[6.4.0][启自驾指引] 调用启自驾接口之前进行异常状态拦截，如果处于异常状态，进行toast和语音提示

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/AutoPilotLaunchBeforeView.kt

@@ -11,6 +11,8 @@ import chassis.Chassis.GearPosition.GEAR_N
 import chassis.Chassis.GearPosition.GEAR_NONE
 import chassis.Chassis.GearPosition.GEAR_P
 import chassis.Chassis.GearPosition.GEAR_R
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
@@ -61,6 +63,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
 
     override fun onStatusChanged(data: List<Status>, hasException: Boolean) {
         data.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
+            val isError = status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
             when(status) {
                 is GearStatus -> {
                     val position = try { GearPosition.valueOf(status.value) } catch (ignore: Throwable) { GEAR_NONE }
@@ -73,7 +76,6 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
                     gear_d?.isEnabled = false
                     gear_d?.isSelected = false
                     if (position != GEAR_NONE) {
-                        val isError = status.isError
                         when(position) {
                             GEAR_N -> if (isError) gear_n?.isEnabled = true else gear_n?.isSelected = true
                             GEAR_R -> if (isError) gear_r?.isEnabled = true else gear_r?.isSelected = true
@@ -84,23 +86,19 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
                     }
                 }
                 is AcceleratorStatus -> {
-                    val isError = status.isError
                     val angle = status.angle
                     iv_brake_or_accelerator?.isSelected = isError
                     tv_brake_or_accelerator?.text = "a:${angle.toInt()}"
                 }
                 is BrakeStatus -> {
-                    val isError = status.isError
                     val angle = status.angle
                     iv_brake_or_accelerator?.isSelected = isError
                     tv_brake_or_accelerator?.text = "a:-${angle.toInt()}"
                 }
                 is DoubleFlashStatus -> {
-                    val isError = status.isError
                     iv_double_flash?.isSelected = isError
                 }
                 is SteerStatus -> {
-                    val isError = status.isError
                     iv_steer?.isSelected = isError
                 }
                 is SpeedStatus -> {

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

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import android.os.SystemClock
 import chassis.SpecialVehicleTaskCmdOuterClass
+import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -13,7 +14,11 @@ import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_OCH_TAXI_START_AUTOPILOT_MOFANG
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.util.AppStateManager
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable.IsBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.GetTaskReq
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
@@ -25,6 +30,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendRes
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service_biz.BizConfig
 import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
+import java.lang.StringBuilder
 import kotlin.random.Random
 
 
@@ -64,6 +70,47 @@ object CallerAutoPilotControlManager {
      * @param controlParameters 开启自动驾驶的控制参数
      */
     fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
+        /**
+         * 方向盘： 1<<0
+         * 油门 :  1<<1
+         * 刹车:   1<<2
+         * 双闪:   1<<3
+         * 档位:   1<<4
+         */
+        val exceptionValue = CallerDevaToolsManager.getExceptionStatusBeforeLaunchAutopilot()
+        if (exceptionValue != 0) {
+            val sb = StringBuilder("请检查车辆")
+            if ((exceptionValue and 1) != 0) {
+                sb.append("方向盘$")
+            }
+            if (((exceptionValue and (1 shl 1)) != 0)) {
+                sb.append("油门$")
+            }
+            if ((exceptionValue and (1 shl 2)) != 0) {
+                sb.append("刹车$")
+            }
+            if ((exceptionValue and (1 shl 3)) != 0) {
+                sb.append("双闪$")
+            }
+            if ((exceptionValue and (1 shl 4)) != 0) {
+                sb.append("档位$")
+            }
+            val voiceText = sb.toString().let { str ->
+                val count = str.count { it == '$' }
+                if (count == 1) {
+                    str.replace("$", "")
+                } else {
+                    str.removeSuffix("$").replace("$", "、")
+                }
+            }
+            Logger.d(TAG, "voiceText: $voiceText")
+            ToastUtils.showShort(voiceText)
+            AppStateManager.currentActivity()?.also {
+                AIAssist.getInstance(it).speakTTSVoice(voiceText)
+            }
+            return
+        }
+
         if (controlParameters == null) {
             //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
             return

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt

@@ -363,4 +363,8 @@ object CallerDevaToolsManager {
     fun unRegisterRouteDownloadListener(tag: String) {
         devaToolsProviderApi?.unRegisterRouteDownloadListener(tag)
     }
+
+    fun getExceptionStatusBeforeLaunchAutopilot(): Int {
+        return devaToolsProviderApi?.getExceptionStatusBeforeLaunchAutopilot() ?: 0
+    }
 }