Merge branch 'dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0' into 'dev_RoboBus_P_230220_1.0.1'

Dev robobus m1 p app module 1.0.0 230112 1.0.0

See merge request zhjt/AndroidApp/MoGoEagleEye!584

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -15,7 +15,6 @@ import androidx.annotation.Nullable;
 
 import com.amap.api.maps.model.LatLng;
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
@@ -35,6 +34,7 @@ import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.bus.passenger.R;

OCH/mogo-och-bus-passenger/src/jinlvvan/res/layout/bus_p_base_fragment.xml

@@ -47,15 +47,6 @@
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 
-    <!--刹车、转向-->
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
-        android:layout_width="wrap_content"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:day_light_mode="true"
-        android:layout_height="wrap_content"/>
-
     <!--pnc行为决策-->
     <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
         android:layout_width="wrap_content"

OCH/mogo-och-bus-passenger/src/m1/java/com/mogo/och/bus/passenger/model/BusPassengerModel.kt

@@ -5,7 +5,6 @@ import android.content.Context
 import android.net.ConnectivityManager
 import android.os.Handler
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
-import com.mogo.cloud.commons.utils.CoordinateUtils
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.intent.IMogoIntentListener
@@ -29,6 +28,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS_P
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.bus.passenger.R

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt

@@ -2,7 +2,6 @@ package com.mogo.och.bus.passenger.model
 
 import android.content.Context
 import android.os.Handler
-import com.mogo.cloud.commons.utils.CoordinateUtils
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -19,6 +18,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/video/PM2VideoFragment.kt

@@ -100,7 +100,7 @@ class PM2VideoFragment :
         arrayListOf.add(
             RotationItem(
                 "https://img.zhidaohulian.com/fileServer/online_car_hailing/1676360154589/7.jpg",
-                1,
+                0,
                 "",
                 "7"
             )

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/video/AdvanceGSYVideoPlayer.kt

@@ -59,12 +59,21 @@ class AdvanceGSYVideoPlayer: StandardGSYVideoPlayer {
         setViewShowState(mTopContainer, GONE)
 
         setViewShowState(mLoadingProgressBar, GONE)
-        setViewShowState(mThumbImageViewLayout, GONE)
-        setViewShowState(mThumbImageView, GONE)
         setViewShowState(
             mLockScreen, GONE
         )
 
         setIsTouchWiget(false)
+        isFocusableInTouchMode = false
+    }
+
+    fun setCacheImageViewVisible() {
+        setViewShowState(mThumbImageViewLayout, VISIBLE)
+        setViewShowState(mThumbImageView, VISIBLE)
+    }
+
+    fun setCacheImageViewGone() {
+        setViewShowState(mThumbImageViewLayout, GONE)
+        setViewShowState(mThumbImageView, GONE)
     }
 }

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/video/AdvancePagerAdapter.kt

@@ -6,7 +6,6 @@ import android.view.ViewGroup
 import androidx.viewpager.widget.PagerAdapter
 import androidx.viewpager.widget.ViewPager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.shuyu.gsyvideoplayer.listener.GSYSampleCallBack
 
 /**
@@ -47,12 +46,12 @@ class AdvancePagerAdapter(context: Context, viewPager: ViewPager) : PagerAdapter
 
         if (viewList.size > 0) {
             if (viewList[mViewPager.currentItem] is AdvanceVideoView) {//有人反应第一个是视频不播放这边优化了一下
-                Logger.d("onPageScrollStateChanged", "第一个是视频")
+                Logger.d(ImageAndVideoRotation.TAG, "第一个是视频")
                 val video = viewList[mViewPager.currentItem] as AdvanceVideoView
-                video.setVideo(gsySampleCallBack,mViewPager.currentItem)
+                video.setVideo(gsySampleCallBack)
 
             } else if (viewList[mViewPager.currentItem] is AdvanceImageView) {
-                Logger.d("onPageScrollStateChanged", "startTimer()_1")
+                Logger.d(ImageAndVideoRotation.TAG, "startTimer()_1")
                 current = 0//换页重新计算时间
                 startTimer()
             }
@@ -120,7 +119,7 @@ class AdvancePagerAdapter(context: Context, viewPager: ViewPager) : PagerAdapter
         // 由于viewpager的预加载机制onPageSelected这里面加载videoview 放的跟玩一样  等操作完成后再播放videoview就香了  很丝滑
         if (state == 0) { //静止，什么都没做
             val currentItem = mViewPager.currentItem
-            Logger.d("onPageScrollStateChanged",
+            Logger.d(ImageAndVideoRotation.TAG,
                 "state = $state currentItem = $currentItem lastPosition = $lastPosition")
 
             if (viewList.size > 1) { //多于1，才会循环跳转
@@ -128,11 +127,11 @@ class AdvancePagerAdapter(context: Context, viewPager: ViewPager) : PagerAdapter
                 if (viewList[mViewPager.currentItem] is AdvanceVideoView) {
 
                     val videoView = (viewList[mViewPager.currentItem] as AdvanceVideoView)
-                    videoView.setCacheImageView()
-                    videoView.setVideo(gsySampleCallBack,mViewPager.currentItem)
+                    videoView.setCacheImageViewVisible()
+                    videoView.setVideo(gsySampleCallBack)
 
                 } else if (viewList[mViewPager.currentItem] is AdvanceImageView) {
-                    Logger.d("onPageScrollStateChanged", "startTimer()")
+                    Logger.d(ImageAndVideoRotation.TAG, "startTimer()")
                     current = 0//换页重新计算时间
                     startTimer()
                 }
@@ -144,51 +143,55 @@ class AdvancePagerAdapter(context: Context, viewPager: ViewPager) : PagerAdapter
     private var gsySampleCallBack = object : GSYSampleCallBack() {
 
         override fun onPrepared(url: String?, vararg objects: Any?) {
-            Logger.d("onPageScrollStateChanged", "onPrepared")
-            val videoView = (viewList[mViewPager.currentItem] as AdvanceVideoView)
-            UiThreadHandler.postDelayed({
-                Logger.d("onPageScrollStateChanged", "cacheImg gone")
+            Logger.d(ImageAndVideoRotation.TAG, "onPrepared")
+            if (viewList[mViewPager.currentItem] is AdvanceVideoView){
+                val videoView = (viewList[mViewPager.currentItem] as AdvanceVideoView)
                 videoView.setCacheImageViewGone()
-            },1000)
+            }
         }
 
         override fun onAutoComplete(url: String?, vararg objects: Any?) {
-            Logger.d("onPageScrollStateChanged", "onAutoComplete()")
-            val videoView = (viewList[mViewPager.currentItem] as AdvanceVideoView)
-            videoView.onVideoReset()
-            videoView.setCacheImageView()
-            goNextItemView()
+            Logger.d(ImageAndVideoRotation.TAG, "onAutoComplete()")
+            if (viewList[mViewPager.currentItem] is AdvanceVideoView){
+                val videoView = (viewList[mViewPager.currentItem] as AdvanceVideoView)
+                videoView.onVideoReset()
+                videoView.setCacheImageViewVisible()
+                goNextItemView()
+            }
         }
 
         override fun onPlayError(url: String?, vararg objects: Any?) {
             super.onPlayError(url, *objects)
-            Logger.d("onPageScrollStateChanged", "onPlayError()")
-            val videoView = (viewList[mViewPager.currentItem] as AdvanceVideoView)
-            videoView.onVideoReset()
-            videoView.setCacheImageView()
-            goNextItemView()
+            Logger.d(ImageAndVideoRotation.TAG, "onPlayError()-${objects}")
+            if (viewList[mViewPager.currentItem] is AdvanceVideoView){
+                val videoView = (viewList[mViewPager.currentItem] as AdvanceVideoView)
+                videoView.onVideoReset()
+                videoView.setCacheImageViewVisible()
+                videoView.clearLocalErrorVideo()
+                goNextItemView()
+            }
         }
     }
 
     private fun startTimer() {
         if (null != thread && !thread?.isInterrupted!!) {
-            Logger.d("onPageScrollStateChanged", "thread.interrupt()")
+            Logger.d(ImageAndVideoRotation.TAG, "thread.interrupt()")
             thread?.interrupt()
             thread = null
         }
         thread = Thread {
             while (null != thread && !thread?.isInterrupted!!) {
                 try {
-                    Logger.d("onPageScrollStateChanged", "sleep")
+                    Logger.d(ImageAndVideoRotation.TAG, "sleep")
                     Thread.sleep(1000)
                     if (viewList[mViewPager.currentItem] is AdvanceImageView) {
-                        Logger.d("onPageScrollStateChanged", "增加1s")
+                        Logger.d(ImageAndVideoRotation.TAG, "增加1s")
                         current += 1000
                     }else{
                         break
                     }
                     if (current >= time) {
-                        Logger.d("onPageScrollStateChanged", "5s到，跳转")
+                        Logger.d(ImageAndVideoRotation.TAG, "5s到，跳转")
                         goNextItemView()
                         current = 0
                         break

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/video/AdvanceVideoView.kt

@@ -7,12 +7,18 @@ import android.widget.ImageView
 import android.widget.RelativeLayout
 import com.bumptech.glide.Glide
 import com.bumptech.glide.request.RequestOptions
+import com.mogo.eagle.core.utilcode.breakpoint.Config
+import com.mogo.eagle.core.utilcode.breakpoint.bean.ThreadBean
+import com.mogo.eagle.core.utilcode.breakpoint.callback.IDownload
+import com.mogo.eagle.core.utilcode.breakpoint.utils.DownloadUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.BitmapHelper
+import com.mogo.eagle.core.utilcode.util.FileUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.och.bus.passenger.R
 import com.shuyu.gsyvideoplayer.builder.GSYVideoOptionBuilder
 import com.shuyu.gsyvideoplayer.listener.GSYSampleCallBack
+import java.lang.Exception
 
 /**
  * @author: wangmingjun
@@ -26,7 +32,9 @@ class AdvanceVideoView @JvmOverloads constructor(
     private var cacheImage: ImageView? = null
     private var videoViewPlayer: AdvanceGSYVideoPlayer? = null
     private var gsyVideoOptionBuilder: GSYVideoOptionBuilder? = null
-    private var path: String? = null
+    private var mOnCompletionListener: GSYSampleCallBack? = null
+    private var downloadVideoName = ""
+    private var fileNetPath: String? = ""
 
     init {
         initView()
@@ -40,7 +48,6 @@ class AdvanceVideoView @JvmOverloads constructor(
     private fun initCacheImgView() {
         cacheImage = ImageView(context)
         cacheImage?.scaleType = ImageView.ScaleType.FIT_XY
-        addView(cacheImage, LayoutParams(-1, -1))
     }
 
     private fun initVideoView() {
@@ -63,14 +70,25 @@ class AdvanceVideoView @JvmOverloads constructor(
     }
 
     fun setVideoPath(path: String) {
-        this.path = path
-//        BitmapHelper.getVideoThumbnail(path) /*获取第一帧图*/
-        cacheImage?.visibility = VISIBLE
+        // https://img.zhidaohulian.com/fileServer/online_car_hailing/1676357834634/5.m4v
+        // https://img.zhidaohulian.com/fileServer/online_car_hailing/1676360274126/10.mp4
+        this.fileNetPath = path
+        val pathList = path.split("/")
+        if (pathList.isNotEmpty()){
+            this.downloadVideoName = pathList[pathList.size - 1]
+        }
+
+        loadCacheImg()
+    }
+
+    private fun loadCacheImg() {
+        //        BitmapHelper.getVideoThumbnail(path) /*获取第一帧图*/
+        setCacheImageViewVisible()
         Thread{
-            var bitmap =  BitmapHelper.getVideoThumbnail(path)
-            Logger.d("onPageScrollStateChanged", "setVideoPath")
+            var bitmap =  BitmapHelper.getVideoThumbnail(fileNetPath)
+            Logger.d(ImageAndVideoRotation.TAG, "setVideoPath")
             ThreadUtils.runOnUiThread {
-                Logger.d("onPageScrollStateChanged", "bitmap加载")
+                Logger.d(ImageAndVideoRotation.TAG, "bitmap加载")
                 cacheImage?.let {
                     Glide.with(context).load(bitmap)
                         .apply(
@@ -78,35 +96,67 @@ class AdvanceVideoView @JvmOverloads constructor(
                         )
                         .into(it)
                 }
+                videoViewPlayer?.thumbImageView = cacheImage
             }
         }.start()
     }
 
-    @SuppressLint("CheckResult")
-    fun setCacheImageView() {
-        cacheImage?.visibility = VISIBLE
+    fun clearLocalErrorVideo(){
+        if (downloadVideoName.isNotEmpty()
+            && FileUtils.isFileExists(Config.downLoadPath + downloadVideoName)){
+            FileUtils.delete(Config.downLoadPath + downloadVideoName)
+        }
     }
 
-    fun setVideo(onCompletionListener: GSYSampleCallBack,position: Int) {
-        Logger.d("onPageScrollStateChanged", "setVideoPlay")
-        gsyVideoOptionBuilder = GSYVideoOptionBuilder()
-        gsyVideoOptionBuilder?.setUrl(path)
-            ?.setPlayTag(path + position)
-            ?.setCacheWithPlay(false)
-            ?.setThumbPlay(false)
-            ?.build(videoViewPlayer)
+    @SuppressLint("CheckResult")
+    fun setCacheImageViewVisible() {
+        videoViewPlayer?.setCacheImageViewVisible()
+    }
 
-        videoViewPlayer?.isFocusableInTouchMode = false
-        videoViewPlayer?.setVideoAllCallBack(onCompletionListener)
-        videoViewPlayer?.startPlayLogic()
+    fun setCacheImageViewGone() {
+        videoViewPlayer?.setCacheImageViewGone()
+    }
+
+    fun setVideo(onCompletionListener: GSYSampleCallBack) {
+        Logger.d(ImageAndVideoRotation.TAG, "setVideo")
+        mOnCompletionListener = onCompletionListener
+        //判断是否已经下载
+        if (downloadVideoName.isNotEmpty()){
+            if (FileUtils.isFileExists(Config.downLoadPath + downloadVideoName)){
+                startPlay()
+                return
+            }
+            startDownLoadVideo()
+        }
+    }
+
+    private fun startDownLoadVideo(){
+        //下载视频， 下载成功后再播放
+        DownloadUtils.downLoad(context,fileNetPath, Config.downLoadPath
+            ,downloadVideoName,5,downListener)
+    }
+
+    private fun startPlay(){
+        try {
+            Logger.d(ImageAndVideoRotation.TAG, "startPlay")
+            gsyVideoOptionBuilder = GSYVideoOptionBuilder()
+            gsyVideoOptionBuilder?.setUrl("file:///mnt/sdcard/downloads/$downloadVideoName")
+                ?.setPlayTag(downloadVideoName)
+                ?.setCacheWithPlay(false)
+                ?.setThumbPlay(false)
+                ?.build(videoViewPlayer)
+
+            videoViewPlayer?.isFocusableInTouchMode = false
+            videoViewPlayer?.setVideoAllCallBack(mOnCompletionListener)
+            videoViewPlayer?.startPlayLogic()
+        }catch (e: Exception){
+            Logger.d(ImageAndVideoRotation.TAG, "startPlay e = ${e.message}")
+        }
     }
 
     fun onVideoReset(){
         videoViewPlayer?.onVideoReset()
-    }
-
-    fun setCacheImageViewGone() {
-        cacheImage?.visibility = INVISIBLE
+        mOnCompletionListener = null
     }
 
     fun setPause() {
@@ -120,4 +170,36 @@ class AdvanceVideoView @JvmOverloads constructor(
             videoViewPlayer?.startPlayLogic()
         }
     }
+
+    private val downListener = object : IDownload{
+        override fun onStart(url: String?) {
+            Logger.d(ImageAndVideoRotation.TAG, "download-onStart")
+        }
+
+        override fun onPause(url: String?, threadBean: ThreadBean?) {
+            Logger.d(ImageAndVideoRotation.TAG, "download-onPause")
+        }
+
+        override fun onProgress(url: String?, length: Int) {
+            Logger.d(ImageAndVideoRotation.TAG, "download-onProgress")
+        }
+
+        override fun onFinished(url: String?, threadBean: ThreadBean?) {
+            Logger.d(ImageAndVideoRotation.TAG, "download-onFinished")
+            //下载完成
+            ThreadUtils.runOnUiThread {
+                startPlay()
+            }
+        }
+
+        override fun onError(url: String?, errorMsg: String?) {
+            Logger.d(ImageAndVideoRotation.TAG, "download-onError-$errorMsg")
+            //出错再次下载
+            if (errorMsg != null) {
+                if (errorMsg.startsWith("initFailed")){
+                    startDownLoadVideo()
+                }
+            }
+        }
+    }
 }

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/video/AdvanceViewPager.kt

@@ -0,0 +1,24 @@
+package com.mogo.och.bus.passenger.ui.widget.video
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.MotionEvent
+import androidx.viewpager.widget.ViewPager
+
+/**
+ * @author: wangmingjun
+ * @date: 2023/2/21
+ */
+class AdvanceViewPager: ViewPager{
+
+    constructor(context: Context) : super(context)
+    constructor(context: Context,attrs: AttributeSet?) : super(context,attrs)
+
+    override fun onTouchEvent(ev: MotionEvent?): Boolean {
+        return false
+    }
+
+    override fun onInterceptTouchEvent(ev: MotionEvent?): Boolean {
+        return false
+    }
+}

OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/widget/video/ImageAndVideoRotation.kt

@@ -1,5 +1,6 @@
 package com.mogo.och.bus.passenger.ui.widget.video
 
+import android.annotation.SuppressLint
 import android.content.Context
 import android.util.AttributeSet
 import android.widget.RelativeLayout
@@ -12,15 +13,20 @@ class ImageAndVideoRotation @JvmOverloads constructor(
     context: Context, attrs: AttributeSet? = null
 ) : RelativeLayout(context, attrs) {
 
-    private var viewPager: ViewPager? = null
+    private var viewPager: AdvanceViewPager? = null
     private var pagerAdapter: AdvancePagerAdapter? = null
 
+    companion object {
+        const val TAG = "ImageAndVideoRotation"
+    }
+
     init {
         initView()
     }
 
+    @SuppressLint("ClickableViewAccessibility")
     private fun initView() {
-        viewPager = ViewPager(context)
+        viewPager = AdvanceViewPager(context)
         pagerAdapter = AdvancePagerAdapter(context, viewPager!!)
         viewPager?.adapter = pagerAdapter
 

OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java

@@ -16,7 +16,6 @@ import com.alibaba.android.arouter.launcher.ARouter;
 import com.amap.api.maps.model.LatLng;
 import com.elegant.network.utils.GsonUtil;
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.IMogoStatusChangedListener;
 import com.mogo.commons.module.status.MogoStatusManager;
@@ -33,6 +32,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;

OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml

@@ -50,14 +50,6 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
-    <!--刹车、转向-->
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
     <!--Vip车辆标志-->
     <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
         android:layout_width="@dimen/module_vip_width"

OCH/mogo-och-bus/src/shuttle/java/com/mogo/och/bus/model/OrderModel.java

@@ -16,7 +16,7 @@ import com.alibaba.android.arouter.launcher.ARouter;
 import com.amap.api.maps.model.LatLng;
 import com.elegant.network.utils.GsonUtil;
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.IMogoStatusChangedListener;
 import com.mogo.commons.module.status.MogoStatusManager;

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java

@@ -10,7 +10,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListene
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
-import com.zhidao.support.adas.high.bean.AutopilotStatistics;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
 /**
  * Created on 2022/10/9

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java

@@ -5,9 +5,9 @@ import android.location.Location;
 
 import com.amap.api.maps.CoordinateConverter;
 import com.amap.api.maps.model.LatLng;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 
 import java.util.ArrayList;
 import java.util.HashMap;

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java

@@ -10,7 +10,6 @@ import androidx.annotation.Nullable;
 
 import com.amap.api.maps.model.LatLng;
 import com.elegant.network.utils.GsonUtil;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.IMogoStatusChangedListener;
 import com.mogo.commons.module.status.MogoStatusManager;
@@ -28,6 +27,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84Lis
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;

OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml

@@ -37,14 +37,6 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
-    <!--刹车、转向-->
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
     <!--Vip车辆标志-->
     <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
         android:layout_width="@dimen/module_vip_width"

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerGeocodeSearchModel.java

@@ -55,10 +55,10 @@ public class TaxiPassengerGeocodeSearchModel implements GeocodeSearch.OnGeocodeS
         //通过经纬度逆地理编码得到位置
         try {
             mGeocodeSearch = new GeocodeSearch(mContext);
+            mGeocodeSearch.setOnGeocodeSearchListener(this);
         } catch (AMapException e) {
             e.printStackTrace();
         }
-        mGeocodeSearch.setOnGeocodeSearchListener(this);
         timer = new Timer();
         timerTask = new TimerTask() {
             @Override

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -14,7 +14,6 @@ import com.amap.api.maps.model.LatLng;
 import com.amap.api.navi.model.NaviLatLng;
 import com.elegant.network.utils.GsonUtil;
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
@@ -41,6 +40,7 @@ import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManag
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;

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

@@ -45,15 +45,6 @@
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
 
-    <!--刹车、转向-->
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
-        android:layout_width="wrap_content"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:day_light_mode="true"
-        android:layout_height="wrap_content"/>
-
     <!--pnc行为决策-->
     <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
         android:layout_width="wrap_content"

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java

@@ -16,7 +16,6 @@ import com.alibaba.android.arouter.launcher.ARouter;
 import com.amap.api.maps.model.LatLng;
 import com.elegant.network.utils.GsonUtil;
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
 import com.mogo.commons.module.status.IMogoStatusChangedListener;
@@ -36,6 +35,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;

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

@@ -107,14 +107,6 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
-    <!--刹车、转向-->
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
     <!--Vip车辆标志-->
     <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
         android:layout_width="@dimen/module_vip_width"

README.md

@@ -14,7 +14,6 @@ repositories {
 mogo-och 使用到的依赖
 implementation "com.mogo.commons:mogo-utils:2.0.63"
 implementation "com.mogo.commons:mogo-commons:2.0.63"
-implementation "com.mogo.module:module-common:2.0.63"
 
 implementation "com.mogo.eagle.core:data:0.0.6"
 implementation "com.mogo.eagle.core.function:call:0.0.6"

app/build.gradle

@@ -325,7 +325,6 @@ dependencies {
         implementation rootProject.ext.dependencies.mogocommons
         implementation rootProject.ext.dependencies.mogo_core_utils
         implementation rootProject.ext.dependencies.mogo_core_function_map
-        implementation rootProject.ext.dependencies.mogo_core_function_v2x
         implementation rootProject.ext.dependencies.mogo_core_function_datacenter
         implementation rootProject.ext.dependencies.mogo_core_function_devatools
         implementation rootProject.ext.dependencies.mogo_core_function_chat

app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt

@@ -104,7 +104,7 @@ object ConfigStartUp {
         }
 
         val mapParams = MapParams.init()
-        mapParams.setDebugMode(false) //todo 1-使用本地地图数据，0-使用在线地图数据
+        mapParams.setDebugMode(false) // 1-使用本地地图数据，0-使用在线地图数据
             //.setDataFileSource(1)
             .setDebugMode(false)
             .setCoordinateType(MapParams.COORDINATETYPE_GCJ02)

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -100,7 +100,7 @@ import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnMultiDeviceListener;
-import com.zhidao.support.adas.high.bean.AutopilotStatistics;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;

app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java

@@ -45,7 +45,7 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.bean.AutopilotStatistics;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
 import com.zhidao.support.adas.high.common.CupidLogUtils;

config.gradle

@@ -125,10 +125,6 @@ ext {
             mogocustommap                : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}",
             mogocustommapoperational     : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}",
 
-            modulemap                    : "com.mogo.module:module-map:${MOGO_MODULE_MAP_VERSION}",
-
-            // V2X
-            moduleV2x                    : "com.mogo.module:module-v2x:${MOGO_MODULE_V2X_VERSION}",
             // 基础服务实现
             mogowebsocket                : "com.mogo.module.carchatting:module-carchatt-socket:${WEBSOCKET_VERSION}",
             mogologlib                   : "com.mogo.module:module-loglib:${LOGLIB_VERSION}",
@@ -169,8 +165,6 @@ ext {
             mogo_core_function_devatools : "com.mogo.eagle.core.function.impl:devatools:${MOGO_CORE_FUNCTION_DEVATOOLS_VERSION}",
             mogo_core_function_hmi       : "com.mogo.eagle.core.function.impl:hmi:${MOGO_CORE_FUNCTION_HMI_VERSION}",
             mogo_core_function_map       : "com.mogo.eagle.core.function.impl:map:${MOGO_CORE_FUNCTION_MAP_VERSION}",
-            mogo_core_function_obu_mogo  : "com.mogo.eagle.core.function.impl:obu-mogo:${MOGO_CORE_FUNCTION_OBU_MOGO_VERSION}",
-            mogo_core_function_v2x       : "com.mogo.eagle.core.function.impl:v2x:${MOGO_CORE_FUNCTION_V2X_VERSION}",
             mogo_core_function_api       : "com.mogo.eagle.core.function:api:${MOGO_CORE_FUNCTION_API_VERSION}",
             mogo_core_function_call      : "com.mogo.eagle.core.function:call:${MOGO_CORE_FUNCTION_CALL_VERSION}",
             mogo_core_data               : "com.mogo.eagle.core:data:${MOGO_CORE_DATA_VERSION}",

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt

@@ -5,7 +5,6 @@ import android.os.Handler
 import android.os.Message
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
-import com.mogo.cloud.commons.utils.CoordinateUtils
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo
 import com.mogo.eagle.core.data.dispatch.DispatchAdasAutoPilotLocReceiverBean
@@ -21,6 +20,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_RESULT_AFFIRM
 import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_RESULT_MANUAL_CANCEL
 import com.mogo.eagle.function.biz.dispatch.network.DispatchServiceModel.Companion.DISPATCH_RESULT_TIMER_CANCEL

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/notice/network/NoticeNetWorkManager.java

@@ -2,7 +2,6 @@ package com.mogo.eagle.function.biz.notice.network;
 
 import android.util.ArrayMap;
 
-import com.mogo.cloud.network.NetConstants;
 import com.mogo.cloud.network.RetrofitFactory;
 import com.mogo.cloud.passport.MoGoAiCloudClient;
 import com.mogo.commons.constants.HostConst;

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/obu/V2xObuEventManager.kt

@@ -13,7 +13,6 @@ import com.mogo.eagle.core.function.call.obu.CallerObuSaveMessageListenerManager
  * 处理obu分发出来，在消息盒子展示的消息
  */
 object V2xObuEventManager : IMoGoObuSaveMessageListener {
-
     private const val TAG = "V2xObuEventManager"
 
     fun init(context: Context) {
@@ -33,7 +32,7 @@ object V2xObuEventManager : IMoGoObuSaveMessageListener {
      * @param content 事件内容
      * @param tts 事件语音播报
      */
-    override fun onMoGoObuSaveMessage(type: String, content: String, tts: String) {
+    override fun onMoGoObuSaveMessage(type: String, content: String, tts: String, source: DataSourceType) {
         CallerMsgBoxManager.saveMsgBox(
             MsgBoxBean(
                 MsgBoxType.V2X,
@@ -43,7 +42,7 @@ object V2xObuEventManager : IMoGoObuSaveMessageListener {
                     tts
                 )
             ).apply {
-                sourceType = DataSourceType.OBU
+                sourceType = source
             }
         )
     }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/consts/V2XConst.java

@@ -20,6 +20,6 @@ public class V2XConst {
     /**
      * V2X预警日志tag
      */
-    public static final String LOG_NAME_WARN = "liyz";
+    public static final String LOG_NAME_WARN = "PersonWarn";
 
 }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/manager/impl/MoGoV2XMarkerManager.java

@@ -6,7 +6,6 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X
 import android.content.Context;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
@@ -22,6 +21,7 @@ import com.mogo.eagle.function.biz.v2x.v2n.marker.V2XMarkerAdapter;
 import com.mogo.eagle.function.biz.v2x.v2n.utils.MapUtils;
 import com.mogo.eagle.core.data.v2x.V2XMarkerCardResult;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerClickListener;
 import com.mogo.map.marker.MogoMarkerOptions;

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/remove/MarkerRemoveManager.kt

@@ -3,10 +3,10 @@ package com.mogo.eagle.function.biz.v2x.v2n.remove
 import android.os.Handler
 import android.os.HandlerThread
 import android.util.Log
-import com.mogo.cloud.commons.utils.CoordinateUtils
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.map.marker.IMogoMarker
 import com.mogo.map.overlay.IMogoPolyline

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt

@@ -6,7 +6,6 @@ import android.os.Handler
 import android.os.Looper
 import android.view.animation.DecelerateInterpolator
 import androidx.core.util.Pair
-import com.mogo.cloud.commons.utils.*
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
 import com.mogo.eagle.core.function.call.autopilot.*
@@ -22,6 +21,7 @@ import java.util.concurrent.atomic.AtomicReference
 import java.util.concurrent.ConcurrentHashMap
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 
 /**
  * Ai云道路施工事件，道路颜色标记类

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/warning/V2XWarningMarker.java

@@ -4,7 +4,6 @@ import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_STO
 import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
 
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.utils.Trigonometric;
@@ -22,6 +21,7 @@ import com.mogo.eagle.core.data.v2x.V2XLocation;
 import com.mogo.eagle.core.data.v2x.V2XWarningTarget;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.overlay.IMogoPolyline;

core/function-impl/mogo-core-function-datacenter/build.gradle

@@ -55,7 +55,6 @@ dependencies {
     implementation rootProject.ext.dependencies.androidxroomktx
 
     implementation rootProject.ext.dependencies.mogoaicloudtelematic
-    implementation rootProject.ext.dependencies.amapnavi3dmap
     implementation project(':libraries:mogo-obu')
     implementation project(':libraries:mogo-adas')
 

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.datacenter.autopilot
 
 import android.Manifest.permission
 import android.content.Context
-import android.util.Log
 import androidx.annotation.RequiresPermission
 import chassis.SpecialVehicleTaskCmdOuterClass
 import com.alibaba.android.arouter.facade.annotation.Route
@@ -737,4 +736,37 @@ class MoGoAutopilotControlProvider :
                 MessageType.TYPE_RECEIVE_POINT_CLOUD)
         }
     }
+
+    override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1AirConditionerCmd(
+        switchCmd: Int,
+        modeCmd: Int,
+        windSpeedCmd: Int,
+        temperatureCmd: Int
+    ): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd)
+    }
+
+    override fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1HeaderCmd(switchCmd, windSpeedCmd)
+    }
+
+    override fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1MainLamp1Cmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1MainLamp2Cmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1SmallLampCmd(switchCmd)
+    }
+
+    override fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean {
+        return AdasManager.getInstance().sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd)
+    }
 }

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

@@ -59,7 +59,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
-import com.zhidao.support.adas.high.bean.AutopilotStatistics
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
@@ -173,7 +173,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
             //方向盘转向角数据
             CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
-            //挂挡档位数据
+            //挂档档位数据
             CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
             //加速度
             CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
@@ -237,7 +237,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
             }
             chassisStates.gearSystemStates?.let { gearSystemStates ->
                 gearSystemStates.gearPosition?.let {
-                    //挂挡档位数据
+                    //挂档档位数据
                     CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
                 }
             }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt

@@ -1,26 +1,21 @@
 package com.mogo.eagle.core.function.datacenter.location
 
-import com.amap.api.location.AMapLocation
-import com.amap.api.location.AMapLocationClient
-import com.amap.api.location.AMapLocationClientOption
-import com.amap.api.location.AMapLocationListener
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssListener
+import com.mogo.eagle.core.function.api.map.listener.IGaoDeMapLocationListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuLocationWGS84Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.map.CallerGaoDeMapLocationListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
-import com.mogo.eagle.core.utilcode.util.CoordinateTransform
 import com.mogo.eagle.core.utilcode.util.MultiDisplayUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
-import com.mogo.eagle.core.utilcode.util.Utils
-import com.mogo.support.obu.model.MogoObuHvBasicsData
 import mogo.telematics.pad.MessagePad
 
 /**
@@ -31,12 +26,11 @@ import mogo.telematics.pad.MessagePad
 object MoGoLocationDispatcher :
     IMoGoChassisGnssListener,
     IMoGoObuLocationWGS84Listener,
-    AMapLocationListener {
+    IGaoDeMapLocationListener {
 
     private const val TAG = "MoGoLocationManager"
 
     private var mCityCode: String? = null
-    private var mapLocation: AMapLocation? = null
 
     /**
      * 最后一次工控机GNSS返回更新的位置
@@ -54,33 +48,10 @@ object MoGoLocationDispatcher :
     private var lastGaoDeLocation: MogoLocation = MogoLocation()
 
     fun initListener() {
-        // 高德SDK隐私政策
-        AMapLocationClient.updatePrivacyShow(Utils.getApp(), true, true)
-        AMapLocationClient.updatePrivacyAgree(Utils.getApp(), true)
-
-        try {
-            val mLocationClient = AMapLocationClient(Utils.getApp())
-
-            //初始化定位参数
-            //声明mLocationOption对象
-            val mLocationOption = AMapLocationClientOption()
-            //设置定位监听
-            mLocationClient.setLocationListener(this)
-            //设置定位模式为高精度模式，Battery_Saving为低功耗模式，Device_Sensors是仅设备模式
-            mLocationOption.locationMode = AMapLocationClientOption.AMapLocationMode.Hight_Accuracy
-            //设置定位间隔,单位毫秒,默认为2000ms
-            mLocationOption.interval = 1000
-            //设置定位参数
-            mLocationClient.setLocationOption(mLocationOption)
-            // 启动定位监听
-            mLocationClient.startLocation()
-        } catch (e: Exception) {
-            e.printStackTrace()
-        }
-
         // 初始化监听订阅工控机位置信息
         CallerChassisGnssListenerManager.addListener(TAG, this)
         CallerObuLocationWGS84ListenerManager.addListener(TAG, this)
+        CallerGaoDeMapLocationListenerManager.addListener(TAG, this)
     }
 
     override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
@@ -88,13 +59,13 @@ object MoGoLocationDispatcher :
         lastGnssLocation.gnssInfo = gnssInfo
         lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
         // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
-        mapLocation?.let {
+        lastGaoDeLocation.let {
             //agps 高德
             //agps_rtk 高德-高精
             lastGnssLocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
             lastGnssLocation.satellite = 4
 
-            lastGnssLocation.cityName = it.city
+            lastGnssLocation.cityName = it.cityName
             lastGnssLocation.cityCode = it.cityCode
             lastGnssLocation.provider = it.provider
             lastGnssLocation.address = it.address
@@ -128,79 +99,42 @@ object MoGoLocationDispatcher :
         MultiDisplayUtils.getOtherDisplay()
     }
 
+
     /**
      * 高德地图位置改变回调
-     * @param aMapLocation 位置信息
+     * @param mogoLocation 位置信息
      */
-    override fun onLocationChanged(aMapLocation: AMapLocation) {
-        mapLocation = aMapLocation
-        // 更新GNSS 信息
-        lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()
-
-        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
-        mapLocation?.let {
-            // 转换 GCJ02-->WGS84 坐标
-            val wgs84Location =
-                CoordinateTransform.GCJ02ToWGS84(it.longitude, it.latitude)
-
-            lastGaoDeLocation.longitude = wgs84Location[0]
-            lastGaoDeLocation.latitude = wgs84Location[1]
-            lastGaoDeLocation.heading = it.bearing.toDouble()
-            lastGaoDeLocation.gnssSpeed = it.speed
-            lastGaoDeLocation.altitude = it.altitude
-            lastGaoDeLocation.satelliteTime = it.time
-            lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()
-
-            lastGaoDeLocation.locType = 1 // 定位类型为高德坐标(网路或者硬件定位)
-            lastGaoDeLocation.satellite = 4
-
-            lastGaoDeLocation.cityName = it.city
-            lastGaoDeLocation.cityCode = it.cityCode
-            lastGaoDeLocation.provider = it.provider
-            lastGaoDeLocation.address = it.address
-            lastGaoDeLocation.district = it.district
-            lastGaoDeLocation.province = it.province
-            lastGaoDeLocation.adCode = it.adCode
-            lastGaoDeLocation.locationDetail = it.locationDetail
-            lastGaoDeLocation.poiName = it.poiName
-            lastGaoDeLocation.aoiName = it.aoiName
-            lastGaoDeLocation.street = it.street
-            lastGaoDeLocation.streetNum = it.streetNum
-            lastGaoDeLocation.description = it.description
-            lastGaoDeLocation.buildingId = it.buildingId
-            lastGaoDeLocation.floor = it.floor
-            lastGaoDeLocation.errorCode = it.errorCode
-            lastGaoDeLocation.errorInfo = it.errorInfo
-        }
+    override fun onMoGoLocationChanged(mogoLocation: MogoLocation) {
+        // 更新GaoDe 信息
+        lastGaoDeLocation = mogoLocation
 
         // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换
         if (1 == FunctionBuildConfig.gpsProvider) {
-            if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 30000) {
+            if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 10000) {
                 syncGaoDeLocation()
             }
         } else if (2 == FunctionBuildConfig.gpsProvider) {
-            if (TimeUtils.getNowMills() - lastOBULocation.lastReceiveTime > 30000) {
+            if (TimeUtils.getNowMills() - lastOBULocation.lastReceiveTime > 10000) {
                 syncGaoDeLocation()
             }
         }
 
-
         // 本地SP缓存城市Code
-        val cityCode = aMapLocation.cityCode
+        val cityCode = mogoLocation.cityCode
         if (cityCode != null && cityCode.isNotEmpty()) {
-            mCityCode = aMapLocation.cityCode
+            mCityCode = mogoLocation.cityCode
             SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
                 .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
 
             SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
                 .putString(
                     SharedPrefsConstants.LOCATION_LATITUDE,
-                    aMapLocation.latitude.toString()
+                    mogoLocation.latitude.toString()
                 )
             SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
                 .putString(
                     SharedPrefsConstants.LOCATION_LONGITUDE,
-                    aMapLocation.longitude.toString()
+                    mogoLocation.longitude.toString()
                 )
         }
 
@@ -236,13 +170,13 @@ object MoGoLocationDispatcher :
         lastOBULocation.lastReceiveTime = TimeUtils.getNowMills()
 
         // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
-        mapLocation?.let {
+        lastGaoDeLocation.let {
             //agps 高德
             //agps_rtk 高德-高精
             lastOBULocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
             lastOBULocation.satellite = 4
 
-            lastOBULocation.cityName = it.city
+            lastOBULocation.cityName = it.cityName
             lastOBULocation.cityCode = it.cityCode
             lastOBULocation.provider = it.provider
             lastOBULocation.address = it.address
@@ -274,4 +208,5 @@ object MoGoLocationDispatcher :
             )
         }
     }
+
 }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt

@@ -2,16 +2,13 @@ package com.mogo.eagle.core.function.datacenter.obu
 
 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.obu.IMoGoObuProvider
-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_OBU
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.CommonUtils
-import com.mogo.support.obu.MogoObuManager
 
 /**
  * @author xiaoyuzhou

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt

@@ -6,29 +6,22 @@ import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
-import com.mogo.eagle.core.data.msgbox.MsgBoxBean
-import com.mogo.eagle.core.data.msgbox.MsgBoxType
-import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningMapListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsiListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsmListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningSpatListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
-import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
+import com.mogo.eagle.core.function.call.obu.*
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
 import com.mogo.support.obu.ObuScene
 import com.mogo.support.obu.constants.MogoObuConstants
 import kotlin.math.roundToInt
 
-
 /**
  *
  * @author lixiaopeng
@@ -78,7 +71,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
         onMogoObuMapMath(mapMatchData)
     }
 
-
     /**
      * RSI预警信息 CvxRtiThreatIndInfo（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
      */
@@ -140,9 +132,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                 //车内标牌
                 MogoObuConstants.RSI_SCENE_TYPE.IVS.toString() -> {
                     when (rsiWarningData.warningMsgList[0].signSerialNum) {
-//                            MogoObuConstants.RTS.RTI_TYPE_INTERSECTION -> { //十字路口
-//                                appId = V2iEventTypeEnum.TYPE_ID_NTERSECTION.poiType
-//                            }
                         MogoObuConstants.RTS.RTI_TYPE_SHAPR_TURNS -> { //急转弯
                             appId = EventTypeEnumNew.TYPE_ID_SHAPR_TURNS.poiType
                         }
@@ -191,10 +180,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                         MogoObuConstants.RTS.RTI_TYPE_SPEED_LIMIT -> { //限速
                             appId = EventTypeEnumNew.TYPE_USECASE_ID_ROAD_SPEED_LIMIT.poiType
                         }
-//                            MogoObuConstants.RTS.RTI_TYPE_GO_STRAIGHT_TURN_RIGHT -> { //直行或右转
-//                                appId =
-//                                    EventTypeEnumNew.TYPE_USECASE_ID_GO_STRAIGHT_TURN_RIGHT.poiType
-//                            }
                         MogoObuConstants.RTS.RTI_TYPE_BUS_WARNING -> { //公交提醒
                             appId = EventTypeEnumNew.TYPE_USECASE_ID_BUS_WARNING.poiType
                         }
@@ -258,11 +243,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                 MogoObuConstants.STATUS.ADD -> {
                     saveObuToDcData(appId, alertContent, ttsContent)
                     showWarning(appId, alertContent, ttsContent, direction)
-                    // 更新数据，是否需要
-//                    TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)?.let {
-//                        CallerMapUIServiceManager.getMarkerService()
-//                            ?.updateITrafficThreatLevelInfo(it)
-//                    }
                 }
 
                 MogoObuConstants.STATUS.UPDATE -> { // 更新
@@ -272,14 +252,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                 MogoObuConstants.STATUS.DELETE -> {
                     // 关闭警告红边
                     CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_NON)
-                    // 更新数据，删除标牌？
-//                    TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)
-//                        ?.let {
-//                            // 事件结束，还原车辆颜色
-//                            it.threatLevel = 0x01
-//                            CallerMapUIServiceManager.getMarkerService()
-//                                ?.updateITrafficInfo(it)
-//                        }
                 }
             }
         }
@@ -296,25 +268,55 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             )
             // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
             if (rsmWarningData != null && rsmWarningData.participant != null) {
-                var v2xType = ""
-                if (rsmWarningData.participant.ptcType == 1) { //机动车
-                    v2xType =
+                var v2xType = when (rsmWarningData.participant.ptcType) {
+                    1 -> { //机动车
                         EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
-                } else if (rsmWarningData.participant.ptcType == 2) { //非机动车
-                    v2xType =
+                    }
+                    2 -> { //非机动车
                         EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
-                } else if (rsmWarningData.participant.ptcType == 3) { //行人
-                    v2xType =
+                    }
+                    3 -> { //行人
                         EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
-                } else { //未知
-                    v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
+                    }
+                    else -> { //未知
+                        EventTypeEnumNew.TYPE_ERROR.poiType
+                    }
                 }
                 val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
                 val alertContent =
                     EventTypeEnumNew.getWarningContent(v2xType)
                 var level = -1
-                val direction =
-                    getMessageDirection(rsmWarningData.participant.targetPosition) //TODO 只有一个
+                val direction = getMessageDirection(rsmWarningData.participant.targetPosition)
+                //模型的显示
+                when (rsmWarningData.status) {
+                    MogoObuConstants.STATUS.ADD -> { // 添加
+                        // 更新数据，模型变色的时候是不是update,如果不是更新，可能导致模型不变色，（add的时候，是否有level高的） TODO
+                        TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
+                            ?.let {
+                                CallerMapUIServiceManager.getMarkerService()
+                                    ?.updateITrafficThreatLevelInfo(it)
+                            }
+                    }
+
+                    MogoObuConstants.STATUS.UPDATE -> { // 更新
+                    }
+
+                    MogoObuConstants.STATUS.DELETE -> { // 删除
+                        // 更新数据 TODO 删除原来的，改变颜色，删除marker。不影响别的模型添加
+                        TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
+                            ?.let {
+                                // 事件结束，还原交通参与者颜色
+                                it.threatLevel = 0x01
+                                CallerMapUIServiceManager.getMarkerService()
+                                    ?.updateITrafficThreatLevelInfo(it)
+                            }
+
+                        //删除弱势交通元素
+                        CallerMapUIServiceManager.getMarkerService()
+                            ?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
+                    }
+                }
+
                 if (rsmWarningData.warningMsg != null && rsmWarningData.warningMsg.warningDataList != null && rsmWarningData.warningMsg.warningDataList.size > 0) {
                     level = rsmWarningData.warningMsg.warningDataList[0].warningLevel
                     CallerLogger.d(
@@ -323,45 +325,36 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                             rsmWarningData.warningMsg.warningDataList[0].status
                         } --v2xType--- $v2xType ---alertContent = $alertContent ---ttsContent= $ttsContent"
                     )
-
                     when (rsmWarningData.warningMsg.warningDataList[0].status) {
                         MogoObuConstants.STATUS.ADD -> { // 添加
+                            //更新模型的颜色
+                            TrafficDataConvertUtilsNew.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)
+                                ?.let {
+                                    CallerMapUIServiceManager.getMarkerService()
+                                        ?.updateITrafficThreatLevelInfo(it)
+                                }
+
+                            if (alertContent.isEmpty() || ttsContent.isEmpty()) {
+                                return
+                            }
                             saveObuToDcData(v2xType, alertContent, ttsContent)
                             showWarning(v2xType, alertContent, ttsContent, direction)
-
-                            // 更新数据 TODO
-//                            TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
-////                                    TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
-//                                CallerMapUIServiceManager.getMarkerService()
-//                                    ?.updateITrafficThreatLevelInfo(it)
-//                                }
                         }
 
                         MogoObuConstants.STATUS.UPDATE -> {// 更新
                         }
 
-                        // 删除
-                        MogoObuConstants.STATUS.DELETE -> {
+                        MogoObuConstants.STATUS.DELETE -> { // 删除
                             // 关闭警告红边
                             CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
-                            // 更新数据 TODO 由于obu通过域控需要转换单位，这里临时转换，后面3.0不需要转换
-//                            TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
-//                                    // 事件结束，还原交通参与者颜色
-//                                    it.threatLevel = 0x01
-////                                TrafficMarkerDrawer.updateITrafficThreatLevelInfo(it)
-//                                CallerMapUIServiceManager.getMarkerService()
-//                                    ?.updateITrafficThreatLevelInfo(it)
-//                                }
                             //删除弱势交通元素
                             CallerMapUIServiceManager.getMarkerService()
                                 ?.removeCvxRvInfoIndInfo(rsmWarningData.participant.ptcId.toString())
-//                            TrafficMarkerDrawer.removeCvxRvInfoIndInfo(rsmWarningData.participantOfOne.ptcID.toString())
                         }
                     }
                 }
             }
         }
-
     }
 
     /**
@@ -383,10 +376,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
      * 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
      */
     fun onMogoObuMapMath(data: ObuScene.MapMatchData?) {
-        CallerLogger.d(
-            "${M_OBU}${TAG}",
-            "MogoObuDcCombineManager  onMogoObuMapMath HmiBuildConfig.isShowObuLimitSpeedView = " + HmiBuildConfig.isShowObuLimitSpeedView
-        )
         if (HmiBuildConfig.isShowObuLimitSpeedView) {
             if (data != null) {
                 CallerLogger.d(
@@ -398,7 +387,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                     } --- data.speedMaxLimit = ${data.speedMaxLimit}"
                 )
                 when (data.status) {
-                    MogoObuConstants.STATUS.ADD -> { // 添加 TODO
+                    MogoObuConstants.STATUS.ADD -> { // 添加
                         CallerLimitingVelocityListenerManager.invokeUnion(
                             (data.speedMaxLimit * 0.02 * 3.6).roundToInt().toInt(),
                             DataSourceType.OBU
@@ -469,6 +458,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             MogoObuConstants.STATUS.DELETE -> {
                 // 移除顶部弹窗，当收不到信号的时候触发一次
                 CallerTrafficLightListenerManager.disableTrafficLight()
+                CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
                 isShowGreenWave = false
                 isShowRunRedLight = false
             }
@@ -598,18 +588,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
      * 保存obu通过工控机传输的数据到消息盒子
      */
     private fun saveObuToDcData(type: String, content: String, tts: String) {
-        CallerMsgBoxManager.saveMsgBox(
-            MsgBoxBean(
-                MsgBoxType.V2X,
-                V2XMsg(
-                    type,
-                    content,
-                    tts
-                )
-            ).apply {
-                sourceType = DataSourceType.TELEMATIC
-            }
-        )
+        CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts, DataSourceType.TELEMATIC)
     }
 
     /**

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt

@@ -4,18 +4,13 @@ import android.content.Context
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.enums.*
-import com.mogo.eagle.core.data.msgbox.MsgBoxBean
-import com.mogo.eagle.core.data.msgbox.MsgBoxType
-import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.api.map.angle.Default
 import com.mogo.eagle.core.function.api.map.angle.TooClose
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
-import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuSaveMessageListenerManager
@@ -107,7 +102,7 @@ class MogoPrivateObuNewManager private constructor() {
 
     fun setObuLog(isChecked: Boolean) {
         ObuManager.getInstance().setEnableLog(isChecked)
-        val builder: com.mogo.support.obu.option.MogoObuLog.Builder =
+        val builder: MogoObuLog.Builder =
             MogoObuLog.newBuilder().setEnableStdio(isChecked)
         if (isChecked) {
             builder.setStdioLevel(MogoObuLogLevel.DBG)
@@ -437,27 +432,24 @@ class MogoPrivateObuNewManager private constructor() {
                 if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
                     // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
                     if (data != null && data.participant != null) {
-                        var v2xType = ""
-                        if (data.participant.ptcType == 1) { //机动车
-                            v2xType =
+                        var v2xType = when (data.participant.ptcType) {
+                            1 -> { //机动车
                                 EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
-                        } else if (data.participant.ptcType == 2) { //非机动车
-                            v2xType =
+                            }
+                            2 -> { //非机动车
                                 EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_NOT_MOTOR_VEHICLES.poiType
-                        } else if (data.participant.ptcType == 3) { //行人
-                            v2xType =
+                            }
+                            3 -> { //行人
                                 EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.poiType
-                        } else { //未知
-                            v2xType = EventTypeEnumNew.TYPE_ERROR.poiType
+                            }
+                            else -> { //未知
+                                EventTypeEnumNew.TYPE_ERROR.poiType
+                            }
                         }
-
                         val ttsContent = EventTypeEnumNew.getWarningTts(v2xType)
-                        val alertContent =
-                            EventTypeEnumNew.getWarningContent(v2xType)
+                        val alertContent = EventTypeEnumNew.getWarningContent(v2xType)
                         var level = -1
                         val direction = getMessageDirection(data.participant.targetPosition)
-
-                        //物体数据绘制
                         CallerLogger.d(
                             "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
                             "onMogoObuRsmWarning ---- data.status = ${data.status} ---data.participant.ptcId = ${data.participant.ptcId} ---data.participant.ptcType = ${data.participant.ptcType} ---data.warningMsg = ${data.warningMsg} -----data = ${data.toString()}"
@@ -745,11 +737,6 @@ class MogoPrivateObuNewManager private constructor() {
                 v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
             }
 
-            // 这里处理固定的提示信息,包括了<紧急车辆提醒>
-            else -> {
-                //                ttsContent = EventTypeEnumNew.getWarningTts(appId.toString())
-                //                alertContent = EventTypeEnumNew.getWarningContent(appId.toString())
-            }
         }
 
         when (status) {
@@ -830,9 +817,9 @@ class MogoPrivateObuNewManager private constructor() {
             MogoObuConstants.STATUS.DELETE -> {
                 // 移除顶部弹窗
                 CallerTrafficLightListenerManager.disableTrafficLight()
+                CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
                 isShowGreenWave = false
                 isShowRunRedLight = false
-                CallerTrafficLightListenerManager.invokeTrafficLightDisapper()
             }
         }
     }
@@ -864,10 +851,6 @@ class MogoPrivateObuNewManager private constructor() {
             1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
                 if (!isShowRunRedLight) {
                     isShowRunRedLight = true
-                    CallerLogger.d(
-                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                        "changeTrafficLightStatus 闯红灯 --------> "
-                    )
                     ttsContent =
                         EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
                     alertContent =
@@ -969,7 +952,7 @@ class MogoPrivateObuNewManager private constructor() {
      * 保存obu直连数据到消息盒子
      */
     private fun saveObuData(type: String, content: String, tts: String) {
-        CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts)
+        CallerObuSaveMessageListenerManager.invokeObuSaveMessage(type, content, tts, DataSourceType.OBU)
     }
 
     /**

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.msgbox
 
 import android.content.Context
 import android.os.Looper
+import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
@@ -87,7 +88,16 @@ object DataManager {
         msg.timestamp = System.currentTimeMillis()
         msg.bean2Json = GsonUtils.toJson(msg.bean)
         when (type) {
-            MsgBoxType.V2X, MsgBoxType.OBU, MsgBoxType.NOTICE, MsgBoxType.OPERATION -> {
+            MsgBoxType.V2X -> {
+                // 汇总消息不存数据库
+                if (msg.sourceType != DataSourceType.SUMMARY) {
+                    synchronized(this) {
+                        notifyList.add(msg)
+                    }
+                }
+                CallerMsgBoxListenerManager.invokeListener(MsgCategory.NOTICE, msg)
+            }
+            MsgBoxType.OBU, MsgBoxType.NOTICE, MsgBoxType.OPERATION -> {
                 synchronized(this) {
                     notifyList.add(msg)
                 }

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

@@ -7,18 +7,33 @@ import android.content.BroadcastReceiver
 import android.content.Context
 import android.content.Intent
 import android.content.IntentFilter
+import android.view.KeyEvent
+import com.mogo.commons.context.ContextHolderUtil
 import com.mogo.eagle.core.data.mofang.MfConstants
+import com.mogo.eagle.core.function.api.mofang.IMoGoMoFangListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorChangeLaneLeft
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorChangeLaneRight
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetAcceleratedSpeed
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetHorn
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager.invokeMoFangStatus
+import com.mogo.eagle.core.function.call.mofang.CallerMofangListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_F
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import java.util.*
 
 
 /**
  * 魔方连接状态和设备管理
  */
 @SuppressLint("StaticFieldLeak")
-class MoFangManager private constructor() {
+class MoFangManager private constructor() : IMoGoMoFangListener{
 
     companion object {
         val moFangManager: MoFangManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -31,6 +46,29 @@ class MoFangManager private constructor() {
     private lateinit var mBluetoothAdapter: BluetoothAdapter
     private var isMfConnect: Boolean = false //添加状态判断
 
+    private val isShowToast = false //toast 控制,自测使用
+    private var startPressTime: Long = 0 //开始按键时间
+    private var isPressEnd = false //按键是否结束
+    @Volatile
+    private var isCombinationKey = 0 //是否是组合按键 1单击，2长按，3组合
+    private var pressADownTime: Long = 0
+    private var pressAUpTime: Long = 0
+    private var pressBDownTime: Long = 0
+    private var pressBUpTime: Long = 0
+    private var pressCDownTime: Long = 0
+    private var pressCUpTime: Long = 0
+    private var pressDDownTime: Long = 0
+    private var pressDUpTime: Long = 0
+    private var pressEDownTime: Long = 0
+    private var pressEUpTime: Long = 0
+
+    private val clickTime = 300 //单击
+    private val clickTimeInterval = 330
+    private val longPressTime = 670
+    private val longPressTimeInterval = 700
+    private var timerHorn: Timer? = null
+    private var timerAcc: Timer? = null
+
 
     fun init(context: Context) {
         mContext = context
@@ -41,6 +79,12 @@ class MoFangManager private constructor() {
         }
         mBluetoothAdapter.startDiscovery()
         showBondedDevice(mBluetoothAdapter)
+
+        CallerMofangListenerManager.addListener(TAG, this)
+    }
+
+    fun release() {
+        CallerMofangListenerManager.removeListener(TAG)
     }
 
     /**
@@ -89,7 +133,7 @@ class MoFangManager private constructor() {
     private val bluetoothMonitorReceiver: BroadcastReceiver = object : BroadcastReceiver() {
         override fun onReceive(context: Context, intent: Intent) {
             when (intent.action) {
-                BluetoothAdapter.ACTION_STATE_CHANGED -> { //中间状态 TODO
+                BluetoothAdapter.ACTION_STATE_CHANGED -> { //中间状态
                     CallerLogger.d("$M_F${TAG}","bluetoothMonitorReceiver ACTION_STATE_CHANGED  action = ${intent.action}")
                 }
 
@@ -115,5 +159,190 @@ class MoFangManager private constructor() {
         }
     }
 
+    /**
+     * 魔方按键处理
+     */
+    override fun onMofangHandle(keyCode: Int, action: Int): Boolean {
+        val bluetoothName = SharedPrefsMgr.getInstance(ContextHolderUtil.getContext()).getString(MfConstants.BLUETOOTH_NAME)
+        if (bluetoothName == "MINI_KEYBOARD") {
+            if (!isPressEnd) {
+                isPressEnd = true
+                startPressTime = System.currentTimeMillis()
+            }
+            e(M_F + "MoFangManager",
+                "dispatchKeyEvent ------ bluetoothName = $bluetoothName ---code = $keyCode -----action = $action ")
+            if (keyCode == KeyEvent.KEYCODE_A) { //单击 -1，长按无操作，AB组合-2
+                if (action == KeyEvent.ACTION_DOWN) {
+                    pressADownTime = System.currentTimeMillis()
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent A down pressADownTime = " + pressADownTime + "---" + (pressADownTime - startPressTime) + "----isCombinationKey = " + isCombinationKey + "--pressBDownTime = " + pressBDownTime)
+                    if (pressADownTime - startPressTime in (clickTimeInterval + 1) until longPressTime && pressBDownTime > 0) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 A 按AB组合 +1 ")
+                        }
+                        sendAcc(true, +1.0)
+                        isCombinationKey = 3
+                    }
+                    if (isCombinationKey != 3 && isCombinationKey != 1) {
+                        if (pressADownTime - startPressTime > longPressTimeInterval) {
+                            if (isShowToast) {
+                                ToastUtils.showShort("方块 长按A -2 ")
+                            }
+                            sendAcc(true, -2.0)
+                            isCombinationKey = 2
+                        }
+                    }
+                } else if (action == KeyEvent.ACTION_UP) {
+                    pressAUpTime = System.currentTimeMillis()
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent A up    pressAUpTime = " + pressAUpTime + "---" + (pressAUpTime - startPressTime) + "--pressBDownTime = " + pressBDownTime + "---isCombinationKey = $isCombinationKey")
+                    if (pressAUpTime - startPressTime < clickTime && isCombinationKey != 3) {
+                        isCombinationKey = 1
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 单击A -1 ")
+                        }
+                        sendAcc(true, -1.0)
+                    }
+                    pressADownTime = 0
+                    isPressEnd = false
+                    UiThreadHandler.postDelayed({ isCombinationKey = 0 }, 300)
+                }
+            } else if (keyCode == KeyEvent.KEYCODE_B) { //单击复原，长按+1，AB组合-2
+                if (action == KeyEvent.ACTION_DOWN) {
+                    pressBDownTime = System.currentTimeMillis()
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent B down pressBDownTime = " + pressBDownTime + "--差-" + (pressBDownTime - startPressTime) + "---isCombinationKey = " + isCombinationKey + "--pressADownTime = " + pressADownTime
+                    )
+                    if (pressBDownTime - startPressTime > clickTimeInterval && pressBDownTime - startPressTime < longPressTime && pressADownTime > 0) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 B 按AB组合 +1 ")
+                        }
+                        sendAcc(true, +1.0)
+                        isCombinationKey = 3
+                    }
+                    if (isCombinationKey != 3 && isCombinationKey != 1) {
+                        if (pressBDownTime - startPressTime > longPressTimeInterval) {
+                            if (isShowToast) {
+                                ToastUtils.showShort("方块 长按B 无操作 ")
+                            }
+                            isCombinationKey = 2
+                        }
+                    }
+                } else if (action == KeyEvent.ACTION_UP) {
+                    pressBUpTime = System.currentTimeMillis()
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent B up   pressBUpTime = " + pressBUpTime + "--差-" + (pressBUpTime - startPressTime) + "--pressADownTime = " + pressADownTime + "----isCombinationKey = $isCombinationKey")
+                    if (pressBUpTime - startPressTime < clickTime && isCombinationKey != 3) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 单击B  0 ")
+                        }
+                        sendAcc(false, 0.0)
+                        isCombinationKey = 1
+                    }
+                    pressBDownTime = 0
+                    isPressEnd = false
+                    UiThreadHandler.postDelayed({ isCombinationKey = 0 }, 300)
+                }
+            } else if (keyCode == KeyEvent.KEYCODE_C) { //单击左变道，长按无操作
+                if (action == KeyEvent.ACTION_DOWN) {
+                    pressCDownTime = System.currentTimeMillis()
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent 方块 长按C 无操作 time dif = " + (pressCDownTime - startPressTime))
+                    if (pressCDownTime - startPressTime > longPressTimeInterval) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 长按C 无操作 ")
+                        }
+                    }
+                } else if (action == KeyEvent.ACTION_UP) {
+                    pressCUpTime = System.currentTimeMillis()
+                    isPressEnd = false
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent 方块 单击C ← 向左变道 time dif = " + (pressCUpTime - startPressTime))
+                    if (pressCUpTime - startPressTime < clickTime) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 单击C ← 向左变道 ")
+                        }
+                        sendOperatorChangeLaneLeft()
+                    }
+                }
+            } else if (keyCode == KeyEvent.KEYCODE_D) { //单击向右变道，双击无操作
+                if (action == KeyEvent.ACTION_DOWN) {
+                    pressDDownTime = System.currentTimeMillis()
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent 方块 长按D 无操作 time dif = " + (pressDDownTime - startPressTime))
+                    if (pressDDownTime - startPressTime > longPressTimeInterval) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 长按D 无操作 ")
+                        }
+                    }
+                } else if (action == KeyEvent.ACTION_UP) {
+                    pressDUpTime = System.currentTimeMillis()
+                    isPressEnd = false
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent 方块 单击D → 向右变道 time dif = " + (pressDUpTime - startPressTime))
+                    if (pressDUpTime - startPressTime < clickTime) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 单击D → 向右变道 ")
+                        }
+                        sendOperatorChangeLaneRight()
+                    }
+                }
+            } else if (keyCode == KeyEvent.KEYCODE_E) { //单击启动自驾，长按鸣笛
+                if (action == KeyEvent.ACTION_DOWN) {
+                    pressEDownTime = System.currentTimeMillis()
+                    d(M_F + "MoFangManager",
+                        "dispatchKeyEvent 方块 长按E 鸣笛 time dif = " + (pressEDownTime - startPressTime))
+                    if (pressEDownTime - startPressTime > longPressTimeInterval) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 长按E 鸣笛 ")
+                        }
+                        sendOperatorSetHorn(1.0)
+                        if (timerHorn == null) {
+                            timerHorn = Timer()
+                        }
+                        timerHorn!!.schedule(object : TimerTask() {
+                            override fun run() {
+                                sendOperatorSetHorn(2.0)
+                                timerHorn = null
+                            }
+                        }, 500)
+                    }
+                } else if (action == KeyEvent.ACTION_UP) {
+                    pressEUpTime = System.currentTimeMillis()
+                    isPressEnd = false
+                    d(M_F + "MoFangManager",
+                        "方块 单击E 开启自动驾驶 time dif = " + (pressEUpTime - startPressTime))
+                    if (pressEUpTime - startPressTime < clickTime) {
+                        if (isShowToast) {
+                            ToastUtils.showShort("方块 单击E 开启自动驾驶 ")
+                        }
+                        startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
+                    }
+                }
+            }
+        }
+        return true
+    }
+
+    @Synchronized
+    private fun sendAcc(isSend: Boolean, acc: Double) {
+        if (isSend) {
+            if (timerAcc == null) {
+                timerAcc = Timer()
+                timerAcc!!.schedule(object : TimerTask() {
+                    override fun run() {
+                        sendOperatorSetAcceleratedSpeed(acc)
+                    }
+                }, 0, 500)
+            }
+        } else {
+            if (timerAcc != null) {
+                timerAcc!!.cancel()
+                timerAcc = null
+            }
+            sendOperatorSetAcceleratedSpeed(acc)
+        }
+    }
+
 }
 

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

@@ -60,8 +60,8 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
         leftView?.setOnClickListener {
             when {
                 isConfirm -> {
-                    cacheHDOfflineData()
                     showNewContent(isLoading = true, false)
+                    cacheHDOfflineData()
                 }
                 else -> {
                     dismiss()
@@ -72,6 +72,7 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
         rightView?.setOnClickListener {
             when {
                 isRetry -> {
+                    showNewContent(isLoading = true, false)
                     cacheHDOfflineData()
                 }
                 else -> {
@@ -81,6 +82,9 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
         }
 
         okView?.setOnClickListener {
+            if (isLoading) {
+                CallerMapUIServiceManager.cancelDownloadCacheData()
+            }
             dismiss()
         }
     }
@@ -90,6 +94,12 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
             override fun onMapHdCacheProgress(cityId: Int, progress: Double) {
                 updateProgress(progress.toInt())
             }
+
+            override fun onMapHdCacheResult(cityId: Int, state: Int) {
+                if (state == 0) {// 失败
+                    showNewContent(isLoading = false, false)
+                }
+            }
         })
     }
 
@@ -131,6 +141,7 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
 
     @SuppressLint("UseCompatLoadingForDrawables")
     private fun showNewContent(isLoading: Boolean, isSuccess: Boolean) {
+        this.isLoading = isLoading
         change2NewStyle()
         when {
             isLoading -> {
@@ -150,11 +161,14 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
                         downloadResultImg?.background = ContextCompat.getDrawable(context, R.drawable.download_success_icon)
                     }
                     else -> {
+                        isRetry = true
+                        isConfirm = false
                         offlineTitleView?.text = context.resources.getString(R.string.offline_download_failure)
                         okView?.visibility = View.GONE
                         progressBar?.visibility = View.GONE
                         downloadPercentView?.visibility = View.GONE
                         leftView?.visibility = View.VISIBLE
+                        leftView?.text = context.resources.getString(R.string.ok_tip)
                         rightView?.visibility = View.VISIBLE
                         vertLineView?.visibility = View.VISIBLE
                         rightView?.text = context.resources.getString(R.string.retry)

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt

@@ -8,7 +8,6 @@ import android.widget.TextView
 import androidx.lifecycle.LifecycleObserver
 import androidx.recyclerview.widget.RecyclerView
 import androidx.recyclerview.widget.StaggeredGridLayoutManager
-import com.mogo.cloud.commons.utils.CoordinateUtils
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.module.status.IMogoStatusChangedListener
 import com.mogo.commons.module.status.MogoStatusManager
@@ -31,6 +30,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.BitmapHelper
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils
 import com.mogo.eagle.core.widget.media.video.NoticeSimpleSmallVideoPlayer
 import com.shuyu.gsyvideoplayer.GSYVideoManager

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

@@ -672,11 +672,6 @@ internal 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) {
@@ -1931,12 +1926,12 @@ internal class DebugSettingView @JvmOverloads constructor(
     }
 
     /**
-     * 车辆挂挡档位
+     * 车辆挂档档位
      * @param gear 档位
      */
     override fun onAutopilotGearData(gear: Chassis.GearPosition) {
         ThreadUtils.runOnUiThread {
-            tvGearInfo.text = "挂挡档位：${gear}"
+            tvGearInfo.text = "挂档档位：${gear}"
         }
     }
 

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

@@ -117,7 +117,6 @@ internal class SOPSettingView @JvmOverloads constructor(
         tbObuToDcView.setOnCheckedChangeListener { _, isChecked ->
             // 默认开启
             HmiBuildConfig.isShowObuToDcV2iView = !isChecked
-//            Log.d("liyz", "HmiBuildConfig.isShowObuToDcV2iView = " + HmiBuildConfig.isShowObuToDcV2iView)
         }
 
         //红绿灯标识

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

@@ -60,7 +60,7 @@ class VersionNameView @JvmOverloads constructor(
     @SuppressLint("SetTextI18n")
     private fun showCurrentPadVersion() {
         tvAppVersionName?.let {
-//            it.text = "APP:${AppUtils.getAppVersionName()}"
+            it.text = "APP:${AppUtils.getAppVersionName()}"
         }
     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java

@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.main;
 import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_START_UP;
 import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_INIT;
 import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS;
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_F;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAIN;
 
@@ -21,20 +20,15 @@ import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.mofang.MfConstants;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.mofang.CallerMofangListenerManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.ActivityUtils;
 import com.mogo.eagle.core.utilcode.util.MultiDisplayUtils;
-import com.mogo.eagle.core.utilcode.util.ToastUtils;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.rousetime.android_startup.model.CostTimesModel;
 import com.zhjt.service.chain.ChainLog;
 import com.zhjt.service.chain.TracingConstants;
@@ -43,8 +37,6 @@ import org.greenrobot.eventbus.EventBus;
 import org.greenrobot.eventbus.Subscribe;
 
 import java.util.List;
-import java.util.Timer;
-import java.util.TimerTask;
 
 /**
  * 针对作为Launcher的情况，做个性化操作
@@ -57,31 +49,6 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     private final static Handler handlerV2XEvent = new Handler();
     private static Runnable runnableV2XEvent;
 
-    private volatile double accelerated;//加速度
-    private Timer timerHorn;
-    private Timer timerAcc;
-
-    private boolean isShowToast = false; //toast 控制
-    private long startPressTime = 0; //开始按减时间
-    private boolean isPressEnd = false; //按键是否结束
-    private volatile int isCombinationKey = 0; //是否是组合按键 1单击，2长按，3组合
-    private long pressADownTime = 0;
-    private long pressAUpTime = 0;
-    private long pressBDownTime = 0;
-    private long pressBUpTime = 0;
-    private long pressCDownTime = 0;
-    private long pressCUpTime = 0;
-    private long pressDDownTime = 0;
-    private long pressDUpTime = 0;
-    private long pressEDownTime = 0;
-    private long pressEUpTime = 0;
-
-    private int clickTime = 300; //单击
-    private int clickTimeInterval = 330;
-    private int longPressTime = 670;
-    private int longPressTimeInterval = 700;
-
-
     @Override
     protected void onCreate(@Nullable Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
@@ -240,200 +207,15 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
      */
     @Override
     public boolean dispatchKeyEvent(KeyEvent event) {
-        CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent code = " + event.getKeyCode() +  "--action = " + event.getAction() + "----" + event);
-        String bluetoothName = SharedPrefsMgr.getInstance(getContext()).getString(MfConstants.BLUETOOTH_NAME);
-        if (!isPressEnd) {
-            CallerLogger.INSTANCE.d(M_F + "MoFangManager","dispatchKeyEvent ---1--- bluetoothName = " + bluetoothName);
+        if(CallerMofangListenerManager.INSTANCE.invokeMofangHandle(event.getKeyCode(), event.getAction())) {
+            return  true;
+        } else {
+            return super.dispatchKeyEvent(event);
         }
-        if (bluetoothName.equals("MINI_KEYBOARD")) {
-            if (!isPressEnd) {
-                isPressEnd = true;
-                startPressTime = System.currentTimeMillis();
-            }
-            CallerLogger.INSTANCE.d(M_F + "MoFangManager","dispatchKeyEvent ---2--- bluetoothName = " + bluetoothName + "--- code = " + event.getKeyCode() +  "--action = " + event.getAction());
-            if (event.getKeyCode() == KeyEvent.KEYCODE_A) { //单击 -1，长按无操作，AB组合-2
-                if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                    pressADownTime = System.currentTimeMillis();
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent A down pressADownTime = " + pressADownTime + "---" + (pressADownTime - startPressTime) + "----isCombinationKey = " + isCombinationKey + "--pressBDownTime = " + pressBDownTime);
-                    if ((pressADownTime - startPressTime) > clickTimeInterval && (pressADownTime - startPressTime) < longPressTime && pressBDownTime > 0) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 A 按AB组合 +1 ");
-                        }
-                        sendAcc(true, +1);
-                        isCombinationKey = 3;
-                    }
-
-                    if (isCombinationKey != 3 && isCombinationKey != 1) {
-                        if ((pressADownTime - startPressTime) > longPressTimeInterval) {
-                            if (isShowToast) {
-                                ToastUtils.showShort("方块 长按A -2 ");
-                            }
-                            sendAcc(true, -2);
-                            isCombinationKey = 2;
-                        }
-                    }
-                } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                    pressAUpTime = System.currentTimeMillis();
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent A up    pressAUpTime = " + pressAUpTime + "---" + (pressAUpTime - startPressTime) + "--pressBDownTime = " + pressBDownTime);
-                    if ((pressAUpTime - startPressTime) < clickTime && isCombinationKey != 3) {
-                        isCombinationKey = 1;
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击A -1 ");
-                        }
-                        sendAcc(true, -1);
-                    }
-                    pressADownTime = 0;
-                    isPressEnd = false;
-                    UiThreadHandler.postDelayed(new Runnable() {
-                        @Override
-                        public void run() {
-                            isCombinationKey = 0;
-                        }
-                    }, 300);
-                }
-                return true;
-            } else if (event.getKeyCode() == KeyEvent.KEYCODE_B) { //单击复原，长按+1，AB组合-2
-                if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                    pressBDownTime = System.currentTimeMillis();
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent B down pressBDownTime = " + pressBDownTime + "--差-" + (pressBDownTime - startPressTime) + "---isCombinationKey = " + isCombinationKey + "--pressADownTime = " + pressADownTime);
-                    if ((pressBDownTime - startPressTime) > clickTimeInterval && (pressBDownTime - startPressTime) < longPressTime && pressADownTime > 0) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 B 按AB组合 +1 ");
-                        }
-                        sendAcc(true, +1);
-                        isCombinationKey = 3;
-                    }
-                    if (isCombinationKey != 3 && isCombinationKey != 1) {
-                        if ((pressBDownTime - startPressTime) > longPressTimeInterval) {
-                            if (isShowToast) {
-                                ToastUtils.showShort("方块 长按B 无操作 ");
-                            }
-                            isCombinationKey = 2;
-                        }
-                    }
-                } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                    pressBUpTime = System.currentTimeMillis();
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent B up   pressBUpTime = " + pressBUpTime + "--差-" + (pressBUpTime - startPressTime) + "--pressADownTime = " + pressADownTime);
-                    if ((pressBUpTime - startPressTime) < clickTime && isCombinationKey != 3) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击B  0 ");
-                        }
-                        sendAcc(false, 0.0);
-                        isCombinationKey = 1;
-                    }
-                    pressBDownTime = 0;
-                    isPressEnd = false;
-
-                    UiThreadHandler.postDelayed(new Runnable() {
-                        @Override
-                        public void run() {
-                            isCombinationKey = 0;
-                        }
-                    }, 300);
-                }
-                return true;
-            } else if (event.getKeyCode() == KeyEvent.KEYCODE_C) { //单击左变道，长按无操作
-                if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                    pressCDownTime = System.currentTimeMillis();
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 长按C 无操作 time dif = " + (pressCDownTime - startPressTime));
-                    if ((pressCDownTime - startPressTime) > longPressTimeInterval) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 长按C 无操作 ");
-                        }
-                    }
-                } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                    pressCUpTime = System.currentTimeMillis();
-                    isPressEnd = false;
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 单击C ← 向左变道 time dif = " + (pressCUpTime - startPressTime));
-                    if ((pressCUpTime - startPressTime) < clickTime) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击C ← 向左变道 ");
-                        }
-                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft();
-                    }
-                }
-                return true;
-            } else if (event.getKeyCode() == KeyEvent.KEYCODE_D) { //单击向右变道，双击无操作
-                if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                    pressDDownTime = System.currentTimeMillis();
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 长按D 无操作 time dif = " + (pressDDownTime - startPressTime));
-                    if ((pressDDownTime - startPressTime) > longPressTimeInterval) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 长按D 无操作 ");
-                        }
-                    }
-                } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                    pressDUpTime = System.currentTimeMillis();
-                    isPressEnd = false;
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 单击D → 向右变道 time dif = " + (pressDUpTime - startPressTime));
-                    if ((pressDUpTime - startPressTime) < clickTime) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击D → 向右变道 ");
-                        }
-                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight();
-                    }
-                }
-                return true;
-            } else if (event.getKeyCode() == KeyEvent.KEYCODE_E) { //单击启动自驾，长按鸣笛
-                if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                    pressEDownTime = System.currentTimeMillis();
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 长按E 鸣笛 time dif = " + (pressEDownTime - startPressTime));
-                    if ((pressEDownTime - startPressTime) > longPressTimeInterval) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 长按E 鸣笛 ");
-                        }
-                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1);
-                        if (timerHorn == null) {
-                            timerHorn = new Timer();
-                        }
-                        timerHorn.schedule(new TimerTask() {
-                            @Override
-                            public void run() {
-                                CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2);
-                                timerHorn = null;
-                            }
-                        }, 500);
-                    }
-                } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                    pressEUpTime = System.currentTimeMillis();
-                    isPressEnd = false;
-                    CallerLogger.INSTANCE.d(M_F + "MoFangManager", "方块 单击E 开启自动驾驶 time dif = " + (pressEUpTime - startPressTime));
-                    if ((pressEUpTime - startPressTime) < clickTime) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
-                        }
-                        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
-                    }
-                }
-                return true;
-            }
-        }
-        return super.dispatchKeyEvent(event);
     }
 
     @Override
     public void onSkinModeChange(int skinMode) {
     }
 
-    private synchronized void sendAcc(boolean isSend, double acc) {
-        if (isSend) {
-            accelerated = acc;
-            if (timerAcc == null) {
-                timerAcc = new Timer();
-                timerAcc.schedule(new TimerTask() {
-                    @Override
-                    public void run() {
-                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
-                    }
-                }, 0, 500);
-            }
-        } else {
-            if (timerAcc != null) {
-                timerAcc.cancel();
-                timerAcc = null;
-            }
-            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
-        }
-    }
-
 }

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

@@ -1009,7 +1009,7 @@
                         style="@style/DebugSettingText"
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content"
-                        android:text="挂挡档位:" />
+                        android:text="挂档档位:" />
 
                     <View
                         android:layout_width="match_parent"

core/function-impl/mogo-core-function-map/build.gradle

@@ -60,7 +60,6 @@ dependencies {
 
     implementation rootProject.ext.dependencies.mogocustommap
     implementation rootProject.ext.dependencies.amapnavi3dmap
-//    implementation rootProject.ext.dependencies.amaplocation
 
     implementation rootProject.ext.dependencies.androidxroomruntime
     kapt rootProject.ext.dependencies.androidxroomcompiler

core/function-impl/mogo-core-function-map/consumer-rules.pro

@@ -1,4 +1,3 @@
--keep class com.mogo.module.small.map.*{*;}
 -keep class com.android.internal.policy.MyPhoneLayoutInflater{*;}
 -keep class com.amap.api.col.n3.*{*;}
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java

@@ -4,12 +4,12 @@ import static com.mogo.eagle.core.function.business.identify.TrackManager.LIMIT_
 
 import android.annotation.SuppressLint;
 
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 
 import java.util.Arrays;
 import java.util.Comparator;

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/MarkerDrawer.java

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.impl.marker.drawer;
 
 import android.text.TextUtils;
 
-import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
@@ -16,6 +15,7 @@ import com.mogo.eagle.core.function.impl.marker.view.EmptyMarkerView;
 import com.mogo.eagle.core.function.impl.marker.view.IMarkerView;
 import com.mogo.eagle.core.function.impl.marker.view.MapMarkerAdapter;
 import com.mogo.eagle.core.function.impl.marker.view.OnlineCarMarkerView;
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.map.MogoMarkerManager;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.IMogoMarkerClickListener;

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

@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.Log
 import com.amap.api.maps.CoordinateConverter
 import com.amap.api.maps.model.LatLng
-import com.mogo.cloud.commons.utils.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import io.reactivex.Observable
 import io.reactivex.ObservableOnSubscribe
 import io.reactivex.android.schedulers.AndroidSchedulers

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/ISmallMapDirectionView.java

@@ -1,18 +0,0 @@
-package com.mogo.eagle.core.function.smp.view;
-
-/**
- * @author xiaoyuzhou
- * @date 2021/6/24 11:33 上午
- */
-public interface ISmallMapDirectionView {
-
-    /**
-     * 绘制路径线
-     */
-    void drawablePolyline();
-
-    /**
-     * 清除路径线
-     */
-    void clearPolyline();
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt

@@ -10,7 +10,6 @@ import android.widget.RelativeLayout
 import androidx.annotation.UiThread
 import com.amap.api.maps.*
 import com.amap.api.maps.model.*
-import com.mogo.cloud.commons.utils.CoordinateUtils
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLatLng
@@ -27,6 +26,7 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import mogo.telematics.pad.MessagePad
 import kotlin.math.floor

core/function-impl/mogo-core-function-map/src/main/res/layout/module_small_map_fragment.xml

@@ -1,17 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent">
-
-    <com.mogo.eagle.core.function.smp.SmallMapDirectionView
-        android:id="@+id/smallMapDirectionView"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginRight="30dp"
-        android:layout_marginBottom="30dp"
-        android:visibility="visible"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent" />
-
-</androidx.constraintlayout.widget.ConstraintLayout>

core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt

@@ -11,15 +11,16 @@ import com.mogo.cloud.passport.IMoGoTokenCallback
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.AbsMogoApplication
-import com.mogo.commons.utils.MogoAnalyticUtils
 import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.network.NetConfigUtils
+import com.mogo.commons.utils.MogoAnalyticUtils
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_RECONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -29,29 +30,35 @@ import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAIN
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.*
 import com.rousetime.android_startup.AndroidStartup
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import kotlin.properties.Delegates
 
 class HttpDnsStartUp : AndroidStartup<Boolean>() {
 
-    private val TAG = "MogoApplication"
+    companion object {
+        private const val TAG = "HttpDnsStartUp"
+    }
 
     // 配置云服务API
     private val clientConfig by lazy {
         MoGoAiCloudClientConfig.getInstance()
     }
 
-    // 缓存IP地址
-    private var cacheIp: String? = null
-
     private var context: Context? = null
 
     private var gotToken = false
 
+    private var httpDnsSimpleLocation by Delegates.observable(getDefaultSimpleLocation()) { _, oldValue, newValue ->
+        if (oldValue.cityCode != newValue.cityCode) {
+            reConnectSocket(oldValue.cityCode, newValue.cityCode)
+        }
+    }
+
     override fun callCreateOnMainThread() = true
 
     override fun waitOnMainThread() = false
@@ -90,9 +97,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
         clientConfig.isUseOriginSocket = true
         // 设置是否输出网络日志
         clientConfig.isShowNetDebugLog = false
-        clientConfig.passportUrl = FunctionBuildConfig.urlJson.passportUrl
-        clientConfig.socketBaseUrl = FunctionBuildConfig.urlJson.socketBaseUrl
-        clientConfig.socketTechUrl = FunctionBuildConfig.urlJson.socketTechUrl
+//        clientConfig.passportUrl //todo 亚坤
+//        clientConfig.socketBaseUrl
+//        clientConfig.socketTechUrl
         // 设置是否是直播推流的主播
         clientConfig.isAnchor = true
         when (DebugConfig.getCarMachineType()) {
@@ -121,7 +128,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
             override fun getCurrentLocation(): HttpDnsSimpleLocation {
                 val envConfig = CallerDevaToolsManager.getEnvConfig()
                 if (envConfig != null) {
-                    return HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
+                    // 更新
+                    httpDnsSimpleLocation =
+                        HttpDnsSimpleLocation(envConfig.cityCode, envConfig.lat, envConfig.lon)
+                    return httpDnsSimpleLocation
                 }
                 var mogoLocation: MogoLocation? = null
                 val locationClient =
@@ -129,49 +139,26 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                 if (locationClient != null) {
                     mogoLocation = locationClient
                 }
-                val httpDnsSimpleLocation =
-                    if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0) {
-                        if (mogoLocation.cityCode.isNullOrEmpty()
-                            && !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
-                        ) {
-                            HttpDnsSimpleLocation(
-                                CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
-                                    ?: "010",
-                                mogoLocation.latitude,
-                                mogoLocation.longitude
-                            )
-                        } else {
-                            HttpDnsSimpleLocation(
-                                mogoLocation.cityCode,
-                                mogoLocation.latitude,
-                                mogoLocation.longitude
-                            )
-                        }
+                if (mogoLocation != null && mogoLocation.latitude != 0.0 && mogoLocation.longitude != 0.0) {
+                    // 更新
+                    httpDnsSimpleLocation = if (
+                        mogoLocation.cityCode.isNullOrEmpty() &&
+                        !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
+                    ) {
+                        HttpDnsSimpleLocation(
+                            CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
+                                ?: "010",
+                            mogoLocation.latitude,
+                            mogoLocation.longitude
+                        )
                     } else {
-                        val ciyCode =
-                            SharedPrefsMgr.getInstance(
-                                AbsMogoApplication.getApp()
-                            )
-                                .getString(SharedPrefsConstants.LOCATION_CITY_CODE)
-                        val latitude =
-                            SharedPrefsMgr.getInstance(
-                                AbsMogoApplication.getApp()
-                            )
-                                .getString(SharedPrefsConstants.LOCATION_LATITUDE)
-                        val longitude =
-                            SharedPrefsMgr.getInstance(
-                                AbsMogoApplication.getApp()
-                            )
-                                .getString(SharedPrefsConstants.LOCATION_LONGITUDE)
-                        try {
-                            HttpDnsSimpleLocation(
-                                ciyCode, latitude.toDouble(), longitude.toDouble()
-                            )
-                        } catch (e: NumberFormatException) {
-                            // e.printStackTrace();
-                            HttpDnsSimpleLocation("010", 1.0, 1.0)
-                        }
+                        HttpDnsSimpleLocation(
+                            mogoLocation.cityCode,
+                            mogoLocation.latitude,
+                            mogoLocation.longitude
+                        )
                     }
+                }
                 return httpDnsSimpleLocation
             }
         }
@@ -186,10 +173,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientConfig.token = token
                     // 由于存在token过期问题，在更新后会回调至此处，增加二次判定
                     if (!gotToken) {
-                        CallerLogger.d(
-                            SceneConstant.M_MAIN + TAG,
-                            "onTokenGot token : $token , sn :$sn"
-                        )
+                        CallerLogger.d("$M_MAIN$TAG", "onTokenGot token : $token , sn :$sn")
                         CallerCloudListenerManager.invokeCloudTokenGot(token, sn)
                         // 异步初始化NetConfig
                         asyncInit()
@@ -202,7 +186,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
 
                 override fun onError(code: Int, msg: String) {
                     CallerLogger.d(
-                        SceneConstant.M_MAIN + TAG,
+                        "$M_MAIN$TAG",
                         "初始化MogoAiCloudSdk failed ,reason : $msg , 未能开启长链服务和初始化Modules服务"
                     )
                 }
@@ -250,13 +234,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
     }
 
     private fun startSocketService() {
-        CallerLogger.d(SceneConstant.M_MAIN + TAG, "startSocketService")
+        CallerLogger.d("$M_MAIN$TAG", "startSocketService")
         val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
-        // 关闭长链服务
-        MogoAiCloudSocketManager.getInstance(context).destroy()
         MogoAiCloudSocketManager.getInstance(context)
             .registerLifecycleListener(10020, object : IMogoLifecycleListener {
-
                 @ChainLog(
                     linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
                     linkCode = CHAIN_LINK_CLOUD,
@@ -266,7 +247,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onConnectFailure() {
-                    CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectFailure")
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onConnectFailure")
                     MogoStatusManager.getInstance().setCloudSocketMode(TAG, false)
                 }
 
@@ -279,7 +260,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onConnectSuccess() {
-                    CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectSuccess")
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onConnectSuccess")
                     MogoStatusManager.getInstance().setCloudSocketMode(TAG, true)
                 }
 
@@ -292,7 +273,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onConnectLost() {
-                    CallerLogger.d(SceneConstant.M_MAIN + TAG, "socket-onConnectLost")
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onConnectLost")
                     MogoStatusManager.getInstance().setCloudSocketMode(TAG, false)
                 }
 
@@ -305,10 +286,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     clientPkFileName = "sn"
                 )
                 override fun onError(code: String, msg: String?) {
-                    CallerLogger.d(
-                        SceneConstant.M_MAIN + TAG,
-                        "socket-onError code : $code , msg : $msg"
-                    )
+                    CallerLogger.d("$M_MAIN$TAG", "socket-onError code : $code , msg : $msg")
                 }
             })
         // 开启Socket长链服务
@@ -319,4 +297,45 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
         MogoAiCloudSocketManager.getInstance(context)
             .init(context, DebugConfig.getSocketAppId(), lat, lon)
     }
+
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = CHAIN_LINK_CLOUD,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_RECONNECT,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    private fun reConnectSocket(oldCityCode: String, newCityCode: String) {
+        CallerLogger.d(
+            "$M_MAIN$TAG",
+            "reConnectSocket oldCityCode : $oldCityCode , newCityCode : $newCityCode"
+        )
+        MogoAiCloudSocketManager.getInstance(context).reConnect()
+    }
+
+    private fun getDefaultSimpleLocation(): HttpDnsSimpleLocation {
+        val ciyCode =
+            SharedPrefsMgr.getInstance(
+                AbsMogoApplication.getApp()
+            )
+                .getString(SharedPrefsConstants.LOCATION_CITY_CODE)
+        val latitude =
+            SharedPrefsMgr.getInstance(
+                AbsMogoApplication.getApp()
+            )
+                .getString(SharedPrefsConstants.LOCATION_LATITUDE)
+        val longitude =
+            SharedPrefsMgr.getInstance(
+                AbsMogoApplication.getApp()
+            )
+                .getString(SharedPrefsConstants.LOCATION_LONGITUDE)
+        return try {
+            HttpDnsSimpleLocation(
+                ciyCode, latitude.toDouble(), longitude.toDouble()
+            )
+        } catch (e: NumberFormatException) {
+            HttpDnsSimpleLocation("010", 1.0, 1.0)
+        }
+    }
 }

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt

@@ -58,6 +58,7 @@ class ChainConstant {
 
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS"
+        const val CHAIN_ALIAS_CODE_CLOUD_RECONNECT = "CHAIN_ALIAS_CODE_CLOUD_RECONNECT"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_ERROR = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_ERROR"
         const val CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED = "CHAIN_ALIAS_CODE_HTTP_DNS_CHANGED"

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

@@ -290,4 +290,26 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      * @param isDrawPointCloud 是否绘制点云
      */
     fun setIsDrawPointCloud(isDrawPointCloud: Boolean)
+
+    fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1AirConditionerCmd(
+        switchCmd: Int,
+        modeCmd: Int,
+        windSpeedCmd: Int,
+        temperatureCmd: Int
+    ): Boolean
+
+    fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean
+
+    /**
+     * 车门控制
+     */
+    fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean
+
+    fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean
 }

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

@@ -1,6 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
-import com.zhidao.support.adas.high.bean.AutopilotStatistics
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 
 /**
  * 启动自动驾驶状态统计监听

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

@@ -3,12 +3,12 @@ package com.mogo.eagle.core.function.api.autopilot
 import chassis.Chassis
 
 /**
- * 车辆挂挡档位 数据 回调监听
+ * 车辆挂档档位 数据 回调监听
  */
 interface IMoGoChassisGearStateListener {
 
     /**
-     * 车辆挂挡档位
+     * 车辆挂档档位
      * @param gear 档位
      */
     fun onAutopilotGearData(gear: Chassis.GearPosition)

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/listener/IGaoDeMapLocationListener.kt

@@ -14,5 +14,5 @@ interface IGaoDeMapLocationListener {
      *
      * @param location 新定位点
      */
-    fun onLocationChanged(location: MogoLocation, from: Int, isGps: Boolean)
+    fun onMoGoLocationChanged(location: MogoLocation)
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/mofang/IMoGoMoFangListener.kt

@@ -0,0 +1,17 @@
+package com.mogo.eagle.core.function.api.mofang
+
+
+/**
+ * 魔方数据的数据处理
+ * @author lixiaopeng
+ * @date 2023-02-20
+ */
+interface IMoGoMoFangListener {
+    /**
+     * 魔方数据的数据处理
+     * @param keyCode 按键类型
+     * @param action 按键状态
+     */
+    fun onMofangHandle(keyCode: Int, action: Int): Boolean
+
+}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuSaveMessageListener.kt

@@ -1,5 +1,7 @@
 package com.mogo.eagle.core.function.api.obu
 
+import com.mogo.eagle.core.data.enums.DataSourceType
+
 /**
  * OBU 数据保存
  * @author lixiaopeng
@@ -11,8 +13,8 @@ interface IMoGoObuSaveMessageListener {
      * @param type 事件id，类似与uuid
      * @param content 事件内容
      * @param tts 事件语音播报
-     *
+     * @param sourceType 来源
      */
-    fun onMoGoObuSaveMessage(type: String, content: String, tts: String)
+    fun onMoGoObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType)
 
 }

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

@@ -415,4 +415,39 @@ object CallerAutoPilotControlManager {
         providerApi?.setIsDrawPointCloud(isDrawPointCloud)
     }
 
+    fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1AirConditionerCmd(
+        switchCmd: Int,
+        modeCmd: Int,
+        windSpeedCmd: Int,
+        temperatureCmd: Int
+    ): Boolean {
+        return providerApi?.sendRoboBusJinlvM1AirConditionerCmd(switchCmd, modeCmd, windSpeedCmd, temperatureCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1HeaderCmd(switchCmd: Int, windSpeedCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1HeaderCmd(switchCmd, windSpeedCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1MainLamp1Cmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1MainLamp1Cmd(switchCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1MainLamp2Cmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1MainLamp2Cmd(switchCmd) ?: false
+    }
+
+    /**
+     * 车门控制
+     */
+    fun sendRoboBusJinlvM1SmallLampCmd(switchCmd: Int): Boolean {
+        return providerApi?.sendRoboBusJinlvM1SmallLampCmd(switchCmd) ?: false
+    }
+
+    fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean {
+        return providerApi?.sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd) ?: false
+    }
 }

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

@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.zhidao.support.adas.high.bean.AutopilotStatistics
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 
 object CallerAutopilotStatisticsListenerManager : CallerBase<IMoGoAutopilotStatisticsListener>() {
 

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

@@ -4,7 +4,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 
 /**
- * 车辆挂挡档位 回调监听
+ * 车辆刹车 回调监听
  */
 object CallerChassisBrakeStateListenerManager : CallerBase<IMoGoChassisBrakeStateListener>() {
 

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

@@ -5,12 +5,12 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 
 /**
- * 车辆挂挡档位 回调监听
+ * 车辆挂档档位 回调监听
  */
 object CallerChassisGearStateListenerManager : CallerBase<IMoGoChassisGearStateListener>() {
 
     /**
-     * 车辆挂挡档位
+     * 车辆挂档档位
      * @param gear 档位
      */
     fun invokeAutopilotGearData(gear: Chassis.GearPosition) {

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisLocationGCJ02ListenerManager.kt

@@ -35,8 +35,6 @@ object CallerChassisLocationGCJ02ListenerManager : CallerBase<IMoGoChassisLocati
         setListenerHz(tag, callBackHz)
     }
 
-    //todo 宏宇 添加HZ的移除操作
-
     fun getChassisLocationGCJ02(): MogoLocation? {
         return mGnssInfo
     }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/base/CallerBase.kt

@@ -70,6 +70,16 @@ open class CallerBase<T : Any> {
             return
         }
         M_LISTENERS.remove(tag)
+
+        if (!M_LISTENERS_HZ.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ.remove(tag)
+
+        if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(tag)) {
+            return
+        }
+        M_LISTENERS_HZ_LAST_SEND_TIME.remove(tag)
     }
 
     /**
@@ -83,6 +93,16 @@ open class CallerBase<T : Any> {
         M_LISTENERS.forEach {
             if (it.value == listener) {
                 M_LISTENERS.remove(it.key)
+
+                if (!M_LISTENERS_HZ.containsKey(it.key)) {
+                    return
+                }
+                M_LISTENERS_HZ.remove(it.key)
+
+                if (!M_LISTENERS_HZ_LAST_SEND_TIME.containsKey(it.key)) {
+                    return
+                }
+                M_LISTENERS_HZ_LAST_SEND_TIME.remove(it.key)
             }
         }
     }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerGaoDeMapLocationListenerManager.kt

@@ -0,0 +1,24 @@
+package com.mogo.eagle.core.function.call.map
+
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.map.listener.IGaoDeMapLocationListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 高德地图定位监听
+ */
+object CallerGaoDeMapLocationListenerManager : CallerBase<IGaoDeMapLocationListener>() {
+
+    /**
+     * 高德位置改变监听
+     */
+    @Synchronized
+    fun invokeMoGoLocationChanged(location: MogoLocation) {
+        M_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onMoGoLocationChanged(location)
+        }
+    }
+
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapUIServiceManager.kt

@@ -36,7 +36,7 @@ object CallerMapUIServiceManager {
     }
 
     fun isCityDataCached(): Boolean {
-        return serviceProvider?.mapUIController?.isCityDataCached ?: true
+        return serviceProvider?.mapUIController?.isCityDataCached ?: false
     }
 
     fun getOverlayManager(): IMogoOverlayManager?{
@@ -46,4 +46,8 @@ object CallerMapUIServiceManager {
     fun getGDLocationServer(context: Context): IMogoGDLocationClient?{
         return serviceProvider?.getGDLocationServer(context)
     }
+
+    fun cancelDownloadCacheData() {
+        serviceProvider?.mapUIController?.cancelDownloadCacheData()
+    }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/mofang/CallerMofangListenerManager.kt

@@ -0,0 +1,21 @@
+package com.mogo.eagle.core.function.call.mofang
+
+import com.mogo.eagle.core.function.api.mofang.IMoGoMoFangListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 魔方按键的处理
+ */
+object CallerMofangListenerManager : CallerBase<IMoGoMoFangListener>() {
+    fun invokeMofangHandle(keyCode: Int, action: Int): Boolean {
+        var isConsume = false
+        M_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            if (listener.onMofangHandle(keyCode, action))
+                isConsume = true
+        }
+        return isConsume
+    }
+
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuSaveMessageListenerManager.kt

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.call.obu
 
+import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.function.api.obu.IMoGoObuSaveMessageListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsiListener
 import com.mogo.eagle.core.function.call.base.CallerBase
@@ -11,11 +12,11 @@ import com.mogo.support.obu.ObuScene
  */
 object CallerObuSaveMessageListenerManager : CallerBase<IMoGoObuSaveMessageListener>() {
 
-    fun invokeObuSaveMessage(type: String, content: String, tts: String) {
+    fun invokeObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType) {
         M_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
-            listener.onMoGoObuSaveMessage(type, content, tts)
+            listener.onMoGoObuSaveMessage(type, content, tts, sourceType)
         }
     }
 

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/AppIdentityModeUtils.kt

@@ -31,7 +31,6 @@ object AppIdentityModeUtils {
 
 
 
-
     private fun getInfo(appIdentityMode: String): Array<String> {
         val split = appIdentityMode.split("_")
         if (split.size == 3) {
@@ -40,6 +39,14 @@ object AppIdentityModeUtils {
         return arrayOf("", "", "")
     }
 
+    fun getBuildCarType(appIdentityMode: String): String {
+        val (_, _, carType) = getInfo(appIdentityMode)
+        if(carType.isNotEmpty()){
+            return carType
+        }
+        return ""
+    }
+
     /**
      * 是否是 司机端（这里不细分具体是：小巴、出租车等类型）
      *

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/CoordinateUtils.java

@@ -0,0 +1,132 @@
+package com.mogo.eagle.core.utilcode.util;
+
+import org.jetbrains.annotations.NotNull;
+
+import java.math.BigDecimal;
+
+/**
+ * @author donghongyu
+ */
+public class CoordinateUtils {
+
+    /**
+     * @param lon1
+     * @param lat1
+     * @param lon2
+     * @param lat2
+     * @return 两坐标的距离 单位：米（M）
+     */
+    public static float calculateLineDistance( double lon1, double lat1, double lon2, double lat2 ) {
+        try {
+            double var2 = lon1;
+            double var4 = lat1;
+            double var6 = lon2;
+            double var8 = lat2;
+            var2 *= 0.01745329251994329D;
+            var4 *= 0.01745329251994329D;
+            var6 *= 0.01745329251994329D;
+            var8 *= 0.01745329251994329D;
+            double var10 = Math.sin( var2 );
+            double var12 = Math.sin( var4 );
+            double var14 = Math.cos( var2 );
+            double var16 = Math.cos( var4 );
+            double var18 = Math.sin( var6 );
+            double var20 = Math.sin( var8 );
+            double var22 = Math.cos( var6 );
+            double var24 = Math.cos( var8 );
+            double[] var28 = new double[3];
+            double[] var29 = new double[3];
+            var28[0] = var16 * var14;
+            var28[1] = var16 * var10;
+            var28[2] = var12;
+            var29[0] = var24 * var22;
+            var29[1] = var24 * var18;
+            var29[2] = var20;
+            return ( float ) ( Math.asin( Math.sqrt( ( var28[0] - var29[0] ) * ( var28[0] - var29[0] ) + ( var28[1] - var29[1] ) * ( var28[1] - var29[1] ) + ( var28[2] - var29[2] ) * ( var28[2] - var29[2] ) ) / 2.0D ) * 1.27420015798544E7D );
+        } catch ( Throwable var26 ) {
+            var26.printStackTrace();
+            return 0.0F;
+        }
+    }
+
+
+    // ------
+    private static final double x_PI = 52.35987755982988D;
+    private static final double PI = 3.141592653589793D;
+    private static final double a = 6378245.0D;
+    private static final double ee = 0.006693421622965943D;
+
+    public static final boolean outOfChina( double lat, double lng ) {
+        return lng <= 73.66D || lng >= 135.05D || lat <= 3.86D || lat >= 53.55D;
+    }
+
+    private static final double transformLat( double lng, double lat ) {
+        double ret = -100.0D + 2.0D * lng + 3.0D * lat + 0.2D * lat * lat + 0.1D * lng * lat + 0.2D * Math.sqrt( Math.abs( lng ) );
+        ret += ( 20.0D * Math.sin( 6.0D * lng * 3.141592653589793D ) + 20.0D * Math.sin( 2.0D * lng * 3.141592653589793D ) ) * 2.0D / 3.0D;
+        ret += ( 20.0D * Math.sin( lat * 3.141592653589793D ) + 40.0D * Math.sin( lat / 3.0D * 3.141592653589793D ) ) * 2.0D / 3.0D;
+        ret += ( 160.0D * Math.sin( lat / 12.0D * 3.141592653589793D ) + ( double ) 320 * Math.sin( lat * 3.141592653589793D / 30.0D ) ) * 2.0D / 3.0D;
+        return ret;
+    }
+
+    private static final double transformLon( double lng, double lat ) {
+        double ret = 300.0D + lng + 2.0D * lat + 0.1D * lng * lng + 0.1D * lng * lat + 0.1D * Math.sqrt( Math.abs( lng ) );
+        ret += ( 20.0D * Math.sin( 6.0D * lng * 3.141592653589793D ) + 20.0D * Math.sin( 2.0D * lng * 3.141592653589793D ) ) * 2.0D / 3.0D;
+        ret += ( 20.0D * Math.sin( lng * 3.141592653589793D ) + 40.0D * Math.sin( lng / 3.0D * 3.141592653589793D ) ) * 2.0D / 3.0D;
+        ret += ( 150.0D * Math.sin( lng / 12.0D * 3.141592653589793D ) + 300.0D * Math.sin( lng / 30.0D * 3.141592653589793D ) ) * 2.0D / 3.0D;
+        return ret;
+    }
+
+    @NotNull
+    // World Geodetic System ==> Mars Geodetic System
+    public static final double[] transformWgsToGcj( double wgLat, double wgLon ) {
+        double[] point = new double[2];
+        if ( outOfChina( wgLat, wgLon ) ) {
+            point[0] = wgLon;
+            point[1] = wgLat;
+            return point;
+        } else {
+            double dLat = transformLat( wgLon - 105.0D, wgLat - 35.0D );
+            double dLon = transformLon( wgLon - 105.0D, wgLat - 35.0D );
+            double radLat = wgLat / 180.0D * 3.141592653589793D;
+            double magic = Math.sin( radLat );
+            magic = ( double ) 1 - 0.006693421622965943D * magic * magic;
+            double sqrtMagic = Math.sqrt( magic );
+            dLat = dLat * 180.0D / ( 6335552.717000426D / ( magic * sqrtMagic ) * 3.141592653589793D );
+            dLon = dLon * 180.0D / ( 6378245.0D / sqrtMagic * Math.cos( radLat ) * 3.141592653589793D );
+            double mgLat = wgLat + dLat;
+            double mgLon = wgLon + dLon;
+            point[0] = dealRound( mgLon );
+            point[1] = dealRound( mgLat );
+            return point;
+        }
+    }
+
+    @NotNull
+    public static final double[] transformGcj02toWgs84( double lat, double lng ) {
+        double[] var10000;
+        if ( outOfChina( lat, lng ) ) {
+            var10000 = new double[]{lng, lat};
+        } else {
+            double dlat = transformLat( lng - 105.0D, lat - 35.0D );
+            double dlng = transformLon( lng - 105.0D, lat - 35.0D );
+            double radlat = lat / 180.0D * 3.141592653589793D;
+            double magic = Math.sin( radlat );
+            magic = ( double ) 1 - 0.006693421622965943D * magic * magic;
+            double sqrtmagic = Math.sqrt( magic );
+            dlat = dlat * 180.0D / ( 6335552.717000426D / ( magic * sqrtmagic ) * 3.141592653589793D );
+            dlng = dlng * 180.0D / ( 6378245.0D / sqrtmagic * Math.cos( radlat ) * 3.141592653589793D );
+            double mglat = lat + dlat;
+            double mglng = lng + dlng;
+            var10000 = new double[]{dealRound( lng * ( double ) 2 - mglng ), dealRound( lat * ( double ) 2 - mglat )};
+        }
+
+        return var10000;
+    }
+
+    private static final double dealRound( double value ) {
+        BigDecimal bg = new BigDecimal( value );
+        double result = bg.setScale( 6, 4 ).doubleValue();
+        return result;
+    }
+
+}

foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/IMogoSocketManager.java

@@ -21,6 +21,11 @@ public interface IMogoSocketManager extends IProvider {
      */
     void init( Context context, String appId , double lat, double lon);
 
+    /**
+     * 重新连接
+     */
+    void reConnect();
+
     /**
      * 注册消息监听
      *

foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java

@@ -74,6 +74,11 @@ public class MogoAiCloudSocketManager extends ConnectionLifecycleListener implem
         SocketManager.getInstance().init(context, lat, lon);
     }
 
+    @Override
+    public void reConnect() {
+        SocketManager.getInstance().reConnect();
+    }
+
     @Override
     public void registerOnMessageListener(int msgType, IMogoOnMessageListener listener) {
         if (mListeners.containsKey(msgType)) {

gradle.properties

@@ -66,26 +66,26 @@ SERVICE_BIZ_VERSION=1.2.4
 LOGLIB_VERSION=1.5.10
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.4.2
+MOGO_NETWORK_VERSION=1.4.4.8
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.4.2
+MOGO_PASSPORT_VERSION=1.4.4.8
 # 常链接
-MOGO_SOCKET_VERSION=1.4.4.2
+MOGO_SOCKET_VERSION=1.4.4.8
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.4.2
+MOGO_REALTIME_VERSION=1.4.4.8
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.4.2
+MOGO_TANLU_VERSION=1.4.4.8
 # 直播推流
-MOGO_LIVE_VERSION=1.4.4.2
+MOGO_LIVE_VERSION=1.4.4.8
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.4.2
+MOGO_TRAFFICLIVE_VERSION=1.4.4.8
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.4.2
+MOGO_LOCATION_VERSION=1.4.4.8
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.4.2
+MOGO_TELEMATIC_VERSION=1.4.4.8
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.10.0.2_test_01
+MAP_SDK_VERSION=2.10.0.9
 MAP_SDK_OPERATION_VERSION=1.1.4.1
 # websocket
 WEBSOCKET_VERSION=1.1.7
@@ -99,8 +99,6 @@ versionName=1.0.1
 ################# 新架构模块Maven版本管理 #################
 MOGO_CORE_FUNCTION_HMI_VERSION=0.0.58.10
 MOGO_CORE_FUNCTION_MAP_VERSION=0.0.58.10
-MOGO_CORE_FUNCTION_OBU_MOGO_VERSION=0.0.58.10
-MOGO_CORE_FUNCTION_V2X_VERSION=0.0.58.10
 MOGO_CORE_DATA_VERSION=0.0.58.10
 MOGO_CORE_FUNCTION_API_VERSION=0.0.58.10
 MOGO_CORE_FUNCTION_CALL_VERSION=0.0.58.10
@@ -113,8 +111,6 @@ MOGO_CORE_NETWORK_VERSION=0.0.58.10
 MOGO_COMMONS_VERSION=2.1.16.10
 MOGO_MAP_VERSION=2.1.16.10
 MOGO_MAP_API_VERSION=2.1.16.10
-MOGO_MODULE_MAP_VERSION=2.1.16.10
-MOGO_MODULE_V2X_VERSION=2.1.16.10
 # obu
 MOGO_MODULE_OBU_MOGO_VERSION=2.1.16.10
 # bugly
@@ -138,11 +134,6 @@ MOGO_OCH_TAXI_VERSION=2.0.66
 # mogoAiCloud sdk services
 MOGO_AICLOUD_SERVICES_SDK_VERSION=2.1.16.10
 
-################# 旧版本架构模块版本 #################
-
-
-
-
 # ADAS LIB Maven配置（用于地图部门测试使用，鹰眼项目中使用本地依赖） #
 ADAS_LIB_GROUP=com.zhidao.support.adas
 ADAS_LIB_POM_ARTIFACT_ID=high
@@ -152,6 +143,5 @@ ADAS_DATA_LIB_GROUP=com.zhjt.mogo.adas.data
 ADAS_DATA_LIB_POM_ARTIFACT_ID=adas-data
 ADAS_DATA_LIB_CHILD_VERSION=.0
 
-
 # 线程优化版本
 THREAD_OPT_VERSION=4.0.0

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AutopilotStatistics.java

@@ -1,23 +1,38 @@
-package com.zhidao.support.adas.high.bean;
+package com.zhjt.mogo.adas.data.bean;
 
-import com.zhidao.support.adas.high.common.Define;
 
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 
 /**
- * 自动驾驶启动统计 todo 凤坤，后续封装成pb，或者放入adas-data
+ * 自动驾驶启动统计
  */
 public class AutopilotStatistics {
+    /**
+     * 启动自动驾驶后的状态
+     */
+    public interface AUTOPILOT_START_STATUS {
+        /**
+         * 成功
+         */
+        int SUCCESSFUL = 0;
+        /**
+         * 失败
+         */
+        int FAILED = 1;
+        /**
+         * 取消
+         */
+        int CANCEL = 2;
+    }
 
     /**
      * 启动自动驾驶后状态
      * 0 成功
      * 1 失败
      * 2 取消
-     * {@link com.zhidao.support.adas.high.common.Constants.AUTOPILOT_START_STATUS}
+     * {@link AUTOPILOT_START_STATUS}
      */
-    @Define.AutopilotStartStatus
     public final int status;
 
     /**
@@ -36,7 +51,7 @@ public class AutopilotStatistics {
      */
     public final MogoReportMsg.MogoReportMessage failedMessage;
 
-    public AutopilotStatistics(@Define.AutopilotStartStatus int status, long usedTime, MessagePad.SetAutopilotModeReq req, MogoReportMsg.MogoReportMessage failedMessage) {
+    public AutopilotStatistics(int status, long usedTime, MessagePad.SetAutopilotModeReq req, MogoReportMsg.MogoReportMessage failedMessage) {
         this.status = status;
         this.usedTime = usedTime;
         this.req = req;

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -21,9 +21,8 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.google.protobuf.InvalidProtocolBufferException;
-import com.zhidao.support.adas.high.bean.AutopilotStatistics;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.Constants;
@@ -34,6 +33,7 @@ import com.zhidao.support.adas.high.common.MessageType;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 import com.zhidao.support.adas.high.common.RegexUtils;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.msg.IMsg;
 import com.zhidao.support.adas.high.msg.MyMessageFactory;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -129,6 +129,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * 乘客屏无法进行注册或取消注册，因为乘客屏无法感知司机屏与工控机连接状态。无法重置已注册或未注册接口列表
      */
     private SubscribeInterface subscribeInterface;
+    private Timer carConfigReqTimer;//车辆基础信息请求 多次请求防止无法收到基础信息情况出现
 
     public void setOnMultiDeviceListener(OnMultiDeviceListener onMultiDeviceListener) {
         this.onMultiDeviceListener = onMultiDeviceListener;
@@ -535,7 +536,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 
     @Override
     public void onWebSocketConnectSuccess(String ipAddress, int port) {
-        sendCarConfigReq();
+        startCarConfigReq();
         ipcConnectedIp = ipAddress;
         ipcConnectedPort = port;
         subscribeInterface = new SubscribeInterface(this);
@@ -662,6 +663,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             AdasManager.getInstance().setCarConfig(null);
             stopDispatchHandler();
+            stopCarConfigReq();
         }
         if (adasConnectStatusListener != null) {
             adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
@@ -775,6 +777,40 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         CupidLogUtils.setEnableLog(isEnableLog);
     }
 
+    //车辆基础信息请求
+    private void startCarConfigReq() {
+        if (carConfigReqTimer == null) {
+            carConfigReqTimer = new Timer();
+            carConfigReqTimer.schedule(new TimerTask() {
+                int num = 0;
+
+                @Override
+                public void run() {
+                    if (getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+                        if (AdasManager.getInstance().getCarConfig() == null) {
+                            num++;
+                            if (num > 3) {
+                                CupidLogUtils.i(TAG, "最后一次也未获取到车机基础信息");
+                                stopCarConfigReq();
+                            } else {
+                                CupidLogUtils.i(TAG, "第" + num + "次获取车机基础信息");
+                                sendCarConfigReq();
+                            }
+                        } else {
+                            stopCarConfigReq();
+                        }
+                    }
+                }
+            }, 10, 2000L);
+        }
+    }
+
+    private synchronized void stopCarConfigReq() {
+        if (carConfigReqTimer != null) {
+            carConfigReqTimer.cancel();
+            carConfigReqTimer = null;
+        }
+    }
 
 /**************************************************************************************************************************/
     /**
@@ -1284,6 +1320,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build());
     }
 
+    /**
+     * 金旅M1顶灯1控制
+     *
+     * @param switchCmd //0: default, 1: 开启顶灯, 2: 关闭顶灯
+     * @return boolean
+     */
     @Override
     public boolean sendRoboBusJinlvM1MainLamp1Cmd(int switchCmd) {
         return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
@@ -1291,6 +1333,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build());
     }
 
+    /**
+     * 金旅M1顶灯2控制
+     *
+     * @param switchCmd //0: default, 1: 开启顶灯, 2: 关闭顶灯
+     * @return boolean
+     */
     @Override
     public boolean sendRoboBusJinlvM1MainLamp2Cmd(int switchCmd) {
         return sendRoboBusJinlvM1TaskCmd(SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd.newBuilder()
@@ -1298,7 +1346,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build());
     }
 
-
     /**
      * 金旅M1小灯(氛围灯)控制
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -685,9 +685,9 @@ public class AdasManager implements IAdasNetCommApi {
     }
 
     /**
-     * 金旅M1车门控制
+     * 金旅M1小灯(氛围灯)控制
      *
-     * @param switchCmd //0: default, 1: 开启车门, 2: 关闭车门
+     * @param switchCmd //0: default, 1: 开启小灯(氛围灯), 2: 关闭小灯(氛围灯)
      * @return boolean
      */
     @Override

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java

@@ -1,6 +1,6 @@
 package com.zhidao.support.adas.high;
 
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 
 import java.util.HashSet;

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -1,7 +1,7 @@
 package com.zhidao.support.adas.high;
 
 import com.mogo.support.obu.ObuScene;
-import com.zhidao.support.adas.high.bean.AutopilotStatistics;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 
 import bag_manager.BagManagerOuterClass;

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java

@@ -4,7 +4,8 @@ import android.os.SystemClock;
 
 import androidx.annotation.NonNull;
 
-import com.zhidao.support.adas.high.bean.AutopilotStatistics;
+
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
 import java.util.Timer;
 import java.util.TimerTask;
@@ -60,7 +61,7 @@ public class AutopilotReview {
             startReq = req;
             startTime = SystemClock.elapsedRealtime();
         } else {
-            onCallback(Constants.AUTOPILOT_START_STATUS.CANCEL);
+            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL);
         }
     }
 
@@ -72,7 +73,7 @@ public class AutopilotReview {
     public void onReportResult(MogoReportMsg.MogoReportMessage message) {
         if (startReq != null && message != null) {
             failedMessage = message;
-            onCallback(Constants.AUTOPILOT_START_STATUS.FAILED);
+            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED);
         }
     }
 
@@ -83,7 +84,7 @@ public class AutopilotReview {
      */
     public void onAutopilotResult(MessagePad.AutopilotState state) {
         if (startReq != null && state != null && state.getState() == 2) {
-            onCallback(Constants.AUTOPILOT_START_STATUS.SUCCESSFUL);
+            onCallback(AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCESSFUL);
         }
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java

@@ -110,23 +110,6 @@ public class Constants {
 
     }
 
-    /**
-     * 启动自动驾驶后的状态
-     */
-    public interface AUTOPILOT_START_STATUS {
-        /**
-         * 成功
-         */
-        int SUCCESSFUL = 0;
-        /**
-         * 失败
-         */
-        int FAILED = 1;
-        /**
-         * 取消
-         */
-        int CANCEL = 2;
-    }
 
     /**
      * 使用底盘数据类型

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java

@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.common;
 import androidx.annotation.IntDef;
 
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
 import java.lang.annotation.Retention;
 import java.lang.annotation.RetentionPolicy;
@@ -47,9 +48,9 @@ public final class Define {
     public @interface SubscribeType {
     }
 
-    @IntDef(flag = true, value = {Constants.AUTOPILOT_START_STATUS.SUCCESSFUL,
-            Constants.AUTOPILOT_START_STATUS.FAILED,
-            Constants.AUTOPILOT_START_STATUS.CANCEL})
+    @IntDef(flag = true, value = {AutopilotStatistics.AUTOPILOT_START_STATUS.SUCCESSFUL,
+            AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED,
+            AutopilotStatistics.AUTOPILOT_START_STATUS.CANCEL})
     @Retention(RetentionPolicy.SOURCE)
     public @interface AutopilotStartStatus {
     }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java

@@ -0,0 +1,118 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import com.zhidao.support.adas.high.OnAdasListener;
+
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.regex.Pattern;
+
+import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
+
+/**
+ * 是否可以启动自动驾驶能力检测 工控机版本>=230&& <250 使用此类
+ * 目前监控了底盘的一些状态和查询节点状态应答的数据
+ * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
+ * <p>
+ * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
+ */
+public class AutopilotAbility230 {
+    private static final String TAG = AutopilotAbility230.class.getSimpleName();
+    private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
+    private volatile Timer timer;
+    private ChassisStatesOuterClass.ChassisStates chassisStates;
+
+    public AutopilotAbility230() {
+    }
+
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        this.chassisStates = chassisStates;
+    }
+
+    private void onCallback() {
+        //金旅、开沃小巴乘客端 不能启动自动驾驶
+        if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
+            return;
+        }
+        boolean isAutopilotAbility = true;//是否能启动自动驾驶
+        String unableAutopilotReason = null;//不能启动自动驾驶原因
+        //检测底盘相关
+        if (chassisStates != null) {
+            if (chassisStates.hasBrakeSystemStates()) {
+                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                if (brake > 0) {
+                    isAutopilotAbility = false;
+                    unableAutopilotReason = "制动踏板被踩下";
+                }
+            }
+            if (isAutopilotAbility) {
+                /**
+                 * 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
+                 * TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
+                 */
+                //开沃任何档位都能启动自驾
+                if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
+                    if (chassisStates.hasGearSystemStates()) {
+                        Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                        //金旅Bus和清扫车 档位不正常
+                        if (AutopilotAbilityManager.getInstance().isBusDriver()) {
+                            if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
+                            if (gear == Chassis.GearPosition.GEAR_N) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        } else {
+                            //东风Taxi和红旗 司机端和乘客端 档位不正常
+                            if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        }
+                    }
+                }
+            }
+
+            //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
+//            if (isAutopilotAbility) {
+//                //电子驻车制动系统
+//                if (chassisStates.hasEpbSystemStates()) {
+//                    ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
+//                    if (epb.hasEpbEnableState()){
+//                        epb.getEpbWorkState();
+//                    }
+//                }
+//            }
+        }
+        if (AutopilotAbilityManager.getInstance().getListener() != null) {
+            AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
+        }
+    }
+
+    public synchronized void start() {
+        if (timer == null) {
+            timer = new Timer();
+            timer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    onCallback();
+                }
+            }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
+        }
+    }
+
+    public synchronized void stop() {
+        if (timer != null) {
+            timer.cancel();
+            timer = null;
+        }
+        this.chassisStates = null;
+    }
+
+
+
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java

@@ -1,106 +1,41 @@
-package com.zhidao.support.adas.high.common;
+package com.zhidao.support.adas.high.common.autopilot.ability;
 
-import android.os.Handler;
 import android.os.Message;
-import android.text.TextUtils;
 
 import com.zhidao.support.adas.high.AdasManager;
-import com.zhidao.support.adas.high.OnAdasListener;
 
 import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import system_master.SystemStatusInfo;
 
 /**
- * 是否可以启动自动驾驶能力检测
+ * 是否可以启动自动驾驶能力检测 工控机版本>=250使用此类
  * 目前监控了底盘的一些状态和查询节点状态应答的数据
  * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
  * <p>
  * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
  */
-public class AutopilotAbilityManager {
-    private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
+public class AutopilotAbility250 {
+    private static final String TAG = AutopilotAbility250.class.getSimpleName();
     private static final int WHAT_TIMEOUT = 0;
     private static final int DEFAULT_TIMEOUT = 1500;
     private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
     private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
-    private static volatile AutopilotAbilityManager INSTANCE;
-    private OnAdasListener listener;
     private volatile Timer timer;
-    private final Pattern pattern = Pattern.compile("\\d+.\\d+.\\d+");
     private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private Handler handler;
-    private OnAutopilotAbilityListener onAutopilotAbilityListener;
-    /**
-     * 身份/车型
-     */
-    private String identityMode;
 
-    public interface OnAutopilotAbilityListener {
-        void onStatusQuery();//查询是被调用
+    public AutopilotAbility250() {
     }
 
-    /**
-     * 身份规则定义根据app/productFlavors/README.md
-     * *    taxi司机屏  Taxi_Driver_Base      （东风、红旗司机端）
-     * *    taxi乘客屏  Taxi_Passenger_Base   （东风、红旗乘客端）
-     * *    bus司机屏   Bus_Driver_Base       （金旅小巴司机端）
-     * *               Bus_Driver_Van        （开沃小巴司机端）
-     * *    bus乘客屏   Bus_Passenger_Base    （金旅、开沃小巴乘客端）
-     * *               Bus_Passenger_M1      （M1小巴乘客端）
-     * *               Bus_Passenger_M2      （M2小巴乘客端）
-     * *    清扫车      Sweeper_Driver_FT     （福田清扫车司机端）
-     * <p>
-     * 此定义不区分角色，只区分业务线和车型
-     */
-    private interface IDENTITY_MODE {
-        String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
-        String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
-        String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
-        String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
-        String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
-        String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
-        String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
-        String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
-    }
-
-
-    public void setIdentityMode(String identityMode) {
-        this.identityMode = identityMode;
-    }
-
-    public void setOnAdasListener(OnAdasListener listener) {
-        this.listener = listener;
-    }
-
-    public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
-        this.onAutopilotAbilityListener = onAutopilotAbilityListener;
-    }
-
-    private AutopilotAbilityManager() {
-    }
-
-    public static AutopilotAbilityManager getInstance() {
-        if (INSTANCE == null) {
-            synchronized (AutopilotAbilityManager.class) {
-                if (INSTANCE == null) {
-                    INSTANCE = new AutopilotAbilityManager();
-                }
-            }
-        }
-        return INSTANCE;
-    }
 
     public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
-        if (handler != null) {
-            if (handler.hasMessages(WHAT_TIMEOUT))
-                handler.removeMessages(WHAT_TIMEOUT);
+        if (AutopilotAbilityManager.getInstance().getHandler() != null) {
+            if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
+                AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
         }
         onCallback(statusInfo);
     }
@@ -111,7 +46,7 @@ public class AutopilotAbilityManager {
 
     private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
         //金旅、开沃小巴乘客端 不能启动自动驾驶
-        if (IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode)) {
+        if (AutopilotAbilityManager.getInstance().isBusPassenger()) {
             return;
         }
         boolean isAutopilotAbility = true;//是否能启动自动驾驶
@@ -122,20 +57,7 @@ public class AutopilotAbilityManager {
             if (statusInfo.hasMasterVersion()) {
                 //截取Master Version
                 String masterVersion = statusInfo.getMasterVersion();
-                if (!TextUtils.isEmpty(masterVersion)) {
-                    try {
-                        Matcher matcher = pattern.matcher(masterVersion);
-                        if (matcher.find()) {
-                            String group = matcher.group();
-                            if (!TextUtils.isEmpty(group)) {
-                                String v = group.split("\\.")[0];
-                                version = Integer.parseInt(v);
-                            }
-                        }
-                    } catch (Exception e) {
-                        e.printStackTrace();
-                    }
-                }
+                version = AutopilotAbilityManager.getInstance().parseVersion(false, masterVersion);
             }
             //如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
             if (version > 1 && statusInfo.hasAutoPilotReady()) {
@@ -204,24 +126,26 @@ public class AutopilotAbilityManager {
                  * 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
                  * TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
                  */
-                if (chassisStates.hasGearSystemStates()) {
-                    Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
-                    if (TextUtils.isEmpty(identityMode)) {
-                        identityMode = "";
-                    }
-                    //开沃任何档位都能启动自驾
-                    if (!IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode)) {
+                //开沃任何档位都能启动自驾
+                if (!AutopilotAbilityManager.getInstance().isBusDriverVan()) {
+                    if (chassisStates.hasGearSystemStates()) {
+                        Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                         //金旅Bus和清扫车 档位不正常
-                        if (IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode) || IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode)) {
+                        if (AutopilotAbilityManager.getInstance().isBusDriver()) {
                             if (gear == Chassis.GearPosition.GEAR_N || gear == Chassis.GearPosition.GEAR_R) {
                                 isAutopilotAbility = false;
-                                unableAutopilotReason = "挡位不正常";
+                                unableAutopilotReason = "档位不正常";
+                            }
+                        } else if (AutopilotAbilityManager.getInstance().isSweeperDriverFutian()) {
+                            if (gear == Chassis.GearPosition.GEAR_N) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "档位不正常";
                             }
                         } else {
                             //东风Taxi和红旗 司机端和乘客端 档位不正常
                             if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
                                 isAutopilotAbility = false;
-                                unableAutopilotReason = "挡位不正常";
+                                unableAutopilotReason = "档位不正常";
                             }
                         }
                     }
@@ -239,8 +163,8 @@ public class AutopilotAbilityManager {
 //                }
 //            }
         }
-        if (listener != null) {
-            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
+        if (AutopilotAbilityManager.getInstance().getListener() != null) {
+            AutopilotAbilityManager.getInstance().getListener().onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
         }
     }
 
@@ -250,14 +174,14 @@ public class AutopilotAbilityManager {
             timer.schedule(new TimerTask() {
                 @Override
                 public void run() {
-                    if (onAutopilotAbilityListener != null) {
-                        onAutopilotAbilityListener.onStatusQuery();
+                    if (AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener() != null) {
+                        AutopilotAbilityManager.getInstance().getOnAutopilotAbilityListener().onStatusQuery();
                     }
                     AdasManager.getInstance().sendStatusQueryReq();
-                    if (handler != null) {
-                        if (handler.hasMessages(WHAT_TIMEOUT))
-                            handler.removeMessages(WHAT_TIMEOUT);
-                        handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
+                    if (AutopilotAbilityManager.getInstance().getHandler() != null) {
+                        if (AutopilotAbilityManager.getInstance().getHandler().hasMessages(WHAT_TIMEOUT))
+                            AutopilotAbilityManager.getInstance().getHandler().removeMessages(WHAT_TIMEOUT);
+                        AutopilotAbilityManager.getInstance().getHandler().sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
                     }
                 }
             }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
@@ -269,18 +193,15 @@ public class AutopilotAbilityManager {
             timer.cancel();
             timer = null;
         }
-        handler = null;
         this.chassisStates = null;
     }
 
-    public void setHandler(Handler handler) {
-        this.handler = handler;
-    }
-
 
     public void onHandleMessage(Message msg) {
         if (msg.what == WHAT_TIMEOUT) {
             onCallback(null);
         }
     }
+
+
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java

@@ -0,0 +1,274 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import android.os.Handler;
+import android.os.Message;
+import android.text.TextUtils;
+import android.util.Log;
+
+import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.Constants;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import chassis.ChassisStatesOuterClass;
+import mogo.telematics.pad.MessagePad;
+import system_master.SystemStatusInfo;
+
+/**
+ * 是否可以启动自动驾驶能力检测
+ * 目前监控了底盘的一些状态和查询节点状态应答的数据
+ * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
+ * <p>
+ * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
+ */
+public class AutopilotAbilityManager {
+    private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
+    private static volatile AutopilotAbilityManager INSTANCE;
+    private OnAdasListener listener;
+    private final Pattern pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+");
+    private Handler handler;
+    private OnAutopilotAbilityListener onAutopilotAbilityListener;
+    private int dockerVersion = -1;//工控机版本
+    private AutopilotAbility230 autopilotAbility230;
+    private AutopilotAbility250 autopilotAbility250;
+    private Timer startTimer;
+    /**
+     * 身份/车型
+     */
+    private String identityMode;
+
+    public interface OnAutopilotAbilityListener {
+        void onStatusQuery();//查询是被调用
+    }
+
+    /**
+     * 身份规则定义根据app/productFlavors/README.md
+     * *    taxi司机屏  Taxi_Driver_Base      （东风、红旗司机端）
+     * *    taxi乘客屏  Taxi_Passenger_Base   （东风、红旗乘客端）
+     * *    bus司机屏   Bus_Driver_Base       （金旅小巴司机端）
+     * *               Bus_Driver_Van        （开沃小巴司机端）
+     * *    bus乘客屏   Bus_Passenger_Base    （金旅、开沃小巴乘客端）
+     * *               Bus_Passenger_M1      （M1小巴乘客端）
+     * *               Bus_Passenger_M2      （M2小巴乘客端）
+     * *    清扫车      Sweeper_Driver_FT     （福田清扫车司机端）
+     * <p>
+     * 此定义不区分角色，只区分业务线和车型
+     */
+    private interface IDENTITY_MODE {
+        String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
+        String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
+        String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
+        String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
+        String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
+        String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
+        String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
+        String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
+    }
+
+    private AutopilotAbilityManager() {
+    }
+
+    public static AutopilotAbilityManager getInstance() {
+        if (INSTANCE == null) {
+            synchronized (AutopilotAbilityManager.class) {
+                if (INSTANCE == null) {
+                    INSTANCE = new AutopilotAbilityManager();
+                }
+            }
+        }
+        return INSTANCE;
+    }
+
+    public void setIdentityMode(String identityMode) {
+        this.identityMode = identityMode;
+    }
+
+    public void setCarConfig(MessagePad.CarConfigResp carConfig) {
+        if (dockerVersion == -1) {
+            String v = carConfig.getDockVersion();
+            int version = parseVersion(true, v);
+            if (version != -1) {
+                stopTimer();
+                dockerVersion = version;
+                Log.i("dddd", "工控机版本=" + dockerVersion);
+                initAutopilotAbility();
+            }
+        }
+    }
+
+    public void setOnAdasListener(OnAdasListener listener) {
+        this.listener = listener;
+    }
+
+    public OnAdasListener getListener() {
+        return listener;
+    }
+
+    public void setHandler(Handler handler) {
+        this.handler = handler;
+    }
+
+    public Handler getHandler() {
+        return handler;
+    }
+
+    public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
+        this.onAutopilotAbilityListener = onAutopilotAbilityListener;
+    }
+
+    public OnAutopilotAbilityListener getOnAutopilotAbilityListener() {
+        return onAutopilotAbilityListener;
+    }
+
+
+    public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.setStatusInfo(statusInfo);
+        }
+    }
+
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        if (autopilotAbility230 != null) {
+            autopilotAbility230.setChassisStates(chassisStates);
+        }
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.setChassisStates(chassisStates);
+        }
+    }
+
+    public void onHandleMessage(Message msg) {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.onHandleMessage(msg);
+        }
+    }
+
+    private void initAutopilotAbility() {
+        if (dockerVersion >= 250) {
+            stop230();
+            if (autopilotAbility250 == null) {
+                autopilotAbility250 = new AutopilotAbility250();
+                autopilotAbility250.start();
+            }
+        } else {
+            stop250();
+            if (autopilotAbility230 == null) {
+                autopilotAbility230 = new AutopilotAbility230();
+                autopilotAbility230.start();
+            }
+
+        }
+    }
+
+    private void stop230() {
+        if (autopilotAbility230 != null) {
+            autopilotAbility230.stop();
+            autopilotAbility230 = null;
+        }
+    }
+
+    private void stop250() {
+        if (autopilotAbility250 != null) {
+            autopilotAbility250.stop();
+            autopilotAbility250 = null;
+        }
+    }
+
+    private void stopTimer() {
+        if (startTimer != null) {
+            startTimer.cancel();
+            startTimer = null;
+        }
+    }
+
+    /**
+     * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测
+     * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑
+     */
+    public synchronized void start() {
+        if (startTimer == null) {
+            startTimer = new Timer();
+            startTimer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    if (dockerVersion == -1 && AdasManager.getInstance().getIpcConnectionStatus() == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+                        dockerVersion = 230;
+                        initAutopilotAbility();
+                    }
+                }
+            }, 8000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
+        }
+
+    }
+
+    public synchronized void stop() {
+        stopTimer();
+        stop230();
+        stop250();
+        handler = null;
+        dockerVersion = -1;
+    }
+
+
+    /**
+     * 解析版本 格式 xxx.xxx.xxx(x的数量不固定)
+     *
+     * @param isUserAll 是否使用全部截取数据 true：表示 12.34.56 截取之后 123456     false：表示12.34.56 截取之后 12
+     * @param ver       版本字符串
+     * @return -1表示解析失败
+     */
+    public int parseVersion(boolean isUserAll, String ver) {
+        int version = -1;
+        if (!TextUtils.isEmpty(ver)) {
+            try {
+                Matcher matcher = pattern.matcher(ver);
+                if (matcher.find()) {
+                    String group = matcher.group();
+                    if (!TextUtils.isEmpty(group)) {
+                        if (isUserAll) {
+                            group = group.replace(".", "");
+                        } else {
+                            group = group.split("\\.")[0];
+                        }
+                        version = Integer.parseInt(group);
+                    }
+                }
+            } catch (Exception e) {
+                CupidLogUtils.e(TAG, "版本解析失败=" + ver, e);
+            }
+        }
+        return version;
+    }
+
+    /**
+     * 金旅、开沃小巴乘客端
+     */
+    public boolean isBusPassenger() {
+        return IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode);
+    }
+
+    /**
+     * 开沃小巴司机端
+     */
+    public boolean isBusDriverVan() {
+        return IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode);
+    }
+
+    /**
+     * 金旅小巴司机端
+     */
+    public boolean isBusDriver() {
+        return IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode);
+    }
+
+    /**
+     * 福田清扫车司机端
+     */
+    public boolean isSweeperDriverFutian() {
+        return IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode);
+    }
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java

@@ -7,6 +7,7 @@ import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
 import mogo.telematics.pad.MessagePad;
@@ -20,6 +21,7 @@ public class CarConfigRespMessage extends MyAbstractMessageHandler {
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
         AdasChannel.calculateTimeConsumingOnDispatchRaw("车机基础信息应答", raw.receiveTime);
+        AutopilotAbilityManager.getInstance().setCarConfig(carConfigResp);
         AdasManager.getInstance().setCarConfig(carConfigResp);
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java

@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.msg;
 
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
 import chassis.ChassisStatesOuterClass;

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/StatusQueryRespMessage.java

@@ -5,7 +5,7 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java

@@ -5,7 +5,7 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
 
@@ -141,7 +141,7 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null;
         if (vehicleState.hasGear()) {
             gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
-            //挂挡档位数据
+            //档位数据
             gearSystemStates.setGearPosition(vehicleState.getGear());//鹰眼已用
         }
         if (vehicleState.hasGearSwitchInference()) {

libraries/mogo-map-api/src/main/java/com/mogo/map/hdcache/IHdCacheListener.kt

@@ -2,4 +2,6 @@ package com.mogo.map.hdcache
 
 interface IHdCacheListener {
     fun onMapHdCacheProgress(cityId: Int, progress: Double)
+
+    fun onMapHdCacheResult(cityId: Int, state: Int)// 0失败，1成功
 }

libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java

@@ -358,4 +358,6 @@ public interface IMogoMapUIController {
      * @return
      */
     boolean isCityDataCached();
+
+    void cancelDownloadCacheData();
 }