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/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
+            )
         }
     }
 }