[6.7.0][FSM] refactor: 调整逻辑；

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt

@@ -167,7 +167,10 @@ class FSMStatus(var state: FSMStateCode, var desc: String = ""): Status(), IAuto
 
     override fun isException(): Boolean =  state == FSMStateCode.ExistError
 
-    fun hasFSMModule(): Boolean  =  (state == FSMStateCode.ExistNormal) || (state == FSMStateCode.ExistError)
+    /**
+     * 是否有 FSM 模块，Unknown展示 FSM 样式，算存在
+     */
+    fun hasFSMModule(): Boolean  =  (state == FSMStateCode.UnKnown) || (state == FSMStateCode.ExistNormal) || (state == FSMStateCode.ExistError)
 }
 
 /**

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt

@@ -62,7 +62,7 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
         }
     }
 
-    private val hasFSM by lazy { AtomicBoolean(false) }
+    private val hasFSM by lazy { AtomicBoolean(true) }
 
 
     init {
@@ -71,8 +71,7 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     }
 
     private fun initView() {
-        // 默认展示 有 FSM 的情况，未知状态
-        changeStatusContainer(true)
+        // 默认展示 FSM 情况未知的状态
         handleFSM(FSMStatus(FSMStateCode.UnKnown, "未知"))
     }
 
@@ -91,13 +90,14 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     }
 
     private fun handleFSM(status: FSMStatus) {
-        Logger.d(TAG, "--- handleFSM ---:${status.isException()}")
+        Logger.d(TAG, "--- handleFSM ---FSMStatus: code=${status.state} isError=${status.isException()} ")
         val lastHasFSM = hasFSM.get()
         val newHasFSM = status.hasFSMModule()
-        hasFSM.set(newHasFSM)
+        Logger.d(TAG, "--- handleFSM ---lastHasFSM=${lastHasFSM} newHasFSM=${newHasFSM}")
         if (lastHasFSM != newHasFSM) {
-            changeStatusContainer(status.hasFSMModule())
+            changeStatusContainer(newHasFSM)
         }
+        hasFSM.set(newHasFSM)
 
         when (status.state) {
             FSMStateCode.UnKnown -> {
@@ -149,7 +149,7 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     private fun handleWithoutFSM(status: Status) {
         val isError =
             status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
-        Logger.d(TAG, "--- handleWithoutFSM ---: $isError")
+        Logger.d(TAG, "--- handleWithoutFSM ---${status::class.simpleName}: $isError")
         when (status) {
             is GearStatus -> {
                 val position = try {
@@ -163,28 +163,28 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
 
                 when (position) {
                     Chassis.GearPosition.GEAR_N -> {
-                        tv_gear.isEnabled = isError
-                        tv_gear.text = "N"
+                        tv_gear?.isEnabled = isError
+                        tv_gear?.text = "N"
                     }
 
                     Chassis.GearPosition.GEAR_R -> {
-                        tv_gear.isEnabled = isError
-                        tv_gear.text = "R"
+                        tv_gear?.isEnabled = isError
+                        tv_gear?.text = "R"
                     }
 
                     Chassis.GearPosition.GEAR_P -> {
-                        tv_gear.isEnabled = isError
-                        tv_gear.text = "P"
+                        tv_gear?.isEnabled = isError
+                        tv_gear?.text = "P"
                     }
 
                     Chassis.GearPosition.GEAR_D -> {
-                        tv_gear.isEnabled = isError
-                        tv_gear.text = "D"
+                        tv_gear?.isEnabled = isError
+                        tv_gear?.text = "D"
                     }
 
                     Chassis.GearPosition.GEAR_NONE -> {
-                        tv_gear.isEnabled = false
-                        tv_gear.text = ""
+                        tv_gear?.isEnabled = false
+                        tv_gear?.text = ""
                     }
 
                     else -> {}
@@ -207,18 +207,22 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
                 iv_steer?.isSelected = isError
             }
 
-            is SpeedStatus -> {
-                // TODO
-            }
-
             else -> {
                 Logger.d(TAG, "other state: $status")
             }
         }
-        notifyStatus(isError)
+        val isAnyOneError = tv_gear?.isEnabled == true || iv_accelerator?.isSelected == true || iv_brake?.isSelected == true || iv_double_flash?.isSelected == true || iv_steer?.isSelected == true
+        withoutFSMStatusLayout?.background =
+            ContextCompat.getDrawable(
+                context,
+                if (isAnyOneError) R.drawable.icon_no_fsm_status_bg_error
+                else R.drawable.icon_no_fsm_status_bg_normal
+            )
+        notifyStatus(isAnyOneError)
     }
 
     private fun notifyStatus(isError: Boolean) {
+        Logger.d(TAG, "--- notifyStatus ---: $isError")
         statusChangedListeners.values.forEach { itx ->
             if (isError) {
                 itx.onStatusError()
@@ -245,11 +249,16 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
      */
     override fun onStatusChanged(changed: List<Status>, all: List<Status>) {
         changed.filter { it is IAutopilotPreLaunchStatus }.forEach { status ->
+            Logger.d(TAG, "onStatusChanged --> ${status::class.simpleName}")
             when (status) {
                 is FSMStatus -> {
                     handleFSM(status)
                 }
 
+                is SpeedStatus -> {
+                    // TODO
+                }
+
                 else -> {
                     handleWithoutFSM(status)
                 }

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml

@@ -11,6 +11,7 @@
         android:layout_height="match_parent"
         android:scaleType="fitXY"
         android:src="@drawable/icon_fsm_status_bg_normal"
+        android:visibility="visible"
         tools:visibility="visible"/>
 
     <LinearLayout
@@ -20,7 +21,6 @@
         android:paddingStart="@dimen/dp_34"
         android:gravity="center_vertical"
         android:visibility="gone"
-        tools:visibility="gone"
         tools:background="@drawable/icon_no_fsm_status_bg_error">
 
         <TextView