Merge branch 'dev_robotaxi-d_241112_6.8.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_241112_6.8.0

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt

@@ -11,6 +11,7 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.debug.DebugConfig
+import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.EnvConfig
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig.isShowRouteStrategy
@@ -59,6 +60,7 @@ import com.zhjt.mogo_core_function_devatools.block.MoGoBlockProviderImpl
 import com.zhjt.mogo_core_function_devatools.coldstart.ColdStartManager
 import com.zhjt.mogo_core_function_devatools.driver.video.DriveSeatVideoProviderImpl
 import com.mogo.eagle.core.function.api.driver.video.IDriveSeatVideoProvider
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
 import com.zhjt.mogo_core_function_devatools.exam.ExamControlManager
 import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigCenter.Companion.bizConfigCenter
@@ -76,6 +78,7 @@ import com.zhjt.mogo_core_function_devatools.report.IPCReportManager.Companion.i
 import com.zhjt.mogo_core_function_devatools.scene.SceneManager.Companion.sceneManager
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.SafetyStopCarStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
 import com.zhjt.mogo_core_function_devatools.strict.StrictModeProviderImpl
@@ -87,6 +90,7 @@ import com.zhjt.mogo_core_function_devatools.weaknetwork.DetectResultImpl
 import com.zhjt.mogo_core_function_devatools.weaknetwork.WeakNetworkStrategy
 import com.zhjt.mogo_core_function_devatools.workorder.WorkOrderManager
 import com.zhjt.service.chain.ChainLog
+import fsm.Fsm2024
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import java.lang.ref.WeakReference
@@ -142,6 +146,27 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
                                 listener.invoke(s.state.ordinal)
                             }
                         }
+                    } else if (s is SafetyStopCarStatus) {
+                        val state = s.data?.functionState
+                        if (state != null) {
+                            if (state == Fsm2024.State.SAFETY_STOP) {
+                                if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                                    AppStateManager.currentActivity()?.also {
+                                        AIAssist.getInstance(it).speakTTSVoice("识别故障即将停车，请注意观察，小心接管")
+                                    }
+                                    CallerHmiManager.toggleSafetyStopCarWarning(true)
+
+                                }
+                            }
+                            if (state == Fsm2024.State.SAFETY_STOPPED) {
+                                if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                                    CallerHmiManager.toggleSafetyStopCarWarning(false)
+                                    AppStateManager.currentActivity()?.also {
+                                        AIAssist.getInstance(it).speakTTSVoice("请接管恢复停车状态")
+                                    }
+                                }
+                            }
+                        }
                     }
                 }
                 val status = getExceptionStatusBeforeLaunchAutopilot(-2)

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

@@ -29,6 +29,7 @@ import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SpeedImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.autopilot.SteerImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.fsm.FSMImpl
+import com.zhjt.mogo_core_function_devatools.status.flow.fsm.SafetyStopCarImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.gps.GpsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.ipc.IpcImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.rtk.RTKImpl
@@ -99,6 +100,7 @@ object StatusManager {
                 is FSMStatus -> FSMImpl(ctx)
                 is RouteDownloadStatus -> RouteDownloadImpl(ctx)
                 is OtherErrorStatus -> OtherErrorImpl(ctx)
+                is SafetyStopCarStatus -> SafetyStopCarImpl(ctx)
             }
         }.also { flows += it }
         for (f in flows) {
@@ -192,7 +194,7 @@ object StatusManager {
         }
         var xor = 0
         model.status.value?.second?.filter {
-            it is IAutopilotPreLaunchStatus
+            it is IAutopilotBeforeLaunchStatus
         }?.takeIf {
             it.isNotEmpty()
         }?.also { l ->

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

@@ -18,6 +18,14 @@ import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_LOAD_FAIL
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.TRACK_NOT_EXIST
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus.Tracing.UNKNOWN
+import fsm.Fsm2024
+
+interface IAutopilotLaunchStatus
+
+interface IAutopilotBeforeLaunchStatus: IAutopilotLaunchStatus
+
+interface IAutopilotAfterLaunchStatus: IAutopilotLaunchStatus
+
 
 sealed class Status(var rawData: Any? = null) {
 
@@ -143,7 +151,7 @@ enum class FSMStateCode {
 /**
  * FSM模块状态
  */
-class FSMStatus(var state: FSMStateCode, var descList: List<String> = emptyList<String>()): Status(), IAutopilotPreLaunchStatus {
+class FSMStatus(var state: FSMStateCode, var descList: List<String> = emptyList<String>()): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun equals(other: Any?): Boolean {
         if (javaClass != other?.javaClass) return false
@@ -342,12 +350,11 @@ fun String.toState(msg: String?): Tracing? {
     }
 }
 
-interface IAutopilotPreLaunchStatus
 
 /**
  * 速度
  */
-data class SpeedStatus(val speed: Int): Status(), IAutopilotPreLaunchStatus {
+data class SpeedStatus(val speed: Int): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun isException(): Boolean {
         return false
@@ -368,7 +375,7 @@ data class SpeedStatus(val speed: Int): Status(), IAutopilotPreLaunchStatus {
 /**
  * 方向盘转角
  */
-data class SteerStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class SteerStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotBeforeLaunchStatus {
 
 
     override fun isException(): Boolean {
@@ -394,7 +401,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
 /**
  * 油门
  */
-data class AcceleratorStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class AcceleratorStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -423,7 +430,7 @@ data class AcceleratorStatus(val angle: Int, var isError: Boolean = false): Stat
 /**
  * 刹车
  */
-data class BrakeStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class BrakeStatus(val angle: Int, var isError: Boolean = false): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -456,7 +463,7 @@ data class BrakeStatus(val angle: Int, var isError: Boolean = false): Status(),
 /**
  * 双闪
  */
-data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -487,7 +494,7 @@ data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Statu
 /**
  * 由于其它原因导致的启自驾异常
  */
-data class OtherErrorStatus(val type: UnableType?, val reason: UnableLaunchReason?): Status(), IAutopilotPreLaunchStatus {
+data class OtherErrorStatus(val type: UnableType?, val reason: UnableLaunchReason?): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun isException(): Boolean {
         return type != null || reason != null
@@ -501,7 +508,7 @@ data class OtherErrorStatus(val type: UnableType?, val reason: UnableLaunchReaso
 /**
  * 挡位
  */
-data class GearStatus(val value: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
+data class GearStatus(val value: Int, var isError: Boolean = false): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun isException(): Boolean {
         return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -543,7 +550,7 @@ enum class RouteState {
 /**
  * 轨迹下载状态
  */
-data class RouteDownloadStatus(val lineId: Long = Long.MIN_VALUE, val state: RouteState = RouteNone): Status(), IAutopilotPreLaunchStatus {
+data class RouteDownloadStatus(val lineId: Long = Long.MIN_VALUE, val state: RouteState = RouteNone): Status(), IAutopilotBeforeLaunchStatus {
 
     override fun isException(): Boolean {
         return (state == RouteStart || state == RouteFailed) && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
@@ -573,4 +580,27 @@ data class RouteDownloadStatus(val lineId: Long = Long.MIN_VALUE, val state: Rou
 }
 
 
+/***
+ * FSM功能异常，触发安全停车
+ */
+data class SafetyStopCarStatus(val data: Fsm2024.FSMStateMsg? = null): Status(), IAutopilotAfterLaunchStatus {
+
+    override fun isException(): Boolean {
+        return data?.functionState == Fsm2024.State.SAFETY_STOP
+    }
+
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+        other as SafetyStopCarStatus
+        return this.data?.functionState == other.data?.functionState
+
+    }
+
+    override fun hashCode(): Int {
+        return this.data?.functionState?.hashCode() ?: 0
+    }
+}
+
+
 

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

@@ -39,4 +39,6 @@ internal abstract class IFlow< T : Status>(val ctx: Context) : CoroutineScope {
     open fun onDestroy() {
         chl.safeCancel()
     }
+
+    fun peek(): T? = chl.tryReceive().getOrNull()
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/SafetyStopCarImpl.kt

@@ -0,0 +1,59 @@
+package com.zhjt.mogo_core_function_devatools.status.flow.fsm
+
+import android.content.Context
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoFsm2024Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo_core_function_devatools.status.entity.SafetyStopCarStatus
+import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
+import fsm.Fsm2024
+import fsm.Fsm2024.FSMStateMsg
+
+internal class SafetyStopCarImpl(ctx: Context): IFlow<SafetyStopCarStatus>(ctx), IMoGoFsm2024Listener, IMoGoAutopilotStatusListener {
+
+    companion object {
+        private const val TAG = "SafetyStopCarImpl"
+    }
+
+    @Volatile
+    private var lastState: Int = -1
+
+    override fun onCreate() {
+        CallerFsm2024ListenerManager.addListener(TAG, this)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+
+    override fun onFSM2024State(fsmState: FSMStateMsg) {
+        Logger.d(TAG, "--- onFSM2024State --- 1 ---: ${fsmState.functionState}")
+        if (fsmState.functionState == Fsm2024.State.SAFETY_STOP || fsmState.functionState == Fsm2024.State.SAFETY_STOPPED) {
+            send(SafetyStopCarStatus(fsmState))
+        }
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        CallerFsm2024ListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotStatusResponse(state: Int) {
+        super.onAutopilotStatusResponse(state)
+        Logger.d(TAG, "--- onAutopilotStatusResponse --- 1 ---: $state")
+        if (lastState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING && lastState != state) {
+            //从自驾转成非自驾
+            Logger.d(TAG, "--- onAutopilotStatusResponse --- 2 ---: $state")
+            if (peek()?.data?.functionState == Fsm2024.State.SAFETY_STOP) {
+                Logger.d(TAG, "--- onAutopilotStatusResponse --- 3 ---: $state")
+                CallerHmiManager.toggleSafetyStopCarWarning(false)
+            }
+        }
+        if (lastState != state) {
+            lastState = state
+        }
+    }
+}

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

@@ -29,6 +29,7 @@ internal class StatusModel : ViewModel() {
             it += OtherErrorStatus(null, null)
             it += RouteDownloadStatus()
             it += SpeedStatus(0)
+            it += SafetyStopCarStatus()
         })
     }
 

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

@@ -22,7 +22,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.DoubleFlashStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
-import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotBeforeLaunchStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.SpeedStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
@@ -66,7 +66,7 @@ class AutoPilotLaunchBeforeView: LinearLayout, IStatusListener {
 
     @SuppressLint("SetTextI18n")
     override fun onStatusChanged(changed: List<Status>, all: List<Status>) {
-        changed.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
+        changed.filter { it is IAutopilotBeforeLaunchStatus }.forEach { status ->
             val isError = status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
             Logger.d(TAG, "--- onChanged ---:$isError")
             when(status) {

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

@@ -9,8 +9,7 @@ import androidx.recyclerview.widget.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.rv.divider.*
 import com.zhjt.mogo_core_function_devatools.R
-import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
-import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotLaunchStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.model.StatusModel
 import com.zhjt.mogo_core_function_devatools.status.ui.adapter.StatusAdapter
@@ -36,12 +35,12 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { it !is IAutopilotPreLaunchStatus }) }?.also { adapter -> rv.adapter = adapter }
+        val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { (it !is IAutopilotLaunchStatus)  }) }?.also { adapter -> rv.adapter = adapter }
         adapter?.let { _ ->
             observer?.also { model.status.removeObserver(it) }
             model.status.observeForever(Observer<Pair<Status?, ArrayList<Status>>> { data ->
                 val old = adapter.data
-                val update = data.second.filter { it !is IAutopilotPreLaunchStatus }
+                val update = data.second.filter { it !is IAutopilotLaunchStatus }
                 val result = DiffUtil.calculateDiff(StatusDiffCallback(old, update))
                 adapter.data = update
                 result.dispatchUpdatesTo(adapter)
@@ -65,10 +64,6 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
                     .build()
             )
         }
-
-//        onDetach {
-//            observer?.also { model.status.removeObserver(it) }
-//        }
     }
 
     override fun onVisibilityChanged(changedView: View, visibility: Int) {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt

@@ -21,7 +21,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.DoubleFlashStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.FSMStateCode
 import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
-import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotBeforeLaunchStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
 import kotlinx.android.synthetic.main.view_start_autopilot_status.view.fSMStatusLayout
@@ -250,7 +250,7 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
      * @param all: 所有状态数据
      */
     override fun onStatusChanged(changed: List<Status>, all: List<Status>) {
-        changed.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
+        changed.filter { it is IAutopilotBeforeLaunchStatus }.forEach { status ->
             Logger.d(TAG, "onStatusChanged --> ${status::class.simpleName}")
             when (status) {
                 is FSMStatus -> {

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

@@ -7,6 +7,12 @@ import android.view.Gravity
 import android.view.View
 import android.view.ViewGroup
 import android.view.ViewStub
+import android.view.WindowManager
+import android.view.animation.AccelerateDecelerateInterpolator
+import android.widget.FrameLayout
+import androidx.core.content.ContextCompat
+import androidx.core.view.ViewCompat
+import androidx.core.view.doOnAttach
 import androidx.lifecycle.ProcessLifecycleOwner
 import androidx.lifecycle.lifecycleScope
 import androidx.transition.Slide
@@ -61,6 +67,7 @@ import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
 import com.mogo.eagle.core.function.hmi.xiaozhi.XiaoZhiStateManager
 import com.mogo.eagle.core.utilcode.floating.MoGoPopWindow
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
+import com.mogo.eagle.core.utilcode.kotlin.scope
 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
@@ -107,6 +114,11 @@ class MoGoHmiProvider : IMoGoHmiProvider {
      */
     private val popOfVisualAngleAdjust by lazy { AtomicReference<WeakReference<MoGoPopWindow>>() }
 
+    /**
+     * fsm异常触发异常停车弹窗
+     */
+    private val popOfSafetyStopCar by lazy { AtomicReference<WeakReference<MoGoPopWindow>>() }
+
     override fun init(context: Context?) {
         this.context = context
     }
@@ -599,4 +611,39 @@ class MoGoHmiProvider : IMoGoHmiProvider {
         }
     }
 
+    override fun toggleSafeStopCarWarning(show: Boolean) {
+        val activity = AppStateManager.currentActivity() ?: return
+        val old = popOfSafetyStopCar.get()?.get()
+        if (show) {
+            if (old != null && old.isShowing()) {
+                return
+            }
+            val content = FrameLayout(activity)
+            ViewCompat.setBackground(content, ContextCompat.getDrawable(activity, R.drawable.fg_fsm_exception_status))
+            content.scope.launch {
+                while (true) {
+                    content.animate().setInterpolator(AccelerateDecelerateInterpolator()).alpha(0f).setDuration(500).start()
+                    delay(500)
+                    content.animate().setInterpolator(AccelerateDecelerateInterpolator()).alpha(1.0f).setDuration(500).start()
+                    delay(500)
+                }
+            }
+            MoGoPopWindow.Builder()
+                .attachToActivity(activity)
+                .width(WindowManager.LayoutParams.MATCH_PARENT)
+                .height(WindowManager.LayoutParams.MATCH_PARENT)
+                .contentView(content)
+                .onDismissed {
+                    popOfSafetyStopCar.set(null)
+                }
+                .build()
+                .also {
+                    popOfSafetyStopCar.set(WeakReference(it))
+                    it.show()
+                }
+        } else {
+            old?.takeIf { it.isShowing() }?.also { it.hide() }
+        }
+    }
+
 }