Merge remote-tracking branch 'origin/base_3.4.0-map-sdk' into base_3.4.0-map-sdk

2023-09-25 17:23:37 +08:00
parent 4560217bdf d22817e14e
commit ac5a88aee7
13 changed files with 85 additions and 151 deletions
--- a/codequality/detekt.yml
+++ b/codequality/detekt.yml
@@ -245,16 +245,16 @@ exceptions:
    excludes: ['**/test/**', '**/androidTest/**', '**/commonTest/**', '**/jvmTest/**', '**/androidUnitTest/**', '**/androidInstrumentedTest/**', '**/jsTest/**', '**/iosTest/**']
  NotImplementedDeclaration: #此规则报告引发的所有NotImplementedError类型的异常。它还报告所有TODO（..）函数。这表明功能仍在开发中，无法正常工作。这两种声明都只能作为临时声明，不应放入生产环境中
    active: false
-  ObjectExtendsThrowable: #
+  ObjectExtendsThrowable: #避免抛出单例Throwable
    active: false
-  PrintStackTrace:
+  PrintStackTrace: #打印堆栈
    active: true
-  RethrowCaughtException:
+  RethrowCaughtException: #重新抛出异常
    active: true
-  ReturnFromFinally:
+  ReturnFromFinally: # finally return
    active: true
    ignoreLabeled: false
-  SwallowedException:
+  SwallowedException: #报告所有捕获异常且未正确传递（例如作为原因）到新引发异常的实例
    active: true
    ignoredExceptionTypes:
      - 'InterruptedException'
@@ -262,11 +262,11 @@ exceptions:
      - 'NumberFormatException'
      - 'ParseException'
    allowedExceptionNameRegex: '_|(ignore|expected).*'
-  ThrowingExceptionFromFinally:
+  ThrowingExceptionFromFinally: #报告从finally块抛出异常
    active: true
-  ThrowingExceptionInMain:
+  ThrowingExceptionInMain: #报告在主方法中引发的所有异常。只有当异常可以由“更高”的函数处理时，才应该抛出异常
    active: false
-  ThrowingExceptionsWithoutMessageOrCause:
+  ThrowingExceptionsWithoutMessageOrCause: #报告在没有参数或进一步描述的情况下抛出的所有异常
    active: true
    excludes: ['**/test/**', '**/androidTest/**', '**/commonTest/**', '**/jvmTest/**', '**/androidUnitTest/**', '**/androidInstrumentedTest/**', '**/jsTest/**', '**/iosTest/**']
    exceptions:
@@ -279,9 +279,9 @@ exceptions:
      - 'NullPointerException'
      - 'RuntimeException'
      - 'Throwable'
-  ThrowingNewInstanceOfSameException:
+  ThrowingNewInstanceOfSameException: #异常不应封装在同一异常类型中，然后重新抛出。更喜欢用更有意义的异常类型包装异常
    active: true
-  TooGenericExceptionCaught:
+  TooGenericExceptionCaught: #规则为类型过于通用的异常报告捕获块。最好捕获当前处理的案例的特定异常,避免扩大区域
    active: true
    excludes: ['**/test/**', '**/androidTest/**', '**/commonTest/**', '**/jvmTest/**', '**/androidUnitTest/**', '**/androidInstrumentedTest/**', '**/jsTest/**', '**/iosTest/**']
    exceptionNames:
@@ -294,7 +294,7 @@ exceptions:
      - 'RuntimeException'
      - 'Throwable'
    allowedExceptionNameRegex: '_|(ignore|expected).*'
-  TooGenericExceptionThrown:
+  TooGenericExceptionThrown: #规则报告类型过于通用的抛出异常。对于当前发生的情况，最好抛出特定的异常
    active: true
    exceptionNames:
      - 'Error'
@@ -391,29 +391,30 @@ naming:

 performance:
  active: true
-  ArrayPrimitive:
+  ArrayPrimitive: #使用Array＜Primitive＞会导致隐含拳击和性能打击。更喜欢使用Kotlin专用的数组实例
    active: true
-  CouldBeSequence:
+  CouldBeSequence: #由于每个调用都会创建一个新的列表，因此长链的收集操作将带来性能损失。请考虑使用序列
    active: false
    allowedOperations: 2
-  ForEachOnRange:
+  ForEachOnRange: #在一个范围内使用forEach可能会产生巨大的性能成本。因此，在大多数情况下，应该使用简单的for循环 (for example: {(1..10).forEach})
    active: true
    excludes: ['**/test/**', '**/androidTest/**', '**/commonTest/**', '**/jvmTest/**', '**/androidUnitTest/**', '**/androidInstrumentedTest/**', '**/jsTest/**', '**/iosTest/**']
-  SpreadOperator:
+  SpreadOperator: #在大多数情况下，使用排列运算符会导致在调用方法之前创建数组的完整副本。这会带来非常高的性能损失
    active: true
    excludes: ['**/test/**', '**/androidTest/**', '**/commonTest/**', '**/jvmTest/**', '**/androidUnitTest/**', '**/androidInstrumentedTest/**', '**/jsTest/**', '**/iosTest/**']
-  UnnecessaryPartOfBinaryExpression:
+  UnnecessaryPartOfBinaryExpression: #仅在表达式仅使用以下运算符之一||或&&的情况下验证二进制表达式
    active: false
-  UnnecessaryTemporaryInstantiation:
+  UnnecessaryTemporaryInstantiation: #将基元类型转换为字符串时，请避免使用临时对象。与直接使用基元类型相比，这会降低性能。若要解决此问题，请删除包装类型
    active: true

+#潜在错误规则集提供了检测潜在错误的规则。
 potential-bugs:
  active: true
-  AvoidReferentialEquality:
+  AvoidReferentialEquality: #检查平等
    active: true
    forbiddenTypePatterns:
      - 'kotlin.String'
-  CastNullableToNonNullableType:
+  CastNullableToNonNullableType: #可空强转null
    active: false
    ignorePlatformTypes: true
  CastToNullableType:
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -894,13 +894,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
    }

    override fun onParallelDrivingAbility(
-        isParallelDrivingAbility: Boolean,
-        unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
+        isParallelDrivingAbility: Boolean
    ) {
-        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
-            isParallelDrivingAbility,
-            unableParallelDrivingReasons
-        )
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(isParallelDrivingAbility)
    }

    @ChainLog(
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
@@ -152,8 +152,7 @@ class ParallelDriveView @JvmOverloads constructor(
    }

    override fun onParallelDrivingAbility(
-        isParallelDrivingAbility: Boolean,
-        unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
+        isParallelDrivingAbility: Boolean
    ) {
        if (!isParallelDrivingAbility) {
            Log.d(TAG, "onParallelDrivingAbility-UNAVAILABLE")
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotActionsListener.kt
@@ -8,8 +8,5 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 */
 interface IMoGoAutopilotActionsListener {

-    /**
-     * pnc actions 决策 驾驶的意图
-     */
    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?)
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoParallelDrivingActionsListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoParallelDrivingActionsListener.kt
@@ -1,13 +1,10 @@
 package com.mogo.eagle.core.function.api.autopilot

-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
-

 /**
 * 平行驾驶能力 能否启动平行驾驶
 */
 interface IMoGoParallelDrivingActionsListener {

-
-    fun onParallelDrivingAbility(isParallelDrivingAbility: Boolean, unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?)
+    fun onParallelDrivingAbility(isParallelDrivingAbility: Boolean)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt
@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.call.autopilot
 import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason


 /**
@@ -14,23 +13,9 @@ object CallerParallelDrivingActionsListenerManager :
    @Volatile
    private var isConnected = false
    private var isParallelDrivingAbility: Boolean = false
-    private var unableParallelDrivingReasons: ArrayList<UnableLaunchReason>? = null

    init {
        isParallelDrivingAbility = false
-        unableParallelDrivingReasons = disconnectedReason()
-    }
-
-    private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
-        val list = ArrayList<UnableLaunchReason>()
-        list.add(
-            UnableLaunchReason(
-                UnableLaunchReason.SourceType.LIB,
-                UnableLaunchReason.UnableType.DISCONNECTED,
-                "未连接自动驾驶系统"
-            )
-        )
-        return list
    }

    /**
@@ -40,44 +25,19 @@ object CallerParallelDrivingActionsListenerManager :
        return isParallelDrivingAbility
    }

-    /**
-     * 获取不能启动平行驾驶的原因
-     *  null：表示没有任何原因证，证明isParallelDrivingAbility为true
-     */
-    fun getUnableParallelDrivingReasons(): ArrayList<UnableLaunchReason>? {
-        return unableParallelDrivingReasons
-    }
-
    fun setConnected(isConnected: Boolean) {
        if (this.isConnected != isConnected) {
            this.isConnected = isConnected
            this.isParallelDrivingAbility = isConnected
-            unableParallelDrivingReasons = if (isConnected) null else disconnectedReason()
            notification()
        }
    }

    @Synchronized
-    fun invokeParallelDrivingAbility(
-        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
-    ) {
+    fun invokeParallelDrivingAbility(isAutopilotAbility: Boolean) {
        if (isConnected) {
-            var isEquals: Boolean = true
-            if (unableAutopilotReasons != null && this.unableParallelDrivingReasons != null) {
-                unableAutopilotReasons.let { onw ->
-                    onw.sortWith(compareBy(UnableLaunchReason::hashCode));
-                    this.unableParallelDrivingReasons?.let { old ->
-                        old.sortWith(compareBy(UnableLaunchReason::hashCode));
-                        isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
-
-                    }
-                }
-            } else isEquals =
-                !(unableAutopilotReasons != null || this.unableParallelDrivingReasons != null)
-
-            if (this.isParallelDrivingAbility != isAutopilotAbility || !isEquals) {
+            if (this.isParallelDrivingAbility != isAutopilotAbility) {
                this.isParallelDrivingAbility = isAutopilotAbility
-                this.unableParallelDrivingReasons = unableAutopilotReasons
                notification()
            }
        }
@@ -86,13 +46,12 @@ object CallerParallelDrivingActionsListenerManager :
    private fun notification() {
        Log.i(
            "xfk",
-            "是否可以启动平行驾驶=" + isParallelDrivingAbility + if (unableParallelDrivingReasons == null) "" else unableParallelDrivingReasons.toString()
+            "是否可以启动平行驾驶=$isParallelDrivingAbility"
        )
        M_LISTENERS.forEach {
            val listener = it.value
            listener.onParallelDrivingAbility(
-                isParallelDrivingAbility,
-                unableParallelDrivingReasons
+                isParallelDrivingAbility
            )
        }
    }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRoadListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRoadListenerManager.kt
@@ -51,11 +51,14 @@ object CallerMapRoadListenerManager {
        }
    }

-    private var mCross: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+    private var mCross: Int by Delegates.observable(-1) { _, oldValue, newValue ->
        if (oldValue != newValue) {
            CallerLogger.d("$M_MAP onRoadChange", newValue)
            listeners.forEach { entry ->
-                entry.value.onRoadChange(newValue)
+                when(newValue){
+                    1,2 ->  entry.value.onRoadChange(false)
+                    else ->  entry.value.onRoadChange(true)
+                }
            }
        }
    }
@@ -66,7 +69,7 @@ object CallerMapRoadListenerManager {
        nodeAliasCode = ChainConstant.CHAIN_CODE_HD_MAP_ROAD_CROSS,
        paramIndexes = [0, 1]
    )
-    fun invokeRoadChange(cross: Boolean, roadCross: RoadCross) {
+    fun invokeRoadChange(cross: Int, roadCross: RoadCross) {
        mCross = cross

    }
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
@@ -5,7 +5,7 @@ import android.text.TextUtils;
 import java.util.Objects;

 /**
- * 不能启动自动驾驶或不能启动平行驾驶的原因
+ * 不能启动自动驾驶的原因
 */
 public class UnableLaunchReason {

@@ -17,7 +17,7 @@ public class UnableLaunchReason {
    }

    /**
-     * 影响启动自驾或启动平行驾驶的具体类型
+     * 影响启动自驾的具体类型
     */
    public enum UnableType {
        DISCONNECTED,//未连接
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high;

-import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;

@@ -203,6 +202,5 @@ public class AdasOptions {

    public void setUnableLaunchAutopilotGear(Set<Chassis.GearPosition> unableLaunchAutopilotGear) {
        AutopilotAbilityManager.getInstance().setUnableLaunchAutopilotGear(unableLaunchAutopilotGear);
-        ParallelDrivingManager.getInstance().setUnableLaunchParallelDrivingGear(unableLaunchAutopilotGear);
    }
 }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -478,9 +478,8 @@ public interface OnAdasListener {
     * 是否有能力启动平行驾驶
     *
     * @param isParallelDrivingAbility     是否能启动平行驾驶
-     * @param unableParallelDrivingReasons 不能启动平行驾驶原因
     */
-    void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons);
+    void onParallelDrivingAbility(boolean isParallelDrivingAbility);

    /**
     * 启动自动驾驶失败回调
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
@@ -3,11 +3,7 @@ package com.zhidao.support.adas.high.common;

 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;

-import java.util.ArrayList;
-import java.util.HashSet;
-import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;

@@ -28,10 +24,10 @@ public class ParallelDrivingManager {
    private OnAdasListener listener;
    private ChassisStatesOuterClass.ChassisStates chassisStates;
    private VehicleStateOuterClass.VehicleState vehicleState;
+    private int autopilotState;
    /**
     * 不能启动平行驾驶的档位
     */
-    private Set<Chassis.GearPosition> unableLaunchParallelDrivingGear;
    private int mapVersion = -1;//工控机版本
    private boolean isHQ = false;//是否是HQ
    private boolean isDF = false;//是否是DF
@@ -73,80 +69,60 @@ public class ParallelDrivingManager {
        this.vehicleState = vehicleState;
    }

-    public void setUnableLaunchParallelDrivingGear(Set<Chassis.GearPosition> unableLaunchParallelDrivingGear) {
-        if (unableLaunchParallelDrivingGear != null) {
-            this.unableLaunchParallelDrivingGear = new HashSet<>(unableLaunchParallelDrivingGear);
-        }
-    }
-
    /**
-     * 获取当前档位是否能启动自动驾驶 如果不传递默认可以启动
-     * 不能启动自驾档位规则：app/README.md/不能启动自动驾驶的档位
+     * 只使用老的自动驾驶状态接口原因：新的状态接口（FunctionStatesMessage）同时会上线FSM自有的检测更能，所以不需要在鹰眼中检测
     *
-     * @param currentGear 当前档位
-     * @return 是否能启动自驾
+     * @param autopilotState
     */
-    private boolean isLaunchAutopilot(Chassis.GearPosition currentGear) {
-        if (unableLaunchParallelDrivingGear != null && !unableLaunchParallelDrivingGear.isEmpty()) {
-            return !unableLaunchParallelDrivingGear.contains(currentGear);
-        }
-        return true;
-    }
-
-    /**
-     * 添加不能启动平行驾驶的原因
-     *
-     * @param unableParallelDrivingReasons 原因列表
-     * @param source                       来源
-     * @param unableParallelDrivingReason  云隐
-     * @return 原因列表
-     */
-    public static ArrayList<UnableLaunchReason> addUnableParallelDrivingReason(ArrayList<UnableLaunchReason> unableParallelDrivingReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, String unableParallelDrivingReason) {
-        if (unableParallelDrivingReasons == null) {
-            unableParallelDrivingReasons = new ArrayList<>();
-        }
-        unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableType, unableParallelDrivingReason));
-        return unableParallelDrivingReasons;
+    public void setAutopilotState(int autopilotState) {
+        this.autopilotState = autopilotState;
    }

    private void onCallback() {
-        boolean isParallelDrivingAbility = true;//是否能启动平行驾驶
-        ArrayList<UnableLaunchReason> unableParallelDrivingReasons = null;//不能启动平行驾驶原因
+        float brake = 0;
+        Chassis.GearPosition gear = null;
+        float throttle = 0;
+        boolean isBrake = false;
        //检测底盘相关
        if (chassisStates != null) {
            if (chassisStates.hasBrakeSystemStates()) {
-                float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
-                if (brake > 0) {
-                    isParallelDrivingAbility = false;
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下");
-                }
+                brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                CupidLogUtils.i(TAG, "刹车=" + brake);
+            } else {
+                CupidLogUtils.i(TAG, "刹车=未赋值");
            }
            if (chassisStates.hasGearSystemStates()) {
-                Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
-                if (!isLaunchAutopilot(gear)) {
-                    isParallelDrivingAbility = false;
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常");
-                }
+                gear = chassisStates.getGearSystemStates().getGearPosition();
+                CupidLogUtils.i(TAG, "档位=" + gear);
+            } else {
+                CupidLogUtils.i(TAG, "档位=未赋值");
+            }
+            if (chassisStates.hasDrivingSystemStates()) {
+                throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition();
+                CupidLogUtils.i(TAG, "油门=" + throttle);
+            } else {
+                CupidLogUtils.i(TAG, "油门=未赋值");
            }
        }
        if (vehicleState != null) {
            //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
            //电子驻车制动系统
            if (vehicleState.hasParkingBrake()) {
-                boolean isBrake = vehicleState.getParkingBrake();
-                if (isBrake) {
-                    isParallelDrivingAbility = false;
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车");
-                }
+                isBrake = vehicleState.getParkingBrake();
+                CupidLogUtils.i(TAG, " 手刹=" + isBrake);
+            } else {
+                CupidLogUtils.i(TAG, " 手刹=未赋值");
            }
        }
-        callListener(isParallelDrivingAbility, unableParallelDrivingReasons);
+        CupidLogUtils.i(TAG, "自动驾驶状态=" + autopilotState + " 刹车=" + brake + " 档位=" + gear + " 油门=" + throttle + " 手刹=" + isBrake);
+        //是否能启动平行驾驶 满足p档驻车+松开油门刹车或满足n档+电子手刹+松开油门刹车或非人工驾驶状态
+        boolean isParallelDrivingAbility = autopilotState > 1 || (gear == Chassis.GearPosition.GEAR_P && brake <= 5 && throttle <= 5) || (gear == Chassis.GearPosition.GEAR_N && isBrake && brake <= 5 && throttle <= 5);
+        callListener(isParallelDrivingAbility);
    }

-    private void callListener(boolean isParallelDrivingAbility, ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
-
+    private void callListener(boolean isParallelDrivingAbility) {
        if (listener != null) {
-            listener.onParallelDrivingAbility(isParallelDrivingAbility, unableParallelDrivingReasons);
+            listener.onParallelDrivingAbility(isParallelDrivingAbility);
        }
    }

@@ -166,7 +142,8 @@ public class ParallelDrivingManager {
                }, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
            }
        } else {
-            callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.INCOMPATIBLE, "当前域控版本无法通过鹰眼启动平行驾驶"));
+            CupidLogUtils.e(TAG, "当前域控版本无法通过鹰眼启动平行驾驶 MAP版本=" + mapVersion);
+            callListener(false);
        }
    }

--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java
@@ -8,6 +8,7 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.ParallelDrivingManager;
 import com.zhidao.support.adas.high.protocol.RawData;

 import mogo.telematics.pad.MessagePad;
@@ -28,6 +29,7 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler {
        if (AdasManager.getInstance().getCarConfig() == null || !(AdasManager.getInstance().getCarConfig().getMapVersion() >= 330 && AdasManager.getInstance().getCarConfig().getIsFutianSweeper())) {
            MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
            AdasChannel.calculateTimeConsumingOnDispatchRaw("自动驾驶状态", raw.receiveTime);
+            ParallelDrivingManager.getInstance().setAutopilotState(autopilotState.getState());
            long nowTime = 0;
            if (CupidLogUtils.isEnableLog())
                nowTime = SystemClock.elapsedRealtime();
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
@@ -211,14 +211,20 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
        oldValue?.let {
            //对驶入驶出路口做二次过滤，防止多次回调
            if (it.status == 0 && newValue!!.status == 1) {
-                //进入路口
+                //径直进入路口
                i("$M_MAP$TAG", "进入路口 :${newValue.cross_id}")
-                invokeRoadChange(true, newValue)
+                invokeRoadChange(0, newValue)
            }
-            if ((it.status == 1 && newValue!!.status == 0) || (newValue!!.cross_id_end.isNotEmpty() && oldValue.cross_id_end != newValue.cross_id_end)) {
-                //驶出路口
+            if ((it.status == 1 && newValue!!.status == 0)) {
+                //径直驶出路口
                i("$M_MAP$TAG", "驶出路口 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
-                invokeRoadChange(false, newValue)
+                invokeRoadChange(1, newValue)
+                return@let
+            }
+            if((newValue!!.cross_id_end.isNotEmpty() && oldValue.cross_id_end != newValue.cross_id_end)){
+                //路口发生变化
+                i("$M_MAP$TAG", "路段发生变化 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
+                invokeRoadChange(2, newValue)
            }
        }
    }