Merge branch 'refs/heads/dev_robotaxi-d_240912_6.7.0' into dev_robotaxi-d_240912_6.7.2_local

# Conflicts:
#	core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/RoadCrossCameraManager.kt
#	core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt

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

@@ -8,7 +8,6 @@ import com.mogo.eagle.core.function.call.datacenter.CallerDataCenterBizListener
 import com.mogo.eagle.core.function.call.datacenter.CallerDataCenterBizManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher
-import com.mogo.eagle.core.function.datacenter.v2x.RoadLineEventManager
 import com.mogo.eagle.core.function.datacenter.v2x.SpeedLimitDispatcher
 import com.mogo.eagle.core.function.datacenter.v2x.TrafficLightDispatcher
 
@@ -28,7 +27,6 @@ class DataCenterProvider: IDataCenterProvider {
             CallerMsgBoxManager.queryAllMessages(it)
             TrafficLightDispatcher.INSTANCE.initServer(it)
             SpeedLimitDispatcher.INSTANCE.initLimit(it)
-            RoadLineEventManager.INSTANCE.init()
         }
     }
 

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

@@ -5,6 +5,7 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
@@ -67,6 +68,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerColdStartStateListenerM
 import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerLocalizationStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerNodeStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
@@ -78,7 +80,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedV
 import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerNodeStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerTakeoverListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
@@ -991,8 +992,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param sysTime           当前时间戳
      * @param bigTaskActionPush 数据
      */
-    override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
-        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
+    override fun onSweeperFutianCloudTaskCloudSuspendResume(
+        header: MessagePad.Header,
+        messageType: AiCloudTask.MessageType,
+        reqNo: String?,
+        sysTime: Long,
+        bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?
+    ) {
+        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(
+            messageType,
+            reqNo,
+            sysTime,
+            bigTaskActionPush
+        )
     }
 
     /**
@@ -1116,6 +1128,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         getParamResp: MessagePad.SetParamReq,
         adasParam: AdasParam
     ) {
+        FunctionBuildConfig.fusionMode = adasParam.fusionMode
         CallerAutopilotGetParamResponseDispatcher.dispatchResponse(header, getParamResp, adasParam)
     }
 
@@ -1249,9 +1262,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
             if (stateInfo.nodeName == AdasConstants.NodeName.SSM) {
                 //域控SSM接口接收是否超时
                 if (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) {
-                    CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.SSMINFO, SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis())))
+                    CallerMsgBoxManager.saveMsgBox(
+                        MsgBoxBean(
+                            MsgBoxType.SSMINFO,
+                            SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis())
+                        )
+                    )
                 } else {
-                    CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.SSMINFO, SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis())))
+                    CallerMsgBoxManager.saveMsgBox(
+                        MsgBoxBean(
+                            MsgBoxType.SSMINFO,
+                            SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis())
+                        )
+                    )
                 }
             } else if (stateInfo.nodeName == AdasConstants.NodeName.FSM2024) {
                 //域控FSM接口接收是否超时

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

@@ -137,6 +137,8 @@ class MoGoAdasMsgConnectStatusListenerImpl :
                 }
                 //每次工控机连接成功后，需同步当前设置的雨天模式状态
                 CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
+                // 6.6.2 版本默认开启，与海江确认过，默认发盲区模式
+                CallerAutoPilotControlManager.sendFusionMode(2)
                 connectToast("域控已连接")
             }
 

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt

@@ -31,16 +31,16 @@ class MoGoObuProvider : IMoGoObuProvider {
 
         //bus乘客版本obu功能去掉，大理项目需要全部车辆接收，不再限制
         mContext = context
-        mContext?.let {
-            val ipAddress =
-                SharedPrefsMgr.getInstance().getString(MoGoConfig.OBU_IP, MogoObuConst.OBU_DEFAULT_IP)
-            //mogo obu
-            MogoPrivateObuNewManager.INSTANCE.connectObu(
-                it,
-                ipAddress,
-                CommonUtils.getIpAddressString()
-            )
-        }
+//        mContext?.let {
+//            val ipAddress =
+//                SharedPrefsMgr.getInstance().getString(MoGoConfig.OBU_IP, MogoObuConst.OBU_DEFAULT_IP)
+//            //mogo obu
+//            MogoPrivateObuNewManager.INSTANCE.connectObu(
+//                it,
+//                ipAddress,
+//                CommonUtils.getIpAddressString()
+//            )
+//        }
 
         //监听obu版本数据
         MogoPrivateObuNewManager.INSTANCE.readSystemConfig()

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/RoadLineEventManager.kt

@@ -1,47 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.v2x
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
-import com.zhidaoauto.map.data.road.RoadCross
-
-
-/**
- * 路线功能相关，绑定路线id后，业务控制，数据变化均可以封装在这里实现
- */
-class RoadLineEventManager : IMoGoMapRoadListener, IMoGoAutopilotStatusListener {
-
-    companion object{
-
-        private const val TAG = "RoadLineEventManager"
-
-        val INSTANCE by lazy(LazyThreadSafetyMode.SYNCHRONIZED){
-            RoadLineEventManager()
-        }
-    }
-
-    @Volatile
-    private var record = false
-
-    fun init() {
-        CallerMapRoadListenerManager.addListener(TAG, this)
-        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
-    }
-
-    override fun onAutopilotRouteLineId(lineId: Long) {
-        super.onAutopilotRouteLineId(lineId)
-        record = lineId != 0L
-    }
-
-    override fun onRoadChange(cross: Boolean, roadCross: RoadCross?) {
-        super.onRoadChange(cross, roadCross)
-        if(!record){
-            return
-        }
-        if(cross){
-            CallerAutoPilotStatusListenerManager.updateRoadCount()
-        }
-    }
-
-}