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

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

@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.autopilot
 import android.Manifest.permission
 import android.content.Context
 import androidx.annotation.RequiresPermission
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
@@ -668,4 +669,9 @@ class MoGoAutopilotProvider :
     override fun sendStatusQueryReq() {
         AdasManager.getInstance().sendStatusQueryReq()
     }
+
+    override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
+        Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----")
+        AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd)
+    }
 }

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

@@ -166,7 +166,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
             //刹车
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
-
+            //清扫车（福田）清扫控制系统状态
+            vehicleState.sweeperFutianCleanSystemState?.also {
+                CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
+            }
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
         }

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

@@ -24,7 +24,7 @@ import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
 import mogo.telematics.pad.MessagePad
 import java.util.*
-import java.util.concurrent.atomic.*
+import java.util.concurrent.atomic.AtomicBoolean
 
 /**
  * ADAS-SDK与工控机连接状态回调

core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java

@@ -4,6 +4,7 @@ import android.content.Context;
 import android.text.TextUtils;
 import android.util.Log;
 
+import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
@@ -24,6 +25,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import org.jetbrains.annotations.NotNull;
 
 import chassis.Chassis;
+import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
 
 public class MoGoHandAdasMsgManager implements
@@ -178,4 +180,9 @@ public class MoGoHandAdasMsgManager implements
 
     }
 
+
+    @Override
+    public void onSweeperFutianCleanSystemState(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+
+    }
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt

@@ -4,6 +4,7 @@ import android.content.*
 import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
+import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
@@ -81,6 +82,11 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         send(CanStatus(isCanEnabled()))

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

@@ -19,6 +19,7 @@ import androidx.core.content.ContextCompat
 import androidx.core.view.*
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
+import chassis.VehicleStateOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
@@ -2075,6 +2076,13 @@ class DebugSettingView @JvmOverloads constructor(
 
     }
 
+    /**
+     * 清扫车（福田）清扫控制系统状态
+     */
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+
+    }
+
     /**
      * 吐司提示
      */

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

@@ -27,6 +27,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import org.jetbrains.annotations.NotNull;
 
 import chassis.Chassis;
+import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
@@ -164,6 +165,10 @@ public class SteeringWheelView extends ConstraintLayout {
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
 
+        @Override
+        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        }
+
         /**
          * @param brake 刹车
          */

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

@@ -26,6 +26,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import org.jetbrains.annotations.NotNull;
 
 import chassis.Chassis;
+import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
 
 /**
@@ -122,6 +123,10 @@ public class TrafficDataView extends ConstraintLayout {
     }
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
+        @Override
+        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        }
+
         /**
          * 车辆转向灯
          * @param lightSwitch

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

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
@@ -232,4 +233,9 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      * 鸣笛 开始：1，结束：2
      */
     fun sendOperatorSetHorn(value: Double)
+
+   /**
+    * 福田清扫车业务指令下发
+    */
+   fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd)
 }

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

@@ -1,7 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import chassis.Chassis
-import mogo.telematics.pad.MessagePad
+import chassis.VehicleStateOuterClass
 
 /**
  * 车辆底盘 数据 回调监听
@@ -52,4 +52,9 @@ interface IMoGoAutopilotVehicleStateListener {
      * 刹车
      */
     fun onAutopilotBrake(brake: Float)
+
+    /**
+     * 清扫车（福田）清扫控制系统状态
+     */
+    fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState)
 }

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

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.call.autopilot
 
 import android.os.SystemClock
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -346,4 +347,11 @@ object CallerAutoPilotManager {
     fun sendStatusQueryReq() {
         providerApi?.sendStatusQueryReq()
     }
+
+    /**
+     * 福田清扫车业务指令下发
+     */
+    fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
+        providerApi?.sendSweeperFuTianTaskCmd(fuTianTaskCmd)
+    }
 }

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

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import androidx.annotation.Nullable
 import chassis.Chassis
+import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
@@ -132,6 +133,16 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * clean system state 清扫车（福田）清扫控制系统状态
+     */
+    fun invokeSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onSweeperFutianCleanSystemState(cleanSystemState)
+        }
+    }
+
 
     /**
      * 工控机时间回调