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>

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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-26.82289066838358,112.57833919555353
-26.823007036027615,112.5783432083879
-26.823123797760537,112.57842010282002
-26.82324089700492,112.57846626552721
-26.823355874237176,112.57850175198458
-26.823470001455,112.5785838835907
-26.82358841433288,112.57858892597905
-26.823706827172103,112.57866667791178
-26.82382523997266,112.57870908764811
-26.823943652734542,112.57875048180252
-26.824062065457753,112.57876896886103
-26.824180478142292,112.57877600898784
-26.82429889078817,112.57878304914836
-26.824416715403633,112.57879017489086
-26.824533859020413,112.57883467623317
-26.824651399274774,112.5788587003478
-26.824762900762973,112.57889357476125
-26.824968687097577,112.57890177088103
-26.825104150528567,112.57890962148315
-26.82522465989416,112.57891747212024
-26.825345659446693,112.57893123552938
-26.8255763298452,112.57893777257203
-
-
-
-
-
-
-
-

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/AutopilotRoute.java

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

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

@@ -1,108 +0,0 @@
-package com.mogo.module.service.dispatch.bean;
-
-import java.io.Serializable;
-
-/**
- * @author nie yunlong
- * @des
- * @date 2020/7/14
- */
-public class AutopilotStatus implements Serializable {
-
-    /**
-     * action : autopilotstate
-     * values : {"state":0,"reason":""}
-     */
-
-    private String action;
-    private ValuesBean values;
-
-    public String getAction() {
-        return action;
-    }
-
-    public void setAction(String action) {
-        this.action = action;
-    }
-
-    public ValuesBean getValues() {
-        return values;
-    }
-
-    public void setValues(ValuesBean values) {
-        this.values = values;
-    }
-
-    public static class ValuesBean {
-        /**
-         * 0是不可用 1是ready 2是自动驾驶start
-         *
-         * @return
-         */
-        private int state;
-        /**
-         * 车速 m/s
-         */
-        private float speed;
-        /**
-         * 不可用原因
-         */
-        private String reason;
-        /**
-         * 摄像头状态 1代表开启，0代表关闭
-         */
-        private int camera;
-        /**
-         * 雷达状态 1代表开启，0代表关闭
-         */
-        private int radar;
-        /**
-         * RTK状态 1代表开启，0代表关闭
-         */
-        private int rtk;
-        /**
-         * 自动驾驶状态 0非自动驾驶，1自动驾驶
-         */
-        private int pilotmode;
-
-
-        public int getState() {
-            return state;
-        }
-
-        public void setState(int state) {
-            this.state = state;
-        }
-
-        public String getReason() {
-            return reason;
-        }
-
-        public void setReason(String reason) {
-            this.reason = reason;
-        }
-
-        public float getSpeed() {
-            return speed;
-        }
-
-        public void setSpeed(float speed) {
-            this.speed = speed;
-        }
-        public int getCamera() {
-            return camera;
-        }
-
-        public int getRadar() {
-            return radar;
-        }
-
-        public int getRtk() {
-            return rtk;
-        }
-
-        public int getPilotmode() {
-            return pilotmode;
-        }
-    }
-}

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);
             }