Merge branch 'dev_robotaxi-d-app-module_266_220425_2.6.6' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_266_220425_2.6.6

app_ipc_monitoring/build.gradle

@@ -1,3 +1,5 @@
+import java.text.SimpleDateFormat
+
 apply plugin: 'com.android.application'
 
 android {
@@ -24,6 +26,15 @@ android {
             proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
         }
     }
+    //插入构建时间
+    buildTypes.each {
+        //设置时间格式
+        SimpleDateFormat formatter = new SimpleDateFormat("yyyyMMdd.HHmmss", Locale.getDefault())
+        //获取当前时间
+        Date curDate = new Date(System.currentTimeMillis())
+        String buildTime = formatter.format(curDate)
+        it.buildConfigField 'String', 'BUILD_TIME', "\"${buildTime}\""
+    }
     compileOptions {
         sourceCompatibility JavaVersion.VERSION_1_8
         targetCompatibility JavaVersion.VERSION_1_8
@@ -44,13 +55,14 @@ android {
 
 dependencies {
     implementation fileTree(dir: 'libs', include: ['*.jar'])
-    implementation 'androidx.appcompat:appcompat:1.3.1'
-    implementation 'androidx.constraintlayout:constraintlayout:2.1.1'
+    implementation rootProject.ext.dependencies.material
+    implementation rootProject.ext.dependencies.androidxconstraintlayout
+    implementation rootProject.ext.dependencies.androidxappcompat
     implementation 'androidx.recyclerview:recyclerview:1.2.0'
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'androidx.test.ext:junit:1.1.3'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
-    implementation "com.google.code.gson:gson:2.8.9"
+    implementation rootProject.ext.dependencies.gson
     implementation project(':libraries:mogo-adas')
     implementation project(':core:mogo-core-data')
     implementation project(':core:mogo-core-utils')

app_ipc_monitoring/src/main/AndroidManifest.xml

@@ -29,6 +29,7 @@
     <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" /> <!-- 用于访问GPS定位 -->
     <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
     <uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" />
+    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
 
     <application
         android:allowBackup="true"
@@ -54,6 +55,11 @@
             android:theme="@style/AppTheme.NoActionBar">
 
         </activity>
+        <activity
+            android:name=".ui.HelpActivity"
+            android:theme="@style/AppTheme.NoActionBar">
+
+        </activity>
     </application>
 
 </manifest>

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java

@@ -10,6 +10,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp;
 import com.zhidao.adas.client.bean.GnssInfo;
 import com.zhidao.adas.client.bean.MogoReportMessage;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
 import com.zhidao.adas.client.bean.RecordPanel;
 import com.zhidao.adas.client.bean.TrackedObjects;
 import com.zhidao.adas.client.bean.Trajectory;
@@ -98,6 +99,7 @@ public class DataDistribution {
     public final List<String> listAutopilotState = new ArrayList<>();
     public final List<String> listMogoReportMessage = new ArrayList<>();
     public final List<String> listPerceptionTrafficLight = new ArrayList<>();
+    public final List<String> listPredictionObstacleTrajectory = new ArrayList<>();
     public final List<String> listBasicInfoReq = new ArrayList<>();
     public final List<String> listRecordPanel = new ArrayList<>();
     public final List<String> listGlobalPathResp = new ArrayList<>();
@@ -114,7 +116,8 @@ public class DataDistribution {
     }
 
     private String onTransmit(String time, BaseInfo data) {
-        String str = cutDown(data.toString());
+        String temp = data.toString();
+        String str = cutDown(temp);
         if (data instanceof Trajectory) {
             listTrajectory.add(0, time + str);
             if (listTrajectory.size() > LIST_SIZE) {
@@ -205,6 +208,19 @@ public class DataDistribution {
 //                for (OnAdasClientListener listener : listeners) {
 //                    listener.onPerceptionTrafficLight((PerceptionTrafficLight) data);
 //                }
+//            }
+        } else if (data instanceof PredictionObstacleTrajectory) {
+            listPredictionObstacleTrajectory.add(0, time + str);
+            if (listPredictionObstacleTrajectory.size() > LIST_SIZE) {
+                listPredictionObstacleTrajectory.remove(listPredictionObstacleTrajectory.size() - 1);
+            }
+            if (listener != null) {
+                listener.onRefresh();
+            }
+//            if (!listeners.isEmpty()) {
+//                for (OnAdasClientListener listener : listeners) {
+//                    listener.onRefresh();
+//                }
 //            }
         } else if (data instanceof BasicInfoReq) {
             listBasicInfoReq.add(0, time + str);
@@ -295,7 +311,7 @@ public class DataDistribution {
 //            }
         }
 
-        return str;
+        return temp;
     }
 
     private class WriteThread implements Runnable {

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConnectStatusAdapter.java

@@ -0,0 +1,67 @@
+package com.zhidao.adas.client.adapter;
+
+import android.annotation.SuppressLint;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.EditText;
+import android.widget.TextView;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.base.BaseAdapter;
+import com.zhidao.adas.client.base.BaseViewHolder;
+import com.zhidao.adas.client.bean.IPCConnectState;
+
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.Locale;
+
+
+/**
+ * 连接状态
+ */
+public class ConnectStatusAdapter extends BaseAdapter<IPCConnectState, ConnectStatusAdapter.ViewHolder> {
+    private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS ", Locale.getDefault());
+    private static final String POS = "%03d. ";
+
+    public void refreshView() {
+//        notifyItemChanged(mDatas.size()-1,0);
+        notifyItemRangeChanged(0, getItemCount());
+    }
+
+    @Override
+    public long getItemId(int position) {
+        return position;
+    }
+
+    @SuppressLint("SetTextI18n")
+    @Override
+    protected void onBindDataToItem(ViewHolder viewHolder, IPCConnectState data, int position) {
+        viewHolder.id.setText(String.format(Locale.getDefault(), POS, getItemCount() - position));
+        viewHolder.editText.setText(sdf.format(new Date(data.time)) + "\n" + data.status);
+        viewHolder.editText.setTextColor(mContext.getResources().getColor(data.color));
+    }
+
+    @Override
+    protected View getItemViewResource(ViewGroup viewGroup) {
+        return LayoutInflater.from(mContext).inflate(R.layout.item_status, viewGroup, false);
+    }
+
+
+    @Override
+    protected ViewHolder getViewHolder(View view) {
+        return new ViewHolder(view, this);
+    }
+
+
+    class ViewHolder extends BaseViewHolder<ConnectStatusAdapter> {
+        EditText editText;
+        TextView id;
+
+        public ViewHolder(View itemView, ConnectStatusAdapter adapter) {
+            super(itemView, adapter);
+            editText = itemView.findViewById(R.id.log);
+            id = itemView.findViewById(R.id.id);
+        }
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseActivity.java

@@ -2,14 +2,38 @@ package com.zhidao.adas.client.base;
 
 import android.os.Handler;
 import android.os.Message;
+import android.view.Gravity;
+import android.widget.Toast;
 
 import androidx.appcompat.app.AppCompatActivity;
 
+import com.zhidao.adas.client.ui.MainActivity;
+
 import java.lang.ref.WeakReference;
 
 public abstract class BaseActivity extends AppCompatActivity {
     private BaseHandler mBaseHandler;
+    private Toast toast;
 
+    protected void showToastCenter(String msg) {
+        showToastCenter(msg, Toast.LENGTH_SHORT);
+    }
+
+    protected void showToastCenter(String msg, int duration) {
+        runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                if (toast != null) {
+                    toast.cancel();
+                    toast = null;
+                }
+                toast = Toast.makeText(BaseActivity.this, "", duration); //如果有居中显示需求
+                toast.setGravity(Gravity.CENTER, 0, 0);
+                toast.setText(msg);
+                toast.show();
+            }
+        });
+    }
     @Override
     protected void onDestroy() {
         super.onDestroy();

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/IPCConnectState.java

@@ -3,6 +3,7 @@ package com.zhidao.adas.client.bean;
 import androidx.annotation.ColorRes;
 
 public class IPCConnectState {
+    public final long time;
     public final String status;
     @ColorRes
     public final int color;
@@ -10,5 +11,6 @@ public class IPCConnectState {
     public IPCConnectState(String status, @ColorRes int color) {
         this.status = status;
         this.color = color;
+        time = System.currentTimeMillis();
     }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java

@@ -0,0 +1,22 @@
+package com.zhidao.adas.client.bean;
+
+import com.google.protobuf.TextFormat;
+
+import mogo.telematics.pad.MessagePad;
+import prediction.Prediction;
+
+public class PredictionObstacleTrajectory extends BaseInfo {
+    public final Prediction.mPredictionObjects bean;
+
+    public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean) {
+        super("接收", bean.getSerializedSize(), header);
+        this.bean = bean;
+    }
+
+
+    @Override
+    public String toString() {
+        return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/FloatWindow.java

@@ -0,0 +1,181 @@
+package com.zhidao.adas.client.ui;
+
+import android.app.Activity;
+import android.content.Context;
+import android.graphics.PixelFormat;
+import android.util.DisplayMetrics;
+import android.view.Gravity;
+import android.view.LayoutInflater;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.WindowManager;
+
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.adapter.ConnectStatusAdapter;
+import com.zhidao.adas.client.adapter.DataShowAdapter;
+import com.zhidao.adas.client.bean.IPCConnectState;
+import com.zhidao.adas.client.utils.MyLinearLayoutManager;
+
+import java.lang.reflect.Field;
+import java.util.List;
+
+/**
+ * @author xuxinchao
+ * @description
+ * @since: 2022/4/20
+ */
+public class FloatWindow implements View.OnTouchListener {
+
+    private final Activity mContext;
+    private WindowManager.LayoutParams mWindowParams;
+    private WindowManager mWindowManager;
+
+    private View mFloatLayout;
+    private float mInViewX;
+    private float mInViewY;
+    private float mDownInScreenX;
+    private float mDownInScreenY;
+    private float mInScreenX;
+    private float mInScreenY;
+    private RecyclerView rv_status;
+    private ConnectStatusAdapter adapter;
+    private List<IPCConnectState> list;
+
+    public FloatWindow(Activity context, List<IPCConnectState> list) {
+        this.mContext = context;
+        this.list = list;
+        initFloatWindow();
+    }
+    public void refreshView(){
+        if (adapter!=null){
+            adapter.refreshView();
+        }
+    }
+
+    private void initRV() {
+        //创建默认的线性LayoutManager  横向的GridLayoutManager
+        MyLinearLayoutManager linearLayoutManager = new MyLinearLayoutManager(mContext);
+//        linearLayoutManager.setStackFromEnd(true);//列表再底部开始展示，反转后由上面开始展示
+//        linearLayoutManager.setReverseLayout(true);//列表翻转
+        rv_status.setLayoutManager(linearLayoutManager);
+        //如果可以确定每个item的高度是固定的，设置这个选项可以提高性能
+        rv_status.setHasFixedSize(false);
+        rv_status.setNestedScrollingEnabled(false);
+        adapter = new ConnectStatusAdapter();
+        adapter.setHasStableIds(true);
+        rv_status.setAdapter(adapter);
+        adapter.setData(list);
+    }
+
+    private void initFloatWindow() {
+        LayoutInflater inflater = LayoutInflater.from(mContext);
+        if (inflater == null)
+            return;
+        mFloatLayout = (View) inflater.inflate(R.layout.layout_float, null);
+        rv_status = mFloatLayout.findViewById(R.id.rv_status);
+        mFloatLayout.setOnTouchListener(this);
+        initRV();
+        mWindowParams = new WindowManager.LayoutParams();
+//        mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
+//        if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
+//        }else{
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
+//        }
+
+        mWindowManager = mContext.getWindowManager();
+
+        mWindowParams.format = PixelFormat.RGBA_8888;
+        mWindowParams.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
+        mWindowParams.gravity = Gravity.START | Gravity.TOP;
+        mWindowParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+        mWindowParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+        mWindowParams.alpha = 0.9F;
+    }
+
+    @Override
+    public boolean onTouch(View view, MotionEvent motionEvent) {
+        return floatLayoutTouch(motionEvent);
+    }
+
+    private boolean floatLayoutTouch(MotionEvent motionEvent) {
+        switch (motionEvent.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.getX();
+                mInViewY = motionEvent.getY();
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = motionEvent.getRawX();
+                mDownInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
+                mInScreenX = motionEvent.getRawX();
+                mInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
+                break;
+            case MotionEvent.ACTION_MOVE:
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.getRawX();
+                mInScreenY = motionEvent.getRawY() - getSysBarHeight(mContext);
+                mWindowParams.x = (int) (mInScreenX - mInViewX);
+                mWindowParams.y = (int) (mInScreenY - mInViewY);
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager.updateViewLayout(mFloatLayout, mWindowParams);
+                break;
+            case MotionEvent.ACTION_UP:
+                // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+                if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
+
+                }
+                break;
+        }
+        return true;
+    }
+
+    public void showFloatWindow(float y) {
+        if (mFloatLayout.getParent() == null) {
+            DisplayMetrics metrics = new DisplayMetrics();
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager.getDefaultDisplay().getMetrics(metrics);
+            mWindowParams.x = metrics.widthPixels;
+            mWindowParams.y = (int) (y);
+            mWindowManager.addView(mFloatLayout, mWindowParams);
+        }
+    }
+
+
+    public void hideFloatWindow() {
+        if (mFloatLayout.getParent() != null)
+            mWindowManager.removeView(mFloatLayout);
+    }
+
+    public void setFloatLayoutAlpha(boolean alpha) {
+        if (alpha)
+            mFloatLayout.setAlpha((float) 0.5);
+        else
+            mFloatLayout.setAlpha(1);
+    }
+
+    private int sbar = -1;
+
+    // 获取系统状态栏高度
+    public int getSysBarHeight(Context contex) {
+        if (sbar == -1) {
+            Class<?> c;
+            Object obj;
+            Field field;
+            int x;
+            sbar = 0;
+            try {
+                c = Class.forName("com.android.internal.R$dimen");
+                obj = c.newInstance();
+                field = c.getField("status_bar_height");
+                x = Integer.parseInt(field.get(obj).toString());
+                sbar = contex.getResources().getDimensionPixelSize(x);
+            } catch (Exception e1) {
+                e1.printStackTrace();
+            }
+        }
+        return sbar;
+    }
+
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/HelpActivity.java

@@ -0,0 +1,22 @@
+package com.zhidao.adas.client.ui;
+
+import android.os.Bundle;
+import android.view.View;
+
+import androidx.annotation.Nullable;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.base.BaseActivity;
+
+public class HelpActivity extends BaseActivity {
+    @Override
+    protected void onCreate(@Nullable Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_help);
+        showToastCenter("点击屏幕任意位置，退出帮助页面");
+    }
+
+    public void onBack(View view) {
+        finish();
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java

@@ -146,6 +146,9 @@ public class InfoFragment extends BaseFragment {
             case Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT:
                 adapter.setData(DataDistribution.getInstance().listPerceptionTrafficLight);
                 break;
+            case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
+                adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
+                break;
             case Constants.TITLE.RECEIVE_ERROR:
                 adapter.setData(DataDistribution.getInstance().listErrorData);
                 break;

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -4,6 +4,7 @@ import static com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA;
 
 import android.content.Context;
 import android.content.DialogInterface;
+import android.content.Intent;
 import android.content.res.Configuration;
 import android.os.Bundle;
 import android.os.Message;
@@ -57,6 +58,7 @@ import com.zhidao.adas.client.bean.IPCConnectState;
 import com.zhidao.adas.client.bean.MogoReportMessage;
 import com.zhidao.adas.client.bean.MySSHResult;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
 import com.zhidao.adas.client.bean.RecordPanel;
 import com.zhidao.adas.client.bean.TrackedObjects;
 import com.zhidao.adas.client.bean.Trajectory;
@@ -76,7 +78,6 @@ import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
-import com.zhidao.support.recorder.RecordDataManager;
 
 import java.net.Inet4Address;
 import java.net.InetAddress;
@@ -92,13 +93,14 @@ import io.netty.channel.Channel;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
+import prediction.Prediction;
 import record_cache.RecordPanelOuterClass;
 
 public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
     private final static String TAG = MainActivity.class.getSimpleName();
     private static final int WHAT_IPC_IP = 0x00;
     private static final int WHAT_DRIVER_IP = 0x01;
-    private static final int WHATIPC_CONNECT_STATE = 0x02;
+    private static final int WHAT_IPC_CONNECT_STATE = 0x02;
     private EditText etIp;
     private ImageView role;
     private ImageView tvIp;
@@ -124,7 +126,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     private final List<String> titleFragmentData = new ArrayList<>();
     private final List<String> titleBtnData = new ArrayList<>();
-
+    private final List<IPCConnectState> connectStatusList = new ArrayList<>();
     private InfoTitleAdapter btnAdapter;
     private InfoTitleAdapter fragmentAdapter;
 
@@ -141,6 +143,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private InfoFragment errorFragment;
     private InfoFragment reportMessageFragment;
     private InfoFragment perceptionTrafficLightFragment;
+    private InfoFragment predictionObstacleTrajectoryFragment;
     private VersionFragment versionFragment;
     private FragmentManager manager;
     private FragmentTransaction transaction;
@@ -151,7 +154,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private int connectStatus;
     private AutoPilotModeDialog autoPilotModeDialog;
     private ListPopupWindow listPopupWindow;
-
+    private FloatWindow floatWindow;
+    private View include_title;
 //    @Override
 //    protected void onStart() {
 //        super.onStart();
@@ -207,6 +211,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
 
     private void initView() {
+        include_title = findViewById(R.id.include_title);
         etIp = findViewById(R.id.et_ip);
         role = findViewById(R.id.role);
         line = findViewById(R.id.line);
@@ -278,7 +283,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             etIp.setSelection(ip.length());
         }
 
-//        infoTitleList.add("录音测试");
         //初始化fragment
         manager = getSupportFragmentManager();
         transaction = manager.beginTransaction();
@@ -379,6 +383,13 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 showLocalIP();
             }
         });
+        title.setOnLongClickListener(new View.OnLongClickListener() {
+            @Override
+            public boolean onLongClick(View v) {
+                startActivity(new Intent(MainActivity.this, HelpActivity.class));
+                return true;
+            }
+        });
 
         tvIp.setOnClickListener(new View.OnClickListener() {
             @Override
@@ -393,6 +404,18 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 }
             }
         });
+        tvConnectState.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if (floatWindow == null) {
+                    floatWindow = new FloatWindow(MainActivity.this, connectStatusList);
+                    floatWindow.showFloatWindow(include_title.getY() + include_title.getHeight());
+                } else {
+                    floatWindow.hideFloatWindow();
+                    floatWindow = null;
+                }
+            }
+        });
     }
 
     private void showListPopupWindow() {
@@ -431,6 +454,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
         titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
         titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
         titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
         titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
@@ -446,7 +470,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleBtnData.add("数据采集5秒");
         titleBtnData.add("数据采集start");
         titleBtnData.add("数据采集end");
-        titleBtnData.add("录音测试");
         titleBtnData.add("发送信号灯");
         titleBtnData.add("自动驾驶限速");
         titleBtnData.add("重启Docker");
@@ -588,6 +611,14 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                             transaction.commit();
                         }
                         break;
+                    case Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY:
+                        if (predictionObstacleTrajectoryFragment == null)
+                            predictionObstacleTrajectoryFragment = new InfoFragment(data);
+                        if (!predictionObstacleTrajectoryFragment.isVisible()) {
+                            transaction.replace(R.id.fl_info, predictionObstacleTrajectoryFragment);
+                            transaction.commit();
+                        }
+                        break;
                     case Constants.TITLE.RECEIVE_CAR_CONFIG_RESP:
                         AdasManager.getInstance().sendCarConfigReq();
                         if (versionFragment == null)
@@ -630,36 +661,52 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         }
     }
 
-
-    private String onUpdateConnectStateView() {
-        String status;
+    private int getStatusColor(int connectStatus) {
         int color;
         switch (connectStatus) {
             case IPC_CONNECTION_STATUS.CONNECTED:
-                status = "已连接";
                 color = R.color.connect_status_connected;
                 break;
             default:
             case IPC_CONNECTION_STATUS.DISCONNECTED:
-                status = "未连接";
                 color = R.color.connect_status_disconnected;
                 break;
             case IPC_CONNECTION_STATUS.CONNECTING:
-                status = "连接中";
                 color = R.color.connect_status_connecting;
                 break;
             case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
-                status = "搜索IP";
                 color = R.color.connect_status_search_address;
                 break;
             case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
-                status = "未找到";
                 color = R.color.connect_status_disconnecting;
                 break;
         }
+        return color;
+    }
+
+    private String onUpdateConnectStateView() {
+        String status;
+        switch (connectStatus) {
+            case IPC_CONNECTION_STATUS.CONNECTED:
+                status = "已连接";
+                break;
+            default:
+            case IPC_CONNECTION_STATUS.DISCONNECTED:
+                status = "未连接";
+                break;
+            case IPC_CONNECTION_STATUS.CONNECTING:
+                status = "连接中";
+                break;
+            case IPC_CONNECTION_STATUS.SEARCH_ADDRESS:
+                status = "搜索IP";
+                break;
+            case IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS:
+                status = "未找到";
+                break;
+        }
         Message msg = Message.obtain();
-        msg.obj = new IPCConnectState(status, color);
-        msg.what = WHATIPC_CONNECT_STATE;
+        msg.obj = new IPCConnectState(status, getStatusColor(connectStatus));
+        msg.what = WHAT_IPC_CONNECT_STATE;
         getHandler().sendMessage(msg);
         return status;
     }
@@ -720,6 +767,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
+        PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects);
+        DataDistribution.getInstance().addData(base);
+    }
+
     @Override
     public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
         BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);
@@ -766,27 +819,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     }
 
 
-    private Toast toast;
 
-    public void showToastCenter(String msg) {
-        showToastCenter(msg, Toast.LENGTH_SHORT);
-    }
-
-    public void showToastCenter(String msg, int duration) {
-        runOnUiThread(new Runnable() {
-            @Override
-            public void run() {
-                if (toast != null) {
-                    toast.cancel();
-                    toast = null;
-                }
-                toast = Toast.makeText(MainActivity.this, "", duration); //如果有居中显示需求
-                toast.setGravity(Gravity.CENTER, 0, 0);
-                toast.setText(msg);
-                toast.show();
-            }
-        });
-    }
 
 
     private void initAdas() {
@@ -857,7 +890,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         AdasManager.getInstance().create(options, this);
 
         AdasManager.getInstance().setOnAdasListener(this);
-//        AdasManager.getInstance().setOnAdasConnectStatusListener(this);
         if (BuildConfig.IS_CLIENT) {
             /*—————————————作为乘客端———————————*/
 
@@ -881,18 +913,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     }
 
 
-    @Override
-    protected void onPause() {
-        super.onPause();
-//        AdasManager.getInstance().pause();
-    }
-
-    @Override
-    protected void onResume() {
-        super.onResume();
-//        AdasManager.getInstance().resume();
-    }
-
     @Override
     protected void onDestroy() {
         super.onDestroy();
@@ -906,7 +926,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
 
     @Override
-    public void onConnectionIPCStatus(int ipcConnectionStatus, String failedMsg) {
+    public void onConnectionIPCStatus(int ipcConnectionStatus, String reason) {
+        Log.i(TAG, "连接状态=" + (reason == null ? "主动断开连接" : reason));
+        connectStatusList.add(0, new IPCConnectState(reason == null ? "主动断开连接" : reason, getStatusColor(ipcConnectionStatus)));
+        if (connectStatusList.size() > 100) {
+            connectStatusList.remove(connectStatusList.size() - 1);
+        }
         connectStatus = ipcConnectionStatus;
         String status = onUpdateConnectStateView();
         if (connectStatus == IPC_CONNECTION_STATUS.CONNECTED) {
@@ -917,10 +942,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 Constants.addIpcUsedIps(this, ips, tem);
             }
         } else if (connectStatus == IPC_CONNECTION_STATUS.DISCONNECTED) {
-            if (!TextUtils.isEmpty(failedMsg)) {
-                status += " failedMsg=" + failedMsg;
-                showToastCenter("连接失败：" + failedMsg);
-            }
             getHandler().sendEmptyMessage(WHAT_IPC_IP);
         }
 //        LogSave.getInstance().saveLog("连接状态", status);
@@ -1012,12 +1033,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 CupidLogUtils.w(TAG, "AutopilotRecord===>send:" + bEnd);
                 break;
             case 6:
-                //录音测试
-                CupidLogUtils.w(TAG, "录音测试");
-                RecordDataManager.getInstance().init(MainActivity.this, "1234567", "", 22, "", "");
-                RecordDataManager.getInstance().record();
-                break;
-            case 7:
                 //发送信号灯
                 MessagePad.TrafficLightStatus left = MessagePad.TrafficLightStatus.newBuilder()
                         .setPhaseNo("1")
@@ -1041,7 +1056,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                         .build();
                 AdasManager.getInstance().sendTrafficLightData("10038", 26.848153, 112.574883, "180.0", "SN", 100413, -4, 201, 0, detail);
                 break;
-            case 8:
+            case 7:
                 //速度设置
                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
                 builder.setTitle("自动驾驶限速");
@@ -1068,27 +1083,27 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 builder.show();//显示Dialog对话框
 
                 break;
-            case 9:
+            case 8:
                 //重启Docker
                 AdasManager.getInstance().rebootAPDocker();
                 break;
-            case 10:
+            case 9:
                 //重启IPC
                 AdasManager.getInstance().rebootIPC();
                 break;
-            case 11:
+            case 10:
                 //关机
                 AdasManager.getInstance().shutdownIPC();
                 break;
-            case 12:
+            case 11:
                 //采集类型
                 AdasManager.getInstance().sendRecordCause(recordKey, recordFileName, "1", "变道有干扰");
                 break;
-            case 13:
+            case 12:
                 //打开演示模式
                 AdasManager.getInstance().sendDemoModeReq(1);
                 break;
-            case 14:
+            case 13:
                 //关闭演示模式
                 AdasManager.getInstance().sendDemoModeReq(0);
                 break;
@@ -1107,7 +1122,10 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 ipcIp.setVisibility(View.VISIBLE);
                 ipcIp.setText("司机IP：" + NSDNettyManager.getInstance().getConnServerIp());
                 break;
-            case WHATIPC_CONNECT_STATE:
+            case WHAT_IPC_CONNECT_STATE:
+                if (floatWindow != null) {
+                    floatWindow.refreshView();
+                }
                 IPCConnectState status = (IPCConnectState) msg.obj;
                 tvConnectState.setText(status.status);
                 tvConnectState.setTextColor(getResources().getColor(status.color));

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java

@@ -167,10 +167,11 @@ public class VersionFragment extends BaseFragment {
             list.add(new Config("最大自动驾驶限速:", adasConfig == null ? null : adasConfig.getMaxSpeedLimit() + "m/s"));
             list.add(new Config("最小加速度:", adasConfig == null ? null : adasConfig.getMinAcceleration() + "m/s²"));
             list.add(new Config("最大加速度:", adasConfig == null ? null : adasConfig.getMaxAcceleration() + "m/s²"));
-            list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersion().getNumber())));
+            list.add(new Config("IPC通信协议版本:", adasConfig == null ? null : String.valueOf(adasConfig.getProtocolVersionValue())));
             list.add(new Config("APP通信协议版本:", String.valueOf(AdasManager.getInstance().getProtocolVersion())));
         }
         list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));
+        list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME));
         adapter.setData(list);
     }
 

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java

@@ -150,6 +150,7 @@ public class Constants {
         String RECEIVE_AUTOPILOT_STATE = "自动驾驶状态";
         String RECEIVE_REPORT_MESSAGE = "监控事件";
         String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = "感知红绿灯";
+        String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = "他车轨迹预测";
 
         //        String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
         String RECEIVE_CAR_CONFIG_RESP = "信息与配置";

app_ipc_monitoring/src/main/res/drawable/bg_float.xml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#FAFFFFFF" />
+    <stroke
+        android:width="0.8dp"
+        android:color="#A140E0D0" />
+    <!-- 圆角 -->
+    <corners android:radius="6dp" />
+</shape>

app_ipc_monitoring/src/main/res/layout/activity_help.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ImageView xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:onClick="onBack"
+    android:scaleType="fitXY"
+    android:src="@drawable/help"
+    tools:context=".ui.HelpActivity" />
+

app_ipc_monitoring/src/main/res/layout/item_status.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?><!--测试列表Item-->
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:layout_marginLeft="5dp"
+    android:layout_marginTop="3dp"
+    android:layout_marginRight="5dp"
+    android:layout_marginBottom="3dp"
+    android:background="?android:attr/selectableItemBackground"
+    android:orientation="horizontal">
+
+    <TextView
+        android:id="@+id/id"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="#999999"
+        android:textSize="12sp" />
+
+    <EditText
+        android:id="@+id/log"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:background="@android:color/transparent"
+        android:cursorVisible="false"
+        android:focusable="false"
+        android:textColor="#ff0000"
+        android:textSize="12sp" />
+
+
+</LinearLayout>
+

app_ipc_monitoring/src/main/res/layout/layout_float.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:background="@drawable/bg_float"
+    android:orientation="vertical">
+
+
+    <androidx.recyclerview.widget.RecyclerView
+        android:id="@+id/rv_status"
+        android:layout_width="260dp"
+        android:layout_height="280dp"
+        android:layout_marginTop="2dp"
+        android:layout_marginBottom="2dp" />
+
+
+</LinearLayout>

app_ipc_monitoring/src/main/res/values/styles.xml

@@ -28,4 +28,7 @@
         <!--是否模糊-->
         <item name="android:backgroundDimEnabled">true</item>
     </style>
+    <style name="AppTheme.AppBarOverlay" parent="ThemeOverlay.AppCompat.Dark.ActionBar" />
+
+    <style name="AppTheme.PopupOverlay" parent="ThemeOverlay.AppCompat.Light" />
 </resources>

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

@@ -47,6 +47,7 @@ import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
+import prediction.Prediction
 import record_cache.RecordPanelOuterClass
 
 /**
@@ -214,6 +215,13 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     }
 
+    override fun onPredictionObstacleTrajectory(
+        header: MessagePad.Header?,
+        predictionObjects: Prediction.mPredictionObjects?
+    ) {
+        //他车轨迹预测
+    }
+
     override fun onBasicInfoReq(
         header: MessagePad.Header,
         basicInfoReq: MessagePad.BasicInfoReq?

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt

@@ -22,13 +22,16 @@ import com.mogo.eagle.core.data.enums.SidePattern
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.notice.NoticeNormalData
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
+import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.hmi.IMoGoHmiViewProxy
 import com.mogo.eagle.core.function.api.hmi.view.IViewLimitingVelocity
 import com.mogo.eagle.core.function.api.hmi.view.IViewNotification
 import com.mogo.eagle.core.function.api.hmi.view.IViewTrafficLight
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWaringProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.function.call.check.CallerCheckManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
@@ -44,16 +47,19 @@ import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
 import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
+import com.mogo.eagle.core.function.hmi.ui.setting.ReportListFloatWindow
 import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
 import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.module.common.enums.EventTypeEnum
 import kotlinx.android.synthetic.main.fragment_hmi.*
 import kotlinx.coroutines.*
+import mogo_msg.MogoReportMsg
 import record_cache.RecordPanelOuterClass
 import java.util.*
 
@@ -68,7 +74,8 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
         IMoGoWaringProvider,
         IMoGoHmiViewProxy,
         MoGoHmiContract.View,
-        IMoGoAutopilotRecordListener {
+        IMoGoAutopilotRecordListener,
+        IMoGoAutopilotStatusListener {
     private val TAG = "MoGoHmiFragment"
 
     // DebugSettingView
@@ -101,6 +108,10 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     // V2X预警弹窗 View 代理
     private var mViewNotification: IViewNotification? = null
 
+    //工控机节点上报列表
+    private var reportList = arrayListOf<ReportEntity>()
+    //工控机上报列表悬浮窗
+    private var reportListFloatWindow: ReportListFloatWindow?=null
 
     override fun vipIdentification(visible: Boolean) {
         ThreadUtils.runOnUiThread {
@@ -143,6 +154,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     override fun onViewCreated(view: View, savedInstanceState: Bundle?) {
         super.onViewCreated(view, savedInstanceState)
         CallerAutopilotRecordListenerManager.addListener(TAG, this)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
 
         /*// TODO 这里后面需要改成独立进程通讯后台获取YUV
         view.postDelayed({
@@ -174,6 +186,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     override fun onDestroyView() {
         super.onDestroyView()
         CallerAutopilotRecordListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
 
@@ -386,7 +399,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
      */
     override fun toggleDebugView() {
         CallerLogger.d("$M_HMI$TAG", "长按显示状态工具栏")
-        context?.let {
+        activity?.let {
             if (mDebugSettingViewFloat != null) {
                 WarningFloat.dismiss(mDebugSettingViewFloat!!.config.floatTag, false)
                 mDebugSettingViewFloat = null
@@ -394,6 +407,18 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
             } else {
                 if (mDebugSettingView == null) {
                     mDebugSettingView = DebugSettingView(it)
+                    mDebugSettingView?.setClickListener(object: DebugSettingView.ClickListener{
+                        override fun showReportListWindow(show: Boolean) {
+                            if(show){
+                                //打开工控机上报列表
+                                reportListFloatWindow = ReportListFloatWindow(it)
+                                reportListFloatWindow?.showFloatWindow()
+                            }else{
+                                //关闭工控机上报列表
+                                reportListFloatWindow?.hideFloatWindow()
+                            }
+                        }
+                    })
                 }
                 var side = SidePattern.RIGHT
                 var gravity = Gravity.RIGHT
@@ -979,6 +1004,23 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
 
     }
 
+    /**
+     * 工控机监控节点上报
+     */
+    override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
+        ThreadUtils.runOnUiThread{
+            guardianInfo?.let {
+                if(reportList.size>20){
+                    reportList.removeLast()
+                }
+                reportList.add(0,
+                    ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
+                        it.src,it.level,it.msg,it.code,it.resultList,it.actionsList))
+                reportListFloatWindow?.refreshData(reportList)
+            }
+        }
+    }
+
     override fun onDestroy() {
         super.onDestroy()
         CallerLogger.d("$M_HMI$TAG", "onDestroy")

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/AccelerationFloatWindow.kt

@@ -0,0 +1,133 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.app.Activity
+import android.graphics.PixelFormat
+import android.util.DisplayMetrics
+import android.view.*
+import androidx.recyclerview.widget.LinearLayoutManager
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.gnss.AccelerationEntity
+import com.mogo.eagle.core.function.hmi.R
+import java.lang.reflect.Field
+
+/**
+ * @author XuXinChao
+ * @description 可拖拽实时加速度面板
+ * @since: 2022/4/21
+ */
+class AccelerationFloatWindow constructor(activity: Activity) : View.OnTouchListener{
+
+    private var mActivity: Activity = activity
+    private var mWindowParams: WindowManager.LayoutParams? = null
+    private var mWindowManager: WindowManager? = null
+    private lateinit var rvAccelerationList: RecyclerView
+    private var accelerationListAdapter: AccelerationListAdapter?=null
+
+    private lateinit var mFloatLayout: View
+    private var mInViewX = 0f
+    private var mInViewY = 0f
+    private var mDownInScreenX = 0f
+    private var mDownInScreenY = 0f
+    private var mInScreenX = 0f
+    private var mInScreenY = 0f
+
+    init {
+        initFloatWindow();
+    }
+
+    private fun initFloatWindow() {
+        mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_acceleration_float, null) as View
+        mFloatLayout.setOnTouchListener(this)
+        rvAccelerationList= mFloatLayout.findViewById(R.id.rvAccelerationList)
+        mWindowParams = WindowManager.LayoutParams()
+//        mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
+//        if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
+//        }else{
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
+//        }
+        mWindowManager = mActivity.windowManager
+        mWindowParams?.let {
+            it.format = PixelFormat.RGBA_8888
+            it.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
+            it.gravity = Gravity.START or Gravity.TOP
+            it.width = 600
+            it.height = WindowManager.LayoutParams.WRAP_CONTENT
+            it.alpha = 0.8f
+        }
+        accelerationListAdapter= AccelerationListAdapter(mActivity)
+        rvAccelerationList.layoutManager = LinearLayoutManager(mActivity,
+            LinearLayoutManager.VERTICAL,false)
+        rvAccelerationList.adapter = accelerationListAdapter
+        rvAccelerationList.isNestedScrollingEnabled = false
+    }
+
+    fun refreshData(data:List<AccelerationEntity>){
+        accelerationListAdapter?.setDada(data)
+        accelerationListAdapter?.notifyDataSetChanged()
+    }
+
+
+    override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
+        when (motionEvent?.action) {
+            MotionEvent.ACTION_DOWN -> {
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.x
+                mInViewY = motionEvent.y
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = motionEvent.rawX
+                mDownInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+            }
+            MotionEvent.ACTION_MOVE -> {
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
+                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
+            }
+//            MotionEvent.ACTION_UP ->                 // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+//                if (mDownInScreenX === mInScreenX && mDownInScreenY === mInScreenY) {
+//                }
+        }
+        return true
+    }
+
+    fun showFloatWindow() {
+        if (mFloatLayout.parent == null) {
+            val metrics = DisplayMetrics()
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager!!.defaultDisplay.getMetrics(metrics)
+            mWindowParams!!.x = metrics.widthPixels
+            mWindowParams!!.y = metrics.heightPixels / 2 - getSysBarHeight(mActivity)
+            mWindowManager!!.addView(mFloatLayout, mWindowParams)
+        }
+    }
+
+    fun hideFloatWindow() {
+        if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
+    }
+
+    // 获取系统状态栏高度
+    private fun getSysBarHeight(activity: Activity): Int {
+        val c: Class<*>
+        val obj: Any
+        val field: Field
+        val x: Int
+        var sbar = 0
+        try {
+            c = Class.forName("com.android.internal.R\$dimen")
+            obj = c.newInstance()
+            field = c.getField("status_bar_height")
+            x = field.get(obj).toString().toInt()
+            sbar = activity.resources.getDimensionPixelSize(x)
+        } catch (e1: Exception) {
+            e1.printStackTrace()
+        }
+        return sbar
+    }
+
+}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/AccelerationListAdapter.kt

@@ -0,0 +1,48 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.content.Context
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.TextView
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.gnss.AccelerationEntity
+import com.mogo.eagle.core.function.hmi.R
+
+/**
+ * @author XuXinChao
+ * @description 实时加速度列表适配器
+ * @since: 2022/4/20
+ */
+class AccelerationListAdapter(context: Context) :
+    RecyclerView.Adapter<AccelerationListAdapter.AccelerationListHolder>() {
+
+    private var context: Context? = context
+    private var data:List<AccelerationEntity>? = null
+
+    fun setDada( data: List<AccelerationEntity>?){
+        this.data = data
+    }
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): AccelerationListHolder {
+        val view = LayoutInflater.from(parent.context)
+            .inflate(R.layout.item_acceleration_detail, parent, false)
+        return AccelerationListHolder(view)
+    }
+
+    override fun onBindViewHolder(holder: AccelerationListHolder, position: Int) {
+        data?.let { it ->
+            val accelerationEntity = it[position]
+            holder.tvMoment.text = accelerationEntity.moment
+            holder.tvAcceleration.text = accelerationEntity.acceleration
+        }
+    }
+
+    override fun getItemCount() = data?.size ?: 0
+
+    class AccelerationListHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
+        var tvMoment: TextView = itemView.findViewById(R.id.tvMoment)
+        var tvAcceleration: TextView = itemView.findViewById(R.id.tvAcceleration)
+    }
+
+}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt

@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.hmi.ui.setting
 
 import android.annotation.SuppressLint
+import android.app.Activity
 import android.content.Context
 import android.graphics.Color
 import android.os.Build
@@ -24,6 +25,7 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.data.gnss.AccelerationEntity
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.data.upgrade.UpgradeVersionEntity
@@ -66,6 +68,7 @@ import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import java.util.*
 import kotlin.collections.ArrayList
+import kotlin.math.abs
 
 /**
  * @author xiaoyuzhou
@@ -91,6 +94,11 @@ class DebugSettingView @JvmOverloads constructor(
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
     private var mGnssInfo: MessagePad.GnssInfo? = null
 
+    private var accelerationFloatWindow: AccelerationFloatWindow?=null
+    private var accelerationList = arrayListOf<AccelerationEntity>()
+    private var accelerationIsShow: Boolean = false //实时加速度面板是否展示
+    private var accelerationThresholdNum: Double = 0.0
+
     // 感知识别「已知类型」数据个数
     private var mIdentifyDataSize = 0
 
@@ -141,6 +149,8 @@ class DebugSettingView @JvmOverloads constructor(
 
     private var lastVisualAngleMode: VisualAngleMode? = null
 
+    private var clickListener: ClickListener? = null
+
     init {
         LayoutInflater.from(context).inflate(R.layout.view_debug_setting, this, true)
         initView()
@@ -604,6 +614,11 @@ class DebugSettingView @JvmOverloads constructor(
         //初始化ADAS日志开关状态
         tbADASLog.isChecked = CallerAutoPilotManager.isEnableLog()
 
+        //查看上报历史列表
+        tbReportMore.setOnCheckedChangeListener { _, isChecked ->
+            clickListener?.showReportListWindow(isChecked)
+        }
+
     }
 
     /**
@@ -966,6 +981,33 @@ class DebugSettingView @JvmOverloads constructor(
             }
         }
 
+        /**
+         * 实时加速度面板控制
+         */
+        tbOpenAcceleration.setOnCheckedChangeListener { _, isChecked ->
+            if(isChecked){
+                //打开实时加速度面板
+                accelerationFloatWindow = context?.let { AccelerationFloatWindow(it as Activity) }
+                accelerationFloatWindow?.showFloatWindow()
+                etThreshold.visibility = View.VISIBLE
+                btnThresholdDefine.visibility = View.VISIBLE
+            }else{
+                //关闭实时加速度面板
+                accelerationFloatWindow?.hideFloatWindow()
+                etThreshold.visibility = View.GONE
+                btnThresholdDefine.visibility = View.GONE
+            }
+            accelerationIsShow = isChecked
+        }
+
+        btnThresholdDefine.setOnClickListener {
+            try{
+                accelerationThresholdNum = etThreshold.text.toString().toDouble()
+            }catch(e:java.lang.Exception){
+                ToastUtils.showShort("请输入正确的阈值")
+            }
+        }
+
     }
 
     /**
@@ -1599,6 +1641,26 @@ class DebugSettingView @JvmOverloads constructor(
 
     override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
         mGnssInfo = gnssInfo
+        //实时加速度列表
+        ThreadUtils.runOnUiThread{
+            if(accelerationIsShow){
+                if(accelerationList.size > 9){
+                    accelerationList.removeLast()
+                }
+                gnssInfo?.acceleration?.let {
+                    if(accelerationList.isEmpty()){
+                        accelerationList.add(AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
+                    }
+                    if(abs(it.minus(accelerationList.first().acceleration.toDouble())) > abs(accelerationThresholdNum)){
+                        accelerationList.add(0, AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
+                    }
+
+                    accelerationFloatWindow?.refreshData(accelerationList)
+                }
+
+            }
+        }
+
     }
 
     @RequiresApi(Build.VERSION_CODES.N)
@@ -1746,4 +1808,12 @@ class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    fun setClickListener(clickListener: ClickListener) {
+        this.clickListener = clickListener
+    }
+
+    interface ClickListener{
+        fun showReportListWindow(show: Boolean)
+    }
+
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ReportListAdapter.kt

@@ -0,0 +1,90 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.graphics.Color
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.TextView
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.report.ReportEntity
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.hmi.R
+
+/**
+ * @author XuXinChao
+ * @description 工控机上报列表适配器
+ * @since: 2022/4/13
+ */
+class ReportListAdapter(context: Context) :
+    RecyclerView.Adapter<ReportListAdapter.ReportListHolder>() {
+
+    private var context: Context? = context
+    private var data:List<ReportEntity>? = null
+
+    public fun setDada( data: List<ReportEntity>?){
+        this.data = data
+    }
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): ReportListHolder {
+        val view = LayoutInflater.from(parent.context)
+            .inflate(R.layout.item_report_detail, parent, false)
+        return ReportListHolder(view)
+    }
+
+    @SuppressLint("SetTextI18n")
+    override fun onBindViewHolder(holder: ReportListHolder, position: Int) {
+        data?.let { it ->
+            val reportEntity = it[position]
+            reportEntity.let {
+                holder.tvReportTime.text = it.time
+                holder.tvReportSrc.text = "src:${it.src}"
+                holder.tvReportLevel.text = "level:${it.level}"
+                holder.tvReportMsg.text = "msg:${it.msg}"
+                holder.tvReportCode.text = "code:${it.code}"
+                var resultStr = "result:"
+                for (result in it.resultList) {
+                    resultStr = "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                }
+                holder.tvReportResult.text = resultStr
+                var actionStr = "action:"
+                for (action in it.actionsList) {
+                    actionStr = "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                }
+                holder.tvReportActions.text = actionStr
+
+                if ("error" == it.level) {
+                    //字体为红色,吐司提示
+                    holder.tvReportSrc.setTextColor(Color.RED)
+                    holder.tvReportLevel.setTextColor(Color.RED)
+                    holder.tvReportMsg.setTextColor(Color.RED)
+                    holder.tvReportCode.setTextColor(Color.RED)
+                    holder.tvReportResult.setTextColor(Color.RED)
+                    holder.tvReportActions.setTextColor(Color.RED)
+                } else {
+                    holder.tvReportSrc.setTextColor(Color.WHITE)
+                    holder.tvReportLevel.setTextColor(Color.WHITE)
+                    holder.tvReportMsg.setTextColor(Color.WHITE)
+                    holder.tvReportCode.setTextColor(Color.WHITE)
+                    holder.tvReportResult.setTextColor(Color.WHITE)
+                    holder.tvReportActions.setTextColor(Color.WHITE)
+                }
+            }
+        }
+
+    }
+
+    override fun getItemCount() = data?.size ?: 0
+
+    class ReportListHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
+        var tvReportTime: TextView = itemView.findViewById(R.id.tvReportTime)
+        var tvReportSrc: TextView = itemView.findViewById(R.id.tvReportSrc)
+        var tvReportLevel: TextView = itemView.findViewById(R.id.tvReportLevel)
+        var tvReportMsg: TextView = itemView.findViewById(R.id.tvReportMsg)
+        var tvReportCode: TextView = itemView.findViewById(R.id.tvReportCode)
+        var tvReportResult: TextView = itemView.findViewById(R.id.tvReportResult)
+        var tvReportActions: TextView = itemView.findViewById(R.id.tvReportActions)
+    }
+
+}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ReportListFloatWindow.kt

@@ -0,0 +1,125 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.app.Activity
+import android.graphics.PixelFormat
+import android.util.DisplayMetrics
+import android.view.*
+import androidx.recyclerview.widget.LinearLayoutManager
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.report.ReportEntity
+import com.mogo.eagle.core.function.hmi.R
+import java.lang.reflect.Field
+
+/**
+ * @author XuXinChao
+ * @description 工控机上报列表面板
+ * @since: 2022/4/13
+ */
+class ReportListFloatWindow constructor(activity: Activity) : View.OnTouchListener{
+
+    private var mActivity: Activity = activity
+    private var mWindowParams: WindowManager.LayoutParams? = null
+    private var mWindowManager: WindowManager? = null
+    private lateinit var rvReportList: RecyclerView
+    private var reportListAdapter: ReportListAdapter?=null
+
+    private lateinit var mFloatLayout: View
+    private var mInViewX = 0f
+    private var mInViewY = 0f
+    private var mDownInScreenX = 0f
+    private var mDownInScreenY = 0f
+    private var mInScreenX = 0f
+    private var mInScreenY = 0f
+
+    init {
+        initFloatWindow();
+    }
+
+    private fun initFloatWindow() {
+        mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_report_list, null) as View
+        mFloatLayout.setOnTouchListener(this)
+        rvReportList= mFloatLayout.findViewById(R.id.rv_report_list)
+        mWindowParams = WindowManager.LayoutParams()
+        mWindowManager = mActivity.windowManager
+        mWindowParams?.let {
+            it.format = PixelFormat.RGBA_8888
+            it.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
+            it.gravity = Gravity.START or Gravity.TOP
+            it.width = 800
+            it.height = 1000
+            it.alpha = 0.9f
+        }
+        reportListAdapter= ReportListAdapter(mActivity)
+        rvReportList.layoutManager = LinearLayoutManager(mActivity,
+            LinearLayoutManager.VERTICAL,false)
+        rvReportList.adapter = reportListAdapter
+    }
+
+    fun refreshData(data:List<ReportEntity>){
+        reportListAdapter?.setDada(data)
+        reportListAdapter?.notifyDataSetChanged()
+    }
+
+    override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
+        when (motionEvent?.action) {
+            MotionEvent.ACTION_DOWN -> {
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.x
+                mInViewY = motionEvent.y
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = motionEvent.rawX
+                mDownInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+            }
+            MotionEvent.ACTION_MOVE -> {
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
+                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
+            }
+//            MotionEvent.ACTION_UP ->                 // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+//                if (mDownInScreenX === mInScreenX && mDownInScreenY === mInScreenY) {
+//                }
+        }
+        return true
+    }
+
+    fun showFloatWindow() {
+        if (mFloatLayout.parent == null) {
+            val metrics = DisplayMetrics()
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager!!.defaultDisplay.getMetrics(metrics)
+            mWindowParams!!.x = metrics.widthPixels
+            mWindowParams!!.y = metrics.heightPixels / 2 - getSysBarHeight(mActivity)
+            mWindowManager!!.addView(mFloatLayout, mWindowParams)
+        }
+    }
+
+    fun hideFloatWindow() {
+        if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
+    }
+
+    // 获取系统状态栏高度
+    private fun getSysBarHeight(activity: Activity): Int {
+        val c: Class<*>
+        val obj: Any
+        val field: Field
+        val x: Int
+        var sbar = 0
+        try {
+            c = Class.forName("com.android.internal.R\$dimen")
+            obj = c.newInstance()
+            field = c.getField("status_bar_height")
+            x = field.get(obj).toString().toInt()
+            sbar = activity.resources.getDimensionPixelSize(x)
+        } catch (e1: Exception) {
+            e1.printStackTrace()
+        }
+        return sbar
+    }
+
+}

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

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:orientation="horizontal">
+
+    <TextView
+        android:id="@+id/tvMoment"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="@color/foreground_wtf"
+        android:gravity="center_horizontal"
+        />
+
+    <TextView
+        android:id="@+id/tvAcceleration"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="10dp"
+        android:textColor="@color/foreground_wtf"
+        android:gravity="center_horizontal"
+        />
+
+
+</LinearLayout>

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

@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:orientation="vertical">
+
+    <TextView
+        android:id="@+id/tvReportTime"
+        style="@style/DebugSettingText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"/>
+
+    <TextView
+        android:id="@+id/tvReportSrc"
+        style="@style/DebugSettingText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        />
+
+    <TextView
+        android:id="@+id/tvReportLevel"
+        style="@style/DebugSettingText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" />
+
+    <TextView
+        android:id="@+id/tvReportMsg"
+        style="@style/DebugSettingText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" />
+
+    <TextView
+        android:id="@+id/tvReportCode"
+        style="@style/DebugSettingText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" />
+
+    <TextView
+        android:id="@+id/tvReportResult"
+        style="@style/DebugSettingText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" />
+
+    <TextView
+        android:id="@+id/tvReportActions"
+        style="@style/DebugSettingText"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content" />
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#F0F0F0" />
+
+</LinearLayout>

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

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="500dp"
+    android:layout_height="wrap_content"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:orientation="vertical">
+
+    <ImageView
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:src="@drawable/icon_drag"
+        android:padding="15dp"
+        android:layout_gravity="center_horizontal"
+        />
+
+    <com.mogo.eagle.core.widget.RoundConstraintLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:background="@color/dialog_bg_color"
+        app:roundLayoutRadius="10dp">
+
+        <androidx.recyclerview.widget.RecyclerView
+            android:id="@+id/rvAccelerationList"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:layout_margin="5dp"
+            />
+
+    </com.mogo.eagle.core.widget.RoundConstraintLayout>
+
+</LinearLayout>

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

@@ -12,109 +12,145 @@
         android:layout_width="match_parent"
         android:layout_height="@dimen/dp_350"
         android:visibility="gone"
-        app:layout_constraintBottom_toBottomOf="parent">
+        app:layout_constraintBottom_toBottomOf="parent"
+        tools:visibility="visible">
 
-        <LinearLayout
+        <androidx.constraintlayout.widget.ConstraintLayout
             android:layout_width="match_parent"
-            android:layout_height="match_parent"
-            android:orientation="vertical">
+            android:layout_height="match_parent">
 
             <View
+                android:id="@+id/vReportLine"
                 android:layout_width="match_parent"
                 android:layout_height="6dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toTopOf="parent" />
+
+            <ToggleButton
+                android:id="@+id/tbReportMore"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:background="@null"
+                android:drawableEnd="@drawable/icon_right"
+                android:drawablePadding="5dp"
+                android:gravity="center"
+                android:padding="10dp"
+                android:textOff="打开历史"
+                android:textOn="关闭历史"
+                android:textSize="@dimen/dp_24"
+                app:layout_constraintRight_toRightOf="parent"
+                app:layout_constraintTop_toBottomOf="@id/vReportLine" />
 
             <TextView
                 android:id="@+id/tvReportSrc"
                 style="@style/DebugSettingText"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
+                android:layout_width="0dp"
+                android:layout_height="0dp"
+                app:layout_constraintBottom_toBottomOf="@id/tbReportMore"
+                app:layout_constraintLeft_toLeftOf="parent"
+                app:layout_constraintRight_toLeftOf="@id/tbReportMore"
+                app:layout_constraintTop_toBottomOf="@id/vReportLine"
+                app:layout_constraintTop_toTopOf="@id/tbReportMore" />
 
             <View
+                android:id="@+id/vReportSrcLine"
                 android:layout_width="match_parent"
                 android:layout_height="1dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toBottomOf="@id/tbReportMore" />
 
             <TextView
                 android:id="@+id/tvReportLevel"
                 style="@style/DebugSettingText"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
+                android:layout_height="wrap_content"
+                app:layout_constraintTop_toBottomOf="@id/vReportSrcLine" />
 
             <View
+                android:id="@+id/vReportLevelLine"
                 android:layout_width="match_parent"
                 android:layout_height="1dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toBottomOf="@id/tvReportLevel" />
 
             <TextView
                 android:id="@+id/tvReportMsg"
                 style="@style/DebugSettingText"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
+                android:layout_height="wrap_content"
+                app:layout_constraintTop_toBottomOf="@id/vReportLevelLine" />
 
             <View
+                android:id="@+id/vReportMsgLine"
                 android:layout_width="match_parent"
                 android:layout_height="1dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toBottomOf="@id/tvReportMsg" />
 
             <TextView
                 android:id="@+id/tvReportCode"
                 style="@style/DebugSettingText"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
+                android:layout_height="wrap_content"
+                app:layout_constraintTop_toBottomOf="@id/vReportMsgLine" />
 
             <View
+                android:id="@+id/vReportCodeLine"
                 android:layout_width="match_parent"
                 android:layout_height="1dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toBottomOf="@id/tvReportCode" />
 
             <TextView
                 android:id="@+id/tvReportResult"
                 style="@style/DebugSettingText"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
+                android:layout_height="wrap_content"
+                app:layout_constraintTop_toBottomOf="@id/vReportCodeLine" />
 
             <View
+                android:id="@+id/vReportResultLine"
                 android:layout_width="match_parent"
                 android:layout_height="1dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toBottomOf="@id/tvReportResult" />
 
             <TextView
                 android:id="@+id/tvReportActions"
                 style="@style/DebugSettingText"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
+                android:layout_height="wrap_content"
+                app:layout_constraintTop_toBottomOf="@id/vReportResultLine" />
 
             <View
+                android:id="@+id/vReportActionsLine"
                 android:layout_width="match_parent"
                 android:layout_height="1dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toBottomOf="@id/tvReportActions" />
 
             <TextView
                 android:id="@+id/tvReportSec"
                 style="@style/DebugSettingText"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
+                android:layout_height="wrap_content"
+                app:layout_constraintTop_toBottomOf="@id/vReportActionsLine" />
 
             <View
+                android:id="@+id/vReportSecLine"
                 android:layout_width="match_parent"
                 android:layout_height="1dp"
-                android:background="#F0F0F0" />
+                android:background="#F0F0F0"
+                app:layout_constraintTop_toBottomOf="@id/tvReportSec" />
 
             <TextView
                 android:id="@+id/tvReportNSec"
                 style="@style/DebugSettingText"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content" />
-
-            <View
-                android:layout_width="match_parent"
-                android:layout_height="1dp"
-                android:background="#F0F0F0" />
-
-
-        </LinearLayout>
+                android:layout_height="wrap_content"
+                app:layout_constraintTop_toBottomOf="@id/vReportSecLine" />
 
+        </androidx.constraintlayout.widget.ConstraintLayout>
 
     </ScrollView>
 
@@ -221,7 +257,8 @@
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
                 android:orientation="vertical"
-                android:visibility="gone">
+                android:visibility="gone"
+                tools:visibility="visible">
 
                 <TextView
                     android:id="@+id/tvAppVersionName"
@@ -362,7 +399,8 @@
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
                 android:orientation="vertical"
-                android:visibility="gone">
+                android:visibility="gone"
+                tools:visibility="visible">
 
                 <TextView
                     android:id="@+id/tvServerEnvironment"
@@ -459,7 +497,8 @@
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
                 android:orientation="vertical"
-                android:visibility="gone">
+                android:visibility="gone"
+                tools:visibility="visible">
 
                 <ToggleButton
                     android:id="@+id/tbDomainController"
@@ -476,7 +515,8 @@
                     android:id="@+id/domainControllerLayout"
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
-                    android:visibility="gone">
+                    android:visibility="gone"
+                    tools:visibility="visible">
 
                     <TextView
                         android:id="@+id/tvAutopilotInfo"
@@ -660,7 +700,8 @@
                         android:visibility="gone"
                         app:layout_constraintLeft_toLeftOf="parent"
                         app:layout_constraintRight_toLeftOf="@id/btnSystemRestart"
-                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider" />
+                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
+                        tools:visibility="visible" />
 
                     <Button
                         android:id="@+id/btnSystemRestart"
@@ -670,7 +711,8 @@
                         android:visibility="gone"
                         app:layout_constraintLeft_toRightOf="@id/btnSystemUpgrade"
                         app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider" />
+                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
+                        tools:visibility="visible" />
 
 
                     <TextView
@@ -719,7 +761,8 @@
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
                     android:orientation="vertical"
-                    android:visibility="gone">
+                    android:visibility="gone"
+                    tools:visibility="visible">
 
                     <TextView
                         android:id="@+id/tvSteeringInfo"
@@ -762,7 +805,8 @@
                     android:id="@+id/obuControllerLayout"
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
-                    android:visibility="gone">
+                    android:visibility="gone"
+                    tools:visibility="visible">
 
                     <Button
                         android:id="@+id/btnSetObuIP"
@@ -844,7 +888,8 @@
                     android:id="@+id/eagleEyeControllerLayout"
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
-                    android:visibility="gone">
+                    android:visibility="gone"
+                    tools:visibility="visible">
 
                     <Button
                         android:id="@+id/btnBrakeThreshold"
@@ -952,7 +997,8 @@
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
                     android:columnCount="2"
-                    android:visibility="gone">
+                    android:visibility="gone"
+                    tools:visibility="visible">
 
                     <ToggleButton
                         android:id="@+id/tbChangeCurrentSkinMode"
@@ -1054,6 +1100,46 @@
                         android:textOff="关闭「SN绑定控制」"
                         android:textOn="打开「SN绑定控制」"
                         android:textSize="@dimen/dp_24" />
+
+                    <ToggleButton
+                        android:id="@+id/tbOpenAcceleration"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_columnWeight="1"
+                        android:layout_margin="2dp"
+                        android:gravity="center"
+                        android:textOff="打开「加速度面板」"
+                        android:textOn="关闭「加速度面板」"
+                        android:textSize="@dimen/dp_24" />
+
+                    <androidx.appcompat.widget.AppCompatEditText
+                        android:id="@+id/etThreshold"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_columnWeight="1"
+                        android:layout_margin="2dp"
+                        android:background="@drawable/debug_setting_edit_bg"
+                        android:gravity="center"
+                        android:hint="过滤阈值"
+                        android:paddingTop="5dp"
+                        android:paddingBottom="5dp"
+                        android:textSize="14sp"
+                        android:visibility="gone"
+                        tools:visibility="visible" />
+
+                    <Button
+                        android:id="@+id/btnThresholdDefine"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_columnWeight="1"
+                        android:layout_margin="2dp"
+                        android:gravity="center"
+                        android:text="设置加速度变化幅度过滤阈值"
+                        android:textSize="@dimen/dp_24"
+                        android:visibility="gone"
+                        tools:visibility="visible" />
+
+
                 </GridLayout>
 
                 <ToggleButton
@@ -1071,7 +1157,8 @@
                     android:id="@+id/hdMapControllerLayout"
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
-                    android:visibility="gone">
+                    android:visibility="gone"
+                    tools:visibility="visible">
 
                     <Button
                         android:id="@+id/changesight_top_btn"
@@ -1276,6 +1363,7 @@
                         android:id="@+id/tbIsDemoMode"
                         android:layout_width="0dp"
                         android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
                         android:padding="@dimen/dp_10"
                         android:textColor="#000"
                         android:textOff="开启美化模式"
@@ -1289,6 +1377,7 @@
                         android:id="@+id/tbIsDrawAutopilotTrajectoryData"
                         android:layout_width="0dp"
                         android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
                         android:padding="@dimen/dp_10"
                         android:textColor="#000"
                         android:textOff="强制绘制引导线"
@@ -1296,14 +1385,12 @@
                         android:textSize="@dimen/dp_24"
                         app:layout_constraintLeft_toRightOf="@id/tbIsDemoMode"
                         app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/btnOpenObuFusion"
-
-
-                        />
+                        app:layout_constraintTop_toTopOf="@id/tbIsDemoMode" />
 
                     <ToggleButton
                         android:layout_width="0dp"
                         android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
                         android:padding="@dimen/dp_10"
                         android:textColor="#000"
                         android:textOff="强制绘制路径规划"
@@ -1388,7 +1475,8 @@
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
                 android:orientation="vertical"
-                android:visibility="gone">
+                android:visibility="gone"
+                tools:visibility="visible">
 
                 <com.google.android.flexbox.FlexboxLayout
                     android:id="@+id/flLogControl"
@@ -1440,8 +1528,7 @@
                         android:gravity="center"
                         android:textOff="打开「网络」Log"
                         android:textOn="关闭「网络」Log"
-                        android:textSize="@dimen/dp_24"
-                        />
+                        android:textSize="@dimen/dp_24" />
 
                     <ToggleButton
                         android:id="@+id/tbObuLog"
@@ -1451,8 +1538,7 @@
                         android:gravity="center"
                         android:textOff="打开「OBU」Log"
                         android:textOn="关闭「OBU」Log"
-                        android:textSize="@dimen/dp_24"
-                        />
+                        android:textSize="@dimen/dp_24" />
 
 
                 </com.google.android.flexbox.FlexboxLayout>
@@ -1678,7 +1764,8 @@
                 android:id="@+id/apkCenterLayout"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:visibility="gone">
+                android:visibility="gone"
+                tools:visibility="visible">
 
                 <ImageView
                     android:id="@+id/ivApkSearch"

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

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="840px"
+    android:layout_height="584px"
+    android:orientation="vertical"
+    >
+
+    <ImageView
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:src="@drawable/icon_drag"
+        android:padding="15dp"
+        android:layout_gravity="center_horizontal"
+        />
+
+    <com.mogo.eagle.core.widget.RoundConstraintLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:background="@color/dialog_bg_color"
+        app:roundLayoutRadius="10dp">
+
+        <androidx.recyclerview.widget.RecyclerView
+            android:id="@+id/rv_report_list"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"/>
+
+    </com.mogo.eagle.core.widget.RoundConstraintLayout>
+
+</LinearLayout>

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java

@@ -36,6 +36,9 @@ public class IdentifyDataDrawer {
      */
     private static final ConcurrentHashMap<String, MessagePad.TrackedObject> mMarkersCaches = new ConcurrentHashMap<>();
 
+    /**
+     * kalman缓存数据
+     */
     private static final ConcurrentHashMap<String, KalmanFilter> algoCache = new ConcurrentHashMap<>();
 
     /**
@@ -108,7 +111,7 @@ public class IdentifyDataDrawer {
             MogoMarkerManager.getInstance(mContext)
                     .updateBatchMarkerPosition(filterList);
         }
-        CallerLogger.INSTANCE.d(M_HMI + "arrow48",  "mMarkersCaches : " + mMarkersCaches.size());
+        CallerLogger.INSTANCE.d(M_HMI + "arrow48", "mMarkersCaches : " + mMarkersCaches.size());
     }
 
     /**
@@ -130,16 +133,11 @@ public class IdentifyDataDrawer {
             MessagePad.TrackedObject cacheData = mMarkersCaches.get(uuid);
             if (cacheData != null) {
                 MessagePad.TrackedObject correctData;
-                //todo 进行修正
-                double correctHeading = kalmanCorrect(data);
-                if(correctHeading != cacheData.getHeading()){
-                    CallerLogger.INSTANCE.d(M_HMI + "arrow48", "uuid: " + uuid + " , kalmanCorrect : " + correctHeading + " , 修正 上一帧 : " + cacheData.getHeading() + " , 当前帧 : " + data.getHeading());
-                }
-                correctData = data.toBuilder().setHeading(correctHeading).build();
+                correctData = kalmanCorrectData(data);
                 mFilterTrafficData.add(correctData);
                 //更新已存在的感知物体数据
                 mMarkersCaches.put(uuid, correctData);
-            }else{
+            } else {
                 mMarkersCaches.put(uuid, data);
             }
             trafficDataUuidList.add(uuid);
@@ -147,7 +145,8 @@ public class IdentifyDataDrawer {
         return mFilterTrafficData;
     }
 
-    private double kalmanCorrect(MessagePad.TrackedObject data) {
+    //todo 相信滤波的定位点做验证，将原始data修改经纬度和航向角返回
+    private MessagePad.TrackedObject kalmanCorrectData(MessagePad.TrackedObject data) {
         String uuid = "" + data.getUuid();
         if (algoCache.containsKey(uuid)) {
             Object o = algoCache.get(uuid);
@@ -159,18 +158,19 @@ public class IdentifyDataDrawer {
             assert cacheTrackObj != null;
             if (data.getSpeed() >= 1.5) {
                 double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
-                CallerLogger.INSTANCE.d(M_HMI + "arrow48", " uuid : " + uuid + " , origin heading : " + data.getHeading() + " , correct heading : " + heading + "  ---- " + (data.getHeading() - heading));
-                return heading;
+                double correct = Math.abs(heading - data.getHeading()) > 30 && Math.abs(heading - data.getHeading()) < 120 ? heading : data.getHeading();//todo test
+                CallerLogger.INSTANCE.d(M_HMI + "type : " + data.getType(), " uuid : " + uuid + " , origin H : " + data.getHeading() + " , cal H : " + heading + ", correct : " + correct + " , 使用滤波角度 : " + (Math.abs(heading - data.getHeading()) > 30 && Math.abs(heading - data.getHeading()) < 120));
+                return data.toBuilder().setHeading(heading).setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
             } else {
-                return data.getHeading();
+                return data;
             }
         } else {
-            double r = 0.00005;
+            double r = 0.000005;
             if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
-                r = 0.0001;
+                r = 0.00001;
             }
             algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
-            return data.getHeading();
+            return data;
         }
     }
 
@@ -185,3 +185,4 @@ public class IdentifyDataDrawer {
         trafficDataUuidList.clear();
     }
 }
+

core/function-impl/mogo-core-function-v2x/build.gradle

@@ -45,6 +45,7 @@ dependencies {
     implementation rootProject.ext.dependencies.androidxccorektx
     implementation rootProject.ext.dependencies.androidxappcompat
     implementation rootProject.ext.dependencies.androidxconstraintlayout
+    implementation rootProject.ext.dependencies.localbroadcastmanager
     implementation rootProject.ext.dependencies.arouter
     implementation rootProject.ext.dependencies.rxandroid
     implementation rootProject.ext.dependencies.flexbox

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/gnss/AccelerationEntity.kt

@@ -0,0 +1,12 @@
+package com.mogo.eagle.core.data.gnss
+
+/**
+ * @author XuXinChao
+ * @description 实时加速度实例
+ * @since: 2022/4/20
+ */
+data class AccelerationEntity(
+    var moment: String,//时刻
+    var acceleration: String//加速度
+) {
+}

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/report/ReportEntity.kt

@@ -0,0 +1,20 @@
+package com.mogo.eagle.core.data.report
+
+/**
+ * @author XuXinChao
+ * @description 工控机上报实例
+ * @since: 2022/4/13
+ */
+data class ReportEntity(
+    var time: String,//上报时间
+    var src: String,//消息来源
+    var level: String,//消息等级 error  info
+    var msg: String,//研发自己看的信息；对标准日志来说就是日志内容
+    var code: String, //error日志中的错误原因，这是一个类似宏的受约束字段，用字符串的目的是便于排查问题时查看
+    var resultList: List<String>,//带来的后果；例如pad无法启动驾驶，远程驾驶无法启动等；可供监控后台做错误分类；pad无法理解code时也可参考此字段
+    var actionsList: List<String>,//试验性字段。消息发出者希望触发的动作，例如：触发短信报警，自动创建工单，要求pad弹框等
+//    var sec: Int,//秒
+//    var nsec: Int//纳秒  sec和nsec拼接起来是消息发送事件
+) {
+
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/TimeUtils.java

@@ -39,6 +39,10 @@ public final class TimeUtils {
         return getSafeDateFormat("yyyy-MM-dd HH:mm:ss");
     }
 
+    public static SimpleDateFormat getHourMinSecondFormat(){
+        return getSafeDateFormat("HH:mm:ss");
+    }
+
     @SuppressLint("SimpleDateFormat")
     public static SimpleDateFormat getSafeDateFormat(String pattern) {
         Map<String, SimpleDateFormat> sdfMap = SDF_THREAD_LOCAL.get();

gradle.properties

@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.55
 MOGO_TELEMATIC_VERSION=1.3.55
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.1.0.6
+MAP_SDK_VERSION=2.1.0.6-1
 MAP_SDK_OPERATION_VERSION=1.0.12
 # websocket
 WEBSOCKET_VERSION=1.1.7

libraries/mogo-adas-data/src/main/proto/geometry.proto

@@ -0,0 +1,84 @@
+syntax = "proto2";
+package geometry;
+
+message Vector3 {
+  optional double x = 1;
+  optional double y = 2;
+  optional double z = 3;
+}
+
+message Vector3f {
+  optional float x = 1;
+  optional float y = 2;
+  optional float z = 3;
+}
+
+message Point2D {
+  optional double x = 1 [default = nan];
+  optional double y = 2 [default = nan];
+}
+
+message Point3D {
+  optional double x = 1 [default = nan];
+  optional double y = 2 [default = nan];
+  optional double z = 3 [default = nan];
+}
+
+message Trace {
+  optional double timestamp = 1;
+  optional Point3D position = 2;
+  optional Point3D velocity = 3;
+  optional Point3D acceleration = 4;
+  optional Point3D heading = 5;
+}
+
+message PointLLH {
+  // Longitude in degrees, ranging from -180 to 180.
+  optional double lon = 1 [default = nan];
+  // Latitude in degrees, ranging from -90 to 90.
+  optional double lat = 2 [default = nan];
+  // WGS-84 ellipsoid height in meters.
+  optional double height = 3 [default = 0.0];
+}
+
+message Point {
+  optional double x = 1;
+  optional double y = 2;
+  optional double z = 3;
+}
+
+message Quaternion {
+  optional double x = 1 [default = nan];
+  optional double y = 2 [default = nan];
+  optional double z = 3 [default = nan];;
+  optional double w = 4 [default = nan];
+}
+
+message Polygon {
+  repeated Point points = 1;
+}
+
+message Transform {
+  optional Vector3 translation = 1;
+  optional Quaternion rotation = 2;
+}
+
+//pose in free space, composed of position and orientation
+message Pose {
+  optional Point position = 1;
+  optional Quaternion orientation = 2;
+}
+
+//acceleration in free space broken into its linear and angular parts
+message Accel {
+  optional Vector3 linear = 1;
+  optional Vector3 angular = 2;
+}
+
+//velocity in free space broken into its linear and angular parts
+message Twist {
+  optional Vector3 linear = 1;
+  optional Vector3 angular = 2;
+}
+
+

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -3,7 +3,7 @@ package mogo.telematics.pad;
 
 enum ProtocolVersion{
     Defaultver = 0;
-    CurrentVersion = 1; //每次修改proto文件增加1
+    CurrentVersion = 2; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -17,6 +17,7 @@ enum MessageType
     MsgTypeAutopilotState = 0x10004; //自动驾驶状态
     MsgTypeReportMessage = 0x10005; //监控事件报告
     MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
+    MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
 
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
     MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -124,6 +125,9 @@ message AutopilotState
 // message definition for MessageType: MsgTypePerceptionTrafficLight
 // refer to traffic_light.proto
 
+// message definition for MessageType: MsgTypePredictionObstacleTrajectory
+// refer to prediction.proto
+
 // message definition for MessageType: MsgTypeBasicInfoReq
 message BasicInfoReq 
 {
@@ -154,6 +158,8 @@ message RouteInfo{
     double speedLimit = 6; //单位: km/h
     uint32 vehicleType = 7;
     bool isSpeakVoice = 8;
+    uint32 routeID = 9;
+    string routeName = 10;
 }
 
 message SetAutopilotModeReq

libraries/mogo-adas-data/src/main/proto/prediction.proto

@@ -0,0 +1,33 @@
+syntax = "proto2";
+
+package prediction;
+
+// common
+import "header.proto";
+import "geometry.proto";
+
+
+// estimated obstacle intent
+
+message mPredictionObject {
+  optional int64    m_nid =1;    //target id
+  optional int32    m_nquality =2; //target tracking life quality
+  optional int32    classtype =3;  //target classtype
+  optional int32    m_preconfidence=4;  //target predciton confidence
+
+  repeated geometry.Point  prediction_trajectory = 5;  //target prediction trajectory :vector : meter
+  repeated geometry.Point  prediction_pose = 6;         //targe prediciton pose  vector       angle:°
+  optional geometry.Vector3  objsize = 7; //length width height  :meter                             
+
+}
+
+message mPredictionObjects {
+  optional common.Header header = 1;   
+  optional int32    m_nnum0 =2;   // all target number
+  optional int64    allcyclenum =3;//process cycle number
+  optional double  m_ftime=4;      //time stamp
+  optional double  fdeltat=5;      // deltatime prediciton time stamp default:0.1s
+  repeated mPredictionObject objs=6; //obj capcity 
+
+}
+

libraries/mogo-adas/README.md

@@ -360,6 +360,24 @@
      */
     void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage);
 ~~~
+~~~java
+    /**
+     * 感知红绿灯
+     *
+     * @param header        头
+     * @param trafficLights 感知红绿灯
+     */
+    void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
+~~~
+~~~java
+    /**
+     * 他车轨迹预测
+     *
+     * @param header        头
+     * @param predictionObjects 他车轨迹预测数据
+     */
+    void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
+~~~
 ~~~java
     /**
      * 自动驾驶设备基础信息请求
@@ -450,9 +468,10 @@
      * 与工控机链接状态变化
      *
      * @param ipcConnectionStatus {@link Constants.IPC_CONNECTION_STATUS}
-     * @param failedMsg 连接异常信息
+     * @param reason              连接信息 需要判null
+     *                            如果ipcConnectionStatus==Constants.IPC_CONNECTION_STATUS.DISCONNECTED&&reason==null 表示主动断开连接
      */
-    void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, String failedMsg);
+    void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, @Nullable String reason);
 ~~~
 
 ## OnMultiDeviceListener

libraries/mogo-adas/build.gradle

@@ -71,7 +71,7 @@ android {
 
 dependencies {
     implementation fileTree(dir: 'libs', include: ['*.jar'])
-
+    implementation rootProject.ext.dependencies.androidxappcompat
     implementation rootProject.ext.dependencies.mogochainbase
     //okhttp3的依赖
     implementation 'com.squareup.okhttp3:okhttp:3.12.3'
@@ -85,10 +85,10 @@ dependencies {
 //    implementation 'com.google.protobuf:protobuf-java-util:3.6.1'
     implementation 'com.jcraft:jsch:0.1.55'
 //    api project(path: ':lib_recorder')
-    api "com.zhidao.support.recorder:recorder:1.0.0.3"
+//    api "com.zhidao.support.recorder:recorder:1.0.0.3"
 
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-
+        implementation project(':libraries:mogo-adas-data')
     } else {
         implementation project(':libraries:mogo-adas-data')
     }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -17,7 +17,6 @@ import com.zhidao.support.adas.high.bean.SSHResult;
 import com.zhidao.support.adas.high.common.Base64;
 import com.zhidao.support.adas.high.common.Constants;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
-import com.zhidao.support.adas.high.common.Define;
 import com.zhidao.support.adas.high.common.DigitalTrans;
 import com.zhidao.support.adas.high.common.IPCFixationIPHelper;
 import com.zhidao.support.adas.high.common.MessageType;
@@ -40,8 +39,8 @@ import com.zhjt.service.chain.TracingConstants;
 
 import org.json.JSONObject;
 
-import java.nio.charset.StandardCharsets;
 import java.util.HashSet;
+import java.util.concurrent.atomic.AtomicInteger;
 
 import mogo.telematics.pad.MessagePad;
 import okio.ByteString;
@@ -67,8 +66,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     /**
      * 与工控机链接状态
      */
-    @Define.IPCConnectionStatus
-    private int ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.DISCONNECTED;
+    private final AtomicInteger ipcConnectionStatus = new AtomicInteger(Constants.IPC_CONNECTION_STATUS.DISCONNECTED);
 
 
     /**
@@ -111,16 +109,16 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     @Override
     public void onStartFindIP() {
         if (adasConnectStatusListener != null) {
-            ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS;
-            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
+            ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS);
+            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "正在搜索IP");
         }
     }
 
     @Override
     public void onStopFindIP() {
         if (adasConnectStatusListener != null) {
-            ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.DISCONNECTED;
-            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
+            ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.DISCONNECTED);
+            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "停止搜索IP");
         }
     }
 
@@ -356,12 +354,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     public void connect() {
         //当是司机屏才启用
         if (!adasOptions.isClient()) {
-            if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED ||
-                    ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
-                ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.SEARCH_ADDRESS;
-                if (adasConnectStatusListener != null) {
-                    adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
-                }
+            if (ipcConnectionStatus.get() == Constants.IPC_CONNECTION_STATUS.DISCONNECTED ||
+                    ipcConnectionStatus.get() == Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS) {
                 switch (adasOptions.getIpcConnectionMode()) {
                     case AdasOptions.IPC_CONNECTION_MODE.FIXATION:
                         ipcFixationIPHelper(adasOptions.getIpcFixationIP());
@@ -402,31 +396,31 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     }
 
     @Override
-    public void onConnecting() {
-        ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.CONNECTING;
+    public void onConnecting(String msg) {
+        ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.CONNECTING);
         if (adasConnectStatusListener != null) {
-            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
+            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), msg);
         }
     }
 
     @Override
     public void onWebSocketConnectSuccess(String ipAddress, int port) {
-        ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.CONNECTED;
+        ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.CONNECTED);
         ipcConnectedIp = ipAddress;
         ipcConnectedPort = port;
         if (adasConnectStatusListener != null) {
-            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, null);
+            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "已连接");
         }
         sendCarConfigReq();
     }
 
     @Override
     public void onWebSocketConnectFailed(String t) {
-        ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.DISCONNECTED;
+        ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.DISCONNECTED);
         ipcConnectedIp = null;
         ipcConnectedPort = Constants.DEFAULT_PORT;
         if (adasConnectStatusListener != null) {
-            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, t);
+            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), t);
         }
     }
 
@@ -441,9 +435,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     }
 
     private void notFoundAddress() {
-        ipcConnectionStatus = Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS;
+        ipcConnectionStatus.set(Constants.IPC_CONNECTION_STATUS.NOT_FOUND_ADDRESS);
         if (adasConnectStatusListener != null) {
-            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus, "地址不可用或不合法");
+            adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), "地址不可用或不合法");
         }
     }
 
@@ -501,7 +495,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 
     @Override
     public int getIpcConnectionStatus() {
-        return ipcConnectionStatus;
+        return ipcConnectionStatus.get();
     }
 
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasConnectStatusListener.java

@@ -16,9 +16,9 @@ public interface OnAdasConnectStatusListener {
      * 与工控机链接状态变化
      *
      * @param ipcConnectionStatus {@link Constants.IPC_CONNECTION_STATUS}
-     * @param failedMsg           连接异常信息 需要判null
-     *                            如果ipcConnectionStatus==Constants.IPC_CONNECTION_STATUS.DISCONNECTED&&failedMsg==null 表示主动断开连接
+     * @param reason              连接信息 需要判null
+     *                            如果ipcConnectionStatus==Constants.IPC_CONNECTION_STATUS.DISCONNECTED&&reason==null 表示主动断开连接
      */
-    void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, @Nullable String failedMsg);
+    void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, @Nullable String reason);
 
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -8,6 +8,7 @@ import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
+import prediction.Prediction;
 import record_cache.RecordPanelOuterClass;
 
 /**
@@ -80,6 +81,14 @@ public interface OnAdasListener {
      */
     void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
 
+    /**
+     * 他车轨迹预测
+     *
+     * @param header        头
+     * @param predictionObjects 他车轨迹预测数据
+     */
+    void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
+
     /**
      * 自动驾驶设备基础信息请求
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/IPCFixationIPHelper.java

@@ -10,6 +10,8 @@ import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
 import java.util.concurrent.Future;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicInteger;
 
 /**
  * 工控机固定IP查询
@@ -18,8 +20,8 @@ public class IPCFixationIPHelper {
     private static final String TAG = IPCFixationIPHelper.class.getSimpleName();
     private final IIPCFixationIPListener listener;
     private final List<Future> futures = new ArrayList<>();
-    private volatile boolean isCallListener = false;//是否已经调用了回调
-    private volatile int unavailableCount = 0;//不可用IP个数
+    private final AtomicBoolean isCallListener = new AtomicBoolean(false);//是否已经调用了回调
+    private final AtomicInteger unavailableCount = new AtomicInteger(0);//不可用IP个数
     private volatile int queryCount;//要查询的IP个数
     private Timer retryTimer;
 
@@ -48,8 +50,9 @@ public class IPCFixationIPHelper {
         void onAvailableIP(String ip);
     }
 
-    private void interrupted() {
-        if (!futures.isEmpty()) {
+    private boolean interrupted() {
+        boolean isEm = futures.isEmpty();
+        if (!isEm) {
             for (Future future : futures) {
                 if (!future.isCancelled()) {
                     future.cancel(true);
@@ -57,6 +60,7 @@ public class IPCFixationIPHelper {
             }
             futures.clear();
         }
+        return isEm;
     }
 
     public void stop() {
@@ -64,9 +68,10 @@ public class IPCFixationIPHelper {
             retryTimer.cancel();
             retryTimer = null;
         }
-        isCallListener = true;
-        interrupted();
-        listener.onStopFindIP();
+        isCallListener.set(true);
+        if (!interrupted()) {
+            listener.onStopFindIP();
+        }
     }
 
     /**
@@ -83,8 +88,8 @@ public class IPCFixationIPHelper {
         } else {
             interrupted();
             queryCount = ips.size();
-            unavailableCount = 0;
-            isCallListener = false;
+            unavailableCount.set(0);
+            isCallListener.set(false);
             for (final String temp : ips) {
                 Runnable runnable = new Runnable() {
                     @Override
@@ -92,8 +97,8 @@ public class IPCFixationIPHelper {
                         CupidLogUtils.i(TAG, "ip=" + temp);
                         boolean isAvailable = ping(temp);
                         if (isAvailable) {
-                            if (!isCallListener && !Thread.currentThread().isInterrupted()) {
-                                isCallListener = true;
+                            if (!isCallListener.get() && !Thread.currentThread().isInterrupted()) {
+                                isCallListener.set(true);
                                 listener.onAvailableIP(temp);
                                 CupidLogUtils.i(TAG, "可用IP=" + temp);
                                 interrupted();
@@ -110,10 +115,9 @@ public class IPCFixationIPHelper {
     }
 
     private synchronized void allNotAvailable(final HashSet<String> ips) {
-        unavailableCount++;
-        if (queryCount == unavailableCount) {
-            if (!isCallListener) {
-                isCallListener = true;
+        if (queryCount == unavailableCount.incrementAndGet()) {
+            if (!isCallListener.get()) {
+                isCallListener.set(true);
                 listener.onAvailableIP(null);
                 CupidLogUtils.i(TAG, "所有IP均不可用");
                 //当配置中的所有IP都ping不通时，需要继续ping

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java

@@ -19,6 +19,7 @@ public enum MessageType {
     TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
     TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
     TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
+    TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
 
     TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
     TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java

@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.common;
 
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.concurrent.atomic.AtomicBoolean;
 
 /**
  * 写成单例比较好控制 比如refreshLast()方法可以放到任何接收的回调中,目前放在AutopilotStateMessage 数据接口中，此接口数据刷新不是太频繁
@@ -12,7 +13,7 @@ public class ReceiveTimeoutManager {
     private static final String TAG = ReceiveTimeoutManager.class.getSimpleName();
     private static volatile ReceiveTimeoutManager INSTANCE;
     private static final long DEFAULT_TIMEOUT = 4 * 1000L;//默认超时时间
-    private volatile boolean isEnable = true;//是否启用超时检测
+    private final AtomicBoolean isEnable = new AtomicBoolean(true);//是否启用超时检测
     private volatile long lastReceiveTime;
     private OnTimeoutListener listener;
     private volatile Timer timer;
@@ -40,7 +41,7 @@ public class ReceiveTimeoutManager {
     }
 
     public boolean isEnable() {
-        return isEnable;
+        return isEnable.get();
     }
 
     /**
@@ -50,7 +51,7 @@ public class ReceiveTimeoutManager {
      * @param ipcConnectionStatus 当前连接状态
      */
     public void setEnable(boolean isEnable, @Define.IPCConnectionStatus int ipcConnectionStatus) {
-        this.isEnable = isEnable;
+        this.isEnable.set(isEnable);
         //如果启动并且当前已连接
         if (isEnable) {
             if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
@@ -65,12 +66,12 @@ public class ReceiveTimeoutManager {
      * 刷新最后一次接收数据时间
      */
     public void refreshLast() {
-        if (isEnable)
+        if (isEnable.get())
             lastReceiveTime = System.currentTimeMillis();
     }
 
     public synchronized void start() {
-        if (isEnable)
+        if (isEnable.get())
             if (timer == null) {
                 refreshLast();
                 timer = new Timer();

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java

@@ -18,6 +18,7 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg autopilotStateMessage;//自动驾驶状态
     private IMsg reportMessage;//监控事件报告
     private IMsg perceptionTrafficLightMessage;//感知红绿灯
+    private IMsg predictionObstacleTrajectory;//他车轨迹预测
 
     private IMsg basicInfoReqMessage;//自动驾驶设备基础信息请求
     private IMsg carConfigRespMessage;//车机基础信息应答
@@ -91,6 +92,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 perceptionTrafficLightMessage = new PerceptionTrafficLightMessage();
             }
             return perceptionTrafficLightMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.typeCode) {
+            //他车轨迹预测
+            if (predictionObstacleTrajectory == null) {
+                predictionObstacleTrajectory = new PredictionObstacleTrajectoryMessage();
+            }
+            return predictionObstacleTrajectory;
         } else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) {
             //自动驾驶设备基础信息请求
             if (basicInfoReqMessage == null) {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java

@@ -0,0 +1,28 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.gson.Gson;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.OnAdasListener;
+
+import mogo.telematics.pad.MessagePad;
+import prediction.Prediction;
+
+/**
+ * 他车轨迹预测
+ */
+public class PredictionObstacleTrajectoryMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
+    }
+
+    @Override
+    public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        Prediction.mPredictionObjects objects = Prediction.mPredictionObjects.parseFrom(msg);
+        if (adasListener != null) {
+            adasListener.onPredictionObstacleTrajectory(header, objects);
+        }
+    }
+
+
+}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/protocol/RawPack.java

@@ -3,6 +3,8 @@ package com.zhidao.support.adas.high.protocol;
 import com.zhidao.support.adas.high.common.Constants;
 import com.zhidao.support.adas.high.common.DigitalTrans;
 
+import java.util.concurrent.atomic.AtomicLong;
+
 import mogo.telematics.pad.MessagePad;
 import okio.ByteString;
 
@@ -16,22 +18,21 @@ import okio.ByteString;
 public class RawPack {
     private static final String TAG = RawPack.class.getSimpleName();
     private final DefaultMessageProtocol messageProtocol;
-    private volatile long msgID = 0L;
+    private final AtomicLong msgID = new AtomicLong(0L);
 
     public RawPack() {
         messageProtocol = new DefaultMessageProtocol();
     }
 
 
-    public synchronized ByteString pack(MessagePad.MessageType msgType,  byte[] data) {
+    public synchronized ByteString pack(MessagePad.MessageType msgType, byte[] data) {
         if (msgType == null) {
             return null;
         }
-        msgID++;
         double time = System.nanoTime() / 1000000000.0;
         //封装Header
         MessagePad.Header.Builder headerBuilder = MessagePad.Header.newBuilder();
-        headerBuilder.setMsgID(msgID);//消息唯一ID，生成数据累加。从1开始，程序或者就一直累加，断开连接或者更换连接的工控机不做重置
+        headerBuilder.setMsgID(msgID.incrementAndGet());//消息唯一ID，生成数据累加。从1开始，连接未重新初始化就一直累加
         headerBuilder.setMsgType(msgType);
         headerBuilder.setTimestamp(time);
         headerBuilder.setSourceTimestamp(time);

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/socket/FpgaSocket.java

@@ -23,6 +23,7 @@ import com.zhjt.service.chain.TracingConstants;
 
 import java.util.Locale;
 import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicBoolean;
 
 import okhttp3.OkHttpClient;
 import okhttp3.Request;
@@ -62,7 +63,11 @@ public class FpgaSocket implements IWebSocket {
     /**
      * 是否是用户主动关闭socket
      */
-    private volatile boolean isUserCloseWebSocket = false;
+    private final AtomicBoolean isUserClose = new AtomicBoolean(false);
+    /**
+     * 是否是被动关闭
+     */
+    private final AtomicBoolean isPassiveClose = new AtomicBoolean(false);
     /**
      * 是否启用自动重连
      */
@@ -88,8 +93,8 @@ public class FpgaSocket implements IWebSocket {
             ReceiveTimeoutManager.getInstance().setListener(new ReceiveTimeoutManager.OnTimeoutListener() {
                 @Override
                 public void onTimeout(double time) {
-                    receiveTimeoutReason = "已超过" + time + "秒未收到工控机数据，将要进行重连";
-                    onClose(receiveTimeoutReason);
+                    receiveTimeoutReason = "心跳超时（" + time + "秒）";
+                    onPassiveClose(receiveTimeoutReason);
                 }
             });
         }
@@ -102,17 +107,18 @@ public class FpgaSocket implements IWebSocket {
     public void connectWebSocket(String address, int port) {
         this.ipAddress = address;
         this.port = port;
-        isUserCloseWebSocket = false;
+        isUserClose.set(false);
+        isPassiveClose.set(false);
         wsHost = WS_IP_HOST_HEAD + address + String.format(Locale.getDefault(), RESOURCE_PATH, port);
         CupidLogUtils.i(TAG, "WebSocket 主动连接= " + wsHost);
         init();
-        connect();
+        connect("连接中");
     }
 
-    private void connect() {
+    private void connect(String msg) {
         if (client != null && mWebSocket == null) {
             if (mWebSocketConnectListener != null)
-                mWebSocketConnectListener.onConnecting();
+                mWebSocketConnectListener.onConnecting(msg);
             if (request == null)
                 request = new Request.Builder()
                         .url(wsHost)
@@ -126,15 +132,15 @@ public class FpgaSocket implements IWebSocket {
      */
     public void reconnect() {
         if (isReconnect) {
-            if (!isUserCloseWebSocket) {
+            if (!isUserClose.get()) {
                 try {
                     Thread.sleep(2000L);
                 } catch (InterruptedException e) {
                     e.printStackTrace();
                 }
-                connect();
+                connect("重连中");
             } else {
-                isUserCloseWebSocket = false;
+                isUserClose.set(false);
             }
         }
     }
@@ -146,7 +152,8 @@ public class FpgaSocket implements IWebSocket {
             WebSocketQueueManager.getInstance().release();
             WSByteQueueManager.getInstance().release();
         }
-        isUserCloseWebSocket = true;
+        isUserClose.set(true);
+        isPassiveClose.set(false);
         if (mWebSocket != null) {
             close(true, 1000);
         } else {
@@ -187,7 +194,7 @@ public class FpgaSocket implements IWebSocket {
         /**
          * 正在连接
          */
-        void onConnecting();
+        void onConnecting(String msg);
 
         void onWebSocketConnectSuccess(String ipAddress, int port);
 
@@ -270,31 +277,39 @@ public class FpgaSocket implements IWebSocket {
         @Override
         public void onClosing(@NonNull WebSocket webSocket, int code, @NonNull String reason) {
             super.onClosing(webSocket, code, reason);
-            CupidLogUtils.e(TAG, "WebSocket onClosing= " + reason);
+            CupidLogUtils.e(TAG, code + "WebSocket onClosing= " + reason);
+            String msg = "Code=" + code + " ";
             if (TextUtils.isEmpty(reason))
-                reason = "onClosing";
-            onClose(reason);
+                reason = "未知原因";
+            msg += reason;
+            onPassiveClose("Closing " + msg);
         }
 
         @Override
         public void onClosed(@NonNull WebSocket webSocket, int code, @NonNull String reason) {
             super.onClosed(webSocket, code, reason);
-            CupidLogUtils.e(TAG, "WebSocket onClosed= " + reason);
+            CupidLogUtils.e(TAG, code + "WebSocket onClosed= " + reason);
+            String msg = "Code=" + code + " ";
             if (TextUtils.isEmpty(reason))
-                reason = "onClosed";
-            onClose(reason);
+                reason = "未知原因";
+            msg += reason;
+            onPassiveClose("Closed " + msg);
         }
 
         @Override
         public void onFailure(@NonNull WebSocket webSocket, @NonNull Throwable t, Response response) {
             super.onFailure(webSocket, t, response);
-            CupidLogUtils.e(TAG, "WebSocket onFailure= " + t);
+            CupidLogUtils.e(TAG, "WebSocket onFailure 是否是被动关闭：" + isPassiveClose + " Throwable=" + t);
+            if (isPassiveClose.get()) {
+                isPassiveClose.set(false);
+                return;
+            }
             String reason = t.toString();
             //连接异常或关闭异常不进行堆栈打印
             if (!reason.toLowerCase().contains("failed to connect to") && !reason.contains("Socket closed"))
-                t.printStackTrace();
+                CupidLogUtils.e(TAG, "WebSocket onFailure", t);
             if (TextUtils.isEmpty(reason))
-                reason = "onFailure";
+                reason = "未知原因";
             if (!TextUtils.isEmpty(receiveTimeoutReason)) {
                 reason = receiveTimeoutReason;
                 receiveTimeoutReason = null;
@@ -302,26 +317,33 @@ public class FpgaSocket implements IWebSocket {
             if (mWebSocket != null) {
                 close(false, 1001);
             }
-            onConnectFailed(reason);
+            onConnectFailed("Failure " + reason);
         }
     }
 
     private void onConnectFailed(String reason) {
+        receiveTimeoutReason = null;
         ReceiveTimeoutManager.getInstance().stop();
         if (mWebSocketConnectListener != null) {
-            if (isUserCloseWebSocket)
+            reason = "未连接 " + reason;
+            if (isUserClose.get())
                 reason = null;
             mWebSocketConnectListener.onWebSocketConnectFailed(reason);
         }
         reconnect();
     }
 
-    private void onClose(String reason) {
+    /**
+     * 被动关闭 包含：服务断开 心跳超时 异常断开 等
+     *
+     * @param reason
+     */
+    private void onPassiveClose(String reason) {
+        isPassiveClose.set(true);
         if (mWebSocket != null) {
             close(false, 1001);
-        } else {
-            onConnectFailed(reason);
         }
+        onConnectFailed(reason);
     }
 
     /**