Merge remote-tracking branch 'origin/dev_robotaxi-d-app-module_270_220510_2.7.0' into dev_robotaxi-d-app-module_270_220510_2.7.0

OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml

@@ -11,7 +11,7 @@
         android:layout_width="@dimen/dp_630"
         android:layout_height="@dimen/dp_630"
         android:layout_marginLeft="-59px"
-        android:layout_marginTop="@dimen/dp_20"
+        android:layout_marginTop="-40px"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 

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

@@ -22,6 +22,7 @@ import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
+import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils;
@@ -447,6 +448,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
                         showOrHideNavi(false);
                         setOrRemoveMapMaker(false, TaxiConst.TAXI_START_MAP_MAKER,order.startSitePoint,R.raw.star_marker);
                         setOrRemoveMapMaker(false, TaxiConst.TAXI_END_MAP_MAKER,order.endSitePoint,R.raw.end_marker);
+                        clearSmallMapRouteLine();
                         break;
                     case ArriveAtStart:
                     case UserArriveAtStart:
@@ -546,6 +548,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
             setOrRemoveMapMaker(false, TaxiConst.TAXI_START_MAP_MAKER,mCurrentOrder.startSitePoint,R.raw.star_marker);
             setOrRemoveMapMaker(false, TaxiConst.TAXI_END_MAP_MAKER,mCurrentOrder.endSitePoint,R.raw.end_marker);
         }
+        clearSmallMapRouteLine();
         //提交取消订单后的回调
         TipToast.tip("订单取消成功");
         //更新界面
@@ -553,6 +556,10 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
         showOrHideNavi(false);
     }
 
+    private void clearSmallMapRouteLine() {
+        CallerSmpManager.clearPolyline();
+    }
+
     /**
      * 订单流转debug START
      */

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

@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.autopilot.adapter
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
-import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_ARRIVE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_GUARDIAN
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD
@@ -33,10 +32,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.zhidao.support.adas.high.AdasManager
@@ -241,6 +241,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     override fun onPointCloud(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
         //点云数据透传
+        //Logger.d("pointCloud","pointCloud"+pointCloud);
+        CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
     }
 
     override fun onBasicInfoReq(

core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java

@@ -12,6 +12,7 @@ import com.mogo.eagle.core.network.MoGoRetrofitFactory;
 import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.module.common.constants.HostConst;
 
@@ -60,7 +61,7 @@ public class BindingcarNetWorkManager {
 //        String macAddress = "48:b0:2d:3a:bc:78";
 //        String sn = "X20202203105S688HZ";
 
-        Log.d("liyz", "getBindingcarInfo -- widevineIDWithMd5 = " + widevineIDWithMd5 + "--macAddress = " +macAddress + "--screenType = " + screenType);
+        Log.d("liyz", "getBindingcarInfo -- widevineIDWithMd5 = " + widevineIDWithMd5 + "--macAddress = " + macAddress + "--screenType = " + screenType);
         BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType);
         RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
         mBindingcarApiService.getBindingcarInfo(token, requestBody)
@@ -80,6 +81,8 @@ public class BindingcarNetWorkManager {
                                 CallerHmiManager.INSTANCE.showBindingcarDialog();
                             } else if (info.getData().getCompare().equals("3")) {
                                 CallerHmiManager.INSTANCE.showModifyBindingcarDialog();
+                            } else if (info.getData().getCompare().equals("null")) {
+                                TipToast.shortTip("当前工控机没有入库");
                             }
 
                             SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.CAR_INFO, GsonUtils.toJson(info.getData()));

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

@@ -18,6 +18,7 @@ import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.camera.CameraEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
+import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
 import com.mogo.eagle.core.data.enums.SidePattern
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
@@ -57,6 +58,7 @@ import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -979,6 +981,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                     override fun confirm() {
                         //确认升级
                         CallerBindingcarManager.getBindingcarProvider().upgradeConfirm(images, padSn, releaseId)
+                        SharedPrefsMgr.getInstance(requireContext()).putBoolean(MoGoConfig.CONFIRM_UPGRADE,true)
                         adUpgradeDialog?.dismiss()
                         adUpgradeDialog = null
                     }

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

@@ -550,6 +550,12 @@ class DebugSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = isChecked
         }
 
+        //TODO
+        tbIsDrawPath.setOnCheckedChangeListener { _, isChecked ->
+
+        }
+
+
         // 初始化 GSP数据源 数据
         rgGpsProvider.check(
             when (FunctionBuildConfig.gpsProvider) {
@@ -603,6 +609,13 @@ class DebugSettingView @JvmOverloads constructor(
 
         }
 
+        //初始化点云数据渲染情况
+        tbDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
+        //是否渲染点云数据
+        tbDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isDrawPointCloudData = isChecked
+        }
+
         // 模拟自动驾驶中
         tbChangeAutoPilotStatus.setOnCheckedChangeListener { _, isChecked ->
             CallerAutoPilotManager.setControlAutopilotCarAuto(isChecked)

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

@@ -77,13 +77,13 @@ public class SteeringWheelView extends ConstraintLayout {
         steeringCircularV = findViewById(R.id.steering_circular);
         steeringCircularV.setBackWidth(8);
         steeringCircularV.setBackColor(R.color.hmi_light_back_bg);
-        steeringCircularV.setProgColor(R.color.hmi_light_blue, R.color.hmi_dark_blue);
+        steeringCircularV.setProgColor(R.color.hmi_dark_blue, R.color.hmi_light_blue);
         steeringCircularV.setProgress((int) (180 * 100) / 360, 1000);
         if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
             steeringCircularVAlpha = findViewById(R.id.steering_circular_alpha);
             steeringCircularVAlpha.setBackWidth(8);
             steeringCircularVAlpha.setBackColor(R.color.hmi_clear_00);
-            steeringCircularVAlpha.setProgColor(R.color.hmi_light_blue_alpha_00, R.color.hmi_light_blue_alpha_ff);
+            steeringCircularVAlpha.setProgColor(R.color.hmi_light_blue_alpha_ff, R.color.hmi_light_blue_alpha_00);
             steeringCircularVAlpha.setBlurMaskFilter(BlurMaskFilter.Blur.NORMAL, 12);
             steeringCircularVAlpha.setProgress((int) (180 * 100) / 360, 1000);
         }

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

@@ -9,6 +9,7 @@ import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.bindingcar.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
+import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingCarListener
@@ -18,6 +19,7 @@ import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -65,20 +67,20 @@ class SystemVersionView @JvmOverloads constructor(
         //工控机版本视图点击事件
         ivAdVersion.setOnClickListener {
             CallerLogger.i("$M_HMI$$TAG", "ad version view clicked")
-            if(AdUpgradeStateHelper.isUpgradeableStatus()){
-                if(autopilotStatus == 2){
-                    //当前处于自动驾驶状态，不可进行升级，Toast提示
-                    ToastUtils.showShort("升级前请先退出自动驾驶模式")
-                }else{
-                    dockerList?.let {
-                        //弹窗提示，确认是否进行工控机升级
-                        CallerHmiManager.showAdUpgradeDialog(it,
-                            MoGoAiCloudClient.getInstance().aiCloudClientConfig.sn,
-                            ""
-                        )
-                    }
-                }
-            }
+//            if(AdUpgradeStateHelper.isUpgradeableStatus()){
+//                if(autopilotStatus == 2){
+//                    //当前处于自动驾驶状态，不可进行升级，Toast提示
+//                    ToastUtils.showShort("升级前请先退出自动驾驶模式")
+//                }else{
+//                    dockerList?.let {
+//                        //弹窗提示，确认是否进行工控机升级
+//                        CallerHmiManager.showAdUpgradeDialog(it,
+//                            MoGoAiCloudClient.getInstance().aiCloudClientConfig.sn,
+//                            ""
+//                        )
+//                    }
+//                }
+//            }
             ipcUpgradeStateInfo?.let {
                 when {
                     AdUpgradeStateHelper.isDownloading(it.status) -> {
@@ -124,6 +126,14 @@ class SystemVersionView @JvmOverloads constructor(
 
         }
 
+        if(SharedPrefsMgr.getInstance(context).getBoolean(MoGoConfig.CONFIRM_UPGRADE,false)){
+            //将角标改为“下载中”
+            ivAdStatus?.setImageResource(R.drawable.icon_downloading)
+            ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
+            //设置状态为不可升级
+            AdUpgradeStateHelper.setUpgradeableStatus(false)
+        }
+
     }
 
     /**
@@ -177,43 +187,42 @@ class SystemVersionView @JvmOverloads constructor(
                         ivAdStatus?.setImageResource(R.drawable.icon_latest_version)
                         adCircularProgressView?.visibility = View.GONE
                         ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
+                        SharedPrefsMgr.getInstance(context).putBoolean(MoGoConfig.CONFIRM_UPGRADE,false)
                     }
                     AdUpgradeStateHelper.isDownloadFinish(status) ->{
                         //升级中，将状态设为“升级中”角标，并隐藏进度条
                         ivAdStatus?.setImageResource(R.drawable.icon_upgrading)
                         adCircularProgressView?.visibility = View.GONE
                         ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
+                        SharedPrefsMgr.getInstance(context).putBoolean(MoGoConfig.CONFIRM_UPGRADE,false)
                     }
                     AdUpgradeStateHelper.isUpgrading(status) ->{
                         //升级中，将状态设为“升级中”角标，并隐藏进度条
                         ivAdStatus?.setImageResource(R.drawable.icon_upgrading)
                         adCircularProgressView?.visibility = View.GONE
                         ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
-                    }
-
-                    AdUpgradeStateHelper.isUpgrading(status) ->{
-                        //升级中，将状态设为“升级中”角标，并隐藏进度条
-                        ivAdStatus?.setImageResource(R.drawable.icon_upgrading)
-                        adCircularProgressView?.visibility = View.GONE
-                        ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
+                        SharedPrefsMgr.getInstance(context).putBoolean(MoGoConfig.CONFIRM_UPGRADE,false)
                     }
                     AdUpgradeStateHelper.isUpgradeSuccess(status) -> {
                         //升级成功，将状态设为“最新版”角标，并隐藏进度条
                         ivAdStatus?.setImageResource(R.drawable.icon_latest_version)
                         adCircularProgressView?.visibility = View.GONE
                         ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
+                        SharedPrefsMgr.getInstance(context).putBoolean(MoGoConfig.CONFIRM_UPGRADE,false)
                     }
                     AdUpgradeStateHelper.isUpgradeFailed(status) -> {
                         //升级失败，将状态设为“升级失败”角标，并隐藏进度条
                         ivAdStatus?.setImageResource(R.drawable.icon_upgrade_failed)
                         adCircularProgressView?.visibility = View.GONE
                         ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
+                        SharedPrefsMgr.getInstance(context).putBoolean(MoGoConfig.CONFIRM_UPGRADE,false)
                     }
                     else -> {
                         //其他状态，均显示“最新版”，并隐藏进度条
                         ivAdStatus?.setImageResource(R.drawable.icon_latest_version)
                         adCircularProgressView?.visibility = View.GONE
                         ivAdVersion?.setBackgroundResource(R.drawable.version_latest_background)
+                        SharedPrefsMgr.getInstance(context).putBoolean(MoGoConfig.CONFIRM_UPGRADE,false)
                     }
                 }
             }

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml

@@ -1480,6 +1480,21 @@
                         app:layout_constraintLeft_toLeftOf="@id/tbIsDrawAutopilotTrajectoryData"
                         app:layout_constraintRight_toRightOf="@id/tbIsDrawAutopilotTrajectoryData"/>
 
+                    <ToggleButton
+                        android:id="@+id/tbDrawPointCloudData"
+                        android:layout_width="0dp"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
+                        android:padding="@dimen/dp_10"
+                        android:textColor="#000"
+                        android:textOff="开启渲染点云数据"
+                        android:textOn="关闭渲染点云数据"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintRight_toRightOf="parent"
+                        />
+
                     <RadioGroup
                         android:id="@+id/rgGpsProvider"
                         android:layout_width="match_parent"

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java

@@ -172,6 +172,7 @@ public class MapFragment extends MvpFragment<MapView, MapPresenter>
 
         // TODO 临时初始化地图监听工控机、OBU等数据监听器，用于感知元素绘制
         MapIdentifySubscriber.Companion.getInstance();
+        MapPointCloudSubscriber.Companion.getInstance();
     }
 
     @Override

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt

@@ -0,0 +1,49 @@
+package com.mogo.eagle.core.function.map
+
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
+import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.zhidao.support.adas.high.common.PointCloudDecoder
+import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
+import mogo.telematics.pad.MessagePad
+import rule_segement.PointCloud
+
+/**
+ * 订阅点云数据
+ * 数据来源：工控机、OBU、云端下发
+ *
+ * @author donghongyu
+ */
+class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAutopilotPointCloudListener {
+
+    private val TAG = "MapPointCloudSubscriber"
+
+    init {
+        onCrate()
+    }
+
+    companion object {
+        val instance: MapPointCloudSubscriber by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            MapPointCloudSubscriber()
+        }
+    }
+
+    override fun onCrate() {
+        CallerAutopilotPointCloudListenerManager.addListener(TAG, this)
+
+    }
+
+    override fun onDestroy() {
+        CallerAutopilotPointCloudListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+        // 根据配置动态控制点云是否绘制
+        if (FunctionBuildConfig.isDrawPointCloudData) {
+            val data = PointCloudDecoder.decode(header, pointCloud)
+            val result = PointCloudHelper.updatePointCloudData(data, false, true, true)
+            //Logger.d(TAG, "result=$result")
+        }
+    }
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt

@@ -57,7 +57,7 @@ object FunctionBuildConfig {
      */
     @Volatile
     @JvmField
-    var isDrawIdentifyData = true
+    var isDrawIdentifyData = false
 
     /**
      * 地图是否绘制Adas识别回调的「未知类型」Marker
@@ -77,6 +77,15 @@ object FunctionBuildConfig {
     @JvmField
     var isDrawObuIdentifyData = true
 
+    /**
+     * 地图是否绘制 点云数据
+     * true - 绘制
+     * false - 不绘制
+     */
+    @Volatile
+    @JvmField
+    var isDrawPointCloudData = true
+
     /**
      * 地图是否忽略判断条件直接绘制工控机引导线数据&全局路径规划
      * 用于调试

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MoGoConfig.kt

@@ -23,4 +23,6 @@ object MoGoConfig {
     //根据加速度判断是否刹车阈值
     const val BRAKE_ACCELERATION_THRESHOLD = "BRAKE_ACCELERATION_THRESHOLD"
 
+    const val CONFIRM_UPGRADE = "CONFIRM_UPGRADE"
+
 }

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

@@ -0,0 +1,20 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import mogo.telematics.pad.MessagePad
+import rule_segement.PointCloud
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/11/1 5:57 下午
+ * 感知识别回调
+ */
+interface IMoGoAutopilotPointCloudListener {
+
+    /**
+     * 点云数据
+     *
+     * @param pointCloud 点云数据
+     */
+    fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?)
+
+}

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

@@ -0,0 +1,73 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import androidx.annotation.Nullable
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import mogo.telematics.pad.MessagePad
+import perception.TrafficLightOuterClass
+import rule_segement.PointCloud
+import java.util.concurrent.ConcurrentHashMap
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/30 5:48 下午
+ * 点云数据管理
+ */
+object CallerAutopilotPointCloudListenerManager : CallerBase() {
+
+    // 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 M_AUTOPILOT_IDENTIFY_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotPointCloudListener> =
+            ConcurrentHashMap()
+
+    /**
+     * 添加 域控制器感知数据 监听
+     * @param tag 标记，用来注销监听使用
+     * @param listener 监听回调
+     */
+    fun addListener(
+            @Nullable tag: String,
+            @Nullable listener: IMoGoAutopilotPointCloudListener
+    ) {
+        if (M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
+            return
+        }
+        M_AUTOPILOT_IDENTIFY_LISTENERS[tag] = listener
+    }
+
+    /**
+     * 删除监听
+     * @param tag 标记，用来注销监听使用
+     */
+    fun removeListener(@Nullable tag: String) {
+        if (!M_AUTOPILOT_IDENTIFY_LISTENERS.containsKey(tag)) {
+            return
+        }
+        M_AUTOPILOT_IDENTIFY_LISTENERS.remove(tag)
+    }
+
+    /**
+     * 删除自动驾驶按钮选中监听
+     * @param listener 要删除的监听对象
+     */
+    fun removeListener(@Nullable listener: IMoGoAutopilotPointCloudListener) {
+        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
+            if (it.value == listener) {
+                M_AUTOPILOT_IDENTIFY_LISTENERS.remove(it.key)
+            }
+        }
+    }
+
+    /**
+     * 识别交通元素数据发生更新 回调
+     */
+    @Synchronized
+    fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onAutopilotPointCloudDataUpdate(header,pointCloud)
+        }
+    }
+
+}

gradle.properties

@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.59
 MOGO_TELEMATIC_VERSION=1.3.59
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.1.1.2
+MAP_SDK_VERSION=2.2.0.1
 MAP_SDK_OPERATION_VERSION=1.0.13
 # websocket
 WEBSOCKET_VERSION=1.1.7