Merge branch 'dev_robotaxi-d_250620_8.1.0_new_ota' into dev_robotaxi-d_250804_8.2.0

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

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

@@ -1556,6 +1556,14 @@ class MoGoAutopilotControlProvider :
         return AdasManager.getInstance().sendSsmFuncOtaStatusQuery(token)>-1
     }
 
+    /**
+     * OTA2.0查询
+     * @param queryStr {"cmd":"PAD_QUERY_UPGRADE_STATUS","token":"123"} JSON
+     */
+    override fun sendOtaPadMsgQuery(queryStr: String): Boolean {
+        return AdasManager.getInstance().sendOtaPadMsgQuery(queryStr) > -1
+    }
+
     /**
      * 人工接管时获取前方和后方摄像头数据
      * 一次请求域控回调次两次摄像头数据   根据{@link  MessagePad.CaptureImgOnTakeOver#getUuid()}进行区分是否是哪次请求

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

@@ -622,6 +622,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
         timestamp: Long,
         status: SsmInfo.PureStr?
     ) {
+        if(status != null){
+            CallerOTAManager.invokeOtaPureStr(token,timestamp,status)
+        }
     }
 
     /**

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ota/OTAUpgradeConfig.kt

@@ -28,4 +28,26 @@ object OTAUpgradeConfig {
     //已经提示过升级成功的列表
     @JvmField
     var upgradeFinish: ArrayList<String> = ArrayList()
+
+    //OTA2.0 Token
+    @JvmField
+    var token: String = ""
+
+    //已经提示过升级的列表
+    var promptedUpgradeTwo: ArrayList<String> = ArrayList()
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ota/OTAUpgradeManager.kt

@@ -46,6 +46,8 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
     private var responseTimeoutNum: Int = 0 //响应超时次数
     private var shouldShowColdStartWindow: Boolean = false //是否需要展示冷启动页面
 
+    private var versionTwoTimeoutNum: Int = 0 //OTA2.0版本响应超时次数
+
     private val handler =object : Handler(Looper.getMainLooper()){
         override fun handleMessage(msg: Message) {
             super.handleMessage(msg)
@@ -68,6 +70,24 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                 //司机屏弹窗提示用车人执行车辆下电操作
                 CallerHmiManager.showOTAPowerOffFinishDialog()
                 shouldShowColdStartWindow = true
+            }else if(msg.what == 3){
+                //OTA2.0超时查询
+                if(versionTwoTimeoutNum<40){
+                    versionTwoTimeoutNum++
+                    //30秒没有收到OTA升级推送主动进行查询
+                    Log.i(TAG,"30秒没有收到OTA升级推送主动进行查询")
+                    //查询OTA升级
+                    val query = JSONObject()
+                    query.put("cmd","PAD_QUERY_UPGRADE_STATUS")
+                    query.put("token",OTAUpgradeConfig.token)
+                    Log.i("xuxinchao",query.toString())
+                    CallerAutoPilotControlManager.sendOtaPadMsgQuery(query.toString())
+                    this.sendEmptyMessageDelayed(3,30000)
+                }else{
+                    Log.i(TAG,"20分钟没有收到OTA升级推送置为失败")
+                    CallerHmiManager.showOTADownloadStatusDialog(false, emptyList())
+                    CallerHmiManager.showOTAResultDialog(isShow = true, result = false)
+                }
             }
         }
     }
@@ -394,6 +414,133 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
 
     }
 
+    /**
+     * OTA 2.0 新接口
+     * @param token     PadSsmMsg唯一消息ID
+     * @param timestamp 消息发送时间 单位：毫秒
+     * @param status    OTA 2.0 数据
+     */
+    override fun onOtaPureStr(token: Long, timestamp: Long, status: SsmInfo.PureStr) {
+        super.onOtaPureStr(token, timestamp, status)
+        Log.i(TAG, "onOtaPureStr token=$token")
+        Log.i(TAG, "onOtaPureStr timestamp=$timestamp")
+        Log.i(TAG, "onOtaPureStr status=$status")
+        Log.i(TAG, "onOtaPureStr status.data=${status.data}")
+        val jsonObject = JSONObject(status.data)
+        val cmd = jsonObject.optString("cmd")
+
+        //无升级任务
+        if("ASK_PAD_NO_UPGRADE" == cmd){
+            ToastUtils.showShort("暂无OTA升级任务")
+            return
+        }
+
+        val otaToken = jsonObject.optString("token")
+        val otaStatus = jsonObject.optString("status")
+        val upgradeReason = jsonObject.optString("upgrade_reason")
+        val isDelay = jsonObject.optBoolean("is_delay")
+        val isCancel = jsonObject.optBoolean("is_cancel")
+
+        Log.i(TAG, "cmd=$cmd")
+        Log.i(TAG, "otaToken=$otaToken")
+        Log.i(TAG, "otaStatus=$otaStatus")
+        Log.i(TAG, "upgradeReason=$upgradeReason")
+        Log.i(TAG, "isDelay=$isDelay")
+        Log.i(TAG, "isCancel=$isCancel")
+
+        OTAUpgradeConfig.token = otaToken
+
+        val products = jsonObject.optString("products")
+        val productsArray = JSONArray(products)
+        val otaUpgradeList = ArrayList<OtaUpgradeInfo>()
+        if(productsArray.length() > 0){
+            for(index in 0 until productsArray.length()){
+                val productInfo = productsArray[index] as JSONObject
+                val productStatus = productInfo.optString("status")
+                val failReason = productInfo.optString("fail_reason")
+                val speed = productInfo.optDouble("speed")
+                val leftTime = productInfo.optInt("left_time")
+                val name = productInfo.optString("name")
+                val curSize = productInfo.optDouble("cur_size")
+                val totalSize = productInfo.optDouble("total_size")
+
+                Log.i(TAG, "productStatus=$productStatus")
+                Log.i(TAG, "failReason=$failReason")
+                Log.i(TAG, "speed=$speed")
+                Log.i(TAG, "leftTime=$leftTime")
+                Log.i(TAG, "name=$name")
+                Log.i(TAG, "curSize=$curSize")
+                Log.i(TAG, "totalSize=$totalSize")
+
+                val otaUpgradeInfo = OtaUpgradeInfo(otaToken, getProjectStatus(productStatus),failReason,upgradeReason,
+                    0,0,1,name,true,isDelay,curSize,totalSize,leftTime)
+                otaUpgradeList.add(otaUpgradeInfo)
+
+            }
+        }
+
+        //请求升级
+        if(cmd == "ASK_PAD_UPGRADE" && otaStatus == "init"){
+            //冷启动已完成（包括成功/失败），且驾驶状态为非自驾状态，且当前无订单进行强提示，否则为弱提示
+            if(OTAUpgradeConfig.coldStartCompleted && !OTAUpgradeConfig.autopilotStatus
+                && !OTAUpgradeConfig.inOrder){
+                //触发强提示升级
+                CallerHmiManager.showOTAUpgradeDialog(true,upgradeReason)
+            }else{
+                //触发弱提示升级
+                //冷启动未完成（进行中），或驾驶状态为自驾状态，或当前有订单，直接默认选择稍后升级，
+                // 并toast提示“收到车辆部署任务，请在车辆空闲时发起升级”
+
+                val reason = if(OTAUpgradeConfig.autopilotStatus){
+                    "处于自驾中"
+                }else if(OTAUpgradeConfig.inOrder){
+                    "处于订单中"
+                }else{
+                    "冷启动未完成"
+                }
+                val query = JSONObject()
+                query.put("cmd","ASK_PAD_UPGRADE_RES")
+                query.put("token",OTAUpgradeConfig.token)
+                query.put("allow_upgrade",false)
+                query.put("reason",reason)
+                Log.i("xuxinchao",query.toString())
+                CallerAutoPilotControlManager.sendOtaPadMsgQuery(query.toString())
+
+                ToastUtils.showLong("收到车辆部署任务，请在车辆空闲时发起升级")
+            }
+            return
+        }
+
+        //升级中
+        if(cmd == "PAD_UPGRADE_REPORT"){
+            CallerHmiManager.showOTADownloadStatusDialog(true,otaUpgradeList)
+            versionTwoTimeoutNum = 0
+            handler.removeMessages(3)
+            handler.sendEmptyMessageDelayed(3,30000)
+        }
+        //升级完成
+        if(otaStatus == "fail"){
+            CallerHmiManager.showOTADownloadStatusDialog(false,emptyList())
+            CallerHmiManager.showOTAResultDialog(isShow = true, result = false)
+            versionTwoTimeoutNum = 0
+            handler.removeMessages(3)
+            CallerOTAManager.invokeOtaDownloadStatus(false)
+        }
+        if(otaStatus == "success"){
+            //升级成功，自动执行优雅停服
+            CallerAutoPilotControlManager.sendIpcPowerOff()
+            //当优雅停服完成、需要车辆下电的时候（比如当前是停服触发60s后），车端告知鹰眼，司机屏弹窗提示用车人执行车辆下电操作
+            handler.sendEmptyMessageDelayed(2,60000)
+            CallerOTAManager.invokeOtaDownloadStatus(false)
+            CallerHmiManager.showOTADownloadStatusDialog(false,emptyList())
+            CallerHmiManager.showOTAResultDialog(isShow = true, result = true)
+            versionTwoTimeoutNum = 0
+            handler.removeMessages(3)
+        }
+
+    }
+
+
     private val pattern = Pattern.compile("\\d+\\.\\d+\\.\\d+")
 
     /**
@@ -438,5 +585,32 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
         return version
     }
 
+    private fun getProjectStatus(status: String): Int{
+        return when(status){
+            "init"->{
+                0
+            }
+            "downloading"->{
+                1
+            }
+            "sync_slave"->{
+                2
+            }
+            "upgrading"->{
+                2
+            }
+            "success"->{
+                3
+            }
+            "fail"->{
+                4
+            }
+            else->{
+                0
+            }
+
+        }
+    }
+
 
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/tab/CarInfoTabView.kt

@@ -154,14 +154,24 @@ class CarInfoTabView @JvmOverloads constructor(
                 "${SceneConstant.M_HMI}${TAG}",
                 "ad version view clicked"
             )
-            if(OTAUpgradeConfig.supportOTA){
-                //查询OTA状态
-                OTAUpgradeConfig.isQuery = true
-                OTAUpgradeConfig.promptedUpgrade.remove(OTAUpgradeConfig.otaToken)
-                CallerAutoPilotControlManager.sendSsmFuncOtaStatusQuery(OTAUpgradeConfig.otaToken)
-            }else{
-                ToastUtils.showLong("当前SSM节点未成功启动或当前版本不支持OTA升级")
-            }
+//            if(OTAUpgradeConfig.supportOTA){
+//                //查询OTA状态
+//                OTAUpgradeConfig.isQuery = true
+//                OTAUpgradeConfig.promptedUpgrade.remove(OTAUpgradeConfig.otaToken)
+//                CallerAutoPilotControlManager.sendSsmFuncOtaStatusQuery(OTAUpgradeConfig.otaToken)
+//            }else{
+//                ToastUtils.showLong("当前SSM节点未成功启动或当前版本不支持OTA升级")
+//            }
+
+
+            //查询OTA升级
+            val query = JSONObject()
+            query.put("cmd","PAD_QUERY_UPGRADE_STATUS")
+            query.put("token",OTAUpgradeConfig.token)
+            Log.i("xuxinchao",query.toString())
+            CallerAutoPilotControlManager.sendOtaPadMsgQuery(query.toString())
+
+
         }
         tvHDMapVersion.text = tvHDMapVersion.text.toString() + DebugConfig.getMapVersion()
         //高精地图 检查更新

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt

@@ -8,25 +8,31 @@ import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.recyclerview.widget.LinearLayoutManager
 import com.mogo.commons.env.ProjectUtils
+import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.report.ReportEntity
 import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.FMInfoMsg
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxCountDownBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.MsgCategory
 import com.mogo.eagle.core.data.msgbox.MsgFmData
+import com.mogo.eagle.core.data.takeover.TAKE_OVER_REQUEST
 import com.mogo.eagle.core.function.api.autopilot.IMoGoNodeStateListener
 import com.mogo.eagle.core.function.api.datacenter.IDataCenterBizListener
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
+import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 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.autopilot.CallerNodeStateListenerManager
 import com.mogo.eagle.core.function.call.datacenter.CallerDataCenterBizListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
+import com.mogo.eagle.core.function.call.setting.CallerTakeOverManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.msgbox.adapter.DriverMsgBoxBubbleAdapter
 import com.mogo.eagle.core.function.msgbox.MsgBoxConfig
@@ -149,41 +155,98 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor(
                 } else if (category == MsgCategory.FM_INFO) {
                     CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
                     if (FunctionBuildConfig.isTakeoverRemind) {
-                        //属于停车警示（包括择机靠边停车、立即舒适停车、就地紧急停车）时，需要弹出消息气泡并伴有提示音
+
+//                        //属于停车警示（包括择机靠边停车、立即舒适停车、就地紧急停车）时，需要弹出消息气泡并伴有提示音
+//                        var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
+//                        fmInfoMsg.fmInfoList?.forEach { faultInfo ->
+//                            if (faultInfo.faultActionCount > 0) {
+//                                faultInfo.faultActionList.forEach { actionCode ->
+//                                    //获取建议操作级别，得到建议操作级别最高的操作
+//                                    if (MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel) {
+//                                        curFaultLevel =
+//                                            MsgFmData.FaultAction.getFaultLevel(actionCode)
+//                                    }
+//                                }
+//                            }
+//                        }
+//                        //P0级消息弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
+//                        if (curFaultLevel == 0) {
+//                            //自动驾驶状态 0是不可用 1是ready 2是自动驾驶中 7:平行驾驶中
+//                            if (CallerAutoPilotStatusListenerManager.getState() == 2
+//                                || CallerAutoPilotStatusListenerManager.getState() == 7
+//                            ) {
+//                                // 6.6.0 ，因为 FSM 模块也会弹修改为只有没有 FSM 模块才弹
+//                                // 6.6.0 ，20240823 考虑到 FSM 初期消息不一定全，先不加限制，产品先观察功能后再考虑是否过滤
+//                                // if (hasNoneFSMNode()) {
+//                                //语音提示
+//                                try {
+//                                    SoundPoolUtils.getSoundPool()
+//                                        .playSoundWithRedId(context, R.raw.weak_net_tips)
+//                                } catch (e: Exception) {
+//                                    e.printStackTrace()
+//                                }
+//                                //展示消息
+//                                showData(msgBoxBean)
+//                                //}
+//                            }
+//                        }
+
+                        /**
+                         * 8.2.0需求：定义三种不同提示强度的异常提示交互
+                         * 不判断驾驶状态，发生相应故障时立即有相应的提醒
+                         * 若同一时间触发多个多种级别异常，则按照最高级别的异常交互元素做提醒，低级别的异常不做特殊提醒
+                         * 若同一时间触发多个同一级别异常，则同一时刻只提醒一次，不互相打断
+                         * 除此以外不做其他提示频率限制
+                         *
+                         * 一级：安全停车
+                         * FM_DP_EMERGENCY_STOP（就地紧急停车）、FM_DP_COMFORTABLE_STOP（立刻舒适停车）、FM_DP_PNC_CHOOSE_STOP（择机靠边停车）
+                         * 交互：图像、TTS、消息盒子
+                         *
+                         * 二级：降速行驶
+                         * FM_DP_SPEED_LIMIT3（三级降速）、FM_DP_SPEED_LIMIT2（二级降速）、FM_DP_SPEED_LIMIT1（一级降速）
+                         * 交互：TTS、消息盒子
+                         *
+                         * 三级：无操作
+                         * FM_DP_ONLY_WARNING（警示）、FM_DP_NO_ACTION（报告）
+                         * ps：以上异常提醒受司机屏工具箱-运营面板-美化模式-接管提醒开关控制，默认开启有全量提示，关闭后无语音/图像提示，只有消息盒子红点展示
+                         */
                         val fmInfoMsg = msgBoxBean.bean as FMInfoMsg
-                        var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
-                        fmInfoMsg.fmInfoList?.forEach { faultInfo ->
-                            if (faultInfo.faultActionCount > 0) {
-                                faultInfo.faultActionList.forEach { actionCode ->
-                                    //获取建议操作级别，得到建议操作级别最高的操作
-                                    if (MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel) {
-                                        curFaultLevel =
-                                            MsgFmData.FaultAction.getFaultLevel(actionCode)
-                                    }
-                                }
-                            }
-                        }
-                        //P0级消息弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
-                        if (curFaultLevel == 0) {
-                            //自动驾驶状态 0是不可用 1是ready 2是自动驾驶中 7:平行驾驶中
-                            if (CallerAutoPilotStatusListenerManager.getState() == 2
-                                || CallerAutoPilotStatusListenerManager.getState() == 7
-                            ) {
-                                // 6.6.0 ，因为 FSM 模块也会弹修改为只有没有 FSM 模块才弹
-                                // 6.6.0 ，20240823 考虑到 FSM 初期消息不一定全，先不加限制，产品先观察功能后再考虑是否过滤
-                                // if (hasNoneFSMNode()) {
-                                //语音提示
-                                try {
-                                    SoundPoolUtils.getSoundPool()
-                                        .playSoundWithRedId(context, R.raw.weak_net_tips)
-                                } catch (e: Exception) {
-                                    e.printStackTrace()
-                                }
-                                //展示消息
+                        when(MsgFmData.getFmPolicyLevel(fmInfoMsg.policyCode)){
+                            //一级
+                            MsgFmData.LEVEL_ONE->{
+                                //接管图像提示、语音提示
+                                CallerDevaToolsManager.takeOver(TAKE_OVER_REQUEST)
+                                CallerHmiManager.warningV2X(
+                                    EventTypeEnumNew.TAKE_OVER_EVENT.poiType,
+                                    EventTypeEnumNew.TAKE_OVER_EVENT.content,
+                                    "识别车辆故障，建议立即接管安全停车，查看操作建议",
+                                    object : IMoGoWarningStatusListener {
+                                        override fun onShow() {
+                                            CallerTakeOverManager.invokeTakeOverEvent(true)
+                                        }
+
+                                        override fun onDismiss() {
+                                            CallerTakeOverManager.invokeTakeOverEvent(false)
+                                        }
+                                    },expireTime =3000L, isFromObu = false
+                                )
+                                //展示消息盒子消息
                                 showData(msgBoxBean)
-                                //}
+                            }
+                            //二级
+                            MsgFmData.LEVEL_TWO->{
+                                //语音提示
+                                AIAssist.getInstance(context).speakTTSVoice("识别车辆异常，建议尽快安全停车，查看操作建议")
+                                //展示消息盒子消息
+                                showData(msgBoxBean)
+                            }
+                            //三级
+                            MsgFmData.LEVEL_THREE->{
+                                //在消息盒子图标上，可查看到红点标记，无其他元素特殊提醒；点进消息盒子可查看到详细信息
                             }
                         }
+
+
                     }
                 } else {
                     if (msgBoxBean.sourceType == DataSourceType.SUMMARY) {

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MsgBoxToastView.kt

@@ -8,23 +8,29 @@ import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.recyclerview.widget.LinearLayoutManager
 import com.mogo.commons.env.ProjectUtils
+import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.report.ReportEntity
 import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.FMInfoMsg
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxCountDownBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.MsgCategory
 import com.mogo.eagle.core.data.msgbox.MsgFmData
+import com.mogo.eagle.core.data.takeover.TAKE_OVER_REQUEST
 import com.mogo.eagle.core.function.api.datacenter.IDataCenterBizListener
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
+import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerIpcConnectStateToastManager
 import com.mogo.eagle.core.function.call.datacenter.CallerDataCenterBizListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
+import com.mogo.eagle.core.function.call.setting.CallerTakeOverManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.msgbox.adapter.MsgBoxToastAdapter
 import com.mogo.eagle.core.function.msgbox.MsgBoxConfig
@@ -141,41 +147,96 @@ class MsgBoxToastView @JvmOverloads constructor(
                 } else if (category == MsgCategory.FM_INFO) {
                     CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
                     if (FunctionBuildConfig.isTakeoverRemind) {
-                        //属于停车警示（包括择机靠边停车、立即舒适停车、就地紧急停车）时，需要弹出消息气泡并伴有提示音
+//                        //属于停车警示（包括择机靠边停车、立即舒适停车、就地紧急停车）时，需要弹出消息气泡并伴有提示音
+//                        var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
+//                        fmInfoMsg.fmInfoList?.forEach { faultInfo ->
+//                            if (faultInfo.faultActionCount > 0) {
+//                                faultInfo.faultActionList.forEach { actionCode ->
+//                                    //获取建议操作级别，得到建议操作级别最高的操作
+//                                    if (MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel) {
+//                                        curFaultLevel =
+//                                            MsgFmData.FaultAction.getFaultLevel(actionCode)
+//                                    }
+//                                }
+//                            }
+//                        }
+//                        //P0级消息弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
+//                        if (curFaultLevel == 0) {
+//                            //自动驾驶状态 0是不可用 1是ready 2是自动驾驶中 7:平行驾驶中
+//                            if (CallerAutoPilotStatusListenerManager.getState() == 2
+//                                || CallerAutoPilotStatusListenerManager.getState() == 7
+//                            ) {
+//                                // 6.6.0 ，因为 FSM 模块也会弹修改为只有没有 FSM 模块才弹
+//                                // 6.6.0 ，20240823 考虑到 FSM 初期消息不一定全，先不加限制，产品先观察功能后再考虑是否过滤
+//                                // if (hasNoneFSMNode()) {
+//                                //语音提示
+//                                try {
+//                                    SoundPoolUtils.getSoundPool()
+//                                        .playSoundWithRedId(context, R.raw.weak_net_tips)
+//                                } catch (e: Exception) {
+//                                    e.printStackTrace()
+//                                }
+//                                //展示消息
+//                                showData(msgBoxBean)
+//                                //}
+//                            }
+//                        }
+
+                        /**
+                         * 8.2.0需求：定义三种不同提示强度的异常提示交互
+                         * 不判断驾驶状态，发生相应故障时立即有相应的提醒
+                         * 若同一时间触发多个多种级别异常，则按照最高级别的异常交互元素做提醒，低级别的异常不做特殊提醒
+                         * 若同一时间触发多个同一级别异常，则同一时刻只提醒一次，不互相打断
+                         * 除此以外不做其他提示频率限制
+                         *
+                         * 一级：安全停车
+                         * FM_DP_EMERGENCY_STOP（就地紧急停车）、FM_DP_COMFORTABLE_STOP（立刻舒适停车）、FM_DP_PNC_CHOOSE_STOP（择机靠边停车）
+                         * 交互：图像、TTS、消息盒子
+                         *
+                         * 二级：降速行驶
+                         * FM_DP_SPEED_LIMIT3（三级降速）、FM_DP_SPEED_LIMIT2（二级降速）、FM_DP_SPEED_LIMIT1（一级降速）
+                         * 交互：TTS、消息盒子
+                         *
+                         * 三级：无操作
+                         * FM_DP_ONLY_WARNING（警示）、FM_DP_NO_ACTION（报告）
+                         * ps：以上异常提醒受司机屏工具箱-运营面板-美化模式-接管提醒开关控制，默认开启有全量提示，关闭后无语音/图像提示，只有消息盒子红点展示
+                         */
                         val fmInfoMsg = msgBoxBean.bean as FMInfoMsg
-                        var curFaultLevel = 5 //默认级别，遍历数组找出级别最高的（level数越小，级别越高）
-                        fmInfoMsg.fmInfoList?.forEach { faultInfo ->
-                            if (faultInfo.faultActionCount > 0) {
-                                faultInfo.faultActionList.forEach { actionCode ->
-                                    //获取建议操作级别，得到建议操作级别最高的操作
-                                    if (MsgFmData.FaultAction.getFaultLevel(actionCode) < curFaultLevel) {
-                                        curFaultLevel =
-                                            MsgFmData.FaultAction.getFaultLevel(actionCode)
-                                    }
-                                }
-                            }
-                        }
-                        //P0级消息弹出时需要判断驾驶状态，非自动驾驶、非平行驾驶状态不弹出，其余状态弹出
-                        if (curFaultLevel == 0) {
-                            //自动驾驶状态 0是不可用 1是ready 2是自动驾驶中 7:平行驾驶中
-                            if (CallerAutoPilotStatusListenerManager.getState() == 2
-                                || CallerAutoPilotStatusListenerManager.getState() == 7
-                            ) {
-                                // 6.6.0 ，因为 FSM 模块也会弹修改为只有没有 FSM 模块才弹
-                                // 6.6.0 ，20240823 考虑到 FSM 初期消息不一定全，先不加限制，产品先观察功能后再考虑是否过滤
-                                // if (hasNoneFSMNode()) {
-                                //语音提示
-                                try {
-                                    SoundPoolUtils.getSoundPool()
-                                        .playSoundWithRedId(context, R.raw.weak_net_tips)
-                                } catch (e: Exception) {
-                                    e.printStackTrace()
-                                }
-                                //展示消息
+                        when(MsgFmData.getFmPolicyLevel(fmInfoMsg.policyCode)){
+                            //一级
+                            MsgFmData.LEVEL_ONE->{
+                                //接管图像提示、语音提示
+                                CallerDevaToolsManager.takeOver(TAKE_OVER_REQUEST)
+                                CallerHmiManager.warningV2X(
+                                    EventTypeEnumNew.TAKE_OVER_EVENT.poiType,
+                                    EventTypeEnumNew.TAKE_OVER_EVENT.content,
+                                    "识别车辆故障，建议立即接管安全停车，查看操作建议",
+                                    object : IMoGoWarningStatusListener {
+                                        override fun onShow() {
+                                            CallerTakeOverManager.invokeTakeOverEvent(true)
+                                        }
+
+                                        override fun onDismiss() {
+                                            CallerTakeOverManager.invokeTakeOverEvent(false)
+                                        }
+                                    },expireTime =3000L, isFromObu = false
+                                )
+                                //展示消息盒子消息
                                 showData(msgBoxBean)
-                                //}
+                            }
+                            //二级
+                            MsgFmData.LEVEL_TWO->{
+                                //语音提示
+                                AIAssist.getInstance(context).speakTTSVoice("识别车辆异常，建议尽快安全停车，查看操作建议")
+                                //展示消息盒子消息
+                                showData(msgBoxBean)
+                            }
+                            //三级
+                            MsgFmData.LEVEL_THREE->{
+                               //在消息盒子图标上，可查看到红点标记，无其他元素特殊提醒；点进消息盒子可查看到详细信息
                             }
                         }
+
                     }
                 } else {
                     if (msgBoxBean.sourceType == DataSourceType.SUMMARY) {

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

@@ -0,0 +1,183 @@
+package com.mogo.eagle.core.function.hmi.ui.setting;
+
+import android.app.Activity;
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.util.Log;
+import android.view.View;
+import android.view.WindowManager;
+
+public class ScreenUtilsTest {
+
+    /**
+     * 获取当前屏幕截图，包含状态栏
+     *
+     * @param activity activity
+     * @return Bitmap
+     */
+    public static Bitmap captureWithStatusBar(Activity activity) {
+        View view = activity.getWindow().getDecorView();
+        view.setDrawingCacheEnabled(true);
+        view.buildDrawingCache();
+        Bitmap bmp = view.getDrawingCache();
+        int width = getScreenWidth(activity);
+        int height = getScreenHeight(activity);
+        Bitmap ret = Bitmap.createBitmap(bmp, 0, 0, width, height);
+        view.destroyDrawingCache();
+        return ret;
+    }
+
+    /**
+     * 获取当前屏幕截图，不包含状态栏
+     *
+     * @param activity activity
+     * @return Bitmap
+     */
+    public static Bitmap captureWithoutStatusBar(Activity activity) {
+        View view = activity.getWindow().getDecorView();
+        view.setDrawingCacheEnabled(true);
+        view.buildDrawingCache();
+        Bitmap bmp = view.getDrawingCache();
+        int statusBarHeight = getStatusBarHeight(activity);
+        int width = getScreenWidth(activity);
+        int height = getScreenHeight(activity);
+        Bitmap ret = Bitmap.createBitmap(bmp, 0, statusBarHeight, width, height - statusBarHeight);
+        view.destroyDrawingCache();
+        return ret;
+    }
+
+    /**
+     * 得到屏幕的高
+     *
+     * @param context
+     * @return
+     */
+    public static int getScreenHeight(Context context) {
+        WindowManager wm = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+        int height = wm.getDefaultDisplay().getHeight();
+        return height;
+    }
+
+    /**
+     * 得到屏幕的宽
+     *
+     * @param context
+     * @return
+     */
+    public static int getScreenWidth(Context context) {
+        WindowManager wm = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+        int width = wm.getDefaultDisplay().getWidth();
+        return width;
+    }
+
+    /**
+     * 获取状态栏高度
+     *
+     * @param context 上下文
+     * @return 状态栏高度
+     */
+    public static int getStatusBarHeight(Context context) {
+        int result = 0;
+        int resourceId = context.getResources()
+                .getIdentifier("status_bar_height", "dimen", "android");
+        if (resourceId > 0) {
+            result = context.getResources().getDimensionPixelSize(resourceId);
+        }
+        return result;
+    }
+
+
+    public static Bitmap mergeBitmaps(Bitmap background, Bitmap foreground) {
+        // 创建一个新的Bitmap，大小为两个Bitmap的最大宽度和最大高度
+        int width = Math.max(background.getWidth(), foreground.getWidth());
+        int height = Math.max(background.getHeight(), foreground.getHeight());
+        Bitmap mergedBitmap = Bitmap.createBitmap(width, height, background.getConfig());
+
+        Canvas canvas = new Canvas(mergedBitmap);
+        // 绘制背景图
+        canvas.drawBitmap(background, 0, 0, null);
+        // 绘制前景图，可以调整位置
+        canvas.drawBitmap(foreground, 0, 0, null); // 根据需要调整位置
+
+        return mergedBitmap;
+    }
+
+
+    public static Bitmap overlayBitmaps(Bitmap bitmap1, Bitmap bitmap2, int xOffset, int yOffset) {
+        // 创建一个新的Bitmap，其大小足以容纳两个重叠的bitmap
+        int width = Math.max(bitmap1.getWidth(), bitmap2.getWidth());
+        int height = bitmap1.getHeight() + bitmap2.getHeight(); // 假定重叠在垂直方向
+        Bitmap result = Bitmap.createBitmap(width, height, bitmap1.getConfig());
+
+        // 使用Canvas绘制bitmap1和bitmap2
+        Canvas canvas = new Canvas(result);
+        canvas.drawBitmap(bitmap1, 0, 0, null); // 首先绘制bitmap1
+        canvas.drawBitmap(bitmap2, xOffset, bitmap1.getHeight() + yOffset, null); // 然后绘制bitmap2，根据需要调整xOffset和yOffset
+
+        return result;
+    }
+
+
+    /**
+     * 将2张图片合成
+     * @param downBitmap  底部图片
+     * @param upBitmap  置顶的图片
+     * @return
+     */
+    public static Bitmap compoundBitmap(Bitmap downBitmap,Bitmap upBitmap)
+    {
+        Bitmap mBitmap = downBitmap.copy(Bitmap.Config.ARGB_8888, true);
+        //如果遇到黑色，则显示downBitmap里面的颜色值，如果不是则显示upBitmap里面的颜色值
+        //循环获得bitmap所有像素点
+        int mBitmapWidth = mBitmap.getWidth();
+        int mBitmapHeight = mBitmap.getHeight();
+        //首先保证downBitmap和 upBitmap是一致的高宽大小
+        Log.i("xuxinchao","mBitmapWidth="+mBitmapWidth);
+        Log.i("xuxinchao","mBitmapHeight="+mBitmapHeight);
+        Log.i("xuxinchao","upBitmap.getWidth()="+upBitmap.getWidth());
+        Log.i("xuxinchao","upBitmap.getHeight()="+upBitmap.getHeight());
+//        if(mBitmapWidth==upBitmap.getWidth() && mBitmapHeight==upBitmap.getHeight())
+//        {
+//            for (int i = 0; i < mBitmapHeight; i++) {
+//                for (int j = 0; j < mBitmapWidth; j++) {
+//                    //获得Bitmap 图片中每一个点的color颜色值
+//                    //将需要填充的颜色值如果不是
+//                    //在这说明一下 如果color 是全透明 或者全黑 返回值为 0
+//                    //getPixel()不带透明通道 getPixel32()才带透明部分 所以全透明是0x00000000
+//                    //而不透明黑色是0xFF000000 如果不计算透明部分就都是0了
+//                    int color = upBitmap.getPixel(j, i);
+//                    Log.i("xuxinchao","color="+color);
+//                    //将颜色值存在一个数组中 方便后面修改
+//                    if (color != Color.BLACK) {
+//                        mBitmap.setPixel(j, i, upBitmap.getPixel(j, i));  //将白色替换成透明色
+//                    }
+//                }
+//            }
+//        }
+
+        for (int i = 0; i < mBitmapHeight; i++) {
+            for (int j = 0; j < mBitmapWidth; j++) {
+                //获得Bitmap 图片中每一个点的color颜色值
+                //将需要填充的颜色值如果不是
+                //在这说明一下 如果color 是全透明 或者全黑 返回值为 0
+                //getPixel()不带透明通道 getPixel32()才带透明部分 所以全透明是0x00000000
+                //而不透明黑色是0xFF000000 如果不计算透明部分就都是0了
+                int color = upBitmap.getPixel(j, i);
+                Log.i("xuxinchao","color="+color);
+                //将颜色值存在一个数组中 方便后面修改
+                if (color != Color.BLACK) {
+                    mBitmap.setPixel(j, i, upBitmap.getPixel(j, i));  //将白色替换成透明色
+                }
+            }
+        }
+
+
+//        downBitmap.recycle();
+//        upBitmap.recycle();
+        return mBitmap;
+    }
+
+
+}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/OTAUpgradeDialog.kt

@@ -15,6 +15,7 @@ import com.zhjt.mogo_core_function_devatools.ota.OTAUpgradeConfig
 import kotlinx.android.synthetic.main.dialog_ota_upgrade.tvUpgradeContent
 import kotlinx.android.synthetic.main.dialog_ota_upgrade.tv_upgrade_later
 import kotlinx.android.synthetic.main.dialog_ota_upgrade.tv_upgrade_now
+import org.json.JSONObject
 import system_master.SsmInfo
 
 /**
@@ -40,22 +41,42 @@ class OTAUpgradeDialog(context: Context) :
     private fun initView(){
         //立即升级
         tv_upgrade_now.setOnClickListener {
-            val result = CallerAutoPilotControlManager.sendSsmFuncOtaDownloadResponse(OTAUpgradeConfig.otaToken,SsmInfo.IfUpgrade.IMMEDIATELY)
-            if(result){
-                ToastUtils.showShort("立即升级命令发送成功")
-            }else{
-                ToastUtils.showShort("立即升级命令发送失败")
-            }
+//            val result = CallerAutoPilotControlManager.sendSsmFuncOtaDownloadResponse(OTAUpgradeConfig.otaToken,SsmInfo.IfUpgrade.IMMEDIATELY)
+//            if(result){
+//                ToastUtils.showShort("立即升级命令发送成功")
+//            }else{
+//                ToastUtils.showShort("立即升级命令发送失败")
+//            }
+
+            val query = JSONObject()
+            query.put("cmd","ASK_PAD_UPGRADE_RES")
+            query.put("token",OTAUpgradeConfig.token)
+            query.put("allow_upgrade",true)
+            query.put("reason","")
+            Log.i("xuxinchao",query.toString())
+            CallerAutoPilotControlManager.sendOtaPadMsgQuery(query.toString())
+
+
             dismiss()
         }
         //稍后升级
         tv_upgrade_later.setOnClickListener {
-            val delayResult = CallerAutoPilotControlManager.sendSsmFuncOtaDownloadResponse(OTAUpgradeConfig.otaToken,SsmInfo.IfUpgrade.DELAY)
-            if(delayResult){
-                ToastUtils.showShort("稍后升级命令发送成功")
-            }else{
-                ToastUtils.showShort("稍后升级命令发送失败")
-            }
+//            val delayResult = CallerAutoPilotControlManager.sendSsmFuncOtaDownloadResponse(OTAUpgradeConfig.otaToken,SsmInfo.IfUpgrade.DELAY)
+//            if(delayResult){
+//                ToastUtils.showShort("稍后升级命令发送成功")
+//            }else{
+//                ToastUtils.showShort("稍后升级命令发送失败")
+//            }
+
+            //不允许OTA升级
+            val query = JSONObject()
+            query.put("cmd","ASK_PAD_UPGRADE_RES")
+            query.put("token",OTAUpgradeConfig.token)
+            query.put("allow_upgrade",false)
+            query.put("reason","user click")
+            Log.i("xuxinchao",query.toString())
+            CallerAutoPilotControlManager.sendOtaPadMsgQuery(query.toString())
+
             dismiss()
         }
         upgradeWaitingTimer = object: CountDownTimer(UPGRADE_WAITING_TIME,UPGRADE_WAITING_TIME){

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

@@ -762,6 +762,22 @@
                     android:layout_height="1dp"
                     android:background="#F0F0F0" />
 
+                <ImageView
+                    android:id="@+id/ivScreenTest"
+                    android:layout_width="match_parent"
+                    android:layout_height="600dp"
+                    />
+
+                <ImageView
+                    android:id="@+id/ivScreenTestTwo"
+                    android:layout_width="match_parent"
+                    android:layout_height="600dp"/>
+
+                <ImageView
+                    android:id="@+id/ivScreenTestThree"
+                    android:layout_width="match_parent"
+                    android:layout_height="600dp"/>
+
 
             </LinearLayout>
 

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

@@ -85,7 +85,7 @@ rootProject.gradle.taskGraph.whenReady { TaskExecutionGraph graph ->
                         def packageTask = (PackageApplication) t2
                         def outDir = packageTask.outputDirectory
                         def apkNames = packageTask.apkNames
-                        if (apkNames != null && apkNames.size() > 0) {
+                        if (false) {
                             apkNames.forEach { apkName ->
                                 def apk = new File(outDir, apkName)
                                 def lp = new File(rootProject.rootDir, "local.properties")