Merge branch 'master_merge_to_v6.2.6_dev' into dev_robotaxi-d_231218_6.2.6

# Conflicts:
#	core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
#	core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/DeviceUtils.java
#	gradle.properties

OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java

@@ -57,14 +57,14 @@ public class SweeperProvider implements IMogoOCH, IMoGoSweeperModeListener {
         FragmentManager supportFragmentManager = activity.getSupportFragmentManager();
         if (sweeperOperateFragment == null) {
             CallerLogger.d(TAG, "准备add fragment======");
-            Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(sweeperOperateFragment.TAG);
+            Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(SweeperOperateFragment.TAG);
             if (fragmentByTag instanceof SweeperOperateFragment) {
                 sweeperOperateFragment = (SweeperOperateFragment) fragmentByTag;
             } else {
                 sweeperOperateFragment = new SweeperOperateFragment();
             }
             if (!sweeperOperateFragment.isAdded()) {
-                supportFragmentManager.beginTransaction().add(containerId, sweeperOperateFragment, sweeperOperateFragment.TAG).commitAllowingStateLoss();
+                supportFragmentManager.beginTransaction().add(containerId, sweeperOperateFragment, SweeperOperateFragment.TAG).commitAllowingStateLoss();
             }
             return;
         }
@@ -76,14 +76,14 @@ public class SweeperProvider implements IMogoOCH, IMoGoSweeperModeListener {
         FragmentManager supportFragmentManager = activity.getSupportFragmentManager();
         if (sweeperCloudFragment == null) {
             CallerLogger.d(TAG, "准备add fragment======");
-            Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(sweeperCloudFragment.TAG);
+            Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(SweeperCloudFragment.TAG);
             if (fragmentByTag instanceof SweeperCloudFragment) {
                 sweeperCloudFragment = (SweeperCloudFragment) fragmentByTag;
             } else {
                 sweeperCloudFragment = new SweeperCloudFragment();
             }
             if (!sweeperCloudFragment.isAdded()) {
-                supportFragmentManager.beginTransaction().add(containerId, sweeperCloudFragment, sweeperCloudFragment.TAG).commitAllowingStateLoss();
+                supportFragmentManager.beginTransaction().add(containerId, sweeperCloudFragment, SweeperCloudFragment.TAG).commitAllowingStateLoss();
             }
             return;
         }

OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java

@@ -458,7 +458,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
     public void onSweeperFutianCloudTaskCloudSuspendResume(@NonNull AiCloudTask.MessageType messageType, @Nullable String reqNo, long sysTime,
                                                            @Nullable SweeperTaskCloudSuspendResume.BigTaskActionPush bigTaskActionPush) {
         CallerLogger.d(M_SWEEPER + TAG, "messageType: " + messageType.getNumber() + " sysTime：" + sysTime + " reqNo：" + reqNo + " " +
-                "onSweeperFutianCloudTaskCloudSuspendResume：" + SweeperCloudTaskUtils.printMessage(bigTaskActionPush));
+                "onSweeperFutianCloudTaskCloudSuspendResume：" + bigTaskActionPush == null ? "null" : SweeperCloudTaskUtils.printMessage(bigTaskActionPush));
         DebugView.Companion.printInfoMsg("[云控]云端下发暂停/恢复指令，messageType=" + messageType.getNumber()
                 + ", sysTime=" + sysTime
                 + ", reqNo=" + reqNo

OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/view/TurnSignalView.kt

@@ -54,22 +54,26 @@ class TurnSignalView : LinearLayout {
             //根据左右进行显示和隐藏，实际要判断每个来的时间和频度
             when (directionLight) {
                 Chassis.LightSwitch.LIGHT_LEFT -> { //左转向
-                    leftSelectImage.visibility = View.VISIBLE
+                    leftSelectImage?.visibility = View.VISIBLE
-                    rightSelectImage.visibility = View.GONE
+                    rightSelectImage?.visibility = View.GONE
-                    rightSelectImage.clearAnimation()
+                    rightSelectImage?.clearAnimation()
-                    setAnimation(leftSelectImage)
+                    leftSelectImage?.also {
+                        setAnimation(it)
+                    }
                 }
                 Chassis.LightSwitch.LIGHT_RIGHT -> { //右转向
-                    leftSelectImage.visibility = View.GONE
+                    leftSelectImage?.visibility = View.GONE
-                    rightSelectImage.visibility = View.VISIBLE
+                    rightSelectImage?.visibility = View.VISIBLE
-                    leftSelectImage.clearAnimation()
+                    leftSelectImage?.clearAnimation()
-                    setAnimation(rightSelectImage)
+                    rightSelectImage?.also {
+                        setAnimation(it)
+                    }
                 }
                 else -> { //消失
-                    leftSelectImage.clearAnimation()
+                    leftSelectImage?.clearAnimation()
-                    rightSelectImage.clearAnimation()
+                    rightSelectImage?.clearAnimation()
-                    leftSelectImage.visibility = View.GONE
+                    leftSelectImage?.visibility = View.GONE
-                    rightSelectImage.visibility = View.GONE
+                    rightSelectImage?.visibility = View.GONE
                 }
             }
         }
@@ -77,14 +81,18 @@ class TurnSignalView : LinearLayout {
 
     //实现图片闪烁效果
     private fun setAnimation(imageView: ImageView) {
-        val animationSet = AnimatorSet()
+        try {
-        val valueAnimator = ObjectAnimator.ofFloat(imageView, "alpha", 0f, 1.0f)
+            val animationSet = AnimatorSet()
-        val valueAnimatorDisappare = ObjectAnimator.ofFloat(imageView, "alpha", 1.0f, 0f)
+            val valueAnimator = ObjectAnimator.ofFloat(imageView, "alpha", 0f, 1.0f)
-        valueAnimator.duration = 1000
+            val valueAnimatorDisappare = ObjectAnimator.ofFloat(imageView, "alpha", 1.0f, 0f)
-        valueAnimatorDisappare.duration = 800
+            valueAnimator.duration = 1000
-        valueAnimator.repeatCount = -1
+            valueAnimatorDisappare.duration = 800
-        valueAnimatorDisappare.repeatCount = -1
+            valueAnimator.repeatCount = -1
-        animationSet.playTogether(valueAnimatorDisappare, valueAnimator)
+            valueAnimatorDisappare.repeatCount = -1
-        animationSet.start()
+            animationSet.playTogether(valueAnimatorDisappare, valueAnimator)
+            animationSet.start()
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
     }
 }

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

@@ -764,12 +764,20 @@ public class TaxiModel {
 
                     @Override
                     public void onSuccess(TaxiDataBaseRespBean data) {
-                        updateAutopilotStatus(data.code == 0);
+                        /** 2023.12.18 1.去除"自驾/安全"模式选择，默认自驾模式且无需点击；
+                         * 2.server去除订单流转对"安全确认"的限制（读写接口默认反馈ok，但"开启自动驾驶成功"不再限制）
+                         */
+                        // updateAutopilotStatus(data.code == 0);
+                        updateAutopilotStatus(true);
                     }
 
                     @Override
                     public void onFail(int code, String msg) {
-                        updateAutopilotStatus(false);
+                        /** 2023.12.18 1.去除"自驾/安全"模式选择，默认自驾模式且无需点击；
+                         * 2.server去除订单流转对"安全确认"的限制（读写接口默认反馈ok，但"开启自动驾驶成功"不再限制）
+                         */
+                        // updateAutopilotStatus(false);
+                        updateAutopilotStatus(true);
                     }
                 });
     }
@@ -792,13 +800,20 @@ public class TaxiModel {
                 new OchCommonServiceCallback<TaxiDataBaseRespBean>() {
                     @Override
                     public void onSuccess(TaxiDataBaseRespBean data) {
-                        if (data != null && data.code == 0)
+                        /** 2023.12.18 1.去除"自驾/安全"模式选择，默认自驾模式且无需点击；
-                            updateAutopilotStatus(data.data.equals(true));
+                         * 2.server去除订单流转对"安全确认"的限制（读写接口默认反馈ok，但"开启自动驾驶成功"不再限制）
+                         */
+                        // updateAutopilotStatus(data.data.equals(true));
+                        updateAutopilotStatus(true);
                     }
 
                     @Override
                     public void onFail(int code, String msg) {
-                        updateAutopilotStatus(false);
+                        /** 2023.12.18 1.去除"自驾/安全"模式选择，默认自驾模式且无需点击；
+                         * 2.server去除订单流转对"安全确认"的限制（读写接口默认反馈ok，但"开启自动驾驶成功"不再限制）
+                         */
+                        // updateAutopilotStatus(false);
+                        updateAutopilotStatus(true);
                     }
                 });
     }

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java

@@ -258,6 +258,11 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
             TaxiModel.getInstance().cleanLineMarker();
             TaxiModel.getInstance().cleanStation();
             runOnUIThread(() -> {
+                /** 2023.12.18 1.去除"自驾/安全"模式选择，默认自驾模式且无需点击；
+                 * 2.server去除订单流转对"安全确认"的限制（读写接口默认反馈ok，但"开启自动驾驶成功"不再限制）
+                 */
+                mView.updateCtvAutopilotStatusTag(false);
+
                 if(TaxiOrderStatusEnum.ArriveAtEnd.getCode() == order.orderStatus){
                     CallerOrderListenerManager.INSTANCE.invokeOrderStatus(false);
                 }

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java

@@ -283,7 +283,14 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
                             Color.parseColor("#FF1D5EF3"),
                             true);
 
-                    showOrHideOrderModeBtn(true);
+                    /** 2023.12.18 1.去除"自驾/安全"模式选择，默认自驾模式且无需点击；
+                     * 2.server去除订单流转对"安全确认"的限制（读写接口默认反馈ok，但"开启自动驾驶成功"不再限制）
+                     */
+                    // showOrHideOrderModeBtn(true);
+                    showOrHideOrderModeBtn(false);
+                    CallerLogger.d(M_TAXI + TAG, "自驾模式");
+                    mOrderStartModeBtn.setTag(0);
+                    startOrEndService();
                 }
 
             }else if (TaxiModel.getInstance().checkCurrentOCHOrder()) {

OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java

@@ -230,6 +230,11 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
 
     public void onCurrentOrderCancelDone(){
         startOrStopLoadingAnim(false);
+        /** 2023.12.18 1.去除"自驾/安全"模式选择，默认自驾模式且无需点击；
+         * 2.server去除订单流转对"安全确认"的限制（读写接口默认反馈ok，但"开启自动驾驶成功"不再限制）
+         */
+        updateCtvAutopilotStatusTag(false);
+
         if (null == serverOrdersFragmentWR || serverOrdersFragmentWR.get() == null) return;
         serverOrdersFragmentWR.get().onCurrentOrderCancelDone();
     }