Merge branch 'dev_robotaxi-d_231205_6.2.6' into dev_robotaxi-d_231218_6.2.6

# Conflicts:
#	OCH/bus/passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/MogoOCHBusPassenger.java

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

@@ -60,6 +60,7 @@ import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
@@ -914,12 +915,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onAutopilotAbility(
         isAutopilotAbility: Boolean,
+        unableLaunchData: UnableLaunchData,
         unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
         if (unableAutopilotReasons != null && unableAutopilotReasons.size > 0) {
-            autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString())
+            autopilotAbilityCheck(isAutopilotAbility, unableAutopilotReasons.toString(), unableLaunchData)
         }
-        invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
+        invokeAutopilotAbility(isAutopilotAbility, unableLaunchData, unableAutopilotReasons)
     }
 
     override fun onParallelDrivingAbility(
@@ -934,7 +936,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         nodeAliasCode = CHAIN_CODE_ADAS_ABILITY,
         paramIndexes = [0, 1]
     )
-    private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String) {
+    private fun autopilotAbilityCheck(isAutopilotAbility: Boolean, reason: String, unableLaunchData: UnableLaunchData) {
 
     }
 

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

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 
 
@@ -8,5 +9,5 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
  */
 interface IMoGoAutopilotActionsListener {
 
-    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?)
+    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableLaunchData: UnableLaunchData?, unableAutopilotReasons: ArrayList<UnableLaunchReason>?)
 }

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

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhjt.mogo.adas.data.bean.UnableLaunchData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 
 
@@ -11,7 +12,14 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsListener>() {
     @Volatile
     private var isConnected = false
+
+    @Volatile
     private var isAutopilotAbility: Boolean = false
+
+    @Volatile
+    private var unableLaunchData: UnableLaunchData? = null
+
+    @Volatile
     private var unableAutopilotReasons: ArrayList<UnableLaunchReason>? = null
 
     init {
@@ -38,6 +46,15 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
         return isAutopilotAbility
     }
 
+    //获取域控发的原始数据，目前包括新老SSM和FM数据
+    fun getOriginalData(): String {
+        return unableLaunchData?.json ?: ""
+    }
+
+    fun getUnableLaunchData(): UnableLaunchData? {
+        return unableLaunchData
+    }
+
     /**
      * 获取不能启动自驾的原因
      *  null：表示没有任何原因证，证明isAutopilotAbility为true
@@ -57,7 +74,9 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
 
     @Synchronized
     fun invokeAutopilotAbility(
-        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
+        isAutopilotAbility: Boolean,
+        unableLaunchData: UnableLaunchData,
+        unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
         if (isConnected) {
             var isEquals = true
@@ -73,6 +92,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
                 !(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
             if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
                 this.isAutopilotAbility = isAutopilotAbility
+                this.unableLaunchData = unableLaunchData
                 this.unableAutopilotReasons = unableAutopilotReasons
                 notification()
             }
@@ -82,7 +102,11 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     private fun notification() {
         M_LISTENERS.forEach {
             val listener = it.value
-            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
+            listener.onAutopilotAbility(
+                isAutopilotAbility,
+                unableLaunchData,
+                unableAutopilotReasons
+            )
         }
     }
 }