Merge branch 'master' into 'release_robotaxi-d-app-module_2110_220915_2.11.0.1'

# Conflicts:
#   app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
#   core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/App.java

@@ -5,9 +5,11 @@ import android.app.Application;
 import com.zhidao.adas.client.utils.CrashHandler;
 
 public class App extends Application {
+    public static App INSTANCE;
     @Override
     public void onCreate() {
         super.onCreate();
+        INSTANCE = this;
         CrashHandler.getInstance().init(this);
     }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/SpecialVehicleAdapter.java

@@ -0,0 +1,60 @@
+package com.zhidao.adas.client.adapter;
+
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.TextView;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.base.BaseAdapter;
+import com.zhidao.adas.client.base.BaseViewHolder;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+
+import java.util.List;
+
+/**
+ * @author song kenan
+ * @des 线路
+ * @date 2021/8/13
+ */
+public class SpecialVehicleAdapter extends BaseAdapter<SpecialVehicleBean, SpecialVehicleAdapter.ViewHolder> {
+
+
+    public SpecialVehicleAdapter(List<SpecialVehicleBean> data) {
+        super(data);
+    }
+
+    @Override
+    public void setData(List<SpecialVehicleBean> mDatas) {
+        super.setData(mDatas);
+    }
+
+    @Override
+    protected void onBindDataToItem(ViewHolder viewHolder, SpecialVehicleBean data, int position) {
+        viewHolder.title.setText(data.name);
+    }
+
+    @Override
+    protected View getItemViewResource(ViewGroup viewGroup) {
+        return LayoutInflater.from(mContext).inflate(R.layout.item_info, viewGroup, false);
+    }
+
+    @Override
+    protected ViewHolder getViewHolder(View view) {
+        return new ViewHolder(view, this);
+    }
+
+    class ViewHolder extends BaseViewHolder<SpecialVehicleAdapter> {
+        TextView title;
+
+        public ViewHolder(View itemView, SpecialVehicleAdapter adapter) {
+            super(itemView, adapter);
+//            ViewGroup.LayoutParams layoutParams = itemView.getLayoutParams();
+//            if (layoutParams != null) {
+//                layoutParams.width = ViewGroup.LayoutParams.MATCH_PARENT;
+//
+//            }
+            title = itemView.findViewById(R.id.tv_info_title);
+        }
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/SpecialVehicleBean.java

@@ -0,0 +1,230 @@
+package com.zhidao.adas.client.bean;
+
+import android.content.Context;
+import android.text.TextUtils;
+
+import androidx.annotation.NonNull;
+
+import com.google.protobuf.TextFormat;
+import com.zhidao.adas.client.ui.special.SpecialVehicleFloatWindowManager;
+import com.zhidao.adas.client.utils.PreferencesUtils;
+import com.zhidao.support.adas.high.AdasManager;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import chassis.SpecialVehicleTaskCmdOuterClass;
+
+public class SpecialVehicleBean {
+    private interface TAG {
+        String FTQSC = "ftqsc";//福田清扫车
+        String KWXB = "kwxb";//开沃小巴
+    }
+
+    public interface SEND_TYPE {
+        int ONE = 0;//单次发送
+        int MORE = 1;//多次发送
+        int ALL = 2;//两种方式都支持
+    }
+
+    public final String name;
+    public final String simpleName;//简单名字 两个字
+    public final List<SpecialVehicleOption> options;
+    private final String tag;//用于存储
+    public int sendType = SEND_TYPE.ONE;//发送类型
+    private SpecialVehicleFloatWindowManager manager;
+
+    public static final int SCREEN_MARGIN = 20;
+
+    private final String FLOAT_WINDOW_LOCATION_MIN_X;
+    private final String FLOAT_WINDOW_LOCATION_MIN_Y;
+    private final String FLOAT_WINDOW_LOCATION_MAX_X;
+    private final String FLOAT_WINDOW_LOCATION_MAX_Y;
+
+    private SpecialVehicleBean(@NonNull String name, @NonNull String simpleName, String tag, List<SpecialVehicleOption> options) {
+        this.name = name;
+        this.simpleName = simpleName;
+        this.tag = tag;
+        this.options = options;
+        FLOAT_WINDOW_LOCATION_MIN_X = tag + "_float_window_location_min_x";
+        FLOAT_WINDOW_LOCATION_MIN_Y = tag + "_float_window_location_min_y";
+        FLOAT_WINDOW_LOCATION_MAX_X = tag + "_float_window_location_max_X";
+        FLOAT_WINDOW_LOCATION_MAX_Y = tag + "_float_window_location_max_y";
+
+    }
+
+    public void showFloat(Context context) {
+        if (manager == null)
+            manager = new SpecialVehicleFloatWindowManager(context, this);
+        manager.show();
+    }
+
+    public void dismissFloat() {
+        if (manager != null) {
+            manager.onBack();
+            manager = null;
+        }
+    }
+
+    /************************悬浮窗位置******************/
+
+
+    public void setFloatWindowLocationMinX(Context context, int x) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MIN_X, x);
+    }
+
+    public int getFloatWindowLocationMinX(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MIN_X, SCREEN_MARGIN);
+    }
+
+    public void setFloatWindowLocationMinY(Context context, int y) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MIN_Y, y);
+    }
+
+    public int getFloatWindowLocationMinY(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MIN_Y, SCREEN_MARGIN);
+    }
+
+
+    /************************悬浮窗位置******************/
+
+    public void setFloatWindowLocationMaxX(Context context, int x) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MAX_X, x);
+    }
+
+    public int getFloatWindowLocationMaxX(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MAX_X, SCREEN_MARGIN);
+    }
+
+    public void setFloatWindowLocationMaxY(Context context, int y) {
+        PreferencesUtils.putInt(context, FLOAT_WINDOW_LOCATION_MAX_Y, y);
+    }
+
+    public int getFloatWindowLocationMaxY(Context context) {
+        return PreferencesUtils.getInt(context, FLOAT_WINDOW_LOCATION_MAX_Y, SCREEN_MARGIN);
+    }
+
+    /**
+     * 命令下发
+     *
+     * @param index -1一次性发送所有命令 其他 单个命令发送
+     * @return
+     */
+    public String sendCmd(int index) {
+        String str = "";
+        if (TextUtils.equals(this.tag, TAG.FTQSC)) { //福田清扫车
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.newBuilder();
+            if (index < 0) {
+                for (index = 0; index < options.size(); index++) {
+                    SpecialVehicleOption option = options.get(index);
+                    if (option.moreCheckPos != -1) {
+                        option.checkPos = option.moreCheckPos;
+                        option.moreCheckPos = -1;
+                    }
+                    setFuTianCleanValue(builder, index, option.checkPos);
+                }
+            } else {
+                int checkPos = options.get(index).checkPos;
+                setFuTianCleanValue(builder, index, checkPos);
+            }
+
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd fuTianCleanCmd = builder.build();
+            SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd fuTianTaskCmd = SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd.newBuilder()
+                    .setRoboSweeperFutianCleanCmd(fuTianCleanCmd).build();
+            AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd);
+            str = TextFormat.printer().escapingNonAscii(false).printToString(fuTianTaskCmd).replaceAll("\n", "");
+        } else if (TextUtils.equals(this.tag, TAG.KWXB)) { //开沃小巴
+            SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd vanSkywellTaskCmd = SpecialVehicleTaskCmdOuterClass.RoboVanSkywellTaskCmd.newBuilder()
+                    .build();
+            AdasManager.getInstance().sendRoboVanSkywellTaskCmd(vanSkywellTaskCmd);
+        }
+        return str;
+    }
+
+    private void setFuTianCleanValue(SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianCleanCmd.Builder builder, int index, int checkPos) {
+        switch (index) {
+            case 0:
+                builder.setCleanOpenRequirement(checkPos);
+                break;
+            case 1:
+                builder.setCleanModeRequirement(checkPos);
+                break;
+            case 2:
+                builder.setCleanDirectionRequirement(checkPos);
+                break;
+            case 3:
+                builder.setCleanIntensityRequirement(checkPos);
+                break;
+            case 4:
+                builder.setDuskCloseRequirement(checkPos);
+                break;
+            case 5:
+                builder.setSuctionNozzlefleOpenRequirement(checkPos);
+                break;
+            case 6:
+                builder.setSprayGunOpenRequirement(checkPos);
+                break;
+            case 7:
+                builder.setSweepdiskSpeedRequirement(checkPos);
+                break;
+        }
+    }
+
+
+    public static List<SpecialVehicleBean> init() {
+        List<SpecialVehicleBean> list = new ArrayList<>();
+        List<SpecialVehicleOption> optionsF = new ArrayList<>();
+        int tag = 0;
+        String[] value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Start";
+        value[2] = "2-Stop";
+        optionsF.add(new SpecialVehicleOption("清扫作业", tag++, value, 0));
+        value = new String[6];
+        value[0] = "0-No Req";
+        value[1] = "1-Sweeping";
+        value[2] = "2-Wash Sweeper";
+        value[3] = "3-Pure Wash";
+        value[4] = "4-Pure Draw";
+        value[5] = "5-Close Clean";
+        optionsF.add(new SpecialVehicleOption("清扫模式", tag++, value, 0));
+        value = new String[5];
+        value[0] = "0-No Req";
+        value[1] = "1-Both";
+        value[2] = "2-Left";
+        value[3] = "3-Right";
+        value[4] = "4-Close Side";
+        optionsF.add(new SpecialVehicleOption("清扫方向", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Stand";
+        value[2] = "2-Strong";
+        optionsF.add(new SpecialVehicleOption("作业强度", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Close";
+        value[2] = "2-Open";
+        optionsF.add(new SpecialVehicleOption("降尘", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Open";
+        value[2] = "2-Close";
+        optionsF.add(new SpecialVehicleOption("吸嘴挡板", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Open";
+        value[2] = "2-Close";
+        optionsF.add(new SpecialVehicleOption("喷雾枪", tag++, value, 0));
+        value = new String[3];
+        value[0] = "0-No Req";
+        value[1] = "1-Decelerate";
+        value[2] = "2-Accelerate";
+        optionsF.add(new SpecialVehicleOption("扫盘加速", tag, value, 0));
+        SpecialVehicleBean beanF = new SpecialVehicleBean("福田清扫车", "福清", TAG.FTQSC, optionsF);
+        SpecialVehicleBean beanK = new SpecialVehicleBean("开沃小巴", "开巴", TAG.KWXB, null);
+        list.add(beanF);
+        list.add(beanK);
+        return list;
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/SpecialVehicleOption.java

@@ -0,0 +1,16 @@
+package com.zhidao.adas.client.bean;
+
+public class SpecialVehicleOption {
+    public final String name;
+    public final int tag;
+    public final String[] value;
+    public int checkPos = 0;//选中的下标
+    public int moreCheckPos = -1;//发送模式下多条模式时选中的下标
+
+    public SpecialVehicleOption(String name, int tag, String[] value, int checkPos) {
+        this.name = name;
+        this.tag = tag;
+        this.value = value;
+        this.checkPos = checkPos;
+    }
+}

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

@@ -70,6 +70,7 @@ import com.zhidao.adas.client.bean.PlanningObjects;
 import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
 import com.zhidao.adas.client.bean.RecordDataConfig;
 import com.zhidao.adas.client.bean.RecordPanel;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
 import com.zhidao.adas.client.bean.StatusInfo;
 import com.zhidao.adas.client.bean.TrackedObjects;
 import com.zhidao.adas.client.bean.Trajectory;
@@ -77,6 +78,7 @@ import com.zhidao.adas.client.bean.VehicleState;
 import com.zhidao.adas.client.bean.Warn;
 import com.zhidao.adas.client.log.ConnectStatusSave;
 import com.zhidao.adas.client.log.LogSave;
+import com.zhidao.adas.client.ui.special.SpecialVehicleDialog;
 import com.zhidao.adas.client.utils.Constants;
 import com.zhidao.adas.client.utils.PreferencesUtils;
 import com.zhidao.support.adas.high.AdasManager;
@@ -159,11 +161,13 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private String recordFileName;
     private int connectStatus;
     private AutoPilotModeDialog autoPilotModeDialog;
+    private SpecialVehicleDialog specialVehicleDialog;
     private ListPopupWindow listPopupWindow;
     private FloatWindow floatWindow;
     private View include_title;
     private boolean isAutopilotAbility = true;
     private String autopilotAbilityReason;
+    private List<SpecialVehicleBean> specialVehicleBeanList;//特种车辆
 //    @Override
 //    protected void onStart() {
 //        super.onStart();
@@ -253,6 +257,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             wakeLock.release();
         if (wifiLock != null)
             wifiLock.release();
+        if (autoPilotModeDialog != null && autoPilotModeDialog.isShowing()) {
+            autoPilotModeDialog.dismiss();
+            autoPilotModeDialog = null;
+        }
+        if (specialVehicleDialog != null && specialVehicleDialog.isShowing()) {
+            specialVehicleDialog.dismiss();
+            specialVehicleDialog = null;
+        }
     }
 
     private void canDrawOverlays() {
@@ -633,6 +645,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
         titleBtnData.add(Constants.TITLE.SEND_SET_AUTOPILOT_MODE_REQ);
         titleBtnData.add(Constants.TITLE.SEND_GLOBAL_PATH_REQ);
+        titleBtnData.add(Constants.TITLE.SEND_SPECIAL_VEHICLE_TASK_CMD);
         titleBtnData.add(Constants.TITLE.SEND_STATUS_QUERY_REQ);
         titleBtnData.add(Constants.TITLE.SEND_BASIC_INFO_RESP);
         titleBtnData.add(Constants.TITLE.SEND_RECORD_DATA_CONFIG_RESP);
@@ -1109,6 +1122,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         } else if (connectStatus == IPC_CONNECTION_STATUS.DISCONNECTED) {
             getHandler().sendEmptyMessage(WHAT_IPC_IP);
         }
+
 //        LogSave.getInstance().saveLog("连接状态", status);
 //        CupidLogUtils.i(TAG, "connectStatus=" + status);
     }
@@ -1210,6 +1224,17 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 //自动驾驶路径查询
                 AdasManager.getInstance().sendGlobalPathReq();
                 break;
+            case Constants.TITLE.SEND_SPECIAL_VEHICLE_TASK_CMD:
+                if (specialVehicleBeanList == null) {
+                    specialVehicleBeanList = SpecialVehicleBean.init();
+                }
+                if (specialVehicleDialog == null) {
+                    specialVehicleDialog = new SpecialVehicleDialog(this, specialVehicleBeanList);
+                }
+                if (!specialVehicleDialog.isShowing()) {
+                    specialVehicleDialog.show();
+                }
+                break;
             case Constants.TITLE.SEND_STATUS_QUERY_REQ:
                 AdasManager.getInstance().sendStatusQueryReq();
                 break;
@@ -1358,6 +1383,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         switch (msg.what) {
             case WHAT_IPC_IP:
                 showIPCIP();
+                if (specialVehicleBeanList != null && !specialVehicleBeanList.isEmpty()) {
+                    for (SpecialVehicleBean bean : specialVehicleBeanList) {
+                        bean.dismissFloat();
+                    }
+                    specialVehicleBeanList = null;
+                }
                 break;
             case WHAT_DRIVER_IP:
                 ipcIp.setVisibility(View.VISIBLE);

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleDialog.java

@@ -0,0 +1,116 @@
+package com.zhidao.adas.client.ui.special;
+
+import android.app.Dialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.content.Intent;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.LinearLayoutManager;
+import androidx.recyclerview.widget.RecyclerView;
+import androidx.recyclerview.widget.SimpleItemAnimator;
+
+import com.zhidao.adas.client.App;
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.adapter.SpecialVehicleAdapter;
+import com.zhidao.adas.client.base.BaseAdapter;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+import com.zhidao.adas.client.ui.AutopilotConfigActivity;
+
+import java.util.List;
+
+
+/**
+ * 特种车辆
+ */
+public class SpecialVehicleDialog extends Dialog {
+    private RecyclerView recyclerView;
+    private List<SpecialVehicleBean> list;
+
+
+    public SpecialVehicleDialog(@NonNull Context context, List<SpecialVehicleBean> list) {
+        super(context, R.style.CustomDialog);
+        this.list = list;
+    }
+
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.dialog_autopilot_mode);
+        //初始化界面控件
+        initView();
+        //初始化界面控件的事件
+        initListener();
+        initBtnRecyclerView();
+        setOnDismissListener(new OnDismissListener() {
+            @Override
+            public void onDismiss(DialogInterface dialog) {
+            }
+        });
+
+    }
+
+    @Override
+    public void show() {
+        super.show();
+    }
+
+
+    private void initBtnRecyclerView() {
+        //初始info-recycle
+        LinearLayoutManager nodLinearLayoutManage = new LinearLayoutManager(getContext());
+        nodLinearLayoutManage.setOrientation(LinearLayoutManager.VERTICAL);
+        recyclerView.setLayoutManager(nodLinearLayoutManage);
+        //如果可以确定每个item的高度是固定的，设置这个选项可以提高性能
+        recyclerView.setHasFixedSize(true);
+        //解决局部刷新闪屏问题
+        SimpleItemAnimator animatorInfo = (SimpleItemAnimator) recyclerView.getItemAnimator();
+        if (animatorInfo != null)
+            animatorInfo.setSupportsChangeAnimations(false);
+        //创建并设置Adapter
+        SpecialVehicleAdapter adapter = new SpecialVehicleAdapter(list);
+        recyclerView.setAdapter(adapter);
+        adapter.setOnItemClickListener(new BaseAdapter.OnItemClickListener<SpecialVehicleBean>() {
+            @Override
+            public void onItemClick(int position, SpecialVehicleBean data) {
+                if (data.options == null) {
+                    Toast.makeText(getContext(), "“" + data.name + "”暂未支持", Toast.LENGTH_SHORT).show();
+                } else {
+                    data.showFloat(App.INSTANCE);
+                    SpecialVehicleDialog.this.dismiss();
+                }
+
+            }
+        });
+    }
+
+    /**
+     * 初始化界面的确定和取消监听器
+     */
+    private void initListener() {
+        findViewById(R.id.settings).setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                getContext().startActivity(new Intent(getContext(), AutopilotConfigActivity.class));
+            }
+        });
+    }
+
+
+    /**
+     * 初始化界面控件
+     */
+    private void initView() {
+        recyclerView = findViewById(R.id.recyclerView);
+        findViewById(R.id.settings).setVisibility(View.GONE);
+        TextView textView = findViewById(R.id.title);
+        textView.setText("特种车辆");
+    }
+
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleFloatWindow.java

@@ -0,0 +1,477 @@
+package com.zhidao.adas.client.ui.special;
+
+import android.content.Context;
+import android.graphics.Color;
+import android.os.Handler;
+import android.os.Message;
+import android.util.DisplayMetrics;
+import android.view.Gravity;
+import android.view.KeyEvent;
+import android.view.LayoutInflater;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.ViewGroup;
+import android.view.WindowManager;
+import android.widget.FrameLayout;
+import android.widget.HorizontalScrollView;
+import android.widget.LinearLayout;
+import android.widget.RadioButton;
+import android.widget.RadioGroup;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.appcompat.widget.AppCompatButton;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+import com.zhidao.adas.client.bean.SpecialVehicleOption;
+
+import java.lang.ref.WeakReference;
+import java.lang.reflect.Field;
+
+
+/**
+ * 2017/1/10.
+ * Description：全局悬浮窗口
+ */
+
+public class SpecialVehicleFloatWindow extends LinearLayout {
+
+    /*********************悬浮窗相关***********************/
+
+    private int sW;
+    private int sH;
+    private boolean isMaximize = true;//是否是最大化
+    private WindowManager wm;
+    //此wmParams变量为获取的全局变量，用以保存悬浮窗口的属性
+    private WindowManager.LayoutParams wmParams;
+    private int btnMaximizeW;
+    private int btnMaximizeH;
+
+    /*********************CAN数据配置相关***********************/
+    private final static int WHAT_UPDATE_DATA = 1;
+    private BaseHandler mBaseHandler;
+    private LinearLayout layout_btn;
+    private HorizontalScrollView btn_list;
+    private AppCompatButton btn_send;
+    private RadioGroup rg_send_type;
+    private TextView text;
+    private TextView title;
+    private TextView btn_maximize;
+    private View can_parent;
+
+    private OnFloatWindowListener listener;
+    private final SpecialVehicleBean specialVehicleBean;
+
+    public interface OnFloatWindowListener {
+        void onBack();
+
+        void onMinimality();
+
+        void onMaximize();
+    }
+
+    public boolean isMaximize() {
+        return isMaximize;
+    }
+
+    public void setOnFloatWindowListener(OnFloatWindowListener listener) {
+        this.listener = listener;
+    }
+
+    public void setWmParams(WindowManager.LayoutParams wmParams) {
+        this.wmParams = wmParams;
+    }
+
+    public SpecialVehicleFloatWindow(@NonNull Context context, @NonNull SpecialVehicleBean specialVehicleBean) {
+        super(context, null, 0);
+        this.specialVehicleBean = specialVehicleBean;
+        wm = (WindowManager) context.getApplicationContext().getSystemService(Context.WINDOW_SERVICE);
+        //加载布局
+        LayoutInflater.from(context).inflate(R.layout.dialog_special_vehicle_config, this, true);
+        initParameter();
+        initCanView();
+    }
+
+    private void initParameter() {
+        DisplayMetrics metrics2 = getResources().getDisplayMetrics();
+        sW = metrics2.widthPixels;
+        sH = metrics2.heightPixels;
+    }
+
+
+    @Override
+    public boolean dispatchKeyEvent(KeyEvent event) {
+        if (event.getAction() == KeyEvent.ACTION_UP) {
+            if (event.getKeyCode() == KeyEvent.KEYCODE_BACK) {
+                if (isMaximize) {
+                    minimality();
+                    return true;
+                }
+            }
+        }
+        return super.dispatchKeyEvent(event);
+    }
+
+    private float mInViewX;
+    private float mInViewY;
+    private float mDownInScreenX;
+    private float mDownInScreenY;
+    private float mInScreenX;
+    private float mInScreenY;
+
+    @Override
+    public boolean onTouchEvent(MotionEvent event) {
+        switch (event.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = event.getX();
+                mInViewY = event.getY();
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = event.getRawX();
+                mDownInScreenY = event.getRawY() - getSysBarHeight(getContext());
+                mInScreenX = event.getRawX();
+                mInScreenY = event.getRawY() - getSysBarHeight(getContext());
+
+                if (!isMaximize) {
+                    btn_maximize.setPressed(true);
+                    btnMaximizeW = btn_maximize.getWidth();
+                    btnMaximizeH = btn_maximize.getHeight();
+                }
+                break;
+            case MotionEvent.ACTION_MOVE:
+                // 更新浮动窗口位置参数
+                mInScreenX = event.getRawX();
+                mInScreenY = event.getRawY() - getSysBarHeight(getContext());
+                wmParams.x = (int) (mInScreenX - mInViewX);
+                wmParams.y = (int) (mInScreenY - mInViewY);
+                updateViewLayout();
+                break;
+
+            case MotionEvent.ACTION_UP:
+                // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+//                if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
+                float temX = Math.abs(mDownInScreenX - mInScreenX);
+                float temY = Math.abs(mDownInScreenY - mInScreenY);
+                if (temX + temY < 10) {
+                    maximize();
+                } else {
+                    if (isMaximize) {
+                        specialVehicleBean.setFloatWindowLocationMaxX(getContext(), wmParams.x);
+                        specialVehicleBean.setFloatWindowLocationMaxY(getContext(), wmParams.y);
+                    } else {
+                        btn_maximize.setPressed(false);
+                        // 抬起手指时让floatView屏幕左右边缘 距离20个像素
+//                    wmParams.x = wmParams.x <= (sW / 2) ? AmiConstants.SCREEN_MARGIN : sW - btnMaximizeW - AmiConstants.SCREEN_MARGIN;
+                        int tem = wmParams.x;
+                        if (tem < SpecialVehicleBean.SCREEN_MARGIN)
+                            tem = SpecialVehicleBean.SCREEN_MARGIN;
+                        else if (sW - (tem + btnMaximizeW) < SpecialVehicleBean.SCREEN_MARGIN) {
+                            tem = sW - btnMaximizeW - SpecialVehicleBean.SCREEN_MARGIN;
+                        }
+                        wmParams.x = tem;
+                        tem = wmParams.y;
+                        if (tem < SpecialVehicleBean.SCREEN_MARGIN)
+                            tem = SpecialVehicleBean.SCREEN_MARGIN;
+                        else if (sH - (tem + btnMaximizeH) < SpecialVehicleBean.SCREEN_MARGIN) {
+                            tem = sH - btnMaximizeH - SpecialVehicleBean.SCREEN_MARGIN;
+                        }
+                        wmParams.y = tem;
+                        updateViewLayout();
+                        specialVehicleBean.setFloatWindowLocationMinX(getContext(), wmParams.x);
+                        specialVehicleBean.setFloatWindowLocationMinY(getContext(), wmParams.y);
+                    }
+                }
+
+                break;
+        }
+        return true;
+    }
+
+    public void updateViewLayout() {
+        wm.updateViewLayout(this, wmParams);
+    }
+
+    // 获取系统状态栏高度
+    private int sbar = -1;
+
+    public int getSysBarHeight(Context contex) {
+        if (sbar == -1) {
+            Class<?> c;
+            Object obj;
+            Field field;
+            int x;
+            try {
+                c = Class.forName("com.android.internal.R$dimen");
+                obj = c.newInstance();
+                field = c.getField("status_bar_height");
+                x = Integer.parseInt(field.get(obj).toString());
+                sbar = contex.getResources().getDimensionPixelSize(x);
+            } catch (Exception e1) {
+                e1.printStackTrace();
+            }
+        }
+        return sbar;
+    }
+
+    /*****************************业务逻辑*******************************************/
+
+
+    private void initCanView() {
+        initHandler();
+        can_parent = findViewById(R.id.can_parent);
+        btn_list = findViewById(R.id.btn_list);
+        btn_send = findViewById(R.id.btn_send);
+        rg_send_type = findViewById(R.id.rg_send_type);
+        text = findViewById(R.id.text);
+        title = findViewById(R.id.title);
+        title.setText(specialVehicleBean.name);
+        btn_maximize = findViewById(R.id.btn_maximize);
+        btn_maximize.setText(specialVehicleBean.simpleName);
+        initListener();
+        initBtnRecyclerView();
+        initSendTypeView();
+    }
+
+    private void initSendTypeView() {
+        int resId;
+        switch (specialVehicleBean.sendType) {
+            default:
+            case SpecialVehicleBean.SEND_TYPE.ONE:
+                resId = R.id.btn_one;
+                break;
+            case SpecialVehicleBean.SEND_TYPE.MORE:
+                resId = R.id.btn_more;
+                break;
+            case SpecialVehicleBean.SEND_TYPE.ALL:
+                resId = R.id.btn_all;
+                break;
+        }
+        rg_send_type.check(resId);
+        btn_send.setVisibility(specialVehicleBean.sendType == SpecialVehicleBean.SEND_TYPE.ONE ? View.GONE : View.VISIBLE);
+        rg_send_type.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+            @Override
+            public void onCheckedChanged(RadioGroup group, int checkedId) {
+                View checkView = group.findViewById(checkedId);
+                if (!checkView.isPressed()) {
+                    return;
+                }
+                int type = SpecialVehicleBean.SEND_TYPE.ONE;
+                if (checkedId == R.id.btn_more) {
+                    type = SpecialVehicleBean.SEND_TYPE.MORE;
+                } else {
+                    if (specialVehicleBean.sendType == SpecialVehicleBean.SEND_TYPE.MORE) {
+                        for (int i = 0; i < layout_btn.getChildCount(); i++) {
+                            LinearLayout view = (LinearLayout) layout_btn.getChildAt(i);
+                            RadioGroup radioGroup = view.findViewById(R.id.item_group);
+                            SpecialVehicleOption option = specialVehicleBean.options.get(i);
+                            if (option.moreCheckPos != -1) {
+                                option.moreCheckPos = -1;
+                                radioGroup.check(option.checkPos);
+                            }
+                        }
+                    }
+                    if (checkedId == R.id.btn_one) {
+                        type = SpecialVehicleBean.SEND_TYPE.ONE;
+                    } else if (checkedId == R.id.btn_all) {
+                        type = SpecialVehicleBean.SEND_TYPE.ALL;
+                    }
+                }
+                specialVehicleBean.sendType = type;
+                btn_send.setVisibility(type == SpecialVehicleBean.SEND_TYPE.ONE ? View.GONE : View.VISIBLE);
+            }
+        });
+        btn_send.setOnClickListener(onClickListener);
+    }
+
+
+    private void initListener() {
+        findViewById(R.id.btn_back).setOnClickListener(onClickListener);
+        findViewById(R.id.btn_minimality).setOnClickListener(onClickListener);
+    }
+
+    public void minimality() {
+        isMaximize = false;
+        btn_maximize.setVisibility(VISIBLE);
+        can_parent.setVisibility(GONE);
+        if (listener != null) {
+            listener.onMinimality();
+        }
+
+    }
+
+    public void maximize() {
+        isMaximize = true;
+        if (listener != null) {
+            listener.onMaximize();
+        }
+        btn_maximize.setVisibility(GONE);
+        can_parent.setVisibility(VISIBLE);
+
+    }
+
+    private final OnClickListener onClickListener = new OnClickListener() {
+        @Override
+        public void onClick(View v) {
+            int id = v.getId();
+            if (id == R.id.btn_back) {
+                if (listener != null) {
+                    listener.onBack();
+                }
+            } else if (id == R.id.btn_minimality) {
+                minimality();
+            } else if (id == R.id.btn_send) {
+                String cmd = specialVehicleBean.sendCmd(-1);
+                updateText(0, cmd);
+            }
+        }
+    };
+
+
+    private void initBtnRecyclerView() {
+
+        layout_btn = new LinearLayout(getContext());
+        btn_list.addView(layout_btn);
+        layout_btn.setOrientation(LinearLayout.HORIZONTAL);
+        FrameLayout.LayoutParams lp = (FrameLayout.LayoutParams) layout_btn.getLayoutParams();
+        lp.gravity = Gravity.CENTER_VERTICAL;
+        for (int i = 0; i < specialVehicleBean.options.size(); i++) {
+            SpecialVehicleOption bean = specialVehicleBean.options.get(i);
+            View view = LayoutInflater.from(getContext()).inflate(R.layout.item_special_vehicle, layout_btn, false);
+            TextView name = view.findViewById(R.id.name);
+            RadioGroup radioGroup = view.findViewById(R.id.item_group);
+
+            name.setText(bean.name);
+            String[] value = bean.value;
+            for (int j = 0; j < value.length; j++) {
+                RadioButton button = LayoutInflater.from(getContext()).inflate(R.layout.item_special_vehicle_option_radio_btn, radioGroup, false)
+                        .findViewById(R.id.r_btn);
+                button.setText(value[j]);
+                button.setId(j);
+                if (i == 1 || i == 2 || i == 3 || i == 4) {
+                    ViewGroup.LayoutParams layoutParams = button.getLayoutParams();
+                    layoutParams.width = 202;
+                }
+                radioGroup.addView(button);
+            }
+            radioGroup.setTag(bean.tag);
+            radioGroup.setOnCheckedChangeListener(onCheckedChangeListener);
+            radioGroup.check(bean.checkPos);
+            layout_btn.addView(view);
+        }
+    }
+
+    private final RadioGroup.OnCheckedChangeListener onCheckedChangeListener = new RadioGroup.OnCheckedChangeListener() {
+        @Override
+        public void onCheckedChanged(RadioGroup group, int checkedId) {
+            View checkView = group.findViewById(checkedId);
+            if (checkView == null || !checkView.isPressed()) {
+                return;
+            }
+            int tag = (int) group.getTag();
+            SpecialVehicleOption bean = specialVehicleBean.options.get(tag);
+            if (specialVehicleBean.sendType != SpecialVehicleBean.SEND_TYPE.MORE) {
+                bean.checkPos = checkedId;
+                String cmd = specialVehicleBean.sendCmd(tag);
+                updateText(0, cmd);
+            } else {
+                bean.moreCheckPos = checkedId;
+            }
+        }
+    };
+
+
+    /**
+     * 更新文本
+     *
+     * @param tag  0--发送    1--接收
+     * @param data 数据
+     */
+    private void updateText(int tag, String data) {
+        Message msg = Message.obtain();
+        msg.what = WHAT_UPDATE_DATA;
+        msg.obj = data;
+        msg.arg1 = tag;
+        getHandler().sendMessage(msg);
+    }
+
+
+    /**
+     * 初始化一个Handler，如果需要使用Handler，先调用此方法，
+     * 然后可以使用postRunnable(Runnable runnable)，
+     * sendMessage在handleMessage（Message msg）中接收msg
+     */
+    public void initHandler() {
+        mBaseHandler = new BaseHandler(this);
+    }
+
+    /**
+     * 返回Handler，在此之前确定已经调用initHandler（）
+     *
+     * @return Handler
+     */
+    public Handler getHandler() {
+        return mBaseHandler;
+    }
+
+    /**
+     * 同Handler的postRunnable
+     * 在此之前确定已经调用initHandler（）
+     */
+    protected void postRunnable(Runnable runnable) {
+        postRunnableDelayed(runnable, 0);
+    }
+
+    /**
+     * 同Handler的postRunnableDelayed
+     * 在此之前确定已经调用initHandler（）
+     */
+    protected void postRunnableDelayed(Runnable runnable, long delayMillis) {
+        if (mBaseHandler == null) initHandler();
+        mBaseHandler.postDelayed(runnable, delayMillis);
+    }
+
+
+    /**
+     * 同Handler 的 handleMessage，
+     * getHandler.sendMessage,发送的Message在此接收
+     * 在此之前确定已经调用initHandler（）
+     *
+     * @param msg
+     */
+    protected void handleMessage(Message msg) {
+        switch (msg.what) {
+            case WHAT_UPDATE_DATA:
+                if (msg.arg1 == 0) {
+                    text.setTextColor(Color.parseColor("#FFFFFF"));
+                } else {
+                    text.setTextColor(Color.parseColor("#FF0000"));
+                }
+                String str = (String) msg.obj;
+                if (str.length() < 100) {
+                    text.setTextSize(14);
+                } else {
+                    text.setTextSize(10);
+                }
+                text.setText(str);
+                break;
+        }
+
+    }
+
+
+    protected static class BaseHandler extends Handler {
+        private final WeakReference<SpecialVehicleFloatWindow> mObjects;
+
+        public BaseHandler(SpecialVehicleFloatWindow mPresenter) {
+            mObjects = new WeakReference<SpecialVehicleFloatWindow>(mPresenter);
+        }
+
+        @Override
+        public void handleMessage(Message msg) {
+            SpecialVehicleFloatWindow mPresenter = mObjects.get();
+            if (mPresenter != null)
+                mPresenter.handleMessage(msg);
+        }
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/special/SpecialVehicleFloatWindowManager.java

@@ -0,0 +1,94 @@
+package com.zhidao.adas.client.ui.special;
+
+import android.content.Context;
+import android.graphics.PixelFormat;
+import android.view.Gravity;
+import android.view.WindowManager;
+
+import com.zhidao.adas.client.bean.SpecialVehicleBean;
+
+
+public class SpecialVehicleFloatWindowManager implements SpecialVehicleFloatWindow.OnFloatWindowListener {
+    private final WindowManager.LayoutParams layoutParams = new WindowManager.LayoutParams();
+    private SpecialVehicleFloatWindow floatWindow = null;
+    private WindowManager wm = null;
+    private final Context context;
+    private final SpecialVehicleBean specialVehicleBean;
+
+    public SpecialVehicleFloatWindowManager(Context context, SpecialVehicleBean specialVehicleBean) {
+        this.context = context;
+        this.specialVehicleBean = specialVehicleBean;
+    }
+
+    public void show() {
+        if (!createFloatWindow()) {
+            if (floatWindow.isMaximize()) {
+                floatWindow.minimality();
+            } else {
+                floatWindow.maximize();
+            }
+        }
+    }
+
+    private boolean createFloatWindow() {
+        if (floatWindow == null) {
+            wm = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+            layoutParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
+            layoutParams.format = PixelFormat.RGBA_8888;
+            layoutParams.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL;//| WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
+            layoutParams.gravity = Gravity.START | Gravity.TOP;
+            layoutParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+            layoutParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+            layoutParams.alpha = 0.9f;
+            floatWindow = new SpecialVehicleFloatWindow(context, specialVehicleBean);
+            floatWindow.setWmParams(layoutParams);
+            floatWindow.setOnFloatWindowListener(this);
+            layoutParams.x = specialVehicleBean.getFloatWindowLocationMaxX(context);
+            layoutParams.y = specialVehicleBean.getFloatWindowLocationMaxY(context);
+            wm.addView(floatWindow, layoutParams);
+            return true;
+        }
+        return false;
+    }
+
+    private void removeFloatWindow() {
+        if (floatWindow != null) {
+            wm.removeView(floatWindow);
+            floatWindow = null;
+            wm = null;
+        }
+    }
+
+    @Override
+    public void onBack() {
+        removeFloatWindow();
+    }
+
+    @Override
+    public void onMinimality() {
+        layoutParams.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL | WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
+        layoutParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.x = specialVehicleBean.getFloatWindowLocationMinX(context);
+        layoutParams.y = specialVehicleBean.getFloatWindowLocationMinY(context);
+        layoutParams.alpha = 1f;
+        if (floatWindow != null) {
+            floatWindow.updateViewLayout();
+        }
+    }
+
+    @Override
+    public void onMaximize() {
+        layoutParams.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL;
+        layoutParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+        layoutParams.x = specialVehicleBean.getFloatWindowLocationMaxX(context);
+        layoutParams.y = specialVehicleBean.getFloatWindowLocationMaxY(context);
+        layoutParams.alpha = 0.9f;
+        if (floatWindow != null) {
+            floatWindow.updateViewLayout();
+        }
+    }
+
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java

@@ -173,6 +173,7 @@ public class Constants {
 
         String SEND_SET_AUTOPILOT_MODE_REQ = "自动驾驶模式";
         String SEND_GLOBAL_PATH_REQ = "自动驾驶路径查询";
+        String SEND_SPECIAL_VEHICLE_TASK_CMD = "特种车辆";
         String SEND_STATUS_QUERY_REQ = "状态查询";
         String SEND_BASIC_INFO_RESP = "下发SN";
         String SEND_RECORD_DATA_5 = "数据采集5秒";

app_ipc_monitoring/src/main/res/drawable/bg_radio_button.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_checked="true">
+        <shape android:shape="rectangle">
+            <padding android:bottom="4dp" android:left="6dp" android:right="6dp" android:top="4dp" />
+            <!-- 圆角深红色按钮 -->
+            <solid android:color="#990033" />
+            <corners android:radius="8dip" />
+            <stroke android:width=".5dp" android:color="#ffffff" />
+        </shape>
+    </item>
+
+    <item android:state_checked="false">
+        <shape android:shape="rectangle">
+            <padding android:bottom="4dp" android:left="6dp" android:right="6dp" android:top="4dp" />
+            <!-- 圆角红色按钮 -->
+            <solid android:color="@color/colorPrimary" />
+            <corners android:radius="8dip" />
+            <stroke android:width=".5dp" android:color="#ffffff" android:dashWidth="3dp" android:dashGap="3dp" />
+        </shape>
+    </item>
+
+</selector>

app_ipc_monitoring/src/main/res/drawable/bg_special_vehicle_float.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <!-- 圆角红色按钮 -->
+    <solid android:color="#E0000000" />
+    <corners android:radius="8dp" />
+</shape>

app_ipc_monitoring/src/main/res/drawable/btn_maximize_text_color.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:color="#F5F5F5" android:state_pressed="true" />
+    <item android:color="#F5F5F5" android:state_checked="true" />
+    <item android:color="#F5F5F5" android:state_selected="true" />
+    <item android:color="#000000" />
+</selector>

app_ipc_monitoring/src/main/res/drawable/btn_special_vehicle_small_bg.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="oval"
+    android:useLevel="false">
+    <solid android:color="#90D3D3D3" />
+    <size
+        android:width="100dp"
+        android:height="100dp" />
+    <stroke
+        android:width=".3dp"
+        android:color="#90FF0033" />
+</shape>
+

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_back.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+  <path
+      android:fillColor="#FFFFFF"
+      android:pathData="M823.04,840.32 L524.16,540.16l296.32,-294.4c12.8,-12.8 12.8,-33.28 0,-45.44 -12.8,-12.8 -33.28,-12.8 -46.08,0L478.08,494.08 184.96,200.32c-12.8,-12.8 -33.28,-12.8 -45.44,0s-12.8,33.28 0,45.44l292.48,293.76 -302.72,300.8c-12.8,12.8 -12.8,33.28 0,45.44 12.8,12.8 33.28,12.8 46.08,0l302.72,-300.16 299.52,300.16c12.8,12.8 33.28,12.8 45.44,0C835.2,873.6 835.2,853.12 823.04,840.32z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_back_true.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+    <path
+        android:fillColor="#99FFFFFF"
+        android:pathData="M823.04,840.32 L524.16,540.16l296.32,-294.4c12.8,-12.8 12.8,-33.28 0,-45.44 -12.8,-12.8 -33.28,-12.8 -46.08,0L478.08,494.08 184.96,200.32c-12.8,-12.8 -33.28,-12.8 -45.44,0s-12.8,33.28 0,45.44l292.48,293.76 -302.72,300.8c-12.8,12.8 -12.8,33.28 0,45.44 12.8,12.8 33.28,12.8 46.08,0l302.72,-300.16 299.52,300.16c12.8,12.8 33.28,12.8 45.44,0C835.2,873.6 835.2,853.12 823.04,840.32z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_minimality.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+  <path
+      android:fillColor="#FFFFFF"
+      android:pathData="M449.92,543.36C449.92,520.96 431.36,512 410.24,512L97.92,512c-17.92,0 -32,14.08 -32,32 0,17.92 14.08,32 32,32l242.56,0 -267.52,267.52c-12.16,12.16 -12.16,31.36 0,43.52 12.16,12.16 31.36,12.16 43.52,0l269.44,-269.44 0,246.4c0,17.92 14.08,32 32,32 17.92,0 32,-14.08 32,-32l0,-320M865.92,384 L622.72,384l267.52,-267.52c12.16,-12.16 12.16,-31.36 0,-43.52 -12.16,-12.16 -31.36,-12.16 -43.52,0L577.92,342.4 577.92,96C577.92,78.08 563.2,64 545.92,64c-17.92,0 -32,14.08 -32,32l0,320c0,0.64 0.64,1.28 0.64,1.92 0,8.32 2.56,16.64 8.96,22.4C531.2,448.64 542.72,451.2 552.96,448l312.32,0c17.92,0 32,-14.08 32,-32C897.92,398.08 883.2,384 865.92,384z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/ic_special_vehicle_minimality_true.xml

@@ -0,0 +1,9 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="30dp"
+    android:height="30dp"
+    android:viewportWidth="1024"
+    android:viewportHeight="1024">
+  <path
+      android:fillColor="#99FFFFFF"
+      android:pathData="M449.92,543.36C449.92,520.96 431.36,512 410.24,512L97.92,512c-17.92,0 -32,14.08 -32,32 0,17.92 14.08,32 32,32l242.56,0 -267.52,267.52c-12.16,12.16 -12.16,31.36 0,43.52 12.16,12.16 31.36,12.16 43.52,0l269.44,-269.44 0,246.4c0,17.92 14.08,32 32,32 17.92,0 32,-14.08 32,-32l0,-320M865.92,384 L622.72,384l267.52,-267.52c12.16,-12.16 12.16,-31.36 0,-43.52 -12.16,-12.16 -31.36,-12.16 -43.52,0L577.92,342.4 577.92,96C577.92,78.08 563.2,64 545.92,64c-17.92,0 -32,14.08 -32,32l0,320c0,0.64 0.64,1.28 0.64,1.92 0,8.32 2.56,16.64 8.96,22.4C531.2,448.64 542.72,451.2 552.96,448l312.32,0c17.92,0 32,-14.08 32,-32C897.92,398.08 883.2,384 865.92,384z"/>
+</vector>

app_ipc_monitoring/src/main/res/drawable/radio_btn_bg.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <item android:state_checked="true">
+        <shape>
+            <padding android:bottom="3dp" android:left="5dp" android:right="5dp" android:top="3dp" />
+            <solid android:color="#6bb5af" />
+            <corners android:radius="5dp" />
+        </shape>
+    </item>
+
+    <item android:state_checked="false">
+        <shape>
+            <padding android:bottom="3dp" android:left="5dp" android:right="5dp" android:top="3dp" />
+            <solid android:color="#C0C0C0" />
+            <corners android:radius="5dp" />
+        </shape>
+    </item>
+
+</selector>

app_ipc_monitoring/src/main/res/drawable/selector_special_vehicle_back.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/ic_special_vehicle_back_true" android:state_pressed="true" />
+    <item android:drawable="@drawable/ic_special_vehicle_back" />
+</selector>

app_ipc_monitoring/src/main/res/drawable/selector_special_vehicle_minimality.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/ic_special_vehicle_minimality_true" android:state_pressed="true" />
+    <item android:drawable="@drawable/ic_special_vehicle_minimality" />
+</selector>

app_ipc_monitoring/src/main/res/layout/dialog_special_vehicle_config.xml

@@ -0,0 +1,161 @@
+<?xml version="1.0" encoding="utf-8"?>
+<merge xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:id="@+id/bg"
+    android:orientation="vertical">
+
+    <androidx.constraintlayout.widget.ConstraintLayout
+        android:id="@+id/can_parent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:background="@drawable/bg_special_vehicle_float"
+        android:minWidth="400dp"
+        android:orientation="vertical">
+
+        <ImageButton
+            android:id="@+id/btn_back"
+            android:layout_width="45dp"
+            android:layout_height="45dp"
+            android:layout_gravity="center"
+            android:layout_marginStart="5dp"
+            android:background="@null"
+            android:padding="5dp"
+            android:src="@drawable/selector_special_vehicle_back"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toTopOf="parent" />
+
+        <ImageButton
+            android:id="@+id/btn_minimality"
+            android:layout_width="45dp"
+            android:layout_height="45dp"
+            android:layout_gravity="center"
+            android:layout_marginStart="5dp"
+            android:background="@null"
+            android:padding="5dp"
+            android:src="@drawable/selector_special_vehicle_minimality"
+            app:layout_constraintStart_toEndOf="@id/btn_back"
+            app:layout_constraintTop_toTopOf="parent" />
+
+        <TextView
+            android:id="@+id/title"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="#fff"
+            android:textSize="16sp"
+            android:textStyle="bold"
+            app:layout_constraintBottom_toBottomOf="@id/btn_minimality"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toTopOf="@id/btn_minimality" />
+
+
+        <RadioGroup
+            android:id="@+id/rg_send_type"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginEnd="10dp"
+            android:orientation="horizontal"
+            app:layout_constraintBottom_toBottomOf="@id/btn_minimality"
+
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintTop_toTopOf="@id/btn_minimality">
+
+            <RadioButton
+                android:id="@+id/btn_one"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:background="@drawable/bg_radio_button"
+                android:button="@null"
+                android:text="单条"
+                android:textColor="#fff" />
+
+            <RadioButton
+                android:id="@+id/btn_more"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="5dp"
+                android:background="@drawable/bg_radio_button"
+                android:button="@null"
+                android:text="多条"
+                android:textColor="#fff" />
+
+            <RadioButton
+                android:id="@+id/btn_all"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginStart="5dp"
+                android:background="@drawable/bg_radio_button"
+                android:button="@null"
+                android:text="同时"
+                android:textColor="#fff" />
+        </RadioGroup>
+
+        <TextView
+            android:id="@+id/hint_send"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginEnd="2dp"
+            android:gravity="center"
+            android:text="发送方式："
+            android:textColor="#fff"
+            android:textSize="14sp"
+            app:layout_constraintBottom_toBottomOf="@id/rg_send_type"
+            app:layout_constraintEnd_toStartOf="@id/rg_send_type"
+            app:layout_constraintTop_toTopOf="@id/rg_send_type" />
+
+        <androidx.appcompat.widget.AppCompatButton
+            android:id="@+id/btn_send"
+            android:layout_width="50dp"
+            android:layout_height="30dp"
+            android:layout_marginEnd="10dp"
+            android:background="@drawable/btn_bg"
+            android:gravity="center"
+            android:text="发送"
+            android:textColor="@color/colorWhile"
+            android:textSize="16sp"
+            android:textStyle="bold"
+            android:visibility="gone"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintTop_toBottomOf="@id/btn_back" />
+
+        <TextView
+            android:id="@+id/text"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_marginStart="8dp"
+            android:layout_marginEnd="8dp"
+            android:minHeight="30dp"
+            android:textColor="#ffffff"
+            app:layout_constraintEnd_toStartOf="@id/btn_send"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toBottomOf="@id/btn_back" />
+
+        <HorizontalScrollView
+            android:id="@+id/btn_list"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_gravity="center_horizontal"
+            android:layout_marginLeft="15dp"
+            android:layout_marginTop="5dp"
+            android:layout_marginRight="15dp"
+            android:layout_marginBottom="2dp"
+            android:scrollbars="none"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toBottomOf="@id/text" />
+
+
+    </androidx.constraintlayout.widget.ConstraintLayout>
+
+
+    <TextView
+        android:id="@+id/btn_maximize"
+        android:layout_width="50dp"
+        android:layout_height="50dp"
+        android:layout_gravity="center"
+        android:background="@drawable/btn_special_vehicle_small_bg"
+        android:gravity="center"
+        android:textColor="@drawable/btn_maximize_text_color"
+        android:textSize="14sp"
+        android:visibility="gone" />
+</merge>

app_ipc_monitoring/src/main/res/layout/item_special_vehicle.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:gravity="center"
+    android:orientation="vertical"
+    android:paddingStart="5dp"
+    android:paddingEnd="5dp">
+
+    <TextView
+        android:id="@+id/name"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="#fff"
+        android:textSize="14.5sp" />
+
+    <RadioGroup
+        android:id="@+id/item_group"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:orientation="vertical"/>
+</LinearLayout>

app_ipc_monitoring/src/main/res/layout/item_special_vehicle_option_radio_btn.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<RadioButton xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/r_btn"
+    style="@style/RadioBtnStyle"
+    android:text="0-未知" />

app_ipc_monitoring/src/main/res/values/styles.xml

@@ -31,4 +31,15 @@
     <style name="AppTheme.AppBarOverlay" parent="ThemeOverlay.AppCompat.Dark.ActionBar" />
 
     <style name="AppTheme.PopupOverlay" parent="ThemeOverlay.AppCompat.Light" />
+
+    <style name="RadioBtnStyle">
+        <item name="android:button">@null</item>
+        <item name="android:layout_marginTop">4dp</item>
+        <item name="android:layout_marginBottom">4dp</item>
+        <item name="android:textSize">22sp</item>
+        <item name="android:textColor">#fff</item>
+        <item name="android:layout_width">match_parent</item>
+        <item name="android:layout_height">35dp</item>
+        <item name="android:background">@drawable/radio_btn_bg</item>
+    </style>
 </resources>