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-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() }
+        }
+    }
+
 }