From 9802124169df132fe3f5f1619dd26982d6722e58 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=91=A3=E5=AE=8F=E5=AE=87?= <martindhy@gmail.com>
Date: Tue, 12 Oct 2021 21:24:58 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90=E4=BA=86=E8=87=AA=E5=8A=A8?=
 =?UTF-8?q?=E9=A9=BE=E9=A9=B6=E7=8A=B6=E6=80=81=E4=BF=A1=E6=81=AF=E5=9B=9E?=
 =?UTF-8?q?=E4=BC=A0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: 董宏宇 <martindhy@gmail.com>
---
 .idea/misc.xml                                |   2 +-
 .../autopilot/MoGoAutoPilotProvider.java      |   1 -
 .../hmi/ui/setting/DebugSettingView.kt        |  29 +++-
 .../main/res/layout/view_debug_setting.xml    |  43 ++++--
 .../obu/mogo/MogoPrivateObuManager.kt         |   8 +-
 .../data/autopilot/AutopilotStatusInfo.kt     |  57 ++++++++
 .../IMoGoAutoPilotStatusListener.java         |  18 ++-
 .../CallerAutoPilotStatusListenerManager.kt   | 127 ++++++++++++++++++
 .../call/obu/CallerObuListenerManager.kt      |  17 ++-
 modules/mogo-module-adas/build.gradle         |   2 +
 .../mogo/module/adas/AdasEventManager.java    |  24 +++-
 .../mogo/module/adas/IAdasDataListener.java   |   5 -
 modules/mogo-module-common/build.gradle       |   1 +
 .../SnapshotLocationDataCenter.java           |  11 +-
 .../service/impl/adas/MogoADASController.java |   1 +
 15 files changed, 309 insertions(+), 37 deletions(-)
 create mode 100644 core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
 create mode 100644 core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt

diff --git a/.idea/misc.xml b/.idea/misc.xml
index 37fc2ab8e9..e73cf5868e 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -16,7 +16,7 @@
         <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml" value="0.33" />
         <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_autopilot_status.xml" value="0.25833333333333336" />
         <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_check_status.xml" value="1.0" />
-        <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml" value="0.5" />
+        <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml" value="0.26614583333333336" />
         <entry key="core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_traffic_light_vr.xml" value="1.0" />
         <entry key="modules/mogo-module-adas/src/main/res/drawable/module_adas_left_corner_bg.xml" value="0.22125" />
         <entry key="modules/mogo-module-adas/src/main/res/layout/dialog_adas_dispatch_remind.xml" value="0.22658490296325878" />
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java
index dd0bf443e9..23e8734979 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutoPilotProvider.java
@@ -5,7 +5,6 @@ import android.content.Context;
 import com.mogo.eagle.core.data.autopilot.AdasControlCommandParameter;
 import com.mogo.eagle.core.data.autopilot.RemoteControlAutoPilotParameters;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotProvider;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.eagle.core.utilcode.util.LogUtils;
 import com.zhidao.support.adas.high.AdasManager;
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index c2ab39e8e8..dcbd2d555a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -6,9 +6,13 @@ import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.autopilot.AdasOCHData
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerOBUManager
 import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
 import com.mogo.eagle.core.function.hmi.R
@@ -30,7 +34,8 @@ class DebugSettingView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener {
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
+    IMoGoAutoPilotStatusListener {
 
     private val TAG = "DebugSettingView"
 
@@ -42,16 +47,19 @@ class DebugSettingView @JvmOverloads constructor(
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerObuListenerManager.addListener(TAG, this)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
         CallerObuListenerManager.removeListener(TAG)
-
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
     private fun initView() {
-        tvObuInfo.text = CallerObuListenerManager.getObuStatusInfo()
+        tvObuInfo.text = CallerObuListenerManager.getObuStatusInfoJsonString()
+        tvAutopilotInfo.text =
+            CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfoJsonString()
 
         // 初始化App 配置信息
         val appConfigInfo = AppConfigInfo()
@@ -89,4 +97,19 @@ class DebugSettingView @JvmOverloads constructor(
         tvObuInfo.text = GsonUtils.toJson(obuStatusInfo)
     }
 
+    /**
+     * 自动驾驶相关回调
+     */
+    override fun onAutoPilotArriveAtStation(data: AdasOCHData?) {
+
+    }
+
+    override fun onAutoPilotStateChanged(state: Int, reason: String?) {
+
+    }
+
+    override fun onAutoPilotStatusResponse(autopilotStatusInfo: AutopilotStatusInfo?) {
+        tvAutopilotInfo.text = GsonUtils.toJson(autopilotStatusInfo)
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index ccfc505233..9fabf69347 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="@dimen/dp_1000"
-    android:layout_height="@dimen/dp_700"
+    android:layout_width="@dimen/dp_1300"
+    android:layout_height="@dimen/dp_1000"
     android:background="#FFFFFF">
 
     <ScrollView
@@ -21,6 +21,8 @@
                 <TextView
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
+                    android:background="#B200BCD4"
+                    android:padding="@dimen/dp_10"
                     android:text="鹰眼应用配置信息"
                     android:textColor="#000"
                     android:textSize="@dimen/dp_34"
@@ -44,20 +46,22 @@
                 <TextView
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
+                    android:background="#B200BCD4"
+                    android:padding="@dimen/dp_10"
                     android:text="OBU 配置信息"
                     android:textColor="#000"
                     android:textSize="@dimen/dp_34"
                     android:textStyle="bold" />
 
-            <androidx.appcompat.widget.AppCompatEditText
-                android:id="@+id/etObuIP"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:background="#32009688"
-                android:gravity="center"
-                android:padding="@dimen/dp_5"
-                android:text="192.168.1.199"
-                android:textSize="@dimen/dp_34" />
+                <androidx.appcompat.widget.AppCompatEditText
+                    android:id="@+id/etObuIP"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:background="#32009688"
+                    android:gravity="center"
+                    android:padding="@dimen/dp_5"
+                    android:text="192.168.1.199"
+                    android:textSize="@dimen/dp_34" />
 
                 <Button
                     android:id="@+id/btnSetObuIP"
@@ -83,6 +87,23 @@
                 android:layout_height="wrap_content"
                 android:orientation="vertical">
 
+                <TextView
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:background="#B200BCD4"
+                    android:padding="@dimen/dp_10"
+                    android:text="域控制器（工控机）配置信息"
+                    android:textColor="#000"
+                    android:textSize="@dimen/dp_34"
+                    android:textStyle="bold" />
+
+                <TextView
+                    android:id="@+id/tvAutopilotInfo"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:textColor="#000"
+                    android:textSize="@dimen/dp_34" />
+
             </LinearLayout>
 
         </LinearLayout>
diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
index c075a7fce6..c2857f5cae 100644
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.obu.mogo
 import android.content.Context
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
-import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
@@ -39,7 +38,7 @@ class MogoPrivateObuManager private constructor() {
     private var mMogoServiceApis: IMogoServiceApis? = null
     private var mIMogoMapService: IMogoMapService? = null
     private var mContext: Context? = null
-    private var mObuStatusInfo = ObuStatusInfo()
+    private var mObuStatusInfo = CallerObuListenerManager.getObuStatusInfo()
 
     fun init(context: Context, ipAddress: String) {
         Logger.d(MogoObuConst.TAG_MOGO_OBU, "obuManager初始化--")
@@ -447,7 +446,10 @@ class MogoPrivateObuManager private constructor() {
                     -> {
                         if (info.ext_info != null) {
                             // 计算为千米每小时 TODO 这里需要做一下向上取整数，40，60，80，120等
-                            Logger.d(MogoObuConst.TAG_MOGO_OBU, "info.ext_info.speed_limit_max ------> ${info.ext_info.speed_limit_max}")
+                            Logger.d(
+                                MogoObuConst.TAG_MOGO_OBU,
+                                "info.ext_info.speed_limit_max ------> ${info.ext_info.speed_limit_max}"
+                            )
                             CallerHmiManager.showLimitingVelocity((Math.ceil(((info.ext_info.speed_limit_max * 60 * 60) / 1000) / 10) * 10).toInt())
                         }
                     }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
new file mode 100644
index 0000000000..dc0ae0ef25
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
@@ -0,0 +1,57 @@
+package com.mogo.eagle.core.data.autopilot
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/10/12 8:16 下午
+ * 域控制器状态信息
+ * 不建议自己初始化此对象，建议使用 CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo();
+ */
+class AutopilotStatusInfo {
+    /**
+     * 当前链接的IP地址, 默认地址 192.168.1.102
+     */
+    var connectIP: String = "192.168.1.102"
+    var connectStatus = false
+
+    /**
+     * 定位是否可用
+     */
+    var locationStatus = false
+    var locationLat = 0.0
+    var locationLon = 0.0
+
+    /**
+     * 车速 m/s
+     */
+    var speed = 0f
+
+    /**
+     * 自动驾驶状态 0是不可用 1是ready 2是自动驾驶start
+     */
+    var autopilotStatus = 0
+
+    /**
+     * 自动驾驶状态 0非自动驾驶，1自动驾驶
+     */
+    var autoDriveStatus = 0
+
+    /**
+     * 不可用原因
+     */
+    var errorReason: String = ""
+
+    /**
+     * 摄像头状态 1代表开启，0代表关闭
+     */
+    var camera = 0
+
+    /**
+     * 雷达状态 1代表开启，0代表关闭
+     */
+    var radar = 0
+
+    /**
+     * RTK状态 1代表开启，0代表关闭
+     */
+    var rtk = 0
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java
index 70fc0a5efa..71ed53967e 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutoPilotStatusListener.java
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot;
 
 import com.mogo.eagle.core.data.autopilot.AdasOCHData;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 
 /**
  * @author xiaoyuzhou
@@ -24,15 +25,24 @@ public interface IMoGoAutoPilotStatusListener {
 
 
     /**
-     * 到站
+     * 自动驾驶到站
+     *
      * @param data 所到车站的简单信息
      */
-    void onArriveAt( AdasOCHData data );
+    void onAutoPilotArriveAtStation(AdasOCHData data);
 
     /**
      * 自动驾驶状态发生改变
-     * @param state {@link #STATUS_AUTOPILOT_DISABLE}
+     *
+     * @param state  {@link #STATUS_AUTOPILOT_DISABLE}
      * @param reason 不能自动驾驶的原因
      */
-    void onStateChanged(int state, String reason);
+    void onAutoPilotStateChanged(int state, String reason);
+
+    /**
+     * 自动驾驶状态信息
+     *
+     * @param autopilotStatusInfo 状态信息
+     */
+    void onAutoPilotStatusResponse(AutopilotStatusInfo autopilotStatusInfo);
 }
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
new file mode 100644
index 0000000000..c9974830d0
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -0,0 +1,127 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import androidx.annotation.Nullable
+import com.mogo.eagle.core.data.autopilot.AdasOCHData
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutoPilotStatusListener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import com.mogo.eagle.core.utilcode.util.GsonUtils
+import com.mogo.eagle.core.utilcode.util.LogUtils
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/9/30 5:48 下午
+ * 域控制器相关的回调监听
+ */
+object CallerAutoPilotStatusListenerManager : CallerBase() {
+    private val TAG = "CallerAutopilotListenerManager"
+
+    // 存储最后一次回调的数据，当有新当位置注册了监听将此数据回调过去，防止有些模块注册顺序问题导致无法获取最新状态
+    private var mAutopilotStatusInfo: AutopilotStatusInfo = AutopilotStatusInfo()
+
+    // 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 mAutoPilotStatusListeners: HashMap<String, IMoGoAutoPilotStatusListener> = HashMap()
+
+    /**
+     * 查询AutoPilot状态
+     */
+    fun getAutoPilotStatusInfo(): AutopilotStatusInfo {
+        return mAutopilotStatusInfo
+    }
+
+    /**
+     * 查询AutoPilot状态
+     */
+    fun getAutoPilotStatusInfoJsonString(): String {
+        return GsonUtils.toJson(mAutopilotStatusInfo)
+    }
+
+    /**
+     * 添加监听
+     * @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: IMoGoAutoPilotStatusListener
+    ) {
+        mAutoPilotStatusListeners[tag] = listener
+        listener.onAutoPilotStatusResponse(mAutopilotStatusInfo)
+    }
+
+    /**
+     * 删除监听
+     * @param tag 标记，用来注销监听使用
+     */
+    fun removeListener(@Nullable tag: String) {
+        mAutoPilotStatusListeners.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: IMoGoObuStatusListener) {
+        mAutoPilotStatusListeners.forEach {
+            if (it.value == listener) {
+                mAutoPilotStatusListeners.remove(it.key)
+            }
+        }
+    }
+
+    /**
+     * 自动驾驶状态信息回调
+     */
+    @Synchronized
+    fun invokeAutoPilotStatusListener() {
+        LogUtils.dTag(TAG, "$mAutopilotStatusInfo")
+        invokeAutoPilotStatusListener(mAutopilotStatusInfo)
+    }
+
+    /**
+     * 自动驾驶状态信息回调
+     * @param autopilotStatusInfo 自动驾驶状态信息
+     */
+    @Synchronized
+    fun invokeAutoPilotStatusListener(autopilotStatusInfo: AutopilotStatusInfo) {
+        LogUtils.dTag(TAG, "$autopilotStatusInfo")
+        mAutopilotStatusInfo = autopilotStatusInfo
+        mAutoPilotStatusListeners.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutoPilotStatusResponse(mAutopilotStatusInfo)
+        }
+    }
+
+    /**
+     * 自动驾驶网约车回调数据 回调
+     * @param adasOCHData 自动驾驶网约车回调数据
+     */
+    fun invokeArriveAtStationListener(adasOCHData: AdasOCHData) {
+        LogUtils.dTag(TAG, "$adasOCHData")
+        mAutoPilotStatusListeners.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutoPilotArriveAtStation(adasOCHData)
+        }
+    }
+
+    /**
+     * 自动驾驶状态回调
+     * @param state
+     * @param reason
+     */
+    fun invokeStateChangedListener(state: Int, reason: String) {
+        LogUtils.dTag(TAG, "$state $reason")
+        mAutoPilotStatusListeners.forEach {
+            val tag = it.key
+            val listener = it.value
+            LogUtils.dTag(TAG, "tag:$tag listener:$listener")
+            listener.onAutoPilotStateChanged(state, reason)
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuListenerManager.kt
index a62f84a7d2..7377fc4e2b 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuListenerManager.kt
@@ -24,7 +24,14 @@ object CallerObuListenerManager : CallerBase() {
     /**
      * 查询OBU状态
      */
-    fun getObuStatusInfo(): String {
+    fun getObuStatusInfo(): ObuStatusInfo {
+        return mObuStatusInfo
+    }
+
+    /**
+     * 查询OBU状态
+     */
+    fun getObuStatusInfoJsonString(): String {
         return GsonUtils.toJson(mObuStatusInfo)
     }
 
@@ -61,6 +68,14 @@ object CallerObuListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * 触发自动驾驶按钮选中监听
+     */
+    fun invokeListener() {
+        LogUtils.dTag(TAG, "isChecked:$mObuStatusInfo")
+        invokeListener(mObuStatusInfo)
+    }
+
     /**
      * 触发自动驾驶按钮选中监听
      * @param obuStatusInfo 选中状态
diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index 76cf2bad2d..295ba9c886 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -59,7 +59,9 @@ dependencies {
         api project(":foudations:mogo-commons")
         api project(':services:mogo-service-api')
         implementation project(':modules:mogo-module-common')
+
         implementation project(':core:mogo-core-data')
+        implementation project(':core:mogo-core-function-call')
     }
 }
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
index 78aae2545c..47e8cad380 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -1,10 +1,9 @@
 package com.mogo.module.adas;
 
 import com.google.gson.Gson;
-import com.mogo.module.adas.entity.WarnMessageModel;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.module.adas.model.AdasServiceModel;
-import com.mogo.module.adas.network.IAdasApiService;
-import com.mogo.module.common.MogoApisHandler;
 import com.mogo.utils.logger.Logger;
 import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
@@ -20,7 +19,6 @@ 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.common.MsgActionType;
 import com.zhidao.support.obu.ami.AmiClientManager;
 
 import java.util.ArrayList;
@@ -31,8 +29,6 @@ import io.reactivex.android.schedulers.AndroidSchedulers;
 import io.reactivex.disposables.Disposable;
 import io.reactivex.schedulers.Schedulers;
 
-import static com.mogo.module.adas.AdasConstant.getBaseUrl;
-
 /**
  * Created by XuYong on 2021/4/25 14:43
  */
@@ -187,6 +183,18 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         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());
+
+            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
+
             int state = autopilotStatusValues.getState();
             float speed = autopilotStatusValues.getSpeed();
             mCurrentAutopilotStatus = state;
@@ -252,6 +260,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onWebSocketConnectSuccess() {
         Logger.d(TAG, "webSocket 连接成功");
+        CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(true);
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
         for (IAdasStatusListener listener : iAdasStatusListeners) {
             listener.onServiceConnected();
         }
@@ -261,6 +271,8 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
     @Override
     public void onWebSocketConnectFailed() {
         Logger.d(TAG, "webSocket 连接失败");
+        CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().setConnectStatus(false);
+        CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
         for (IAdasStatusListener listener : iAdasStatusListeners) {
             listener.onServiceDisconnected();
         }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
index ab674557dd..dae986fcfe 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
@@ -1,16 +1,11 @@
 package com.mogo.module.adas;
 
-import com.mogo.module.adas.entity.WarnMessageModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
-import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
-import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarStateModel;
 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 {
 
diff --git a/modules/mogo-module-common/build.gradle b/modules/mogo-module-common/build.gradle
index f67848b1cf..762eb4ee0c 100644
--- a/modules/mogo-module-common/build.gradle
+++ b/modules/mogo-module-common/build.gradle
@@ -70,6 +70,7 @@ dependencies {
         api project(':services:mogo-service-api')
 
         implementation project(':core:mogo-core-data')
+        implementation project(':core:mogo-core-function-call')
     }
 
     annotationProcessor 'com.elegant.spi:compiler:1.0.3'
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
index 61229fbcb1..77fce93099 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/datacenter/SnapshotLocationDataCenter.java
@@ -2,6 +2,8 @@ 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.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.service.cloud.location.CloudLocationInfo;
 
@@ -87,11 +89,16 @@ public class SnapshotLocationDataCenter {
         double speed = data.optDouble("speed", -1);
         long satelliteTime = data.optLong("satelliteTime");
         long systemTime = data.optLong("systemTime");
-        int gpsProvider = data.optInt("gpsProvider",1);
+        int gpsProvider = data.optInt("gpsProvider", 1);
 
         // 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.setLocationLat(lat);
+            autopilotStatusInfo.setLocationLon(lon);
+            CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutoPilotStatusListener();
+
             DebugConfig.setStatusData(DebugConfig.sLon, lon);
             DebugConfig.setStatusData(DebugConfig.sLat, lat);
 
@@ -168,7 +175,7 @@ public class SnapshotLocationDataCenter {
         return mCurLat;
     }
 
-    public long getSatelliteTime(){
+    public long getSatelliteTime() {
         return mSatelliteTime;
     }
 }
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 70ec2efc43..9ec3a49000 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -396,6 +396,7 @@ public class MogoADASController implements IMogoADASController {
                 public void notifyAutopilotState(AutopilotStatus autopilotStatus) {
                     Logger.d(TAG, "notifyAutopilotState: " + GsonUtil.jsonFromObject(autopilotStatus));
                     DebugConfig.setAutoPilotStatus(autopilotStatus.getValues().getState() + "");
+
                     if (!mAdasOCHCallback.isEmpty()) {
                         for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
                             cb.onStateChanged(autopilotStatus.getValues().getState(), autopilotStatus.getValues().getReason());