Merge branch 'dev_robotaxi-d_240807_6.6.0' into tmp_6.7.0_arrow

2024-09-05 09:43:13 +08:00
parent cbfcf6f77a 430fbe900c
commit 9d472c47d1
88 changed files with 1261 additions and 533 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -140,52 +140,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                                car.longitude,
                                car.latitude
                            )
-//                            if (polygon.isNotEmpty()) {
-//                                val decision = V2NUtils.computeOccupyLanesInfo(Triple(car.longitude, car.latitude, car.heading.toFloat()), Triple(itx.longitude, itx.latitude, itx.heading.toFloat()), polygon.map { kotlin.Pair(it.first, it.second) })
-//                                if (decision != null) {
-//                                    val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
-//                                    val total = decision.total
-//                                    val occupy = decision.occupy
-//                                    val laneId = decision.laneId
-//                                    val sb = StringBuilder()
-//                                    V2XBizTrace.onAck(decision, "计算出道路事件占道决策数据1")
-//                                    if (laneId != null) {
-//                                        val isOccupy = occupy.find { it.id == laneId } != null
-//                                        if (isOccupy) {
-//                                            if (isDriver) {
-//                                                val bestLane = V2NUtils.computeBestLane(laneId, occupy, total)
-//                                                V2XBizTrace.onAck(bestLane, "计算出最优车道")
-//                                                sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇建议您尽快${bestLane.second}")
-//                                            } else {
-//                                                sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
-//                                            }
-//                                        } else {
-//                                            if (isDriver) {
-//                                                sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇提醒您小心${ if (computeDirection(laneId, occupy) > 0) "右侧" else "左侧" }行人及来车")
-//                                            } else {
-//                                                sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
-//                                            }
-//                                        }
-//                                    } else {
-//                                        sb.append("发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }@@, 蘑菇时刻为您守护")
-//                                    }
-//                                    if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-//                                        runCatching {
-//                                            CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), START)
-//                                        }
-//                                        scope.launch {
-//                                            delay(5000)
-//                                            runCatching {
-//                                                CallerHmiManager.notifyXiaoZhiStatusChanged(V2N(EventTypeEnumNew.getEnumType(poiType)), STOP)
-//                                            }
-//                                        }
-//                                    }
-//                                    val ss = sb.toString()
-//                                    val content = ss.substring(0, ss.indexOf("@@"))
-//                                    val tts = ss.replace("@@", "")
-//                                    CallerRoadV2NEventWindowListenerManager.showLiveVideo(id, itx.detectStartTime.takeIf { it > 0 } ?: System.currentTimeMillis(), EventTypeEnumNew.getUpdateIconRes(poiType), content, isDriver, tts, itx.cameraIp, itx.longitude, itx.latitude)
-//                                }
-//                            }
                            val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
                            if (!isDriver) {
                                runCatching {
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -46,7 +46,7 @@ class AiRoadMarker {
        val aiMakers = ConcurrentHashMap<String, AiRoadMarker>()

        private const val TAG = "AiRoadMarker"
-        private val COLOR_START = Color.parseColor("#002ABAD9")
+        private val COLOR_START = Color.parseColor("#0030A3FF")
        private val COLOR_END = Color.parseColor("#66FF7A30")
        private val builders by lazy { ConcurrentHashMap<String, Point.Options.Builder>() }

--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XAiRoadEventMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XAiRoadEventMarker.kt
@@ -38,12 +38,12 @@ class V2XAiRoadEventMarker {
            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
                val colors = ArrayList<Int>()
                colors.add(Color.argb(204, 237, 172, 21))
-                colors.add(Color.argb(0, 255, 255, 255))
+                colors.add(Color.argb(0, 48, 163, 255))
                builder.colors(colors)
            } else {
                val colors = ArrayList<Int>()
                colors.add(Color.parseColor("#99FF8F2A"))
-                colors.add(Color.argb(0, 255, 255, 255))
+                colors.add(Color.argb(0, 48, 163, 255))
                builder.colors(colors)
            }
            val dispersedPoints = getDispersedPoints(polygon.map { Pair<Double, Double>(it.first, it.second) }, 3)
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -117,6 +117,7 @@ import mogo.v2x.RoadOverviewEvents
 import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
 import perception.FusionTrafficLightOuterClass
+import perception.LaneMarkOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
 import prediction.Prediction
 import record_cache.RecordPanelOuterClass
@@ -1030,6 +1031,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
        CallerV2nNioEventListenerManager.invokeV2nNioCongestionEvent(congestion)
    }

+    /**
+     * 车道线
+     *
+     * @param header     头
+     * @param laneMarks 数据
+     */
+    override fun onLaneMarksTran(
+        header: MessagePad.Header,
+        laneMarks: LaneMarkOuterClass.LaneMarks
+    ) {
+
+    }
+
    /**
     * 所连接的域控的节点状态信息
     * 目前包含状态 节点是否存在；节点是否超时；
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -5,7 +5,6 @@ package com.zhjt.mogo_core_function_devatools
 import android.app.Activity
 import android.app.Application
 import android.content.Context
-import android.util.Log
 import android.view.View
 import android.view.ViewGroup
 import com.alibaba.android.arouter.facade.annotation.Route
@@ -13,7 +12,6 @@ import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.EnvConfig
-import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig.isShowRouteStrategy
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -60,10 +58,8 @@ import com.zhjt.mogo_core_function_devatools.binding.BindingCarManager
 import com.zhjt.mogo_core_function_devatools.block.MoGoBlockProviderImpl
 import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
 import com.zhjt.mogo_core_function_devatools.exam.ExamControlManager
-import com.zhjt.mogo_core_function_devatools.exam.ExamControlWindow
 import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigCenter.Companion.bizConfigCenter
 import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigImpl
-import com.zhjt.mogo_core_function_devatools.logcat.CrashLogAnalyticsManager
 import com.zhjt.mogo_core_function_devatools.logcat.MoGoLogRecordProviderImpl
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager
 import com.zhjt.mogo_core_function_devatools.lookaround.MoGoLookAroundProviderImpl
@@ -91,11 +87,7 @@ import com.zhjt.service.chain.ChainLog
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
-import java.io.BufferedReader
 import java.io.File
-import java.io.FileReader
-import java.io.IOException
-import java.lang.StringBuilder
 import java.lang.ref.WeakReference
 import java.util.concurrent.ConcurrentHashMap

@@ -250,26 +242,6 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
            val crashDir =  File(it.getExternalFilesDir(null), "crash")
            if(crashDir.exists() && crashDir.canExecute() && crashDir.listFiles()?.isNotEmpty() == true){
                it.lifeCycleScope.launch(Dispatchers.IO){
-                    crashDir.listFiles()?.forEach {crash->
-                        val file = File(crash.absolutePath)
-                        try {
-                            BufferedReader(FileReader(file)).use { reader ->
-                                var line: String?
-                                //读取读取文件内容并打印
-                                while (reader.readLine().also { line = it } != null) {
-                                    line?.let { content->
-                                        if(content.contains("Crash type")){
-                                            CrashLogAnalyticsManager.crashLogAnalytics(content)
-                                            return@use
-                                        }
-                                    }
-
-                                }
-                            }
-                        } catch (e: IOException) {
-                            e.printStackTrace()
-                        }
-                    }
                    val startTime = crashDir.lastModified() - 60*1000
                    val endTime = if(System.currentTimeMillis() - crashDir.lastModified()>60*1000){
                        crashDir.lastModified() + 60*1000
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
@@ -246,32 +246,21 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
            if (ClickUtils.isFastClick()){
                if (NetworkUtils.isConnected()){
                    if (BadCaseConfig.dockerVersion != null){
-                        if(ProjectUtils.isSaas()){
-                            //660版本数据闭环增加统一上报问题入口（仅限于saas渠道）
-                            if(reportTypeWindow == null){
-                                reportTypeWindow = ReportTypeWindow(activity)
-                                reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
-                                    override fun closeWindow() {
-                                        reportTypeWindow?.hideFloatWindow()
-                                        reportTypeWindow = null
-                                    }
-                                })
-                            }
-                            if(reportTypeWindow?.getWindowShowStatus() == true){
-                                reportTypeWindow?.hideFloatWindow()
-                                reportTypeWindow = null
-                            }else{
-                                reportTypeWindow?.showFloatWindow(xPosition,yPosition)
-                            }
-                        }else{
-                            //展示工单上报弹窗
-                            val workOrderWindow = WorkOrderWindow(activity)
-                            workOrderWindow.setClickListener(object: WorkOrderWindow.ClickListener{
+                        //660版本数据闭环增加统一上报问题入口（仅限于saas渠道）
+                        if(reportTypeWindow == null){
+                            reportTypeWindow = ReportTypeWindow(activity)
+                            reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
                                override fun closeWindow() {
-                                    workOrderWindow.hideFloatWindow()
+                                    reportTypeWindow?.hideFloatWindow()
+                                    reportTypeWindow = null
                                }
                            })
-                            workOrderWindow.showFloatWindow()
+                        }
+                        if(reportTypeWindow?.getWindowShowStatus() == true){
+                            reportTypeWindow?.hideFloatWindow()
+                            reportTypeWindow = null
+                        }else{
+                            reportTypeWindow?.showFloatWindow(xPosition,yPosition)
                        }
                    }else{
                        ToastUtils.showShort("工控机连接状态异常")
@@ -373,29 +362,31 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
    fun onReceiveBadCaseRecord(msgBoxBean: MsgBoxBean, activity: Activity, countdown: Boolean) {
        CallerLogger.d("$M_DEVA$TAG", "收到录包结果回调${record}")
        CallerLogger.d("$M_DEVA$TAG", "开始创建被动录包弹窗,window num=${BadCaseConfig.windowNum}")
-        ThreadUtils.runOnUiThread {
-            val passiveBadCaseWindow = PassiveBadCaseWindow(activity)
-            passiveBadCaseWindow.setRecord(msgBoxBean)
-            passiveBadCaseWindow.setClickListener(object : PassiveBadCaseWindow.ClickListener {
-                override fun closeWindow() {
-                    passiveBadCaseWindow.hideFloatWindow()
-                }
-            })
-            passiveBadCaseWindow.showFloatWindow()
-            if (countdown) {
-                val countDownTimer = object : CountDownTimer(10000, 10000) {
-                    override fun onTick(p0: Long) {
+        if(!ProjectUtils.isSaas()){
+            ThreadUtils.runOnUiThread {
+                val passiveBadCaseWindow = PassiveBadCaseWindow(activity)
+                passiveBadCaseWindow.setRecord(msgBoxBean)
+                passiveBadCaseWindow.setClickListener(object : PassiveBadCaseWindow.ClickListener {
+                    override fun closeWindow() {
+                        passiveBadCaseWindow.hideFloatWindow()
                    }
+                })
+                passiveBadCaseWindow.showFloatWindow()
+                if (countdown) {
+                    val countDownTimer = object : CountDownTimer(10000, 10000) {
+                        override fun onTick(p0: Long) {
+                        }

-                    override fun onFinish() {
-                        //如果有页面操作，则不自动关闭窗口
-                        if(!passiveBadCaseWindow.isOperated()){
-                            passiveBadCaseWindow.hideFloatWindow()
-                            BadCaseConfig.windowNum--
+                        override fun onFinish() {
+                            //如果有页面操作，则不自动关闭窗口
+                            if(!passiveBadCaseWindow.isOperated()){
+                                passiveBadCaseWindow.hideFloatWindow()
+                                BadCaseConfig.windowNum--
+                            }
                        }
                    }
+                    countDownTimer.start()
                }
-                countDownTimer.start()
            }
        }
    }
@@ -579,26 +570,35 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
     */
    override fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg) {
        Log.i(TAG,"onFSM2024State fsmState.pilotStandbyFlag="+fsmState.pilotStandbyFlag+" pilotNotStandbyReason="+ fsmState.pilotNotStandbyReason)
-        if(!fsmState.pilotStandbyFlag){
-            //pilotStandbyFlag == false代表自动驾驶无法启动
-            if(!BadCaseConfig.alreadyShowOneReport){
-                //触发一键上报
-                ThreadUtils.runOnUiThread {
-                    if(reportTypeWindow == null){
-                        reportTypeWindow = ReportTypeWindow(activity)
-                        reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
-                            override fun closeWindow() {
-                                reportTypeWindow?.hideFloatWindow()
-                                reportTypeWindow = null
-                            }
-                        })
+        if(fsmState.pilotStandbyFlag){
+            BadCaseConfig.fsmAlreadyStandby = true
+        }
+        if(BadCaseConfig.fsmAlreadyStandby){
+            if(!fsmState.pilotStandbyFlag){
+                //pilotStandbyFlag == false代表自动驾驶无法启动
+                if(!BadCaseConfig.alreadyShowOneReport){
+                    //触发一键上报
+                    ThreadUtils.runOnUiThread {
+                        val activity = AppStateManager.currentActivity()
+                        if (activity !is AppCompatActivity) {
+                            return@runOnUiThread
+                        }
+                        if(reportTypeWindow == null){
+                            reportTypeWindow = ReportTypeWindow(activity)
+                            reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
+                                override fun closeWindow() {
+                                    reportTypeWindow?.hideFloatWindow()
+                                    reportTypeWindow = null
+                                }
+                            })
+                        }
+                        reportTypeWindow?.showOneClickReportWindow(xPosition,yPosition)
+                        BadCaseConfig.alreadyShowOneReport = true
                    }
-                    reportTypeWindow?.showOneClickReportWindow(xPosition,yPosition)
-                    BadCaseConfig.alreadyShowOneReport = true
                }
+            }else{
+                BadCaseConfig.alreadyShowOneReport = false
            }
-        }else{
-            BadCaseConfig.alreadyShowOneReport = false
        }
    }

@@ -614,6 +614,10 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
            if(it.status == AutopilotStatistics.AUTOPILOT_START_STATUS.FAILED){
                //触发一键上报
                ThreadUtils.runOnUiThread{
+                    val activity = AppStateManager.currentActivity()
+                    if (activity !is AppCompatActivity) {
+                        return@runOnUiThread
+                    }
                    if(reportTypeWindow == null){
                        reportTypeWindow = ReportTypeWindow(activity)
                        reportTypeWindow?.setClickListener(object: ReportTypeWindow.ClickListener{
@@ -655,6 +659,10 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
        }else if(state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE ||
            state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
            if(shouldRecord){
+                val activity = AppStateManager.currentActivity()
+                if (activity !is AppCompatActivity) {
+                    return
+                }
                val geocodeSearch = GeocodeSearch(activity)
                geocodeSearch.setOnGeocodeSearchListener(object: GeocodeSearch.OnGeocodeSearchListener {
                    override fun onRegeocodeSearched(regeocodeResult: RegeocodeResult?, p1: Int) {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/Extentions.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/Extentions.kt
@@ -130,7 +130,7 @@ fun Context.enqueuePop(content: View, width: Int, height: Int, key: String = "",
            }

            override fun show() {
-                pop.showAtLocation(activity.window.decorView, gravity, startX, if (isImmersiveMode) 0 else BarUtils.getStatusBarHeight() + startY)
+                pop.showAtLocation(activity.window.decorView, gravity, startX, startY)
            }
            override fun isOverride(): Boolean = isOverride
        }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
@@ -507,9 +507,6 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
                // 更新浮动窗口位置参数
                mInScreenX = motionEvent.rawX
                mInScreenY = motionEvent.rawY
-                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
-                    return true
-                }
                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
                // 手指移动的时候更新小悬浮窗的位置
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt
@@ -505,9 +505,6 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
                // 更新浮动窗口位置参数
                mInScreenX = motionEvent.rawX
                mInScreenY = motionEvent.rawY
-                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
-                    return true
-                }
                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
                // 手指移动的时候更新小悬浮窗的位置
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/consts/BadCaseConfig.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/consts/BadCaseConfig.kt
@@ -62,6 +62,9 @@ object BadCaseConfig {
    //本次问题是否已经触发一键上报
    @JvmField
    var alreadyShowOneReport: Boolean = false
+    //FSM是否已经变为可以启自驾
+    @JvmField
+    var fsmAlreadyStandby: Boolean = false
    //租户ID
    @JvmField
    var tenantId: Long = 0
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/exam/ExamControlWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/exam/ExamControlWindow.kt
@@ -240,9 +240,6 @@ class ExamControlWindow constructor(activity: Activity): View.OnTouchListener{
                // 更新浮动窗口位置参数
                mInScreenX = motionEvent.rawX
                mInScreenY = motionEvent.rawY
-                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
-                    return true
-                }
                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
                // 手指移动的时候更新小悬浮窗的位置
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/CrashLogAnalyticsManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/CrashLogAnalyticsManager.kt
@@ -24,6 +24,8 @@ object CrashLogAnalyticsManager {
    private const val crashEyeVersion = "eyeVersion" //鹰眼版本
    private const val crashAppFlavor = "appFlavor" //渠道信息
    private const val crashBranchHash = "branchHash" //Git Hash
+    private const val crashKeyMessage = "keyMessage" //崩溃核心信息
+    private const val crashIsDriver = "isDriver" //是否是司机屏

    /**
     * 崩溃统计
@@ -37,7 +39,7 @@ object CrashLogAnalyticsManager {
     * @param branchHash Git Hash
     */
    private fun realCrashLogAnalytics(cosPath: String,type: String,plateNumber: String,carSn: String,mapVersion: String,eyeVersion: String,
-                                      appFlavor: String,branchHash: String){
+                                      appFlavor: String,branchHash: String,keyMessage: String,isDriver: Boolean){
        val crashLogParams = HashMap<String,Any>()
        crashLogParams[crashCosPath] = cosPath
        crashLogParams[crashType] = type
@@ -47,14 +49,17 @@ object CrashLogAnalyticsManager {
        crashLogParams[crashEyeVersion] = eyeVersion
        crashLogParams[crashAppFlavor] = appFlavor
        crashLogParams[crashBranchHash] = branchHash
+        crashLogParams[crashKeyMessage] = keyMessage
+        crashLogParams[crashIsDriver] = isDriver
        MogoAnalyticUtils.track(crashLogRecord,crashLogParams)
    }

    /**
     * 崩溃统计
     * @param crashType 崩溃类型
+     * @param keyMessage 崩溃关键信息
     */
-    fun crashLogAnalytics(crashType: String){
+    fun crashLogAnalytics(crashType: String,keyMessage: String){
        val crashCosPath = StringBuilder()
        crashCosPath.append("CarPad/")
        if(DebugConfig.isDebug()){
@@ -66,10 +71,10 @@ object CrashLogAnalyticsManager {
        crashCosPath.append("/")
        crashCosPath.append(millis2String(System.currentTimeMillis(), TimeUtils.getMdFormat()))
        crashCosPath.append("/")
-        realCrashLogAnalytics(crashCosPath.toString(),crashType.replace("Crash type:","").trim(), AppConfigInfo.plateNumber,
+        realCrashLogAnalytics(crashCosPath.toString(),crashType, AppConfigInfo.plateNumber,
            SharedPrefsMgr.getInstance().sn,
            CallerAutoPilotStatusListenerManager.getDockerVersion() ?: "",
-            AppUtils.getAppVersionName(),AppConfigInfo.flavor,AppConfigInfo.workingBranchHash)
+            AppUtils.getAppVersionName(),AppConfigInfo.flavor,AppConfigInfo.workingBranchHash,keyMessage,AppConfigInfo.isDriver)
    }

 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
@@ -14,7 +14,12 @@ import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.core.log.record.*
 import com.mogo.core.log.record.config.*
+import com.mogo.core.log.record.config.crash.ANRCrash
 import com.mogo.core.log.record.config.crash.CrashConfig
+import com.mogo.core.log.record.config.crash.CrashType
+import com.mogo.core.log.record.config.crash.JavaCrash
+import com.mogo.core.log.record.config.crash.NativeCrash
+import com.mogo.core.log.record.config.crash.upload.ICrashFileUploader
 import com.mogo.core.log.record.config.extra.IExtraFileToUpload
 import com.mogo.core.log.record.config.extra.ToUploadFile
 import com.mogo.core.log.record.config.state.IStateProvider
@@ -137,6 +142,7 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
        builder.crashConfig(
            CrashConfig.Builder()
                .enabled(true)
+                .uploader(CrashLogUploader(context))
                .crashDir(File(context.getExternalFilesDir(null), "crash"))
                .expireDuration(TimeUnit.DAYS.toMillis(3))
                .javaCrash(true)
@@ -156,6 +162,7 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
            }
        })
        LogcatManager.init(builder)
+        LogcatManager.uploadForCrashIfNeed()
    }

    override fun target(): Class<RemoteLogPushContent> {
@@ -235,4 +242,33 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
    override fun testAnrCrash() {
        SystemClock.sleep(15000)
    }
+
+    private class CrashLogUploader(private val mContext: Context): ICrashFileUploader {
+
+        override suspend fun upload(
+            type: CrashType,
+            crashTime: String,
+            file: File,
+            extra: Map<String, String>?
+        ): Boolean {
+            try {
+                val keyMessage = when(type) {
+                    JavaCrash -> extra?.get("java stacktrace") ?: extra?.get("backtrace") ?: "#"
+                    NativeCrash -> extra?.get("backtrace") ?: "#"
+                    ANRCrash -> extra?.get("backtrace") ?: "#"
+                }
+                val typeStr = when(type){
+                    JavaCrash -> "JavaCrash"
+                    NativeCrash -> "NativeCrash"
+                    ANRCrash -> "ANRCrash"
+                }
+                CrashLogAnalyticsManager.crashLogAnalytics(typeStr,keyMessage)
+                return true
+            } catch (t: Throwable) {
+                return false
+            }
+        }
+
+    }
+
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt
@@ -94,7 +94,6 @@ object StatusManager {
                is GpsStatus -> GpsImpl(ctx)
                is TracingStatus -> TracingImpl(ctx)
                is RTKStatus -> RTKImpl(ctx)
-                is FSMStatus -> FSMImpl(ctx)
                is OverViewStatus -> OverViewImpl(ctx)
                is SteerStatus -> SteerImpl(ctx)
                is AcceleratorStatus -> AcceleratorImpl(ctx)
@@ -102,6 +101,7 @@ object StatusManager {
                is DoubleFlashStatus -> DoubleFlashImpl(ctx)
                is GearStatus -> GearImpl(ctx)
                is SpeedStatus -> SpeedImpl(ctx)
+                is FSMStatus -> FSMImpl(ctx)
                is RouteDownloadStatus -> RouteDownloadImpl(ctx)
            }
        }.also { flows += it }
@@ -214,6 +214,7 @@ object StatusManager {
                                            is DoubleFlashStatus -> "双闪"
                                            is GearStatus -> "档位"
                                            is RouteDownloadStatus -> if (item.state == RouteStart) "轨迹下载中" else "轨迹下载失败"
+                                            is FSMStatus -> "FSM"
                                            else -> "其它"
                                        }
                                    }
@@ -239,7 +240,6 @@ object StatusManager {
                } else  {
                    ret or shl
                }
-
            }
        }
        return ret
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
@@ -141,7 +141,7 @@ enum class FSMStateCode {
 /**
 * FSM模块状态
 */
-class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status() {
+class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status(), IAutopilotPreLaunchStatus {

    override fun equals(other: Any?): Boolean {
        if (javaClass != other?.javaClass) return false
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
@@ -9,6 +9,7 @@ import androidx.recyclerview.widget.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.rv.divider.*
 import com.zhjt.mogo_core_function_devatools.R
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.model.StatusModel
@@ -48,11 +49,11 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
                    .horizontalInnerSpace(10.PX)
                    .build()
            )
-            val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { it !is IAutopilotPreLaunchStatus }) }?.also { adapter -> itx.adapter = adapter }
+            val adapter = model.status.value?.let { data -> StatusAdapter(context, data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus)}) }?.also { adapter -> itx.adapter = adapter }
            adapter?.let { _ ->
                model.status.observeForever(Observer<Pair<Status?, ArrayList<Status>>> { data ->
                    val old = adapter.data
-                    val update = data.second.filter { it !is IAutopilotPreLaunchStatus }
+                    val update = data.second.filter { (it !is IAutopilotPreLaunchStatus) || (it is FSMStatus) }
                    val result = DiffUtil.calculateDiff(StatusDiffCallback(old, update))
                    adapter.data = update
                    result.dispatchUpdatesTo(adapter)
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/FaultReasonWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/FaultReasonWindow.kt
@@ -22,7 +22,6 @@ import android.view.animation.ScaleAnimation
 import android.widget.EditText
 import android.widget.ImageView
 import android.widget.TextView
-import android.widget.ToggleButton
 import androidx.appcompat.widget.AppCompatEditText
 import androidx.appcompat.widget.AppCompatTextView
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -62,7 +61,6 @@ import com.mogo.tts.base.SpeechUtils
 import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import com.zhjt.mogo_core_function_devatools.workorder.adapter.OrderReasonAdapter
-import kotlin.math.absoluteValue

 /**
 * 故障原因编辑窗口
@@ -192,12 +190,15 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
                        //故障类型选择没有变化
                        reasonList?.let { orderReasonAdapter.setData(it,2) }
                    }else{
+                        //故障类型发生了变化
                        level2Id = reason.id
                        level2Name = reason.name
-
                        source = 2
                        //获取故障三级分类即故障原因
                        CallerDevaToolsManager.getCategories(BadCaseConfig.tenantId,3,level2Id,type,0)
+                        tvFaultReason.text = ""
+                        level3Id = 0
+                        level3Name = ""
                    }
                }else{
                    //原因
@@ -347,6 +348,7 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
                ToastUtils.showShort("请完整填写再上报")
                return@setOnClickListener
            }
+            reportNote = etNoteInput.text.toString()
            //故障码列表赋值
            BadCaseConfig.newFMInfoMsg?.fmInfoList?.forEach {
                faultCodeList.add(it.faultId)
@@ -507,9 +509,6 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
                // 更新浮动窗口位置参数
                mInScreenX = motionEvent.rawX
                mInScreenY = motionEvent.rawY
-                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
-                    return true
-                }
                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
                // 手指移动的时候更新小悬浮窗的位置
@@ -533,6 +532,7 @@ class FaultReasonWindow constructor(activity: Activity) : View.OnTouchListener,
    }

    fun hideFloatWindow() {
+        etNoteInput.clearFocus()
        CallerDevaToolsListenerManager.removeListener(TAG)
        CallerOrderListenerManager.removeListener(TAG)
        if (mFloatLayout.parent != null){
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/ReportTypeWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/ReportTypeWindow.kt
@@ -21,6 +21,7 @@ import com.amap.api.services.geocoder.GeocodeResult
 import com.amap.api.services.geocoder.GeocodeSearch
 import com.amap.api.services.geocoder.RegeocodeQuery
 import com.amap.api.services.geocoder.RegeocodeResult
+import com.mogo.commons.env.ProjectUtils
 import com.mogo.commons.storage.SharedPrefsMgr
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.deva.report.CategoryInfo
@@ -77,8 +78,6 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
    private var level1Name: String = ""
    private var level2Name: String = ""
    private var level3Name: String = ""
-    private var lineName: String = "" //行驶路线
-    private var reportNote: String = "" //上报描述
    private val reportType: Int = 1 //上报方式：0：小程序 1：司机屏 2：云端上报
    private var level: Int = 1

@@ -143,7 +142,7 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
                    }
                    val padProblemList= ArrayList<PadProblemInfo>()
                    val padProblemInfo = PadProblemInfo(address,faultCodeList,millis2String(System.currentTimeMillis()),level1Id,
-                        level2Id,level3Id,lineName,reportNote,reportType,
+                        level2Id,level3Id,BadCaseConfig.lineName,"${level1Name}-${level2Name}-${level3Name}",reportType,
                        SharedPrefsMgr.getInstance().getString("och_account",""))
                    padProblemList.add(padProblemInfo)
                    val padAddProblemReq = PadAddProblemReq(padProblemList, AppConfigInfo.plateNumber)
@@ -160,8 +159,14 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
        }
        //故障类
        tvReportTypeFault.setOnClickListener {
-            val faultReasonWindow = FaultReasonWindow(mActivity)
-            faultReasonWindow.showFloatWindow()
+            if(ProjectUtils.isSaas()){
+                val faultReasonWindow = FaultReasonWindow(mActivity)
+                faultReasonWindow.showFloatWindow()
+            }else{
+                //展示工单上报弹窗
+                val workOrderWindow = WorkOrderWindow(mActivity)
+                workOrderWindow.showFloatWindow()
+            }
            clickListener?.closeWindow()
        }
        //主动录包
@@ -287,7 +292,7 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
    /**
     * 设置弹窗展示状态
     */
-    fun setWindowShowStatus(isShow: Boolean){
+    private fun setWindowShowStatus(isShow: Boolean){
        isShowing = isShow
    }

@@ -312,6 +317,7 @@ class ReportTypeWindow constructor(activity: Activity): IMoGoDevaToolsListener {
    override fun problemPadAddError(msg: String) {
        super.problemPadAddError(msg)
        ToastUtils.showShort("故障原因上报失败$msg")
+        clickListener?.closeWindow()
    }

    override fun getCategoriesSuccess(list: List<CategoryInfo>) {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
@@ -109,6 +109,8 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
    private var level2Name: String = ""
    private var level3Name: String = ""

+    private var isShowing: Boolean = false //弹窗是否是展示状态
+
    init {
        initFloatWindow()
    }
@@ -156,14 +158,19 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
                    //选择了接管类型
                    tvTakeOverType.performClick()
                    if(level2Id != 0 && level2Id == reason.id){
-                        //故障类型选择没有变化
+                        //接管类型选择没有变化
                        reasonList?.let { orderReasonAdapter.setData(it,2) }
                    }else{
+                        //接管类型发生变化
                        level2Id = reason.id
                        level2Name = reason.name
                        source = 2
-                        //获取故障三级分类即故障原因
+                        //获取接管三级分类即接管原因
                        CallerDevaToolsManager.getCategories(BadCaseConfig.tenantId,3,level2Id,type,0)
+                        //将接管原因置空
+                        tvTakeOverReason.text = ""
+                        level3Name = ""
+                        level3Id = 0
                    }
                }else{
                    //原因
@@ -299,10 +306,12 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
            mTakeOverRecordInfo.level3Name = level3Name
            CallerTakeOverManager.updateRecord(mActivity,mTakeOverRecordInfo)
            clickListener?.onSaveReason(mTakeOverRecordInfo)
+            clickListener?.closeWindow()
            hideFloatWindow()
        }
        //取消
        tvTakeOverCancel.setOnClickListener {
+            clickListener?.closeWindow()
            hideFloatWindow()
        }
    }
@@ -421,9 +430,6 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
                // 更新浮动窗口位置参数
                mInScreenX = motionEvent.rawX
                mInScreenY = motionEvent.rawY
-                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
-                    return true
-                }
                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
                // 手指移动的时候更新小悬浮窗的位置
@@ -451,21 +457,40 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
            tvTakeOverTime.text = mActivity.resources.getString(R.string.take_over_time) +
                    millis2String(mTakeOverRecordInfo.faultStartTime, TimeUtils.getHourMinSecondFormat())
        }
+        setWindowShowStatus(true)
    }

    fun hideFloatWindow() {
+        etNoteInput.clearFocus()
        if (mFloatLayout.parent != null){
            mWindowManager!!.removeView(mFloatLayout)
        }
+        setWindowShowStatus(false)
        CallerDevaToolsListenerManager.removeListener(TAG)
    }

+    /**
+     * 获取弹窗展示状态
+     */
+    fun getWindowShowStatus(): Boolean{
+        return isShowing
+    }
+
+    /**
+     * 设置弹窗展示状态
+     */
+    private fun setWindowShowStatus(isShow: Boolean){
+        isShowing = isShow
+    }
+
    fun setClickListener(clickListener: ClickListener) {
        this.clickListener = clickListener
    }

    interface ClickListener {
        fun onSaveReason(info: TakeOverRecordInfo)
+
+        fun closeWindow()
    }

    override fun getCategoriesSuccess(list: List<CategoryInfo>) {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverRecordView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverRecordView.kt
@@ -58,6 +58,7 @@ class TakeOverRecordView @JvmOverloads constructor(
    private var clickListener: ClickListener? = null
    private val selectedUploadRecord = ArrayList<TakeOverRecordInfo>()
    private var recordList: MutableList<TakeOverRecordInfo> ?= null
+    private var takeOverReasonWindow: TakeOverReasonWindow ?= null

    init {
        LayoutInflater.from(context).inflate(R.layout.view_take_over_record, this, true)
@@ -80,13 +81,23 @@ class TakeOverRecordView @JvmOverloads constructor(
                //展示接管原因窗口
                val activity = context as? FragmentActivity
                    ?: throw IllegalStateException("please ensure context is FragmentActivity.")
-                val takeOverReasonWindow = TakeOverReasonWindow(activity)
-                takeOverReasonWindow.setClickListener(object: TakeOverReasonWindow.ClickListener{
-                    override fun onSaveReason(info: TakeOverRecordInfo) {
-                        takeOverListAdapter?.notifyRecordItemChanged(info)
-                    }
-                })
-                takeOverReasonWindow.showFloatWindow(takeOverRecordInfo)
+                if(takeOverReasonWindow == null){
+                    takeOverReasonWindow = TakeOverReasonWindow(activity)
+                    takeOverReasonWindow?.setClickListener(object: TakeOverReasonWindow.ClickListener{
+                        override fun onSaveReason(info: TakeOverRecordInfo) {
+                            takeOverListAdapter?.notifyRecordItemChanged(info)
+                        }
+
+                        override fun closeWindow() {
+                            takeOverReasonWindow = null
+                        }
+                    })
+                }
+                if(takeOverReasonWindow?.getWindowShowStatus() == true){
+                    ToastUtils.showShort("接管原因弹窗已存在，请先编辑现有接管原因")
+                }else{
+                    takeOverReasonWindow?.showFloatWindow(takeOverRecordInfo)
+                }
            }

            override fun onSelectRecord(
@@ -143,14 +154,28 @@ class TakeOverRecordView @JvmOverloads constructor(
            if(selectedUploadRecord.isEmpty()){
                ToastUtils.showShort("请选择需要删除的接管记录")
            }else{
-                val iterator = selectedUploadRecord.iterator()
-                while (iterator.hasNext()){
-                    val removeRecord = iterator.next()
-                    CallerTakeOverManager.deleteRecord(context,removeRecord)
+                scope.launch(Dispatchers.IO){
+                    val iterator = selectedUploadRecord.iterator()
+                    while (iterator.hasNext()){
+                        val removeRecord = iterator.next()
+                        CallerTakeOverManager.deleteRecord(context,removeRecord)
 //                    takeOverListAdapter?.notifyRecordItemRemoved(removeRecord)
-                    iterator.remove()
+                        iterator.remove()
+                    }
+                    recordList = CallerTakeOverManager.getAllRecord(context)
+                    ThreadUtils.runOnUiThread {
+                        if(recordList.isNullOrEmpty()){
+                            tvRecordNoData.visibility = View.VISIBLE
+                            recordGroup.visibility = View.GONE
+                        }else{
+                            tvRecordNoData.visibility = View.GONE
+                            recordGroup.visibility = View.VISIBLE
+                            //更新列表
+                            takeOverListAdapter?.setData(recordList!!)
+                        }
+
+                    }
                }
-                refreshList()
            }
        }
        //获取接管记录列表
@@ -198,6 +223,7 @@ class TakeOverRecordView @JvmOverloads constructor(
                CallerTakeOverManager.updateRecord(context,it)
                takeOverListAdapter?.notifyRecordItemChanged(it)
            }
+            selectedUploadRecord.clear()
        }
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/WorkOrderWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/WorkOrderWindow.kt
@@ -239,7 +239,7 @@ class WorkOrderWindow constructor(activity: Activity) : View.OnTouchListener,
        }
        //取消
        tvWorkOrderCancel.setOnClickListener {
-            clickListener?.closeWindow()
+            hideFloatWindow()
        }

    }
@@ -356,9 +356,6 @@ class WorkOrderWindow constructor(activity: Activity) : View.OnTouchListener,
                // 更新浮动窗口位置参数
                mInScreenX = motionEvent.rawX
                mInScreenY = motionEvent.rawY
-                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
-                    return true
-                }
                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
                // 手指移动的时候更新小悬浮窗的位置
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_record.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_record.xml
@@ -2,6 +2,7 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="@dimen/dp_960"
    android:layout_height="match_parent"
+    android:layout_marginTop="@dimen/dp_72"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    android:background="@drawable/bg_take_over_record">

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/FSMStatusDetailView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/FSMStatusDetailView.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.hmi.ui.setting

 import android.content.Context
 import android.graphics.Color
+import android.text.method.ScrollingMovementMethod
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.widget.FrameLayout
@@ -35,6 +36,7 @@ class FSMStatusDetailView @JvmOverloads constructor(
    private fun initView() {
        tvTitle = findViewById(R.id.tvTitle)
        tvContent = findViewById(R.id.tvContent)
+        tvContent?.movementMethod = ScrollingMovementMethod.getInstance()
    }

    fun setFsmMsg(title: String, titleColor: String , content: String) {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
@@ -6,7 +6,6 @@ import android.content.pm.PackageManager
 import android.net.Uri
 import android.os.Bundle
 import android.provider.Settings
-import android.view.Gravity
 import android.view.View
 import android.view.ViewGroup
 import android.widget.FrameLayout
@@ -26,19 +25,16 @@ import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.commons.mvp.MvpActivity
 import com.mogo.commons.utils.MogoAnalyticUtils
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
-import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.setting.IMoGoRequestActivityHandler
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.hmi.CallerHmiFloatViewManager
 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.setting.CallerRequestActivityHandleManager
 import com.mogo.eagle.core.function.call.startup.CallerStartUpManager.initStageTwo
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
 import com.mogo.eagle.core.function.main.modules.MogoModulesManager
 import com.mogo.eagle.core.function.main.windowview.FloatingViewHandler
 import com.mogo.eagle.core.utilcode.mogo.AppLaunchTimeUtils
@@ -49,9 +45,6 @@ import com.mogo.eagle.core.utilcode.mogo.permissions.PermissionsDialogUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ProcessUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.mogo.map.listener.IMogoMapListener
-import com.mogo.map.listener.MogoMapListenerHandler.Companion.mogoMapListenerHandler
-import com.mogo.map.uicontroller.EnumMapUI
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.service.chain.ChainLog
 import kotlinx.android.synthetic.main.module_main_activity_main.module_main_id_cover_up
@@ -73,7 +66,8 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
    private var isFirst = false
    private var mConnAdapter: ConnInfoAdapter? = null
    private val dataList: List<AutopilotStatusInfo> = ArrayList()
-//    private var mLastStatus = AdasConstants.IpcConnectionStatus.CONNECTED
+
+    //    private var mLastStatus = AdasConstants.IpcConnectionStatus.CONNECTED
    private var mLastStatus = AdasConstants.IpcConnectionStatus.DISCONNECTED
    private var isFloatingLayerHidden = false

@@ -326,6 +320,10 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,

    override fun onDestroy() {
        super.onDestroy()
+        val properties = java.util.HashMap<String, Any>()
+        properties["app_destroy_time"] = System.currentTimeMillis()
+        MogoAnalyticUtils.track("app_lifecycle_destroy", properties)
+
        CallerAutoPilotStatusListenerManager.removeListener(TAG)
        CallerRequestActivityHandleManager.removeListener(TAG)
        //mogoMapListenerHandler.unregisterHostMapListener(TAG)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -20,6 +20,8 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.AppLaunchTimeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;

+import java.util.HashMap;
+
 /**
 * 默认初始化一些基础服务配置
 */
@@ -45,6 +47,15 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        initModules();
    }

+    @Override
+    public void onTerminate() {
+        super.onTerminate();
+
+        HashMap<String, Object> properties = new HashMap<>();
+        properties.put("app_destroy_time", System.currentTimeMillis());
+        MogoAnalyticUtils.INSTANCE.track("app_lifecycle_destroy", properties);
+    }
+
    /**
     * 初始化异常采集配置
     */
@@ -56,6 +67,11 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
    protected void initLogConfig() {
        // 初始化埋点
        MogoAnalyticUtils.INSTANCE.init(this, DebugConfig.isDebug());
+
+        HashMap<String, Object> properties = new HashMap<>();
+        properties.put("app_start_time", System.currentTimeMillis());
+        MogoAnalyticUtils.INSTANCE.track("app_lifecycle_start", properties);
+
        // 初始化DevaTools,开始链路记录
        CallerDevaToolsManager.INSTANCE.init();
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml
@@ -33,6 +33,8 @@
        android:ellipsize="end"
        android:gravity="left|center_vertical"
        android:text=""
+        android:maxLines="5"
+        android:scrollbars="vertical"
        android:textColor="#D5D5D5"
        android:textSize="@dimen/dp_28"
        app:layout_constraintLeft_toLeftOf="parent"
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
@@ -73,7 +73,7 @@ public class RouteOverlayDrawer {
            List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
            if (alphas != null && !alphas.isEmpty()) {
                for (int i : alphas) {
-                    greenWaveColors.add(Color.argb(i, 109,254,208));
+                    greenWaveColors.add(Color.argb(i, 48, 163, 255));
                }
            }
        }
@@ -151,7 +151,7 @@ public class RouteOverlayDrawer {
                        if (alphas != null && !alphas.isEmpty()) {
                            colors = new CopyOnWriteArrayList<>();
                            for (int i : alphas) {
-                                colors.add(Color.argb(i, 48,203,251));
+                                colors.add(Color.argb(i, 48,163,255));
                            }
                        }
                    }