
+                listener.autopilotRoute(autopilotRoute);
+            }
+        }
+    }
+
+    @Override
+    public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
+
+    }
+
+    @Override
+    public void onAutopilotIdentifyDataUpdate(@Nullable List<TrafficData> trafficData) {
+        Logger.d(TAG, "onRectData " + trafficData);
+        try {
+            for (IAdasDataListener listener : iAdasEventListeners) {
+                if (listener != null) {
+                    listener.onRectData(trafficData);
+                }
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void onAutopilotWarnMessage(@Nullable AutopilotWarnMessage autopilotWarnMessage) {
+        Logger.d(TAG, "onWarnMessage " + autopilotWarnMessage);
+        //报警model
+        for (IAdasDataListener listener : iAdasEventListeners) {
+            if (listener != null) {
+                listener.onWarnMessage(autopilotWarnMessage);
+            }
+        }
+    }
 }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasObjectUtils.kt

@@ -0,0 +1,110 @@
+package com.mogo.module.adas
+
+import android.util.Log
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.utils.network.utils.GsonUtil
+import com.zhidao.support.adas.high.bean.AutopilotRoute
+import com.zhidao.support.adas.high.bean.CarStateInfo
+import com.zhidao.support.adas.high.bean.RectInfo.RectBean
+import com.zhidao.support.adas.high.bean.WarnMessageInfo
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo
+import java.util.*
+import java.util.concurrent.TimeUnit
+
+/**
+ * @author congtaowang
+ * @since 2020/10/25
+ *
+ * 对象转换类
+ */
+object AdasObjectUtils {
+
+    fun fromAutopilotGuardianInfo(autopilotGuardianInfo: AutopilotGuardianInfo): AutopilotGuardianStatusInfo? {
+        return GsonUtil.objectFromJson(
+            GsonUtil.jsonFromObject(autopilotGuardianInfo),
+            AutopilotGuardianStatusInfo::class.java
+        )
+    }
+
+    fun fromAdasAutopilotRoute(carStateInfo: AutopilotRoute): AutopilotRouteInfo? {
+        return GsonUtil.objectFromJson(
+            GsonUtil.jsonFromObject(carStateInfo),
+            AutopilotRouteInfo::class.java
+        )
+    }
+
+    fun fromAdasCarStateInfoObject(carStateInfo: CarStateInfo): AutopilotCarStateInfo? {
+        return GsonUtil.objectFromJson(
+            GsonUtil.jsonFromObject(carStateInfo),
+            AutopilotCarStateInfo::class.java
+        )
+    }
+
+    fun fromAdasObject(info: WarnMessageInfo?): AutopilotWarnMessage? {
+        if (info == null) {
+            return null
+        }
+        val warnMessage =
+            AutopilotWarnMessage()
+        warnMessage.content = info.content
+        warnMessage.level = info.level
+        try {
+            warnMessage.type = info.type.toInt()
+        } catch (e: NumberFormatException) {
+            return null
+        }
+        warnMessage.value = info.value
+        return warnMessage
+    }
+
+    fun regroupTrafficDataData(datums: List<RectBean?>?): List<TrafficData>? {
+        if (datums == null || datums.isEmpty()) {
+            return null
+        }
+        val recognizedListResults: MutableList<TrafficData> = ArrayList()
+        for (model in datums) {
+            if (model == null) {
+                continue
+            }
+            val recognizedListResult = fromAdasTrafficDataObject(model)
+            if (recognizedListResult != null) {
+                recognizedListResults.add(recognizedListResult)
+            }
+        }
+        return recognizedListResults
+    }
+
+    fun fromAdasTrafficDataObject(model: RectBean?): TrafficData? {
+        if (model == null) {
+            return null
+        }
+        val start = System.nanoTime()
+        val result = TrafficData()
+        result.uuid = model.uuid
+        result.lat = model.lat
+        result.lon = model.lon
+        result.type = TrafficTypeEnum.getType(model.type.toInt())
+        result.heading = model.heading
+        result.systemTime = model.systemTime.toLong()
+        result.satelliteTime = model.satelliteTime.toLong()
+        result.alt = model.alt
+        result.speed = model.speed
+        result.carId = model.carId
+        result.dataAccuracy = model.dataAccuracy
+        result.distance = model.distance
+        result.threatLevel = model.drawlevel
+        Log.d(
+            "ADAS数据延时", "fromAdasObject cost : " + TimeUnit.NANOSECONDS.toMillis(
+                System.nanoTime() - start
+            )
+        )
+        return result
+    }
+
+
+}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java

@@ -9,7 +9,9 @@ import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.bean.AutopilotRoute;
 import com.zhidao.support.adas.high.bean.BasicInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
 
 
 /**
@@ -45,7 +47,7 @@ public class AdasProvider implements IProvider {
 
     private void initAdas(Context context, AdasEventManager adasEventManager) {
         AdasManager.getInstance().create(context);
-        AdasManager.getInstance().setOnAdasListener(adasEventManager);
+        AdasManager.getInstance().setOnAdasListener(new OnAdasListenerAdapter());
         AdasManager.getInstance().setOnAdasConnectStatusListener(adasEventManager);
         adasEventManager.setProviderBizListener(this::setBasicInfo);
     }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java

@@ -1,41 +0,0 @@
-package com.mogo.module.adas;
-
-/**
- * Created by XuYong on 2021/5/28 16:12
- */
-public class AutonomousDriveStatusBean {
-
-    private String sn;
-    private int status;
-    private float vehicleSpeed;
-
-    public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
-        this.sn = sn;
-        this.status = status;
-        this.vehicleSpeed = vehicleSpeed;
-    }
-
-    public String getSn() {
-        return sn;
-    }
-
-    public void setSn(String sn) {
-        this.sn = sn;
-    }
-
-    public int getStatus() {
-        return status;
-    }
-
-    public void setStatus(int status) {
-        this.status = status;
-    }
-
-    public float getVehicleSpeed() {
-        return vehicleSpeed;
-    }
-
-    public void setVehicleSpeed(float vehicleSpeed) {
-        this.vehicleSpeed = vehicleSpeed;
-    }
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java

@@ -1,11 +1,18 @@
 package com.mogo.module.adas;
 
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.support.adas.high.bean.AutopilotRoute;
 import com.zhidao.support.adas.high.bean.AutopilotStatus;
 import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
+import java.util.List;
+
 
 public interface IAdasDataListener {
 
@@ -13,11 +20,11 @@ public interface IAdasDataListener {
 
     }
 
-    default void onRectData(RectInfo rectInfo) {
+    default void onRectData(List<TrafficData> trafficData) {
 
     }
 
-    default void onWarnMessage(WarnMessageInfo warnMessageInfo) {
+    default void onWarnMessage(AutopilotWarnMessage autopilotWarnMessage) {
 
     }
 
@@ -25,17 +32,17 @@ public interface IAdasDataListener {
     /**
      * 自动驾驶到达站点回调接口
      *
-     * @param autopilotArriveModel
+     * @param autopilotWayArrive
      */
-    default void autopilotArrive(AdasAIDLAutopilotArriveModel autopilotArriveModel) {
+    default void autopilotArrive(AutopilotStationInfo autopilotWayArrive) {
     }
 
     /**
      * 自动驾驶路线回调
      *
-     * @param autopilotRoute {@link AutopilotRoute}
+     * @param autopilotRoute {@link AutopilotRouteInfo}
      */
-    default void autopilotRoute(AutopilotRoute autopilotRoute) {
+    default void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
 
     }
 
@@ -50,9 +57,9 @@ public interface IAdasDataListener {
     /**
      * 自动驾驶状态信息
      *
-     * @param autopilotStatus {@link AutopilotStatus}
+     * @param autopilotStatus {@link AutopilotStatusInfo}
      */
-    default void notifyAutopilotState(AutopilotStatus autopilotStatus) {
+    default void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
     }
 
 }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java

@@ -0,0 +1,141 @@
+package com.mogo.module.adas;
+
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
+import com.mogo.eagle.core.data.traffic.TrafficData;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.utils.logger.Logger;
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+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.LightStatueInfo;
+import com.zhidao.support.adas.high.bean.ObstaclesInfo;
+import com.zhidao.support.adas.high.bean.RectInfo;
+import com.zhidao.support.adas.high.bean.WarnMessageInfo;
+import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.obu.ami.AmiClientManager;
+
+import java.util.List;
+
+/**
+ * @author congtaowang
+ * @since 2020/10/22
+ * <p>
+ * 适配ADAS 回调监听分发
+ */
+public class OnAdasListenerAdapter implements OnAdasListener {
+    private final String TAG = "OnAdasListenerAdapter";
+
+    @Override
+    public void onRectData(RectInfo rectInfo) {
+        List<TrafficData> recognizedListResults = AdasObjectUtils.INSTANCE.regroupTrafficDataData(rectInfo.getModels());
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeIdentifyDataUpdate(recognizedListResults);
+    }
+
+    @Override
+    public void onCarStateData(CarStateInfo carStateInfo) {
+        AutopilotCarStateInfo autopilotCarStateInfo = AdasObjectUtils.INSTANCE.fromAdasCarStateInfoObject(carStateInfo);
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotCarStateData(autopilotCarStateInfo);
+
+        //can数据转发
+        CarStateInfo.ValuesBean bean = carStateInfo.getValues();
+        if (bean != null) {
+            int turn_light = bean.getTurn_light(); //转向灯状态 0是正常 1是左转 2是右转
+            AmiClientManager.getInstance().setTurnLightState(turn_light);
+        }
+    }
+
+    @Override
+    public void autopilotStatus(AutopilotStatus autopilotStatus) {
+        AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
+
+        if (autopilotStatusValues != null) {
+            // 初始化自动驾驶状态信息
+            AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+            autopilotStatusInfo.setState(autopilotStatusValues.getState());
+            autopilotStatusInfo.setPilotmode(autopilotStatusValues.getPilotmode());
+            autopilotStatusInfo.setReason(autopilotStatusValues.getReason());
+            autopilotStatusInfo.setCamera(autopilotStatusValues.getCamera());
+            autopilotStatusInfo.setRtk(autopilotStatusValues.getRtk());
+            autopilotStatusInfo.setRadar(autopilotStatusValues.getRadar());
+            autopilotStatusInfo.setSpeed(autopilotStatusValues.getSpeed());
+            // 初始化自动驾驶状态信息
+            autopilotStatusInfo.setVersion(AdasManager.getInstance().getAdasConfig().getVersion());
+            autopilotStatusInfo.setConnectIP(AdasManager.getInstance().getAdasConfig().getAddress());
+
+            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
+        }
+    }
+
+    @Override
+    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
+        if (autopilotWayArrive != null) {
+            AutopilotWayArrive.ResultBean result = autopilotWayArrive.getResult();
+            if (result != null) {
+                AutopilotWayArrive.ResultBean.EndLatLonBean endLatLon = result.getEndLatLon();
+                if (endLatLon != null) {
+                    AutopilotStationInfo stationInfo = new AutopilotStationInfo(result.getCarType(), endLatLon.getLon(), endLatLon.getLat());
+
+                    CallerAutoPilotStatusListenerManager.INSTANCE.invokeArriveAtStation(stationInfo);
+                }
+            }
+        }
+    }
+
+    @Override
+    public void onAutopilotRoute(AutopilotRoute route) {
+        Logger.d(TAG, "onAutopilotRoute : " + route.toString());
+        AutopilotRouteInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAdasAutopilotRoute(route);
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotRoute(autopilotRoute);
+    }
+
+    @Override
+    public void onAutopilotSNRequest() {
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotSNRequest();
+    }
+
+    @Override
+    public void onAutopilotGuardian(AutopilotGuardianInfo guardianInfo) {
+        AutopilotGuardianStatusInfo autopilotRoute = AdasObjectUtils.INSTANCE.fromAutopilotGuardianInfo(guardianInfo);
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
+    }
+
+
+    @Override
+    public void onLightStateData(LightStatueInfo lightStatueInfo) {
+
+    }
+
+    @Override
+    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
+
+    }
+
+    @Override
+    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
+
+    }
+
+
+    @Override
+    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
+        final AutopilotWarnMessage warnMessage = AdasObjectUtils.INSTANCE.fromAdasObject(warnMessageInfo);
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotWarnMessage(warnMessage);
+
+    }
+
+    @Override
+    public void onVideoSize(int width, int height) {
+
+    }
+
+
+}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java

@@ -1,40 +0,0 @@
-package com.mogo.module.adas;
-
-/**
- * Created by XuYong on 2021/5/31 16:24
- */
-public class ReportSiteBean {
-    private String sn;
-    private double lon;
-    private double lat;
-
-    public ReportSiteBean(String sn, double lon, double lat) {
-        this.sn = sn;
-        this.lon = lon;
-        this.lat = lat;
-    }
-
-    public String getSn() {
-        return sn;
-    }
-
-    public void setSn(String sn) {
-        this.sn = sn;
-    }
-
-    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;
-    }
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/ReportedRoute.java

@@ -1,17 +1,17 @@
 package com.mogo.module.adas.entity;
 
 
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 
 /**
  * 上报自动驾驶规划的路径
  */
 public class ReportedRoute {
     private String sn;
-    private AutopilotStatus.ValuesBean bean;
+    private AutopilotStatusInfo bean;
     private String siteList;
 
-    public ReportedRoute(String sn, AutopilotStatus.ValuesBean bean) {
+    public ReportedRoute(String sn, AutopilotStatusInfo bean) {
         this.sn = sn;
         this.bean = bean;
     }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/entity/WarnMessageModel.java

@@ -1,31 +0,0 @@
-package com.mogo.module.adas.entity;
-
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-
-/**
- * @author nie yunlong
- * @des
- * @date 2020/10/22
- */
-public class WarnMessageModel {
-
-    private String action;
-
-    private WarnMessageInfo values;
-
-    public String getAction() {
-        return action;
-    }
-
-    public void setAction(String action) {
-        this.action = action;
-    }
-
-    public WarnMessageInfo getValues() {
-        return values;
-    }
-
-    public void setValues(WarnMessageInfo values) {
-        this.values = values;
-    }
-}

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/model/AdasServiceModel.java

@@ -3,6 +3,7 @@ package com.mogo.module.adas.model;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.data.BaseData;
 import com.mogo.commons.network.SubscribeImpl;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.module.adas.entity.AutonomousDriveStatusBean;
 import com.mogo.module.adas.entity.ReportDispatchResult;
 import com.mogo.module.adas.entity.ReportSiteBean;
@@ -59,9 +60,9 @@ public class AdasServiceModel {
      *
      * @param autopilotStatus {@link AutopilotStatus}
      */
-    public void uploadAutopilotStatus(AutopilotStatus autopilotStatus) {
+    public void uploadAutopilotStatus(AutopilotStatusInfo autopilotStatus) {
         String sn = MoGoAiCloudClientConfig.getInstance().getSn();
-        ReportedRoute reportedRoute = new ReportedRoute(sn, autopilotStatus.getValues());
+        ReportedRoute reportedRoute = new ReportedRoute(sn, autopilotStatus);
         Map<String, Object> map = new HashMap<>();
         map.put("sn", sn);
         map.put("data", GsonUtil.jsonFromObject(reportedRoute));

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/receiver/test

@@ -1,216 +0,0 @@
-原数据
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-
-
-排序数据：
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-
-
-
-
-
-
-
-

modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java

@@ -2,7 +2,7 @@ package com.mogo.module.common.datacenter;
 
 import com.mogo.commons.FunctionBuildConfig;
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.service.cloud.location.CloudLocationInfo;
@@ -94,10 +94,10 @@ public class SnapshotLocationDataCenter {
         // 使用与渠道配置一样的gps提供者提供的数据
         if (gpsProvider == FunctionBuildConfig.gpsProvider) {
             //测试面板状态同步
-            AutoPilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+            AutopilotStatusInfo autopilotStatusInfo = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
             autopilotStatusInfo.setLocationLat(lat);
             autopilotStatusInfo.setLocationLon(lon);
-            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
+            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatus();
 
             DebugConfig.setStatusData(DebugConfig.sLon, lon);
             DebugConfig.setStatusData(DebugConfig.sLat, lat);

modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java

@@ -1,5 +1,7 @@
 package com.mogo.module.common.drawer;
 
+import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
+
 import android.os.Build;
 import android.text.TextUtils;
 import android.util.Log;
@@ -7,12 +9,12 @@ import android.util.Log;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.utils.Trigonometric;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
 
 import java.util.ArrayList;
 import java.util.Iterator;
@@ -21,16 +23,13 @@ import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.TimeUnit;
 
-import static com.mogo.cloud.socket.entity.SocketDownDataHelper.FROM_ADAS;
-
-public
 /**
  * @author congtaowang
  * @since 2020/10/28
- *
+ * <p>
  * 绘制adas近景识别到的车辆
  */
-class AdasRecognizedResultDrawer extends BaseDrawer {
+public class AdasRecognizedResultDrawer extends BaseDrawer {
 
     private static final String TAG = "RecognizedResultDrawer";
 
@@ -45,7 +44,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         super();
     }
 
-    private final Map<String, ADASRecognizedResult> mLastPositions = new ConcurrentHashMap<>();
+    private final Map<String, TrafficData> mLastPositions = new ConcurrentHashMap<>();
 
     public static AdasRecognizedResultDrawer getInstance() {
         if (sInstance == null) {
@@ -76,7 +75,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      *
      * @param resultList adas感知融合数据
      */
-    public void renderAdasRecognizedResult(List<ADASRecognizedResult> resultList) {
+    public void renderAdasRecognizedResult(List<TrafficData> resultList) {
 
         final long start = System.nanoTime();
         if (resultList == null || resultList.isEmpty() || !DebugConfig.isUseAdasRecognize()) {
@@ -91,18 +90,18 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
             return;
         }
 
-//        List<ADASRecognizedResult> allDatumsList = new ArrayList<>();
+//        List<TrafficData> allDatumsList = new ArrayList<>();
 //        prepareData(resultList, allDatumsList);
 
         Map<String, IMogoMarker> newAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
-        List<ADASRecognizedResult> newDiffSet = new ArrayList<>();
-        for (ADASRecognizedResult recognizedListResult : resultList) {
+        List<TrafficData> newDiffSet = new ArrayList<>();
+        for (TrafficData recognizedListResult : resultList) {
 
             if (isUselessValue(recognizedListResult)) {
                 continue;
             }
             // 复用之前存在的 marker
-            String uniqueKey = recognizedListResult.uuid;
+            String uniqueKey = recognizedListResult.getUuid();
             IMogoMarker marker = mMarkersCaches.remove(uniqueKey);
             if (marker != null && !marker.isDestroyed()) {
 //                Log.d(TAG, "发现缓存marker id : " + uniqueKey);
@@ -120,8 +119,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         // 复用过期 marker
         if (newDiffSetSize > 0) {
             for (int i = 0; i < newDiffSetSize; i++) {
-                ADASRecognizedResult recognizedListResult = newDiffSet.get(i);
-                String uniqueKey = recognizedListResult.uuid;
+                TrafficData recognizedListResult = newDiffSet.get(i);
+                String uniqueKey = recognizedListResult.getUuid();
                 IMogoMarker marker = drawAdasRecognizedDataMarker(recognizedListResult);
                 if (marker == null) {
                     continue;
@@ -142,7 +141,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      * @param in
      * @param out
      */
-    private void prepareData(List<ADASRecognizedResult> in, List<ADASRecognizedResult> out) {
+    private void prepareData(List<TrafficData> in, List<TrafficData> out) {
 //        foreCastPoint(in);
         out.addAll(in);
     }
@@ -154,22 +153,22 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      *
      * @param in 数据源
      */
-    private void foreCastPoint(List<ADASRecognizedResult> in) {
+    private void foreCastPoint(List<TrafficData> in) {
         if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
-            for (ADASRecognizedResult adasResult : in) {
-                Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.uuid);
-                long internal = getCurSatelliteTime() - adasResult.satelliteTime;
+            for (TrafficData adasResult : in) {
+                Log.d(FORECAST, "ready to foreCast current uuid : " + adasResult.getUuid());
+                long internal = getCurSatelliteTime() - adasResult.getSatelliteTime();
                 if (internal <= 0) {
-                    Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.uuid);
+                    Log.d(FORECAST, "time internal less than 0 , uuid : " + adasResult.getUuid());
                     continue;
                 }
                 long startTime = System.currentTimeMillis();
                 // 预测点
-                Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.speed);
-                double foreCastDistance = adasResult.speed * internal / 1000;
+                Log.d(FORECAST, "time internal : " + internal + " speed : " + adasResult.getSpeed());
+                double foreCastDistance = adasResult.getSpeed() * internal / 1000;
                 Log.d(FORECAST, "foreCastDistance : " + foreCastDistance);
-                MogoLatLng mogoLatLng = new MogoLatLng(adasResult.lat, adasResult.lon);
-                MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.heading);
+                MogoLatLng mogoLatLng = new MogoLatLng(adasResult.getLat(), adasResult.getLon());
+                MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng, foreCastDistance, adasResult.getHeading());
 
                 // 计算与自车距离
                 float distanceFromSelf = CoordinateUtils.calculateLineDistance(getCurCoordinates()[0], getCurCoordinates()[1]
@@ -178,10 +177,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                 long foreCastInternal = System.currentTimeMillis() - startTime;
                 Log.d(FORECAST, "foreCastInternal :" + foreCastInternal); //todo 耗时1~2毫秒 需要测试是否由于补点算法造成
 
-                adasResult.lat = foreCastMogoLatLon.getLat();
-                adasResult.lon = foreCastMogoLatLon.getLon();
-                adasResult.satelliteTime = (getCurSatelliteTime() - foreCastInternal);
-                adasResult.distance = distanceFromSelf;
+                adasResult.setLat(foreCastMogoLatLon.getLat());
+                adasResult.setLon(foreCastMogoLatLon.getLon());
+                adasResult.setSatelliteTime((getCurSatelliteTime() - foreCastInternal));
+                adasResult.setDistance(distanceFromSelf);
             }
         }
     }
@@ -192,9 +191,9 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
      * @param marker
      * @param recognizedListResult
      */
-    private void updateCacheMarkerRes(IMogoMarker marker, ADASRecognizedResult recognizedListResult) {
+    private void updateCacheMarkerRes(IMogoMarker marker, TrafficData recognizedListResult) {
         String resIdVal;
-        int resId = getModelRes(recognizedListResult.type);
+        int resId = getModelRes(recognizedListResult.getType().getType());
         resIdVal = resId + "";
         String resName = mMarkerCachesResMd5Values.get(resIdVal);
         if (!TextUtils.isEmpty(resName)) {
@@ -211,11 +210,11 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         if (mLastPositions.isEmpty()) {
             return;
         }
-        Iterator<ADASRecognizedResult> iterator = mLastPositions.values().iterator();
+        Iterator<TrafficData> iterator = mLastPositions.values().iterator();
         Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
         while (iterator.hasNext()) {
-            ADASRecognizedResult result = iterator.next();
-            long internal = result.satelliteTime - getCurSatelliteTime();
+            TrafficData result = iterator.next();
+            long internal = result.getSatelliteTime() - getCurSatelliteTime();
             if (internal > 3000) { //防止帧率过低导致误删除上一个节点对象，从而出现跳跃现象
                 iterator.remove();
             }
@@ -225,33 +224,33 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
     /**
      * 过滤无用数据
      *
-     * @param recognizedListResult {@link ADASRecognizedResult}
+     * @param recognizedListResult {@link TrafficData}
      * @return useless
      */
-    private boolean isUselessValue(ADASRecognizedResult recognizedListResult) {
+    private boolean isUselessValue(TrafficData recognizedListResult) {
         if (recognizedListResult == null) {
             return true;
         }
-        if (nonRenderType(recognizedListResult.type)) {
+        if (nonRenderType(recognizedListResult.getType().getType())) {
             return true;
         }
-        String uniqueKey = recognizedListResult.uuid;
+        String uniqueKey = recognizedListResult.getUuid();
         return TextUtils.isEmpty(uniqueKey);
     }
 
     /**
      * 绘制某个物体的一个数据
      *
-     * @param recognizedListResult           {@link ADASRecognizedResult}
+     * @param recognizedListResult           {@link TrafficData}
      * @param newAdasRecognizedMarkersCaches 缓存集合
      */
     private void renderAdasOneFrame(IMogoMarker marker,
                                     String uniqueKey,
-                                    ADASRecognizedResult recognizedListResult,
+                                    TrafficData recognizedListResult,
                                     Map<String, IMogoMarker> newAdasRecognizedMarkersCaches) {
         final long start = System.nanoTime();
 //        Log.d(TAG, "renderAdasOneFrame uuid :  " + uniqueKey + "  type : " + recognizedListResult.type + " heading : " + recognizedListResult.heading);
-        ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey);
+        TrafficData lastPosition = mLastPositions.remove(uniqueKey);
         // 道路吸附
 //        double lastLon = -1;
 //        double lastLat = -1;
@@ -269,18 +268,15 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
 //        Log.d(TAG, "使用缓存 id : " + uniqueKey);
         long interval = 45;
         if (lastPosition != null) {
-            interval = computeAnimDuration(lastPosition.satelliteTime, recognizedListResult.satelliteTime);
+            interval = computeAnimDuration(lastPosition.getSatelliteTime(), recognizedListResult.getSatelliteTime());
         }
-        final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon);
+        final MogoLatLng renderLoc = new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon());
         long cost = TimeUnit.NANOSECONDS.toMillis(System.nanoTime() - start);
-        Log.d("ADAS动画数据","cost : " + cost);
+        Log.d("ADAS动画数据", "cost : " + cost);
         final long intervalRef = interval - cost;
-        Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + "  两帧间隔 : " + interval + "  uuid : " + recognizedListResult.uuid);
-        marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.heading, intervalRef);
-        String carColor = recognizedListResult.color;
-        if (TextUtils.isEmpty(carColor)) {
-            carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
-        }
+        Log.d("ADAS动画数据", "最终赋值 : " + intervalRef + "  两帧间隔 : " + interval + "  uuid : " + recognizedListResult.getUuid());
+        marker.addDynamicAnchorPosition(renderLoc, (float) recognizedListResult.getHeading(), intervalRef);
+        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
         marker.setAnchorColor(carColor);
 
         newAdasRecognizedMarkersCaches.put(uniqueKey, marker);
@@ -302,22 +298,19 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
     /**
      * 绘制 marker
      *
-     * @param recognizedListResult {@link ADASRecognizedResult}
+     * @param recognizedListResult {@link TrafficData}
      * @return {@link IMogoMarker}
      */
-    private IMogoMarker drawAdasRecognizedDataMarker(ADASRecognizedResult recognizedListResult) {
+    private IMogoMarker drawAdasRecognizedDataMarker(TrafficData recognizedListResult) {
         long start = System.nanoTime();
         if (recognizedListResult == null) {
             return null;
         }
 
-        int resId = getModelRes(recognizedListResult.type);
+        int resId = getModelRes(recognizedListResult.getType().getType());
         String resIdVal = resId + "";
 
-        String carColor = recognizedListResult.color;
-        if (TextUtils.isEmpty(carColor)) {
-            carColor = getModelRenderColor(recognizedListResult.type, FROM_ADAS, recognizedListResult.drawlevel);
-        }
+        String carColor = getModelRenderColor(recognizedListResult.getType().getType(), FROM_ADAS, recognizedListResult.getThreatLevel());
         MogoMarkerOptions options = new MogoMarkerOptions()
                 .owner(DataTypes.TYPE_MARKER_ADAS)
                 .anchor(0.5f, 0.5f)
@@ -327,8 +320,8 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
                 .controlAngle(true)
                 .resName(mMarkerCachesResMd5Values.get(resIdVal))
                 .icon3DRes(resId)
-                .rotate((float) recognizedListResult.heading)
-                .position(new MogoLatLng(recognizedListResult.lat, recognizedListResult.lon));
+                .rotate((float) recognizedListResult.getHeading())
+                .position(new MogoLatLng(recognizedListResult.getLat(), recognizedListResult.getLon()));
         IMogoMarker marker = MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager(mContext).addMarker(DataTypes.TYPE_MARKER_ADAS, options);
         cacheMarkerIconResMd5Val(resIdVal, marker);
         Log.d("ADAS数据延时", "创建一个新 marker cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));

modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/AdasNoticeHelper.java

@@ -14,8 +14,8 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.extensions.navi.VrModeNavInfoView;
 import com.mogo.realtime.socket.IMogoCloudOnMsgListener;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
-import com.mogo.service.adas.MogoADASWarnType;
-import com.mogo.service.adas.entity.ADASWarnMessage;
+import com.mogo.eagle.core.data.autopilot.MogoADASWarnType;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
 import com.mogo.utils.logger.Logger;
 
 import org.json.JSONArray;
@@ -92,7 +92,7 @@ public class AdasNoticeHelper implements IMogoAdasWarnMessageCallback, IMogoLoca
     }
 
     @Override
-    public void onReceiveData(ADASWarnMessage msg) {
+    public void onReceiveData(AutopilotWarnMessage msg) {
         Logger.d(TAG, "收到adas warn message, isVrMode: " + isVrMode + " msg: " + msg);
         if (!isVrMode) {
             return;

modules/mogo-module-service/consumer-rules.pro

@@ -1,5 +1,5 @@
 #-----ServiceModule-----
--keep class com.mogo.module.service.carinfo.CarStateInfo{*;}
+-keep class com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo{*;}
 -keep class com.mogo.module.service.launchercard.LauncherCardRefreshType{*;}
 -keep class com.mogo.module.service.network.bean.*{*;}
 -keep class com.mogo.module.service.network.RefreshBody{*;}

modules/mogo-module-service/proguard-rules.pro

@@ -21,7 +21,7 @@
 #-renamesourcefileattribute SourceFile
 
 #-----ServiceModule-----
--keep class com.mogo.module.service.carinfo.CarStateInfo.*{*;}
+-keep class com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo.*{*;}
 -keep class com.mogo.module.service.network.RefreshBody.*{*;}
 -keep class com.mogo.module.service.network.bean.DemoUserInfoEntity.*{*;}
 -keep interface com.mogo.module.service.intent.IntentHandler

modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java

@@ -53,7 +53,7 @@ import com.mogo.module.service.ttsConfig.TtsConfigModleData;
 import com.mogo.realtime.api.MoGoAiCloudRealTime;
 import com.mogo.service.adas.IMogoADASController;
 import com.mogo.service.adas.IMogoAdasCarDataCallback;
-import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
 import com.mogo.service.fragmentmanager.IMogoFragmentManager;
 import com.mogo.service.intent.IMogoIntentListener;
@@ -970,7 +970,7 @@ public class MogoServices implements IMogoMapListener,
     }
 
     @Override
-    public void onAdasCarDataCallback( ADASCarStateInfo stateInfo ) {
+    public void onAdasCarDataCallback( AutopilotCarStateInfo stateInfo ) {
 
         if(TimeDelayUploadManager.getInstance().isMock()){  //模拟数据时，不更新由工控机传输的自车位置
             return;

modules/mogo-module-service/src/main/java/com/mogo/module/service/autopilot/AutoPilotRemoteController.java

@@ -2,7 +2,7 @@ package com.mogo.module.service.autopilot;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 import com.mogo.service.cloud.socket.IMogoSocketManager;
 import com.mogo.utils.logger.Logger;
@@ -23,14 +23,14 @@ class AutoPilotRemoteController {
 
     private IMogoSocketManager mMogoSocketManager;
 
-    private IMogoOnMessageListener<AutoPilotControlParameters> mParametersListener = new IMogoOnMessageListener<AutoPilotControlParameters>() {
+    private IMogoOnMessageListener<AutopilotControlParameters> mParametersListener = new IMogoOnMessageListener<AutopilotControlParameters>() {
         @Override
-        public Class<AutoPilotControlParameters> target() {
-            return AutoPilotControlParameters.class;
+        public Class<AutopilotControlParameters> target() {
+            return AutopilotControlParameters.class;
         }
 
         @Override
-        public void onMsgReceived( AutoPilotControlParameters obj ) {
+        public void onMsgReceived( AutopilotControlParameters obj ) {
             if ( obj == null ) {
                 Logger.e( TAG, "远端控制参数为null", new NullPointerException() );
                 return;

modules/mogo-module-service/src/main/java/com/mogo/module/service/carinfo/CarStateInfo.java

@@ -1,142 +0,0 @@
-package com.mogo.module.service.carinfo;
-
-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;
-        //gps 时间
-        private String satelliteTime;
-
-        public float getGnss_speed() {
-            return gnss_speed;
-        }
-
-        public void setGnss_speed( float gnss_speed ) {
-            this.gnss_speed = gnss_speed;
-        }
-
-        public String getSatelliteTime() {
-            return satelliteTime;
-        }
-
-        public void setSatelliteTime( String satelliteTime ) {
-            this.satelliteTime = satelliteTime;
-        }
-
-        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;
-        }
-
-        @Override
-        public String toString() {
-            return "ValuesBean{" +
-                    "lon=" + lon +
-                    ", lat=" + lat +
-                    ", alt=" + alt +
-                    ", heading=" + heading +
-                    ", acceleration=" + acceleration +
-                    ", yaw_rate=" + yaw_rate +
-                    '}';
-        }
-    }
-
-    @Override
-    public String toString() {
-        return "CarStateInfo{" +
-                "action='" + action + '\'' +
-                ", values=" + values +
-                '}';
-    }
-}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java

@@ -10,8 +10,8 @@ import android.os.Handler;
 import android.os.Message;
 
 import com.mogo.cloud.commons.utils.CoordinateUtils;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager;
@@ -137,17 +137,17 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
     }
 
     private void startAutoPilot() {
-        AutoPilotControlParameters currentAutopilot = new AutoPilotControlParameters();
+        AutopilotControlParameters currentAutopilot = new AutopilotControlParameters();
         currentAutopilot.isSpeakVoice = false;
-        List<AutoPilotControlParameters.AutoPilotLonLat> wayLatLon = new ArrayList<>();
+        List<AutopilotControlParameters.AutoPilotLonLat> wayLatLon = new ArrayList<>();
         if (receiverBean!=null && receiverBean.getStopsList()!= null){
             for (MogoLatLng mogoLatLng : receiverBean.getStopsList()) {
-                wayLatLon.add(new AutoPilotControlParameters.AutoPilotLonLat(mogoLatLng.lat, mogoLatLng.lon));
+                wayLatLon.add(new AutopilotControlParameters.AutoPilotLonLat(mogoLatLng.lat, mogoLatLng.lon));
             }
         }
         currentAutopilot.wayLatLons = wayLatLon;
-        currentAutopilot.startLatLon = new AutoPilotControlParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
-        currentAutopilot.endLatLon = new AutoPilotControlParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
+        currentAutopilot.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
+        currentAutopilot.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
         currentAutopilot.vehicleType = 10;
         Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
         mApis.getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
@@ -191,10 +191,10 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
     }
 
     @Override
-    public void onArriveAt(AutoPilotStationInfo data) {
+    public void onArriveAt(AutopilotStationInfo data) {
         Logger.d(TAG, "onArriveAt data : " + data.toString());
-        double endLat = data.lat;
-        double endLon = data.lon;
+        double endLat = data.getLat();
+        double endLon = data.getLon();
         // 计算是不是到了终点
         float distanceFromSelf = CoordinateUtils.calculateLineDistance(receiverBean.getEndLon(), receiverBean.getEndLat()
                 , endLon, endLat);

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/AutonomousDriveStatusBean.java

@@ -1,41 +0,0 @@
-package com.mogo.module.service.dispatch.bean;
-
-/**
- * Created by XuYong on 2021/5/28 16:12
- */
-public class AutonomousDriveStatusBean {
-
-    private String sn;
-    private int status;
-    private float vehicleSpeed;
-
-    public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
-        this.sn = sn;
-        this.status = status;
-        this.vehicleSpeed = vehicleSpeed;
-    }
-
-    public String getSn() {
-        return sn;
-    }
-
-    public void setSn(String sn) {
-        this.sn = sn;
-    }
-
-    public int getStatus() {
-        return status;
-    }
-
-    public void setStatus(int status) {
-        this.status = status;
-    }
-
-    public float getVehicleSpeed() {
-        return vehicleSpeed;
-    }
-
-    public void setVehicleSpeed(float vehicleSpeed) {
-        this.vehicleSpeed = vehicleSpeed;
-    }
-}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchData.java

@@ -1,38 +0,0 @@
-package com.mogo.module.service.dispatch.bean;
-
-import com.mogo.module.service.dispatch.model.DispatchResult;
-
-public class DispatchData {
-
-    private String action;
-    private DispatchResult result;
-
-    public DispatchData(String action, DispatchResult result) {
-        this.action = action;
-        this.result = result;
-    }
-
-    public String getAction() {
-        return action;
-    }
-
-    public void setAction(String action) {
-        this.action = action;
-    }
-
-    public DispatchResult getResult() {
-        return result;
-    }
-
-    public void setResult(DispatchResult result) {
-        this.result = result;
-    }
-
-    @Override
-    public String toString() {
-        return "DispatchData{" +
-                "action='" + action + '\'' +
-                ", result=" + result +
-                '}';
-    }
-}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportSiteBean.java

@@ -1,40 +0,0 @@
-package com.mogo.module.service.dispatch.bean;
-
-/**
- * Created by XuYong on 2021/5/31 16:24
- */
-public class ReportSiteBean {
-    private String sn;
-    private double lon;
-    private double lat;
-
-    public ReportSiteBean(String sn, double lon, double lat) {
-        this.sn = sn;
-        this.lon = lon;
-        this.lat = lat;
-    }
-
-    public String getSn() {
-        return sn;
-    }
-
-    public void setSn(String sn) {
-        this.sn = sn;
-    }
-
-    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;
-    }
-}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/ReportedRoute.java

@@ -1,6 +1,8 @@
 package com.mogo.module.service.dispatch.bean;
 
 
+import com.mogo.eagle.core.data.autopilot.AutopilotStatus;
+
 /**
  * 上报自动驾驶规划的路径
  */

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchResult.java

@@ -1,39 +0,0 @@
-package com.mogo.module.service.dispatch.model;
-
-import com.mogo.module.service.dispatch.bean.EndLatLon;
-import com.mogo.module.service.dispatch.bean.StartLatLon;
-
-public class DispatchResult {
-
-    private StartLatLon startLatLon;
-    private EndLatLon endLatLon;
-
-    public DispatchResult(StartLatLon startLatLon, EndLatLon endLatLon) {
-        this.startLatLon = startLatLon;
-        this.endLatLon = endLatLon;
-    }
-
-    public StartLatLon getStartLatLon() {
-        return startLatLon;
-    }
-
-    public void setStartLatLon(StartLatLon startLatLon) {
-        this.startLatLon = startLatLon;
-    }
-
-    public EndLatLon getEndLatLon() {
-        return endLatLon;
-    }
-
-    public void setEndLatLon(EndLatLon endLatLon) {
-        this.endLatLon = endLatLon;
-    }
-
-    @Override
-    public String toString() {
-        return "DispatchResult{" +
-                "startLatLon=" + startLatLon +
-                ", endLatLon=" + endLatLon +
-                '}';
-    }
-}

modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/model/DispatchServiceModel.java

@@ -7,8 +7,8 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.data.BaseData;
 import com.mogo.commons.network.SubscribeImpl;
 import com.mogo.module.common.MogoApisHandler;
-import com.mogo.module.service.dispatch.bean.AutopilotRoute;
-import com.mogo.module.service.dispatch.bean.AutopilotStatus;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatus;
 import com.mogo.module.service.dispatch.bean.ReportDispatchResult;
 import com.mogo.module.service.dispatch.bean.ReportedRoute;
 import com.mogo.utils.logger.Logger;
@@ -93,7 +93,7 @@ public class DispatchServiceModel {
      *
      * @param list 路线集合
      */
-    public void uploadAutopilotRoute(List<AutopilotRoute.RouteModels> list) {
+    public void uploadAutopilotRoute(List<AutopilotRouteInfo.RouteModels> list) {
         String sn = MoGoAiCloudClientConfig.getInstance().getSn();
         ReportedRoute reportedRoute = new ReportedRoute(sn, GsonUtil.jsonFromObject(list));
         Map<String, Object> map = new HashMap<>();

modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/ADASStatusIntentHandler.java

@@ -4,24 +4,23 @@ import android.content.Context;
 import android.content.Intent;
 import android.text.TextUtils;
 
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.module.common.datacenter.SnapshotLocationDataCenter;
 import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.ServiceConst;
-import com.mogo.module.service.carinfo.CarStateInfo;
 import com.mogo.module.service.receiver.MogoReceiver;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
 
 import org.json.JSONObject;
 
-public
 /**
  * @author congtaowang
  * @since 2020/6/5
  * <p>
  * 描述
  */
-class ADASStatusIntentHandler implements IntentHandler {
+public class ADASStatusIntentHandler implements IntentHandler {
 
     private static volatile ADASStatusIntentHandler sInstance;
 
@@ -29,9 +28,9 @@ class ADASStatusIntentHandler implements IntentHandler {
     }
 
     public static ADASStatusIntentHandler getInstance() {
-        if ( sInstance == null ) {
-            synchronized ( ADASStatusIntentHandler.class ) {
-                if ( sInstance == null ) {
+        if (sInstance == null) {
+            synchronized (ADASStatusIntentHandler.class) {
+                if (sInstance == null) {
                     sInstance = new ADASStatusIntentHandler();
                 }
             }
@@ -44,38 +43,40 @@ class ADASStatusIntentHandler implements IntentHandler {
     }
 
     @Override
-    public void handle( Context context, Intent intent ) {
-        if ( intent == null ) {
+    public void handle(Context context, Intent intent) {
+        if (intent == null) {
             return;
         }
 
-        if ( MogoReceiver.ACTIION_ADAS.equals( intent.getAction() ) ) {
+        if (MogoReceiver.ACTIION_ADAS.equals(intent.getAction())) {
 
-            int status = intent.getIntExtra( MogoReceiver.PARAM_ADAS_STATUS, 0 );
-            MarkerServiceHandler.getMogoStatusManager().setADASUIShow( ServiceConst.TYPE, status == 1 );
+            int status = intent.getIntExtra(MogoReceiver.PARAM_ADAS_STATUS, 0);
+            MarkerServiceHandler.getMogoStatusManager().setADASUIShow(ServiceConst.TYPE, status == 1);
         }
         // 由于adas可能调高此处的调用频率，存在anr风险，且此处没有作用，所以暂时注释掉
         else {
-            String msg = intent.getStringExtra( "adasMsg" );
-            if ( TextUtils.isEmpty( msg ) ) {
+            String msg = intent.getStringExtra("adasMsg");
+            if (TextUtils.isEmpty(msg)) {
                 return;
             }
-            Logger.d( "ADASCOOR", msg );
-            CarStateInfo stateInfo = GsonUtil.objectFromJson( msg, CarStateInfo.class );
-            if ( stateInfo != null && stateInfo.getValues() != null ) {
+            Logger.d("ADAS COOR", msg);
+
+            AutopilotCarStateInfo stateInfo = GsonUtil.objectFromJson(msg, AutopilotCarStateInfo.class);
+            if (stateInfo != null && stateInfo.getValues() != null) {
                 JSONObject data = new JSONObject();
                 try {
-                    data.putOpt( "lon", stateInfo.getValues().getLon() );
-                    data.putOpt( "lat", stateInfo.getValues().getLat() );
-                    data.putOpt( "alt", stateInfo.getValues().getAlt() );
-                    data.putOpt( "speed", stateInfo.getValues().getGnss_speed() );
-                    data.putOpt( "satelliteTime", stateInfo.getValues().getSatelliteTime() );
-                    data.putOpt( "heading", stateInfo.getValues().getHeading() );
-                    data.putOpt( "acceleration", stateInfo.getValues().getAcceleration() );
-                    data.putOpt( "yawRate", stateInfo.getValues().getYaw_rate() );
-                    MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map( data );
-                    SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo( data );
-                } catch ( Exception e ) {
+                    data.putOpt("lon", stateInfo.getValues().getLon());
+                    data.putOpt("lat", stateInfo.getValues().getLat());
+                    data.putOpt("alt", stateInfo.getValues().getAlt());
+                    data.putOpt("speed", stateInfo.getValues().getGnss_speed());
+                    data.putOpt("satelliteTime", stateInfo.getValues().getSatelliteTime());
+                    data.putOpt("heading", stateInfo.getValues().getHeading());
+                    data.putOpt("acceleration", stateInfo.getValues().getAcceleration());
+                    data.putOpt("yawRate", stateInfo.getValues().getYaw_rate());
+
+                    MarkerServiceHandler.getApis().getMapServiceApi().getMapUIController().syncLocation2Map(data);
+                    SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(data);
+                } catch (Exception e) {
                     e.printStackTrace();
                 }
             }

modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java

@@ -18,8 +18,9 @@ import com.mogo.cloud.socket.entity.SocketDownDataHelper;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.map.navi.IMogoNaviListener;
@@ -39,8 +40,7 @@ import com.mogo.module.service.MarkerServiceHandler;
 import com.mogo.module.service.R;
 import com.mogo.module.service.status.EnvStatusManager;
 import com.mogo.module.service.timedelay.TimeDelayUploadManager;
-import com.mogo.service.adas.entity.ADASCarStateInfo;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.service.entrance.ButtonIndex;
 import com.mogo.utils.TipToast;
 import com.mogo.utils.WorkThreadHandler;
@@ -492,17 +492,17 @@ public class MockIntentHandler implements IntentHandler {
                         InputStream is = context.getAssets().open("coors.json");
                         BufferedReader br = new BufferedReader(new InputStreamReader(is));
                         String line = "";
-                        List<ADASCarStateInfo> vals = new ArrayList<>();
+                        List<AutopilotCarStateInfo> vals = new ArrayList<>();
                         while ((line = br.readLine()) != null) {
                             String[] json = line.split(" - ");
                             long time = Long.parseLong(json[0]);
-                            ADASCarStateInfo si = GsonUtil.objectFromJson(json[1], ADASCarStateInfo.class);
+                            AutopilotCarStateInfo si = GsonUtil.objectFromJson(json[1], AutopilotCarStateInfo.class);
 //                            si.getValues().setSatelliteTime( time + "" );
                             vals.add(si);
                         }
                         long interval = -1;
-                        ADASCarStateInfo last = null;
-                        for (ADASCarStateInfo val : vals) {
+                        AutopilotCarStateInfo last = null;
+                        for (AutopilotCarStateInfo val : vals) {
                             if (last == null) {
                                 interval = 0;
                             } else {
@@ -523,10 +523,10 @@ public class MockIntentHandler implements IntentHandler {
                         .onAutopilotArriveLike(intent.getIntExtra("type", 8));
                 break;
             case 44:// 控制自动驾驶
-                AutoPilotControlParameters parameters = new AutoPilotControlParameters();
+                AutopilotControlParameters parameters = new AutopilotControlParameters();
                 parameters.vehicleType = 9;
-                parameters.startLatLon = new AutoPilotControlParameters.AutoPilotLonLat(40.1690522746, 116.567374558);
-                parameters.endLatLon = new AutoPilotControlParameters.AutoPilotLonLat(40.1651999405, 116.567217441);
+                parameters.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1690522746, 116.567374558);
+                parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(40.1651999405, 116.567217441);
                 MogoApisHandler.getInstance()
                         .getApis()
                         .getAdasControllerApi()
@@ -664,7 +664,7 @@ public class MockIntentHandler implements IntentHandler {
     }
 
 
-    public void onAdasCarDataCallback(ADASCarStateInfo stateInfo) {
+    public void onAdasCarDataCallback(AutopilotCarStateInfo stateInfo) {
         if (stateInfo != null && stateInfo.getValues() != null) {
             JSONObject data = new JSONObject();
             try {
@@ -905,10 +905,10 @@ public class MockIntentHandler implements IntentHandler {
             }
         }
 
-        List<ADASRecognizedResult> allList = new ArrayList<>();
+        List<TrafficData> allList = new ArrayList<>();
         for (BufferedReader reader : readers) {
             String line = reader.readLine();
-            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson(line, ADASRecognizedResult.class);
+            TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
             if (adasRecognizedResult != null) {
                 allList.add(adasRecognizedResult);
             }
@@ -932,10 +932,10 @@ public class MockIntentHandler implements IntentHandler {
             }
         }
 
-        List<ADASRecognizedResult> allList = new ArrayList<>();
+        List<TrafficData> allList = new ArrayList<>();
         for (BufferedReader reader : readers2) {
             String line = reader.readLine();
-            ADASRecognizedResult adasRecognizedResult = GsonUtil.objectFromJson(line, ADASRecognizedResult.class);
+            TrafficData adasRecognizedResult = GsonUtil.objectFromJson(line, TrafficData.class);
             if (adasRecognizedResult != null) {
                 allList.add(adasRecognizedResult);
             }

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java

@@ -1,9 +1,9 @@
 package com.mogo.service.adas;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.uicontroller.EnumMapUI;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
 
 import java.util.List;
 
@@ -57,7 +57,7 @@ public interface IMogoADASController extends IProvider {
      *
      * @param result
      */
-    void aiCloudToAdasData(AutoPilotControlParameters result);
+    void aiCloudToAdasData(AutopilotControlParameters result);
 
     /**
      * 添加adas数据回调接口
@@ -183,6 +183,6 @@ public interface IMogoADASController extends IProvider {
      */
     void cancelAutopilot();
 
-    void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults);
+    void mockAdasRecognized(List<TrafficData> recognizedResults);
 
 }

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasCarDataCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.service.adas;
 
-import com.mogo.service.adas.entity.ADASCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 
 /**
  * adas 自车位置数据回调
@@ -13,5 +13,5 @@ public interface IMogoAdasCarDataCallback {
      *
      * @param msg 具体数据
      */
-    void onAdasCarDataCallback( ADASCarStateInfo msg );
+    void onAdasCarDataCallback( AutopilotCarStateInfo msg );
 }

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.service.adas;
 
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 
 public
 /**
@@ -29,7 +29,7 @@ interface IMogoAdasOCHCallback {
      * 到站
      * @param data 所到车站的简单信息
      */
-    void onArriveAt( AutoPilotStationInfo data );
+    void onArriveAt( AutopilotStationInfo data );
 
     /**
      * 自动驾驶状态发生改变

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasRecognizedDataCallback.java

@@ -1,7 +1,7 @@
 package com.mogo.service.adas;
 
 
-import com.mogo.service.adas.entity.ADASRecognizedResult;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 
 import java.util.List;
 
@@ -16,5 +16,5 @@ public interface IMogoAdasRecognizedDataCallback {
      *
      * @param resultList 具体识别的物体数据
      */
-    void onAdasDataCallback(List<ADASRecognizedResult> resultList);
+    void onAdasDataCallback(List<TrafficData> resultList);
 }

services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasWarnMessageCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.service.adas;
 
-import com.mogo.service.adas.entity.ADASWarnMessage;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
 
 /**
  * adas 数据回调接口
@@ -12,5 +12,5 @@ public interface IMogoAdasWarnMessageCallback {
      * adas 数据回调
      * @param msg 具体数据
      */
-    void onReceiveData( ADASWarnMessage msg );
+    void onReceiveData( AutopilotWarnMessage msg );
 }

services/mogo-service-api/src/main/java/com/mogo/service/adas/entity/ADASRecognizedResult.java

@@ -1,115 +0,0 @@
-package com.mogo.service.adas.entity;
-
-/*
- * adas 识别物体参数
- */
-public class ADASRecognizedResult {
-
-    /**
-     * 识别物体类型
-     */
-    public int type;
-
-    /**
-     * 识别物体唯一标识
-     */
-    public String uuid;
-
-    /**
-     * 红绿灯颜色
-     */
-    public String color;
-
-    /**
-     * 车ID
-     */
-    public String carId;
-
-    /**
-     * 识别物体的纬度
-     */
-    public double lat;
-
-    /**
-     * 识别物体的经度
-     */
-    public double lon;
-
-    /**
-     * 车头朝向
-     */
-    public double heading;
-
-    /**
-     * 系统时间
-     */
-    public long systemTime;
-
-    /**
-     * 定位卫星时间
-     */
-    public long satelliteTime;
-
-    /**
-     * 海拔
-     */
-    public double alt;
-
-    /**
-     * 速度
-     */
-    public double speed;
-
-    /**
-     * 莫顿码
-     */
-    public long mortonCode;
-
-    /**
-     * 实际距离
-     * 使用distanceX和distanceY计算
-     */
-    public double distance;
-
-    /**
-     * 数据来源精度
-     * 0：普通定位
-     * 1：高精定位
-     */
-    public int dataAccuracy;
-
-    /**
-     * 道路ID
-     */
-    public String roadId;
-
-    /**
-     * 车道ID-2D路段
-     */
-    public String laneId;
-
-    /**
-     * 车道号：中心线编号为0，中心线右侧编号为负数，3车道通行Road的车道编号，0，-1，-2，-3
-     */
-    public int laneNum;
-
-    /**
-     * 限速
-     */
-    public double rateLimiting;
-
-    /**
-     * 瓦片id
-     */
-    public String tileId;
-
-    /**
-     * 车道宽度
-     */
-    public double roadWidth;
-
-    /**
-     * 1 绿, 2 黄, 3 红
-     */
-    public int drawlevel;
-}

services/mogo-service/src/main/java/com/mogo/service/impl/adas/AdasObjectUtils.java

@@ -1,90 +0,0 @@
-package com.mogo.service.impl.adas;
-
-import android.util.Log;
-
-import com.alibaba.android.arouter.launcher.ARouter;
-import com.mogo.commons.utils.MortonCode;
-import com.mogo.map.uicontroller.IMogoMapUIController;
-import com.mogo.service.IMogoServiceApis;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
-import com.mogo.service.adas.entity.ADASWarnMessage;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.util.concurrent.TimeUnit;
-
-
-/*
- * @author congtaowang
- * @since 2020/10/25
- *
- * 对象转换类
- */
-public class AdasObjectUtils {
-
-    public static ADASWarnMessage fromAdasObject(WarnMessageInfo info) {
-        if (info == null) {
-            return null;
-        }
-        ADASWarnMessage warnMessage = new ADASWarnMessage();
-        warnMessage.content = info.getContent();
-        warnMessage.level = info.getLevel();
-        try {
-            warnMessage.type = Integer.parseInt(info.getType());
-        } catch (NumberFormatException e) {
-            return null;
-        }
-        warnMessage.value = info.getValue();
-        return warnMessage;
-    }
-
-    public static List<ADASRecognizedResult> regroupData(List<RectInfo.RectBean> datums) {
-        if (datums == null || datums.isEmpty()) {
-            return null;
-        }
-        List<ADASRecognizedResult> recognizedListResults = new ArrayList<>();
-        for (RectInfo.RectBean model : datums) {
-            if (model == null) {
-                continue;
-            }
-            ADASRecognizedResult recognizedListResult = fromAdasObject(model);
-            if (recognizedListResult != null) {
-                recognizedListResults.add(recognizedListResult);
-            }
-        }
-        return recognizedListResults;
-    }
-
-    public static ADASRecognizedResult fromAdasObject(RectInfo.RectBean model) {
-        if (model == null) {
-            return null;
-        }
-        long start = System.nanoTime();
-        ADASRecognizedResult result = new ADASRecognizedResult();
-        result.uuid = model.getUuid();
-        result.lat = model.getLat();
-        result.lon = model.getLon();
-        result.type = Integer.parseInt(model.getType());
-        result.heading = model.getHeading();
-        result.systemTime = Long.parseLong(model.getSystemTime());
-        result.satelliteTime = Long.parseLong(model.getSatelliteTime());
-        result.alt = model.getAlt();
-        result.color = model.getColor();
-        result.speed = model.getSpeed();
-        result.carId = model.getCarId();
-        result.dataAccuracy = model.dataAccuracy;
-        result.distance = model.distance;
-        result.drawlevel = model.getDrawlevel();
-//        result.mortonCode = MortonCode.wrapEncodeMorton(result.lon, result.lat);
-        Log.d("ADAS数据延时","fromAdasObject cost : " + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)));
-//        IMogoMapUIController mogoMapUIController = ARouter.getInstance().navigation(IMogoServiceApis.class).getMapServiceApi().getMapUIController();
-//        if (mogoMapUIController != null) {
-//            long start = System.currentTimeMillis();
-//            result.tileId = String.valueOf(mogoMapUIController.getTileId(result.lon, result.lat));
-//            Log.d("ADAS数据延时", "getTileId 耗时 : " + (System.currentTimeMillis() - start) + "ms");
-//        }
-        return result;
-    }
-}

services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java

@@ -5,18 +5,22 @@ import android.content.Context;
 import android.content.Intent;
 import android.os.Handler;
 import android.os.Message;
-import android.text.TextUtils;
 import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlCmdParameter;
-import com.mogo.eagle.core.data.autopilot.AutoPilotControlParameters;
-import com.mogo.eagle.core.data.autopilot.AutoPilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.module.adas.AdasProvider;
 import com.mogo.module.adas.IAdasDataListener;
@@ -28,9 +32,6 @@ import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.adas.IMogoAdasRecognizedDataCallback;
 import com.mogo.service.adas.IMogoAdasRouteCallBack;
 import com.mogo.service.adas.IMogoAdasWarnMessageCallback;
-import com.mogo.service.adas.entity.ADASCarStateInfo;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
-import com.mogo.service.adas.entity.ADASWarnMessage;
 import com.mogo.service.impl.singleton.SingletonsHolder;
 import com.mogo.service.statusmanager.IMogoStatusManager;
 import com.mogo.utils.UiThreadHandler;
@@ -41,11 +42,6 @@ import com.zhidao.adasconfig.api.AdasConfigApiController;
 import com.zhidao.adasconfig.common.config.EnumCarHeading;
 import com.zhidao.adasconfig.common.config.EnumSkinStyle;
 import com.zhidao.autopilot.support.api.AutopilotServiceManage;
-import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
-import com.zhidao.support.adas.high.bean.AutopilotRoute;
-import com.zhidao.support.adas.high.bean.AutopilotStatus;
-import com.zhidao.support.adas.high.bean.RectInfo;
-import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 
 import org.json.JSONObject;
 
@@ -71,8 +67,6 @@ public class MogoADASController implements IMogoADASController {
 
     private final IMogoStatusManager mStatusManager = SingletonsHolder.get(IMogoStatusManager.class);
 
-    private boolean mIsReleased = true;
-
     private AdasProvider adasProvider;
 
     /**
@@ -131,7 +125,7 @@ public class MogoADASController implements IMogoADASController {
         public void handleMessage(Message msg) {
             super.handleMessage(msg);
             if (msg.obj instanceof List) {
-                handleAdasRecognizedData((List<RectInfo.RectBean>) msg.obj);
+                handleAdasRecognizedData((List<TrafficData>) msg.obj);
             } else if (msg.obj == null) {
                 handleAdasRecognizedData(null);
             }
@@ -147,7 +141,7 @@ public class MogoADASController implements IMogoADASController {
             super.handleMessage(msg);
             final long start = System.currentTimeMillis();
 
-            ADASCarStateInfo stateInfo = GsonUtil.objectFromJson(((String) msg.obj), ADASCarStateInfo.class);
+            AutopilotCarStateInfo stateInfo = GsonUtil.objectFromJson(((String) msg.obj), AutopilotCarStateInfo.class);
             if (stateInfo == null || stateInfo.getValues() == null) {
 //                Logger.d(TAG, "ADAS-LOC-timer", "upd 到 aidl 传输数据 stateInfo or stateInfo.getValues() is null");
                 return;
@@ -174,7 +168,7 @@ public class MogoADASController implements IMogoADASController {
      *
      * @param models
      */
-    private void handleAdasRecognizedData(List<RectInfo.RectBean> models) {
+    private void handleAdasRecognizedData(List<TrafficData> models) {
         if (models == null
                 || models.isEmpty()) {
             invokeCallbackPerSecond(null);
@@ -183,14 +177,13 @@ public class MogoADASController implements IMogoADASController {
         invokeCallbackPerSecond(models);
     }
 
-    private void invokeCallbackPerSecond(List<RectInfo.RectBean> models) {
-        List<ADASRecognizedResult> recognizedListResults = AdasObjectUtils.regroupData(models);
+    private void invokeCallbackPerSecond(List<TrafficData> models) {
         if (!mMogoAdasRecognizedDataCallbacks.isEmpty()) {
             for (IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks) {
                 if (callback == null) {
                     continue;
                 }
-                callback.onAdasDataCallback(recognizedListResults);
+                callback.onAdasDataCallback(models);
             }
         }
     }
@@ -243,7 +236,7 @@ public class MogoADASController implements IMogoADASController {
                 }
 
                 @Override
-                public void onRectData(RectInfo rectInfo) {
+                public void onRectData(List<TrafficData> trafficData) {
                     // 仅在 vr 模式下显示 adas 识别车辆
                     if (!SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
                         return;
@@ -251,50 +244,43 @@ public class MogoADASController implements IMogoADASController {
                     if (!SingletonsHolder.get(IMogoStatusManager.class).isMainPageLaunched()) {
                         return;
                     }
-                    if (rectInfo == null || TextUtils.isEmpty(rectInfo.getAction())) {
+                    if (trafficData == null) {
                         Logger.w(TAG, "--->action is null");
                         return;
                     }
                     final long start = System.nanoTime();
-                    if (rectInfo.getModels() != null && !rectInfo.getModels().isEmpty()) {
-                        List<RectInfo.RectBean> beans = rectInfo.getModels();
-                        try {
-                            Message message = mAdasRecognizedRecHandler.obtainMessage();
-                            message.obj = beans;
-                            message.sendToTarget();
-                            Log.i("ADAS数据延时", "接收数据 -> 发出 cost :" + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
-                        } catch (Exception e) {
-                            e.printStackTrace();
-                        }
+                    try {
+                        Message message = mAdasRecognizedRecHandler.obtainMessage();
+                        message.obj = trafficData;
+                        message.sendToTarget();
+                        Log.i("ADAS数据延时", "接收数据 -> 发出 cost :" + TimeUnit.NANOSECONDS.toMillis((System.nanoTime() - start)) + "ms");
+                    } catch (Exception e) {
+                        e.printStackTrace();
                     }
                     DebugConfig.setStatus(DebugConfig.sAdasRecognized, true);
                 }
 
                 @Override
-                public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-                    if (warnMessageInfo == null) {
+                public void onWarnMessage(AutopilotWarnMessage autopilotWarnMessage) {
+                    if (autopilotWarnMessage == null) {
                         return;
                     }
                     // 警告消息
-                    Logger.d(TAG, "onWarnMessage = %s", warnMessageInfo.toString());
+                    Logger.d(TAG, "onWarnMessage = %s", autopilotWarnMessage.toString());
                     if (mMogoAdasWarnMessageCallbackList.isEmpty()) {
                         return;
                     }
-                    final ADASWarnMessage warnMessage = AdasObjectUtils.fromAdasObject(warnMessageInfo);
-                    if (warnMessage == null) {
-                        return;
-                    }
                     UiThreadHandler.post(() -> {
                         for (IMogoAdasWarnMessageCallback callback : mMogoAdasWarnMessageCallbackList) {
                             if (callback != null) {
-                                callback.onReceiveData(warnMessage);
+                                callback.onReceiveData(autopilotWarnMessage);
                             }
                         }
                     });
                 }
 
                 @Override
-                public void autopilotArrive(AdasAIDLAutopilotArriveModel autopilotArriveModel) {
+                public void autopilotArrive(AutopilotStationInfo autopilotArriveModel) {
                     Logger.d(TAG, "autopilotArriveModel " + autopilotArriveModel);
                     if (autopilotArriveModel == null) {
                         Logger.d(TAG, "autopilotArrive autopilotArriveModel is null");
@@ -303,8 +289,8 @@ public class MogoADASController implements IMogoADASController {
                     Logger.d(TAG, "autopilotArrive : " + autopilotArriveModel.toString());
                     if (!mAdasOCHCallback.isEmpty()) {
                         for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
-                            cb.onArriveAt(new AutoPilotStationInfo(
-                                    autopilotArriveModel.getCarType(),
+                            cb.onArriveAt(new AutopilotStationInfo(
+                                    autopilotArriveModel.getType(),
                                     autopilotArriveModel.getLon(),
                                     autopilotArriveModel.getLat())
                             );
@@ -313,12 +299,12 @@ public class MogoADASController implements IMogoADASController {
                 }
 
                 @Override
-                public void autopilotRoute(AutopilotRoute autopilotRoute) {
+                public void autopilotRoute(AutopilotRouteInfo autopilotRoute) {
                     if (autopilotRoute.getModels() == null || autopilotRoute.getModels().size() == 0) {
                         return;
                     }
                     List<MogoLatLng> latLngList = new ArrayList<>();
-                    for (AutopilotRoute.RouteModels routeModel : autopilotRoute.getModels()) {
+                    for (AutopilotRouteInfo.RouteModels routeModel : autopilotRoute.getModels()) {
                         latLngList.add(new MogoLatLng(routeModel.getLat(), routeModel.getLon()));
                     }
                     for (IMogoAdasRouteCallBack callback : mMogoAdasRouteCallBacks) {
@@ -338,13 +324,13 @@ public class MogoADASController implements IMogoADASController {
                 }
 
                 @Override
-                public void notifyAutopilotState(AutopilotStatus autopilotStatus) {
+                public void notifyAutopilotState(AutopilotStatusInfo autopilotStatus) {
                     Logger.d(TAG, "notifyAutopilotState: " + GsonUtil.jsonFromObject(autopilotStatus));
-                    DebugConfig.setAutoPilotStatus(autopilotStatus.getValues().getState() + "");
+                    DebugConfig.setAutoPilotStatus(autopilotStatus.getState() + "");
 
                     if (!mAdasOCHCallback.isEmpty()) {
                         for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
-                            cb.onStateChanged(autopilotStatus.getValues().getState(), autopilotStatus.getValues().getReason());
+                            cb.onStateChanged(autopilotStatus.getState(), autopilotStatus.getReason());
                         }
                     }
                 }
@@ -422,7 +408,6 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void init(Context context) {
-        mIsReleased = false;
         adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
     }
 
@@ -464,7 +449,7 @@ public class MogoADASController implements IMogoADASController {
     }
 
     @Override
-    public void aiCloudToAdasData(AutoPilotControlParameters result) {
+    public void aiCloudToAdasData(AutopilotControlParameters result) {
         try {
             syncControlCmdToADAS("aiCloudToStartAutopilot", result);
         } catch (Exception e) {
@@ -477,7 +462,7 @@ public class MogoADASController implements IMogoADASController {
      * @param result
      */
     private void syncControlCmdToADAS(String action, Object result) {
-        AutoPilotControlCmdParameter parameter = new AutoPilotControlCmdParameter(action, result);
+        AutopilotControlCmdParameter parameter = new AutopilotControlCmdParameter(action, result);
         //位置信息 action是aiCloudToStartAutopilot
         try {
             adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
@@ -488,7 +473,6 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void release() {
-        mIsReleased = true;
         adasProvider.removeAdasEventListener(mAdasDataListener);
         adasProvider.removeAdasStatusListener();
         AutopilotServiceManage.getInstance().release();
@@ -593,7 +577,7 @@ public class MogoADASController implements IMogoADASController {
     public void onAutopilotArriveLike(int carType) {
         if (!mAdasOCHCallback.isEmpty()) {
             for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
-                cb.onArriveAt(new AutoPilotStationInfo(
+                cb.onArriveAt(new AutopilotStationInfo(
                         carType,
                         116.09888888,
                         39.999999)
@@ -623,7 +607,7 @@ public class MogoADASController implements IMogoADASController {
         if (state == -1) {
             if (!mAdasOCHCallback.isEmpty()) {
                 for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
-                    cb.onArriveAt(new AutoPilotStationInfo(1, 1d, 1d));
+                    cb.onArriveAt(new AutopilotStationInfo(1, 1d, 1d));
                 }
             }
         } else {
@@ -642,7 +626,7 @@ public class MogoADASController implements IMogoADASController {
     }
 
     @Override
-    public void mockAdasRecognized(List<ADASRecognizedResult> recognizedResults) {
+    public void mockAdasRecognized(List<TrafficData> recognizedResults) {
         if (!mMogoAdasRecognizedDataCallbacks.isEmpty()) {
             for (IMogoAdasRecognizedDataCallback callback : mMogoAdasRecognizedDataCallbacks) {
                 if (callback == null) {

services/mogo-service/src/main/java/com/mogo/service/impl/adas/OnAdasListenerAdapter.java

@@ -1,66 +0,0 @@
-package com.mogo.service.impl.adas;
-
-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.bean.CarLaneInfo;
-import com.zhidao.support.adas.high.bean.CarStateInfo;
-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.WarnMessageInfo;
-
-public
-/**
- * @author congtaowang
- * @since 2020/10/22
- *
- * 适配ADAS 回调监听分发
- */
-abstract class OnAdasListenerAdapter implements OnAdasListener {
-
-    @Override
-    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
-
-    }
-
-    @Override
-    public void onVideoSize(int width, int height) {
-
-    }
-
-    @Override
-    public void onRectData(RectInfo rectInfo) {
-
-    }
-
-    @Override
-    public void onCarStateData(CarStateInfo carStateInfo) {
-
-    }
-
-    @Override
-    public void onLightStateData(LightStatueInfo lightStatueInfo) {
-
-    }
-
-    @Override
-    public void onObstaclesInfo(ObstaclesInfo obstaclesInfo) {
-
-    }
-
-    @Override
-    public void onCarLaneInfo(CarLaneInfo carLaneInfo) {
-
-    }
-
-    @Override
-    public void autopilotStatus(AutopilotStatus autopilotStatus) {
-
-    }
-
-    @Override
-    public void autopilotArrive(AutopilotWayArrive autopilotWayArrive) {
-
-    }
-}