Merge remote-tracking branch 'origin/dev_robotaxi-d_250603_8.1.0' into dev_robotaxi-d_250603_8.1.0

OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeProvider.kt

@@ -10,10 +10,14 @@ import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.och.bridge.autopilot.location.OchLocationManager
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
 import com.mogo.och.bridge.bridge.OchBridgeManager
+import com.mogo.och.bridge.bridge.OchVlmManager
 import com.mogo.och.bridge.trajectory.TrajectoryManager
 import com.mogo.och.common.module.biz.birdge.BridgeService
 import com.mogo.och.common.module.biz.birdge.BridgeListener
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
 import com.mogo.och.common.module.constant.OchCommonConst
+import com.mogo.och.common.module.manager.EnvManager
 
 
 /**
@@ -29,7 +33,16 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
 
     override fun init(context: Context?) {
         this.context = context
-        OchBridgeManager.load()
+
+        // 车前引导线+预测数据
+        if(EnvManager.isB2Passenger()||EnvManager.isT1T2Passenger()){
+            OchBridgeManager.load()
+        }
+
+//        if(EnvManager.isT1T2Passenger()){
+            OchVlmManager.load()
+//        }
+
         TrajectoryManager.load()
     }
 
@@ -92,5 +105,17 @@ class BridgeProvider : BridgeService, CallerBase<BridgeListener>() {
         }
     }
 
+    fun invokeVlmDataDispatch(vlmData:VlmData){
+        M_LISTENERS.forEach {
+            it.value.onVlmDataListener(vlmData)
+        }
+    }
+
+    fun inVokeNdeData(title: String, desc: String, sortedList: List<RoadMsg>) {
+        M_LISTENERS.forEach {
+            it.value.onNdeDataListener(title,desc,sortedList)
+        }
+    }
+
 
 }

OCH/common/bridge/src/main/java/com/mogo/och/bridge/BridgeServiceManager.kt

@@ -3,13 +3,10 @@ package com.mogo.och.bridge
 import android.annotation.SuppressLint
 import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
 import com.mogo.och.common.module.constant.OchCommonConst
-import com.mogo.och.common.module.manager.loop.BizLoopManager
-import com.mogo.och.common.module.manager.loop.LoopInfo
-import io.reactivex.schedulers.Schedulers
-import kotlin.properties.Delegates
 
 object BridgeServiceManager {
 
@@ -19,52 +16,12 @@ object BridgeServiceManager {
     private var bridgeService: BridgeProvider? =
         ARouter.getInstance().build(OchCommonConst.BIZ_Bridge).navigation() as BridgeProvider
 
-    private var trajectoryTime = 0L
-    private var predictionTime = 0L
-
-    init {
-        BizLoopManager.setLoopFunction(TAG,
-            LoopInfo(2, ::checkTimeout, immediately = false, scheduler = Schedulers.io())
-        )
-    }
-
-    // 是否有车前引导线
-    private var haveTrajectoryInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
-        if (oldValue != newValue) {
-            bridgeService?.invokeTrajectoryHaveDataListener(newValue)
-            CallerLogger.d(TAG,"haveTrajectoryInfo 发生变化：${newValue}")
-        }
-        trajectoryTime = System.currentTimeMillis()
-
-    }
-
-    // 是否有预测数据
-    private var havePredictionInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
-        if (oldValue != newValue) {
-            bridgeService?.invokePredictionHavaData(newValue)
-            CallerLogger.d(TAG,"havePredictionInfo 发生变化：${newValue}")
-        }
-        predictionTime = System.currentTimeMillis()
-    }
-
-    fun checkTimeout(){
-        if(System.currentTimeMillis() - trajectoryTime>2_000){
-            haveTrajectoryInfo = false
-            CallerLogger.d(TAG,"超时设置为false：haveTrajectoryInfo ${haveTrajectoryInfo}")
-        }
-        if(System.currentTimeMillis() - predictionTime>2_000){
-            havePredictionInfo = false
-            CallerLogger.d(TAG,"超时设置为false：havePredictionInfo ${havePredictionInfo}")
-        }
-    }
-
-
     fun invokePlanningListener(haveTrajectoryInfos:Boolean){
-        this.haveTrajectoryInfo = haveTrajectoryInfos
+        bridgeService?.invokeTrajectoryHaveDataListener(haveTrajectoryInfos)
     }
 
     fun invokePredictionHaveData(havePredictionInfos:Boolean){
-        this.havePredictionInfo = havePredictionInfos
+        bridgeService?.invokePredictionHavaData(havePredictionInfos)
     }
 
     fun invokeTrajectoryPoints(trajectoryList: MutableList<MogoLocation>){
@@ -78,4 +35,15 @@ object BridgeServiceManager {
         this.bridgeService?.invokeTrajectoryPointAndDistance(trajectoryList, distance)
     }
 
+    /**
+     * 分发vmData
+     */
+    fun invokeVlmData(vlmData: VlmData){
+        this.bridgeService?.invokeVlmDataDispatch(vlmData)
+    }
+
+    fun invokeNdeData(title: String, desc: String, sortedList: List<RoadMsg>) {
+        this.bridgeService?.inVokeNdeData(title,desc,sortedList)
+    }
+
 }

OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/Data.kt

@@ -0,0 +1,42 @@
+package com.mogo.och.bridge.bridge
+
+data class VlmImageData(val imageSourceTimestamp: Double ,var image: ByteArray?) {
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as VlmImageData
+
+        return imageSourceTimestamp == other.imageSourceTimestamp
+    }
+
+    override fun hashCode(): Int {
+        return imageSourceTimestamp.hashCode()
+    }
+
+    override fun toString(): String {
+        return "VlmImageData(imageSourceTimestamp=$imageSourceTimestamp)"
+    }
+
+
+}
+
+data class VlmMessageData(val messageSourceTimestamp: Double ,val id:Int?,val message:String?){
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as VlmMessageData
+
+//        if (messageSourceTimestamp != other.messageSourceTimestamp) return false
+        if (id != other.id) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = messageSourceTimestamp.hashCode()
+        result = 31 * result + (id ?: 0)
+        return result
+    }
+}

OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt

@@ -4,24 +4,62 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager
-import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
 import com.mogo.och.bridge.BridgeServiceManager
+import com.mogo.och.common.module.manager.loop.BizLoopManager
+import com.mogo.och.common.module.manager.loop.LoopInfo
+import io.reactivex.schedulers.Schedulers
 import prediction2025.Prediction2025
 import mogo.telematics.pad.MessagePad
+import kotlin.properties.Delegates
 
-object OchBridgeManager: CallerBase<IMoGoPlanningTrajectoryListener>(),
+object OchBridgeManager: IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentifyListener {
-    IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentifyListener {
     private val TAG = "${M_OCHCOMMON}OchPlanningListenerManager"
 
+
+    private var trajectoryTime = 0L
+    private var predictionTime = 0L
+
     fun load(){
         CallerPlanningTrajectoryListenerManager.addListener(TAG,this)
         CallerAutopilotIdentifyListenerManager.addListener(TAG,this)
+        BizLoopManager.setLoopFunction(TAG, LoopInfo(2, ::checkTimeout, immediately = false, scheduler = Schedulers.io()))
     }
 
     fun release(){
         CallerPlanningTrajectoryListenerManager.removeListener(TAG)
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+    }
+
+    // 是否有车前引导线
+    private var haveTrajectoryInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            BridgeServiceManager.invokePlanningListener(newValue)
+            CallerLogger.d(TAG,"haveTrajectoryInfo 发生变化：${newValue}")
+        }
+        trajectoryTime = System.currentTimeMillis()
+
+    }
+
+    // 是否有预测数据
+    private var havePredictionInfo: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            BridgeServiceManager.invokePredictionHaveData(newValue)
+            CallerLogger.d(TAG,"havePredictionInfo 发生变化：${newValue}")
+        }
+        predictionTime = System.currentTimeMillis()
+    }
+
+    fun checkTimeout(){
+        if(System.currentTimeMillis() - trajectoryTime>2_000){
+            haveTrajectoryInfo = false
+            CallerLogger.d(TAG,"超时设置为false：haveTrajectoryInfo $haveTrajectoryInfo")
+        }
+        if(System.currentTimeMillis() - predictionTime>2_000){
+            havePredictionInfo = false
+            CallerLogger.d(TAG,"超时设置为false：havePredictionInfo $havePredictionInfo")
+        }
     }
 
     /**
@@ -29,17 +67,20 @@ object OchBridgeManager: CallerBase<IMoGoPlanningTrajectoryListener>(),
      */
     override fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>) {
         if(trajectoryInfos.isEmpty()){
-            BridgeServiceManager.invokePlanningListener(false)
+            haveTrajectoryInfo = false
         }else{
-            BridgeServiceManager.invokePlanningListener(true)
+            haveTrajectoryInfo = true
         }
     }
 
+    /**
+     * 预测信息
+     */
     override fun onPredictionObstacleTrajectory(predictionObjects: Prediction2025.mPredictionObjects) {
         if (predictionObjects.objsAppList==null) {
-            BridgeServiceManager.invokePredictionHaveData(false)
+            havePredictionInfo = false
         }else{
-            BridgeServiceManager.invokePredictionHaveData(true)
+            havePredictionInfo = true
         }
     }
 

OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchNdeManager.kt

@@ -1,24 +1,28 @@
-package com.mogo.och.unmanned.passenger.ui.aiview
+package com.mogo.och.bridge.bridge
 
-import androidx.lifecycle.ViewModel
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
-import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
+import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
+import com.mogo.och.bridge.BridgeServiceManager
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+
 import mogo.telematics.pad.MessagePad.TrackedObject
 
-class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener {
+object OchNdeManager : IMoGoAutopilotIdentifyListener {
+    private val TAG = "${M_OCHCOMMON}OchVlmManager"
 
-    companion object{
+    fun load(){
-        private const val TAG = "NDEViewModel"
+        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+    }
+
+    fun release(){
+        CallerVlmManager.removeListener(TAG)
     }
 
     private var lastMap2 = HashMap<Int, String>()
     private var lastTime = 0L
 
-    fun init(){
-        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
-    }
-
     override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?){
         super.onAutopilotIdentifyDataUpdate(trafficData)
         handleCheLong(trafficData)
@@ -27,7 +31,7 @@ class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener {
     private fun handleCheLong(trafficData: List<TrackedObject>?) {
         var hasCheLong = false
         var isNewData = false
-        val roadMsgList = ArrayList<AIMessage.RoadMsg>()
+        val roadMsgList = ArrayList<RoadMsg>()
         val curMap = HashMap<Int, String>()
         if (lastTime > 0 && System.currentTimeMillis() - lastTime > 60000) {
             lastMap2.clear()// 清除上次车龙事件的缓存
@@ -55,8 +59,7 @@ class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener {
                     curMap[obj.laneNum] = "0"
                 }
                 // 保存所有车道信息
-                roadMsgList.add(
+                roadMsgList.add(RoadMsg(
-                    AIMessage.RoadMsg(
                         obj.arrowType,
                         laneNum = obj.laneNum,
                         isRecommend = obj.suggestedLanes,
@@ -74,10 +77,8 @@ class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener {
                 lastTime = System.currentTimeMillis()
 
                 val sortedList = roadMsgList.sortedWith(compareByDescending { it.laneNum })
-                val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),"路口车龙","前方路口有车龙",sortedList)
+                BridgeServiceManager.invokeNdeData("路口车龙","前方路口有车龙",sortedList)
-                AIMessageManager.post(ndeEvent)
             }
         }
     }
-
 }

OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchVlmManager.kt

@@ -0,0 +1,58 @@
+package com.mogo.och.bridge.bridge
+
+import com.mogo.eagle.core.function.api.autopilot.IVlmListener
+import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OCHCOMMON
+import com.mogo.och.bridge.BridgeServiceManager
+import com.mogo.och.common.module.biz.birdge.data.VlmData
+import vllm.Vlm
+import kotlin.properties.Delegates
+
+object OchVlmManager : IVlmListener {
+    private val TAG = "${M_OCHCOMMON}OchVlmManager"
+
+    fun load(){
+        CallerVlmManager.addListener(TAG,this)
+    }
+
+    fun release(){
+        CallerVlmManager.removeListener(TAG)
+    }
+
+    //
+    private var vllmImageData: VlmImageData by Delegates.observable(VlmImageData(0.0,null)) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            if(newValue.imageSourceTimestamp == vllmData.messageSourceTimestamp){
+                CallerLogger.d(TAG," message先来 图片后来 发送message和图片 ${newValue.imageSourceTimestamp}---${vllmData.messageSourceTimestamp}")
+                BridgeServiceManager.invokeVlmData(VlmData(vllmData.id,vllmData.message,newValue.image))
+            }
+        }
+    }
+    private var vllmData: VlmMessageData by Delegates.observable(VlmMessageData(0.0,0,"")) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+           if(newValue.messageSourceTimestamp== vllmImageData.imageSourceTimestamp){
+               // 图片先来 发送message和图片
+               BridgeServiceManager.invokeVlmData(VlmData(newValue.id,newValue.message,
+                   vllmImageData.image)
+               )
+               CallerLogger.d(TAG,"messsage后来 图片先来 发送message和图片 ${newValue.message}----${newValue.messageSourceTimestamp}---${newValue.id}")
+           }else{
+               // message 先来 单独发送message 图片来了后 再次发送出去
+               BridgeServiceManager.invokeVlmData(VlmData(newValue.id,newValue.message,null))
+               CallerLogger.d(TAG,"message先来 图片后来 发送message ${newValue.message}---${newValue.messageSourceTimestamp}---${newValue.id}")
+           }
+        }
+    }
+
+
+    override fun onVllm(sourceTimestamp: Double, vllm: Vlm.VLLMObject) {
+        if(this.vllmData.id!=vllm.workZone.id){
+            this.vllmData = VlmMessageData(sourceTimestamp,vllm.workZone.id,vllm.workZone.sceneExplantion)
+        }
+    }
+
+    override fun onVllmImage(sourceTimestamp: Double, image: ByteArray) {
+        this.vllmImageData = VlmImageData(sourceTimestamp,image)
+    }
+}

OCH/common/common/src/debug/java/com/mogo/och/common/module/debug/DebugDataDispatch.kt

@@ -1,6 +1,8 @@
 package com.mogo.och.common.module.debug
 
 import android.content.Intent
+import android.graphics.Bitmap
+import android.graphics.BitmapFactory
 import android.os.Environment
 import android.os.SystemClock
 import chassis.Chassis
@@ -8,6 +10,7 @@ import chassis.Chassis.DoorNumber
 import chassis.VehicleStateOuterClass
 import com.amap.api.maps.model.LatLng
 import com.google.gson.reflect.TypeToken
+import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -24,6 +27,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapRomaListener
@@ -34,24 +38,25 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ActivityUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.och.common.module.R
 import com.mogo.och.common.module.biz.birdge.BridgeManager
 import com.mogo.och.common.module.biz.order.OrderManager
 import com.mogo.och.common.module.debug.location.MogoLocationExit
 import com.mogo.och.common.module.manager.loop.BizLoopManager
-//import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
-//import com.mogo.och.bridge.utils.CoordinateCalculateRouteUtil
-//import com.mogo.och.bridge.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.common.module.view.DebugFloatWindow
 import com.mogo.och.common.module.wigets.media.MediaBeanManager
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
+import vllm.Vlm
 import java.io.BufferedReader
+import java.io.ByteArrayOutputStream
 import java.io.File
 import java.io.FileInputStream
 import java.io.IOException
 import java.io.InputStreamReader
 
+
 object DebugDataDispatch {
 
     const val TAG = "DebugDataDispatch"
@@ -73,6 +78,8 @@ object DebugDataDispatch {
     const val ota = "ota"
     const val video = "video"
     const val mediaMusic = "mediaAndMusic"
+    const val vlmMessage = "vlmMessage"
+    const val vlmImage = "vlmImage"
 
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "location" --es path "1111/11111"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "globalPath" --es path "sy73.json"
@@ -89,7 +96,8 @@ object DebugDataDispatch {
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "showDebugView"
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "scanner" --es qrInfo ""
 //    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "ota" --ei "ota" 1
-//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "video" --ei "video" 1  --es url "rtmp://video.zhidaozhixing.com/live/861130041693196C_2"
+//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmMessage" --es message "前方100米有道路施工，施工长度100米，影响第1、2车道通行。" --ei id 128  --ef time 1880.0
+//    adb shell am broadcast -a com.mogo.launcher.debug -f 0x011000000 --es type "vlmImage"  --ef time 1880.0
 
 
     val ROOT_PATH =
@@ -102,6 +110,25 @@ object DebugDataDispatch {
 
         }
         when (type) {
+            vlmMessage -> {
+                val time = intent.getFloatExtra("time",0f)
+                val id = intent.getIntExtra("id",0)
+                val message = intent.getStringExtra("message")
+                val newBuilder = Vlm.VLLMObject.newBuilder()
+                val build = newBuilder.workZoneBuilder.setId(id).setSceneExplantion(message).build()
+                newBuilder.workZone = build
+                CallerVlmManager.invokeVllm(time.toDouble(),newBuilder.build())
+            }
+            vlmImage -> {
+                val time = intent.getFloatExtra("time",0f)
+                BizLoopManager.runInIoThread{
+                    val bitmap = BitmapFactory.decodeResource(AbsMogoApplication.getApp().resources, R.drawable.common_debug)
+                    val stream = ByteArrayOutputStream()
+                    bitmap.compress(Bitmap.CompressFormat.PNG, 100, stream)
+                    val byteArray = stream.toByteArray()
+                    CallerVlmManager.invokeVllmImage(time.toDouble(),byteArray)
+                }
+            }
             mediaMusic -> {
                 val musicList = MediaBeanManager.getMusicList()
                 val mediaList = MediaBeanManager.getMediaList()

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/BridgeListener.kt

@@ -1,6 +1,8 @@
 package com.mogo.och.common.module.biz.birdge
 
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
 
 interface BridgeListener {
     /**
@@ -15,4 +17,9 @@ interface BridgeListener {
     fun onTrajectoryDistanceListener(distance: Double){}
 
     fun onTrajectoryPointsAndDistanceListener(trajectoryList: MutableList<MogoLocation>,distance: Double){}
+
+
+    fun onVlmDataListener(vlmData: VlmData){}
+
+    fun onNdeDataListener(title: String, desc: String, sortedList: List<RoadMsg>) {}
 }

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/RoadMsg.kt

@@ -0,0 +1,8 @@
+package com.mogo.och.common.module.biz.birdge.data
+
+data class RoadMsg(
+    var arrowType: Int, // 车道类型，如直行201(详情参考文件：message_pad.proto)
+    var laneNum: Int,// 车道号
+    var isRecommend: Boolean,// 是否是推荐车道
+    var isCheLong: Boolean// 是否有车龙，代表拥堵、行驶缓慢
+)

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/birdge/data/VlmData.kt

@@ -0,0 +1,28 @@
+package com.mogo.och.common.module.biz.birdge.data
+
+data class VlmData(val id:Int?,val message:String?,var image: ByteArray?) {
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (javaClass != other?.javaClass) return false
+
+        other as VlmData
+
+        if (id != other.id) return false
+        if (message != other.message) return false
+        if (image != null) {
+            if (other.image == null) return false
+            if (!image.contentEquals(other.image)) return false
+        } else if (other.image != null) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        return id ?: 0
+    }
+
+    override fun toString(): String {
+        return "VlmData(id=$id, message=$message)"
+    }
+
+}

OCH/common/common/src/main/java/com/mogo/och/common/module/manager/EnvManager.kt

@@ -0,0 +1,45 @@
+package com.mogo.och.common.module.manager
+
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+
+object EnvManager {
+    fun isB1(): Boolean {
+        return AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isB1Driver(): Boolean {
+        return isB1() && AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isB1Passenger(): Boolean {
+        return isB1() && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isB2(): Boolean {
+        return AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isB2Driver(): Boolean {
+        return isB2() && AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isB2Passenger(): Boolean {
+        return isB2() && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isT1T2(): Boolean {
+        return AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isT1T2Driver(): Boolean {
+        return isT1T2() && AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
+    }
+
+    fun isT1T2Passenger(): Boolean {
+        return isT1T2() && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
+    }
+
+
+
+}

OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/PM2BaseFragment.kt

@@ -10,6 +10,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.UriUtils
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
 import com.mogo.och.common.module.biz.media.MediaManager
 import com.mogo.och.common.module.manager.loop.BizLoopManager
 import com.mogo.och.common.module.manager.transform.OchTransform
@@ -126,11 +127,11 @@ class PM2BaseFragment :
             CallerMapRoadListenerManager.invokeCrossDevice(true)
         }
         test3.onClick {
-            val one = AIMessage.RoadMsg(201,1,true,false)
+            val one = RoadMsg(201,1,true,false)
-            val two = AIMessage.RoadMsg(202,2,false,false)
+            val two = RoadMsg(202,2,false,false)
-            val three = AIMessage.RoadMsg(203,3,false,true)
+            val three = RoadMsg(203,3,false,true)
 
-            val sortedList = ArrayList<AIMessage.RoadMsg>()
+            val sortedList = ArrayList<RoadMsg>()
             sortedList.add(one)
             sortedList.add(two)
             sortedList.add(three)

OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AINDERoadAdapter.kt

@@ -10,14 +10,14 @@ import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
 import androidx.recyclerview.widget.RecyclerView
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
 import com.mogo.och.shuttle.weaknet.passenger.R
-import com.mogo.och.shuttle.weaknet.passenger.ui.mind.bean.AIMessage
 
 class AINDERoadAdapter(private val context: Context): RecyclerView.Adapter<AINDERoadAdapter.AIRoadHolder>() {
 
-    private var roadList: List<AIMessage.RoadMsg>?= null
+    private var roadList: List<RoadMsg>?= null
 
-    fun setData(list: List<AIMessage.RoadMsg>){
+    fun setData(list: List<RoadMsg>){
         roadList = list
         notifyDataSetChanged()
     }

OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/bean/AssistantMessage.kt

@@ -3,6 +3,8 @@ package com.mogo.och.shuttle.weaknet.passenger.ui.mind.bean
 import android.os.CountDownTimer
 import android.util.Log
 import com.mogo.eagle.core.data.v2x.RoadV2NEventType
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
 import kotlin.math.floor
 
 
@@ -175,11 +177,11 @@ sealed class AIMessage(
         var roadList: List<RoadMsg>
     ): AIMessage(id,title)
 
-    data class RoadMsg(
+    data class AiVlmData(
-        var arrowType: Int, // 车道类型，如直行201(详情参考文件：message_pad.proto)
+        override val id: String,
-        var laneNum: Int,// 车道号
+        override val title: String,
-        var isRecommend: Boolean,// 是否是推荐车道
+        var desc: String,
-        var isCheLong: Boolean// 是否有车龙，代表拥堵、行驶缓慢
+        var vlmData: VlmData
-    )
+    ):AIMessage(id,title)
 
 }

OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/data/NDEViewModel.kt

@@ -3,85 +3,33 @@ package com.mogo.och.shuttle.weaknet.passenger.ui.mind.data
 import androidx.lifecycle.ViewModel
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.och.common.module.biz.birdge.BridgeListener
+import com.mogo.och.common.module.biz.birdge.BridgeManager
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
 import com.mogo.och.shuttle.weaknet.passenger.ui.mind.AIMessageManager
 import com.mogo.och.shuttle.weaknet.passenger.ui.mind.bean.AIMessage
-import mogo.telematics.pad.MessagePad.TrackedObject
 
 /**
  * 车龙信息
  */
-class NDEViewModel: ViewModel(), IMoGoAutopilotIdentifyListener {
+class NDEViewModel: ViewModel(), BridgeListener {
 
     companion object{
         private const val TAG = "NDEViewModel"
     }
 
-    private var lastMap2 = HashMap<Int, String>()
-    private var lastTime = 0L
-
     fun init(){
-        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+        BridgeManager.addBridgeListener(TAG,this)
     }
 
-    override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?){
+    override fun onCleared() {
-        super.onAutopilotIdentifyDataUpdate(trafficData)
+        super.onCleared()
-        handleCheLong(trafficData)
+        BridgeManager.removeBridgeListener(TAG)
     }
 
-    private fun handleCheLong(trafficData: List<TrackedObject>?) {
+    override fun onNdeDataListener(title: String, desc: String, sortedList: List<RoadMsg>) {
-        var hasCheLong = false
+        val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),title,desc,sortedList)
-        var isNewData = false
+        AIMessageManager.post(ndeEvent)
-        val roadMsgList = ArrayList<AIMessage.RoadMsg>()
-        val curMap = HashMap<Int, String>()
-        if (lastTime > 0 && System.currentTimeMillis() - lastTime > 60000) {
-            lastMap2.clear()// 清除上次车龙事件的缓存
-        }
-        var lastLocStr: String? = ""
-        trafficData?.forEach { obj ->
-            if (obj.type == 707) {// 当前方向所有车道
-                if (obj.polygonCount > 1) {// 当次数据有车龙事件
-                    lastLocStr = lastMap2[obj.laneNum]
-                    // 1. 上次无车龙但此次有车龙，认为是新车龙事件
-                    // 2. 两次都有车龙，则判断车龙的长度是否相同
-                    if (lastLocStr == null || lastLocStr == "0" || lastLocStr != "${obj.polygonList[0]}-${obj.polygonList[obj.polygonCount - 1]}") {
-                        isNewData = true
-                    }
-                    hasCheLong = true
-
-                    // key: 车道号，value: 非0代表有车龙且首、尾两个点可计算车龙长度
-                    curMap[obj.laneNum] =
-                        "${obj.polygonList[0]}-${obj.polygonList[obj.polygonCount - 1]}"
-                } else {// 当次没有车龙
-                    if (lastMap2[obj.laneNum] != null && lastMap2[obj.laneNum] != "0") {// 3. 上次有车龙，这次无车龙
-                        isNewData = true
-                    }
-                    // key: 车道号，value: 0代表无车龙
-                    curMap[obj.laneNum] = "0"
-                }
-                // 保存所有车道信息
-                roadMsgList.add(
-                    AIMessage.RoadMsg(
-                        obj.arrowType,
-                        laneNum = obj.laneNum,
-                        isRecommend = obj.suggestedLanes,
-                        isCheLong = obj.polygonCount > 1
-                    )
-                )
-            }
-        }
-        if (isNewData) {
-            // 清除上次车道信息
-            lastMap2.clear()
-            if (hasCheLong) {
-                // 缓存当次车龙事件所有车道信息
-                lastMap2.putAll(curMap)
-                lastTime = System.currentTimeMillis()
-
-                val sortedList = roadMsgList.sortedWith(compareByDescending { it.laneNum })
-                val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),"路口车龙","前方路口有车龙",sortedList)
-                AIMessageManager.post(ndeEvent)
-            }
-        }
     }
 
 }

OCH/shuttle/passenger_weaknet/src/main/res/b1/layout/shuttle_p_weak_jl_base_fragment.xml

@@ -45,6 +45,7 @@
         app:layout_constraintTop_toTopOf="parent" />
 
     <com.mogo.eagle.core.function.hmi.ui.msgbox.BusPassengerMsgBoxBubbleView
+        android:id="@+id/bpmsgBubble"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         app:layout_constraintLeft_toLeftOf="parent"
@@ -61,6 +62,16 @@
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <com.mogo.eagle.core.function.hmi.ui.v2n.RoadV2NEventWindowView
+        android:id="@+id/roadV2NEventWindowView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginBottom="-70dp"
+        android:layout_marginRight="14dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/bpmsgBubble"
+        android:visibility="gone"/>
+
     <com.mogo.och.common.module.wigets.LoadingMapStatusView
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/AiView.kt

@@ -26,6 +26,10 @@ import com.mogo.och.unmanned.passenger.ui.aiview.adapter.AIMessageAdapter
 import com.mogo.och.unmanned.passenger.ui.aiview.adapter.OnItemClickListener
 import com.mogo.och.unmanned.passenger.ui.aiview.adapter.PaddingItemDecoration
 import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
+import com.mogo.och.unmanned.passenger.ui.aiview.data.AutomaticExplorationViewModel
+import com.mogo.och.unmanned.passenger.ui.aiview.data.NDEViewModel
+import com.mogo.och.unmanned.passenger.ui.aiview.data.RoadCrossRoamViewModel
+import com.mogo.och.unmanned.passenger.ui.aiview.data.RoadV2NEventViewModel
 import com.mogo.och.unmanned.taxi.passenger.R
 import kotlinx.android.synthetic.main.taxt_p_ai.view.aiMotionLayout
 import kotlinx.android.synthetic.main.taxt_p_ai.view.ivIcon
@@ -47,11 +51,10 @@ class AiView @JvmOverloads constructor(
 
 
     private var viewModel:AIViewModel?=null
-//    private var pncActionsModel:PNCActionsViewModel ?= null
+    private var roadV2NEventModel: RoadV2NEventViewModel?= null
-    private var roadV2NEventModel:RoadV2NEventViewModel ?= null
+    private var roadCrossRoamModel: RoadCrossRoamViewModel?= null
-    private var roadCrossRoamModel:RoadCrossRoamViewModel ?= null
+    private var automaticExplorationModel: AutomaticExplorationViewModel?= null
-    private var automaticExplorationModel:AutomaticExplorationViewModel ?= null
+    private var ndeViewModel: NDEViewModel?= null
-    private var ndeViewModel: NDEViewModel ?= null
 
     private var aiAnimator: BigFrameAnimatorContainer?=null
     private var aiAnimatorBg: BigFrameAnimatorContainer?=null
@@ -105,7 +108,6 @@ class AiView @JvmOverloads constructor(
         if(aiAnimator==null) {
             aiAnimator = BigFrameAnimatorContainer(R.array.ai_animator, 31, ivIcon)
         }
-//        aiAnimator?.start()
 
         ivIcon.onClick {
             viewModel?.onWakeUp()

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageAdapter.kt

@@ -26,6 +26,7 @@ class AIMessageAdapter : ListAdapter<AIMessage, MessageViewHolder>(MessageDiffCa
             AIMessage.TYPE_AUTOMATIC_EXPLORATION -> AutomaticExplorationViewHolder(inflater.inflate(R.layout.item_ai_automatic_exploration,parent,false))
             AIMessage.TYPE_EVALUATE -> EvaluateViewViewHolder(inflater.inflate(R.layout.taxi_p_evaluate,parent,false))
             AIMessage.TYPE_NDE -> NDEViewHolder(inflater.inflate(R.layout.item_ai_nde_event,parent,false))
+            AIMessage.TYPE_VLM -> VlmViewHolder(inflater.inflate(R.layout.item_ai_vlm_action,parent,false))
             else -> throw IllegalArgumentException("Invalid view type")
         }
     }
@@ -44,6 +45,7 @@ class AIMessageAdapter : ListAdapter<AIMessage, MessageViewHolder>(MessageDiffCa
             is AIMessage.AutomaticExploration -> AIMessage.TYPE_AUTOMATIC_EXPLORATION
             is AIMessage.EvaluateData -> AIMessage.TYPE_EVALUATE
             is AIMessage.NDEData -> AIMessage.TYPE_NDE
+            is AIMessage.AiVlmData -> AIMessage.TYPE_VLM
             else -> AIMessage.TYPE_EVENT
         }
     }

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AIMessageViewHolder.kt

@@ -6,7 +6,6 @@ import android.animation.ObjectAnimator
 import android.animation.ValueAnimator
 import android.content.Context
 import android.graphics.Rect
-import android.text.TextUtils
 import android.util.Log
 import android.view.View
 import android.view.animation.LinearInterpolator
@@ -14,6 +13,7 @@ import android.widget.FrameLayout
 import android.widget.ImageView
 import android.widget.LinearLayout
 import android.widget.TextView
+import androidx.appcompat.widget.AppCompatImageView
 import androidx.core.content.ContextCompat
 import androidx.core.graphics.toColorInt
 import androidx.recyclerview.widget.LinearLayoutManager
@@ -28,7 +28,9 @@ import com.mogo.eagle.core.function.hmi.ui.v2n.RoadV2NEventLivePlayView
 import com.mogo.eagle.core.function.view.MapRoamView
 import com.mogo.eagle.core.function.view.RoadCrossRoamListAdapter
 import com.mogo.eagle.core.utilcode.kotlin.onClick
+import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp
 import com.mogo.eagle.core.utilcode.mogo.glide.GlideImageLoader
+import com.mogo.eagle.core.utilcode.mogo.glide.transform.GlideRoundedCornersTransform
 import com.mogo.eagle.core.utilcode.mogo.imageloader.MogoImageView
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils
 import com.mogo.och.common.module.utils.FrameAnimatorContainer
@@ -38,8 +40,6 @@ import com.mogo.och.unmanned.taxi.passenger.R
 import com.youth.banner.Banner
 import com.youth.banner.indicator.CircleIndicator
 import com.youth.banner.transformer.ScaleInTransformer
-import kotlinx.android.synthetic.main.taxi_p_evaluate.view.iv_evaluate_great
-import kotlinx.android.synthetic.main.taxi_p_evaluate.view.iv_evaluate_low
 import java.text.SimpleDateFormat
 import java.util.Date
 import java.util.Locale
@@ -85,6 +85,23 @@ abstract class MessageViewHolder(view: View) : RecyclerView.ViewHolder(view) {
                 .placeholder(R.drawable.icon_pic_holder)
                 .error(R.drawable.icon_pic_error)
 //                    .error(R.drawable.icon_marker_window_place_holder)
+//                    .placeholder(R.drawable.icon_marker_window_place_holder)
+                .into(this)
+
+        }
+    }
+    fun ImageView.showOrHideWithByteArray(image: ByteArray?) {
+        if (image==null) {
+            visibility = View.GONE
+        } else {
+            visibility = View.VISIBLE
+            //optionalTransform(new GlideRoundedCornersTransform(30f, GlideRoundedCornersTransform.CornerType.LEFT))
+            Glide.with(this)
+                .load(image)
+                .optionalTransform(GlideRoundedCornersTransform(18f, GlideRoundedCornersTransform.CornerType.ALL))
+                .placeholder(R.drawable.icon_pic_holder)
+                .error(R.drawable.icon_pic_error)
+//                    .error(R.drawable.icon_marker_window_place_holder)
 //                    .placeholder(R.drawable.icon_marker_window_place_holder)
                 .into(this)
 
@@ -434,6 +451,21 @@ class NDEViewHolder(binding: View) : MessageViewHolder(binding){
 
 }
 
+class VlmViewHolder(binding: View) : MessageViewHolder(binding){
+
+    private var tvNdeTitle: TextView = binding.findViewById(R.id.tvVlmMessage)
+    private var acivVlmImage: AppCompatImageView = binding.findViewById(R.id.acivVlmImage)
+
+
+    override fun bind(item: AIMessage, onItemClickListener: OnItemClickListener?) {
+        if(item is AIMessage.AiVlmData){
+            tvNdeTitle.text = item.vlmData.message
+            acivVlmImage.showOrHideWithByteArray(item.vlmData.image)
+        }
+    }
+
+}
+
 private class NoScrollLayoutManager(context: Context?) : LinearLayoutManager(context) {
     override fun canScrollVertically(): Boolean {
         return false

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/adapter/AINDERoadAdapter.kt

@@ -10,14 +10,14 @@ import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
 import androidx.recyclerview.widget.RecyclerView
-import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
 import com.mogo.och.unmanned.taxi.passenger.R
 
 class AINDERoadAdapter(private val context: Context): RecyclerView.Adapter<AINDERoadAdapter.AIRoadHolder>() {
 
-    private var roadList: List<AIMessage.RoadMsg>?= null
+    private var roadList: List<RoadMsg>?= null
 
-    fun setData(list: List<AIMessage.RoadMsg>){
+    fun setData(list: List<RoadMsg>){
         roadList = list
         notifyDataSetChanged()
     }

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/bean/AssistantMessage.kt

@@ -3,6 +3,8 @@ package com.mogo.och.unmanned.passenger.ui.aiview.bean
 import android.os.CountDownTimer
 import android.util.Log
 import com.mogo.eagle.core.data.v2x.RoadV2NEventType
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
 import kotlin.math.floor
 
 
@@ -27,6 +29,7 @@ sealed class AIMessage(
         const val TYPE_AUTOMATIC_EXPLORATION = 9
         const val TYPE_EVALUATE = 10
         const val TYPE_NDE = 11
+        const val TYPE_VLM = 12
     }
 
     data class Scan(
@@ -177,11 +180,11 @@ sealed class AIMessage(
         var roadList: List<RoadMsg>
     ):AIMessage(id,title)
 
-    data class RoadMsg(
+    data class AiVlmData(
-        var arrowType: Int, // 车道类型，如直行201(详情参考文件：message_pad.proto)
+        override val id: String,
-        var laneNum: Int,// 车道号
+        override val title: String,
-        var isRecommend: Boolean,// 是否是推荐车道
+        var desc: String,
-        var isCheLong: Boolean// 是否有车龙，代表拥堵、行驶缓慢
+        var vlmData: VlmData
-    )
+    ):AIMessage(id,title)
 
 }

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/AutomaticExplorationViewModel.kt

@@ -1,4 +1,4 @@
-package com.mogo.och.unmanned.passenger.ui.aiview
+package com.mogo.och.unmanned.passenger.ui.aiview.data
 
 import android.os.CountDownTimer
 import androidx.lifecycle.ViewModel
@@ -10,11 +10,11 @@ import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
 import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.bridge.distance.IDistanceListener
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
 import com.mogo.och.data.taxi.BaseOrderBean
 import com.mogo.och.data.taxi.TaxiOrderStatusEnum
+import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager
 import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
 import com.mogo.och.unmanned.taxi.utils.order.OrderListener
 import com.mogo.och.unmanned.taxi.utils.order.OrderModel

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/NDEViewModel.kt

@@ -0,0 +1,39 @@
+package com.mogo.och.unmanned.passenger.ui.aiview.data
+
+import androidx.lifecycle.ViewModel
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.och.common.module.biz.birdge.BridgeListener
+import com.mogo.och.common.module.biz.birdge.BridgeManager
+import com.mogo.och.common.module.biz.birdge.data.RoadMsg
+import com.mogo.och.common.module.biz.birdge.data.VlmData
+import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager
+import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
+
+class NDEViewModel: ViewModel(), BridgeListener {
+
+    companion object{
+        private const val TAG = "NDEViewModel"
+    }
+
+    fun init(){
+        BridgeManager.addBridgeListener(TAG,this)
+    }
+
+    override fun onCleared() {
+        super.onCleared()
+        BridgeManager.removeBridgeListener(TAG)
+    }
+
+
+    override fun onVlmDataListener(vlmData: VlmData){
+        val ndeEvent = AIMessage.AiVlmData(vlmData.id.toString(),"","",vlmData)
+        AIMessageManager.post(ndeEvent)
+    }
+
+    override fun onNdeDataListener(title: String, desc: String, sortedList: List<RoadMsg>) {
+        val ndeEvent = AIMessage.NDEData(System.currentTimeMillis().toString(),title,desc,sortedList)
+        AIMessageManager.post(ndeEvent)
+    }
+
+}

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/PNCActionsViewModel.kt

@@ -1,4 +1,4 @@
-package com.mogo.och.unmanned.passenger.ui.aiview
+package com.mogo.och.unmanned.passenger.ui.aiview.data
 
 import androidx.lifecycle.ViewModel
 import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
@@ -6,10 +6,9 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsL
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.manager.loop.BizLoopManager
 import com.mogo.och.unmanned.passenger.model.TaxiPassengerModel
+import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager
 import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
 import mogo.telematics.pad.MessagePad
 

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadCrossRoamViewModel.kt

@@ -1,7 +1,6 @@
-package com.mogo.och.unmanned.passenger.ui.aiview
+package com.mogo.och.unmanned.passenger.ui.aiview.data
 
 import android.content.Context
-import android.view.View
 import androidx.lifecycle.ViewModel
 import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -14,6 +13,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager
 import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
 
 class RoadCrossRoamViewModel: ViewModel(), IMoGoMapRoadListener {
@@ -67,7 +67,7 @@ class RoadCrossRoamViewModel: ViewModel(), IMoGoMapRoadListener {
             AIAssist.getInstance(mContext).speakTTSVoiceWithLevel(disStr, AIAssist.NEW_LEVEL_2)
         }
         CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD)
-        AIMessageManager.post(AIMessage.RoadCrossRoam(System.currentTimeMillis().toString(),""))
+        AIMessageManager.post(AIMessage.RoadCrossRoam(System.currentTimeMillis().toString(), ""))
     }
 
 }

OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/aiview/data/RoadV2NEventViewModel.kt

@@ -1,4 +1,4 @@
-package com.mogo.och.unmanned.passenger.ui.aiview
+package com.mogo.och.unmanned.passenger.ui.aiview.data
 
 import androidx.lifecycle.ProcessLifecycleOwner
 import androidx.lifecycle.ViewModel
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.och.unmanned.passenger.ui.aiview.AIMessageManager
 import com.mogo.och.unmanned.passenger.ui.aiview.bean.AIMessage
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch

OCH/taxi/unmanned-passenger/src/main/res/layout/item_ai_vlm_action.xml

@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<com.mogo.och.common.module.wigets.OCHBorderShadowLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="@dimen/dp_799"
+    android:layout_height="wrap_content"
+    app:shadowRadius="@dimen/dp_20"
+    app:shadowColor="#26666666"
+    app:xOffset="0dp"
+    app:yOffset="0dp"
+    app:blurRadius="@dimen/dp_26">
+
+    <androidx.constraintlayout.widget.ConstraintLayout
+        android:layout_width="@dimen/dp_747"
+        android:layout_height="wrap_content">
+
+        <TextView
+            android:id="@+id/tvVlmMessage"
+            android:layout_width="@dimen/dp_0"
+            android:layout_height="wrap_content"
+            app:layout_constraintTop_toTopOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintBottom_toTopOf="@+id/acivVlmImage"
+            android:textSize="@dimen/dp_33"
+            android:textColor="@color/taxi_cp_394047"
+            android:layout_marginStart="@dimen/dp_30"
+            android:layout_marginEnd="@dimen/dp_30"
+            android:layout_marginTop="@dimen/dp_27"
+            android:layout_marginBottom="@dimen/dp_20"
+            tools:text="前方100米有道路施工，施工长度100米，影响第1、2车道通行。"
+            />
+
+        <androidx.appcompat.widget.AppCompatImageView
+            android:id="@+id/acivVlmImage"
+            app:layout_constraintTop_toBottomOf="@+id/tvVlmMessage"
+            android:layout_marginStart="@dimen/dp_30"
+            android:layout_marginEnd="@dimen/dp_30"
+            android:layout_marginBottom="@dimen/dp_27"
+            android:scaleType="fitXY"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintBottom_toBottomOf="parent"
+            android:src="@drawable/icon_image_holder"
+            tools:background="@color/taxi_cp_394047"
+            android:layout_width="@dimen/dp_0"
+            android:layout_height="@dimen/dp_440"/>
+
+    </androidx.constraintlayout.widget.ConstraintLayout>
+
+</com.mogo.och.common.module.wigets.OCHBorderShadowLayout>

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

@@ -1456,29 +1456,29 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onNodeStateInfo(stateInfo: NodeStateInfo) {
         CallerNodeStateListenerManager.invokeNodeState(stateInfo)
-        if (stateInfo.existState != null) {
+//        if (stateInfo.existState != null) {
-            if (stateInfo.nodeName == AdasConstants.NodeName.SSM) {
+//            if (stateInfo.nodeName == AdasConstants.NodeName.SSM) {
-                //域控SSM接口接收是否超时
+//                //域控SSM接口接收是否超时
-                if (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) {
+//                if (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) {
-                    CallerMsgBoxManager.saveMsgBox(
+//                    CallerMsgBoxManager.saveMsgBox(
-                        MsgBoxBean(
+//                        MsgBoxBean(
-                            MsgBoxType.SSMINFO,
+//                            MsgBoxType.SSMINFO,
-                            SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis())
+//                            SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis())
-                        )
+//                        )
-                    )
+//                    )
-                } else {
+//                } else {
-                    CallerMsgBoxManager.saveMsgBox(
+//                    CallerMsgBoxManager.saveMsgBox(
-                        MsgBoxBean(
+//                        MsgBoxBean(
-                            MsgBoxType.SSMINFO,
+//                            MsgBoxType.SSMINFO,
-                            SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis())
+//                            SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis())
-                        )
+//                        )
-                    )
+//                    )
-                }
+//                }
-            } else if (stateInfo.nodeName == AdasConstants.NodeName.FSM2024) {
+//            } else if (stateInfo.nodeName == AdasConstants.NodeName.FSM2024) {
-                //域控FSM接口接收是否超时
+//                //域控FSM接口接收是否超时
-//                (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT)
+////                (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT)
-            }
+//            }
-        }
+//        }
     }
 
     /**

core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/base/BaseAdapter.java

@@ -44,7 +44,7 @@ public abstract class BaseAdapter<D, VH extends BaseViewHolder> extends Recycler
 
     public void setData(List<D> mDatas) {
         this.mDatas = mDatas;
-        if (!mDatas.isEmpty())
+        if (mDatas != null && !mDatas.isEmpty())
             notifyDataSetChanged();
     }
 

core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/common/utils/NetworkUtilsExtend.kt

@@ -26,7 +26,6 @@ class NetworkUtilsExtend {
         fun onLinkChanged(network: Network?, linkProperties: LinkProperties?)
     }
 
-    @RequiresApi(api = Build.VERSION_CODES.LOLLIPOP)
     class NetworkCallbackImpl : NetworkCallback() {
         private val TAG = "NetworkCallbackImpl"
 

core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/service/FaultManagementDiagnosisService.kt

@@ -21,12 +21,12 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListe
 import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.zhidao.support.adas.high.AdasManager
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo_core_function_devatools.rviz.R
 import com.zhjt.mogo_core_function_devatools.rviz.common.config.SSHAccountConfig
 import com.zhjt.mogo_core_function_devatools.rviz.common.coroutines.FlowBus
 import com.zhjt.mogo_core_function_devatools.rviz.constant.AppConfigInfo
-import com.zhjt.mogo_core_function_devatools.rviz.constant.DiagnoseType
 import com.zhjt.mogo_core_function_devatools.rviz.constant.EventKey
 import com.zhjt.mogo_core_function_devatools.rviz.constant.FaultLevel
 import com.zhjt.mogo_core_function_devatools.rviz.constant.FaultModuleId
@@ -68,6 +68,7 @@ import java.util.Locale
 import java.util.Timer
 import java.util.TimerTask
 import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicReference
 
 /**
@@ -93,6 +94,7 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
     private val dockerInfoMap = mutableMapOf<SSHHostBean, ArrayList<DockerInfo>>()
     private var cloudMapVersion = "未知"//云端MAP版本
     private var hdMapVersion = HdMapVersion()//高精度版本
+    private val isReceiveFMData = AtomicBoolean(false)//是否接收到了FM数据
 
     private val queryRosHostArgumentMap =
         ConcurrentHashMap<SSHHostBean, Boolean>()//当前参与查询主机参数的主机
@@ -132,9 +134,12 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
     override fun onCreate() {
         super.onCreate()
         initFMData()
-        CallerAutoPilotStatusListenerManager.addListener(TAG, adasConnectionStatuslistener)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, adasConnectionStatusListener)
         CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
         CallerFaultManagementStateListenerManager.addListener(TAG, this)
+        AdasManager.getInstance().carConfig?.let {
+            onAutopilotCarConfig(it)
+        }
         Log.i(TAG, "故障管理诊断服务已启动")
     }
 
@@ -186,16 +191,8 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
             FmEntity("功能状态机&其他(FSM&OTH)")
     }
 
-
+    @OptIn(DelicateCoroutinesApi::class)
-    /**
+    private val adasConnectionStatusListener = object : IMoGoAutopilotStatusListener {
-     * 启动诊断
-     */
-
-    fun startDiagnose() {
-        connectSSH()
-    }
-
-    private val adasConnectionStatuslistener = object : IMoGoAutopilotStatusListener {
 
         override fun onAutopilotIpcConnectStatusChanged(
             status: AdasConstants.IpcConnectionStatus,
@@ -204,28 +201,19 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
             super.onAutopilotIpcConnectStatusChanged(status, reason)
             val adasConnectStatus = AdasConnectionStatus(status, reason)
             when (status) {
-                AdasConstants.IpcConnectionStatus.DISCONNECTED -> {
-
-                }
-
                 AdasConstants.IpcConnectionStatus.CONNECTED -> {
-
+                    if (AdasManager.getInstance().carConfig == null) {
+                        AdasManager.getInstance().sendCarConfigReq()
+                    }
                     GlobalScope.launch(Dispatchers.IO) {
                         delay(6000)
                         updateFaultManagementStop(FMInfoMsg(null, null, null))
                     }
                 }
 
-                AdasConstants.IpcConnectionStatus.CONNECTING -> {
+                else -> {
-
+                    isReceiveFMData.set(false)
                 }
-
-                AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION -> {
-                }
-
-                AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS -> {}
-                AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS -> {}
-                else -> {}
             }
             FlowBus.with<AdasConnectionStatus>(EventKey.UPDATE_ADAS_CONNECT_STATE)
                 .post(scopeSubscriber, adasConnectStatus)
@@ -235,7 +223,7 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
 
 
     //连接SSH
-    private fun connectSSH() {
+    fun connectSSH() {
         openConnection(
             SSH.createHost(
                 SSHAccountConfig.getUserName(),
@@ -258,35 +246,15 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
 
 
     private fun updateFaultManagementStop(fmInfo: FMInfoMsg) {
-        //TODO
+        if (isReceiveFMData.get()) {
-//        if (isReceiveFMData.get()) {
+            return
-//            return
+        }
-//        }
+        isReceiveFMData.set(true)
-//        isReceiveFMData.set(true)
+        if (fmInfo.fmInfoList == null) {
-        val msg: String
-        val type: DiagnoseType
-        if (fmInfo.fmInfoList != null) {
-            msg = "FM数据获取成功……"
-            type = DiagnoseType.SUCCEED
-        } else {
             //证明未收到FM数据，存在两种情况，一个是没有发数据，一个是版本不支持
             FlowBus.with<Boolean>(EventKey.SEND_IS_SUPPORT_FM)
                 .post(scopeSubscriber, AppConfigInfo.isSupportFM)
-            if (AppConfigInfo.isSupportFM) {
-                msg = "FM数据获取成功……"
-                type = DiagnoseType.SUCCEED
-            } else {
-                msg = "获取FM数据失败，此MAP不支持FM相关功能"
-                type = DiagnoseType.FAILED
-            }
         }
-        //TODO
-//        updateDiagnoseUIStateInUIThread(
-//            DiagnoseSource.ADAS,
-//            msg,
-//            type
-//        )
-//        executeProcessConnectSSHStart()
     }
 
 
@@ -491,44 +459,37 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
         rosHostArgumentPosition: Int,
         isInserted: Boolean
     ) {
-
+        synchronized(rosHostArguments) {
-        GlobalScope.launch(Dispatchers.Main) {
+            val p = getRosHostArgument(host)
-            //TODO
+            val argument = p.second
-//            updateDiagnoseUIState(
+            val isInsert = p.first < 0
-//                DiagnoseSource.SSH,
+            if (isInsert) {//不存在
-//                "正在连接${Utils.getIPLastSegment(host.hostname)}……"
+                rosHostArguments.add(argument)
-//            )
+                //根据IP排序，主动连接的主机（一般是rosMaster）置顶
-            synchronized(rosHostArguments) {
+                rosHostArguments.sortWith(Comparator<RosHostArgument> { rosHostArgument1, rosHostArgument2 ->
-                val p = getRosHostArgument(host)
+                    if (defaultSSH != null) {
-                val argument = p.second
+                        if (rosHostArgument1.host == defaultSSH!!.host) {
-                val isInsert = p.first < 0
+                            return@Comparator -1
-                if (isInsert) {//不存在
-                    rosHostArguments.add(argument)
-                    //根据IP排序，主动连接的主机（一般是rosMaster）置顶
-                    rosHostArguments.sortWith(Comparator<RosHostArgument> { rosHostArgument1, rosHostArgument2 ->
-                        if (defaultSSH != null) {
-                            if (rosHostArgument1.host == defaultSSH!!.host) {
-                                return@Comparator -1
-                            }
-                            if (rosHostArgument2.host == defaultSSH!!.host) {
-                                return@Comparator 1
-                            }
                         }
-                        rosHostArgument1.host.hostname
+                        if (rosHostArgument2.host == defaultSSH!!.host) {
-                            .compareTo(rosHostArgument2.host.hostname)
+                            return@Comparator 1
-                    })
+                        }
-                } else {
+                    }
-                    //已存在
+                    rosHostArgument1.host.hostname
-                    argument.resetConnectFailureCode()
+                        .compareTo(rosHostArgument2.host.hostname)
-                }
+                })
-                if (TextUtils.equals(SSHAccountConfig.getRosMasterIp(), argument.host.hostname)) {
+            } else {
-                    argument.isRosMaster = true;
+                //已存在
-                }
+                argument.resetConnectFailureCode()
-
+            }
-                val index = rosHostArguments.indexOf(argument)
+            if (TextUtils.equals(SSHAccountConfig.getRosMasterIp(), argument.host.hostname)) {
+                argument.isRosMaster = true;
+            }
+            val index = rosHostArguments.indexOf(argument)
+            GlobalScope.launch(Dispatchers.Main) {
                 CallerSshConnectionListenerManager.invokeConnecting(
                     argument.host, index, isInsert
-                ) //正在连接 在此的 -1和true不使用
+                )
             }
         }
         Log.i(TAG, "${host.toString()} 连接中")
@@ -540,12 +501,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
             sshMap.put(ssh.host, ssh)
         }
         GlobalScope.launch(Dispatchers.Main) {
-            //TODO
-//            updateDiagnoseUIState(
-//                DiagnoseSource.SSH,
-//                "连接${Utils.getIPLastSegment(ssh.host.hostname)}成功……",
-//                DiagnoseType.SUCCEED
-//            )
             CallerSshConnectionListenerManager.invokeConnected(ssh)
         }
         getRosMasterConfig(ssh)
@@ -587,15 +542,8 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
             defaultSSH = null
         }
         GlobalScope.launch(Dispatchers.Main) {
-            //TODO
-//            updateDiagnoseUIState(
-//                DiagnoseSource.SSH,
-//                "连接${Utils.getIPLastSegment(host.hostname)}失败，原因：$msg……",
-//                DiagnoseType.FAILED
-//            )
             CallerSshConnectionListenerManager.invokeConnectFailure(host, msg)
         }
-        updateDiagnoseFinish(host)
         Log.i(TAG, "${host.toString()} 连接失败=${msg}")
     }
 
@@ -607,11 +555,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
     ) {
         if (list.isNotEmpty()) {
             dockerInfoMap[host] = list
-            //TODO
-//            updateDiagnoseUIStateInUIThread(
-//                DiagnoseSource.SSH,
-//                "${Utils.getIPLastSegment(host.hostname)} Docker信息获取成功……"
-//            )
             val mapDocker: DockerInfo? =
                 list.find { it.names == "autocar_default_1" || it.names == "autocar-default-1" }
             if (mapDocker != null) {
@@ -629,7 +572,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
                     }
                 }
             }
-            updateDiagnoseFinish(host)
         } else {
             if (dockerInfoMap.containsKey(host))
                 dockerInfoMap.remove(host)
@@ -765,7 +707,6 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
             }
         } else if (MogoCommand.QUERY_VEHICLE_CONFIG == cmd) {
             vehicleConfig = VehicleConfig(result)
-            //TODO
 //            updateDiagnoseUIStateInUIThread(
 //                DiagnoseSource.SSH,
 //                "车辆信息，车牌：${vehicleConfig!!.plate} 品牌：${vehicleConfig!!.brand} 类型：${vehicleConfig!!.model}",
@@ -1086,54 +1027,7 @@ class FaultManagementDiagnosisService : Service(), OnSshConnectionListener,
             ssh.execCommand(MogoCommand.QUERY_VEHICLE_CONFIG, false) //获取车牌等信息
             ssh.execCommand(MogoCommand.QUERY_ROS_SLAVE, false) //获取从ros主机
         }
-        //TODO
-//        updateDiagnoseUIStateInUIThread(
-//            DiagnoseSource.SSH,
-//            "正在获取${Utils.getIPLastSegment(ssh.host.hostname)} Docker信息……"
-//        )
         ssh.execCommand(MogoCommand.QUERY_DOCKER_PS_A, false)
-        //等待获取Docker信息是否成功
-        GlobalScope.launch(Dispatchers.IO) {
-            delay(6000)
-            if (!dockerInfoMap.containsKey(ssh.host)) {
-                //TODO
-//                withContext(Dispatchers.Main) {
-//                    updateDiagnoseUIState(
-//                        DiagnoseSource.SSH,
-//                        "${Utils.getIPLastSegment(ssh.host.hostname)} Docker信息获取失败……",
-//                        DiagnoseType.FAILED
-//                    )
-//                }
-                updateDiagnoseFinish(ssh.host)
-            }
-        }
-    }
-
-    //检查诊断是否完成,并更新状态
-    private fun updateDiagnoseFinish(host: SSHHostBean) {
-        //TODO
-//        if (!isDiagnoseFinish.get()) {
-//            synchronized(diagnoseFinishState) {
-//                if (diagnoseFinishState.containsKey(host)) {
-//                    diagnoseFinishState[host] = true
-//                }
-//            }
-//            val count = diagnoseFinishState.count { it.value }
-//            if (count == diagnoseFinishState.size) {
-//                isDiagnoseFinish.set(true)
-//                val msg =
-//                    if (CallerAutopilotActionsListenerManager.isAutopilotAbility()) "可自动驾驶，请打开「鹰眼」进入运营状态" else "不可自动驾驶，详细信息请关闭《诊断弹窗》查看"
-//                updateDiagnoseUIStateInUIThread(DiagnoseSource.MC, "诊断完成，当前环境${msg}")
-//                val vib = if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.S) {
-//                    val vibratorManager =
-//                        getSystemService(Context.VIBRATOR_MANAGER_SERVICE) as VibratorManager
-//                    vibratorManager.defaultVibrator
-//                } else {
-//                    getSystemService(VIBRATOR_SERVICE) as Vibrator
-//                }
-//                vib.vibrate(VibrationEffect.createOneShot(500, 255))
-//            }
-//        }
     }
 
     private fun queryRosHostArgument(ssh: SSH) {

core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/activity/FmdAct.kt

@@ -49,6 +49,7 @@ class FmdAct : BaseActivity() {
         arrayOf("车况概览", "系统资源", "故障码")
 
     private lateinit var overviewFrag: OverviewFrag
+    private lateinit var systemResourceFrag: SystemResourceFrag
     private lateinit var faultCodeFrag: FaultCodeFrag
     private val mIconUnselectIds = intArrayOf(
         R.drawable.rviz_fmd_tab_car_status_unselect,
@@ -86,9 +87,10 @@ class FmdAct : BaseActivity() {
         Utils.getApp().startService(Intent(Utils.getApp(), FmCodeUpdateService::class.java))
         registerForContextMenu(clConnectStatusBarView.vehicleNumberView)
         overviewFrag = OverviewFrag()
+        systemResourceFrag = SystemResourceFrag()
         faultCodeFrag = FaultCodeFrag()
         mFragments.add(overviewFrag)
-        mFragments.add(SystemResourceFrag())
+        mFragments.add(systemResourceFrag)
         mFragments.add(faultCodeFrag)
 
         for (i in mTitles.indices) {
@@ -201,8 +203,9 @@ class FmdAct : BaseActivity() {
             fmdBound =
                 (service as FaultManagementDiagnosisService.FaultManagementDiagnosisBinder).service
             faultCodeFrag.setData(fmdBound!!.fmDataMap)
+            systemResourceFrag.initData()
             overviewFrag.setData(fmdBound!!.fmDataMap)
-            fmdBound!!.startDiagnose()
+            fmdBound!!.connectSSH()
         }
 
         override fun onServiceDisconnected(className: ComponentName) {

core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/fragments/resource/SystemResourceFrag.kt

@@ -39,13 +39,17 @@ class SystemResourceFrag : FmdBaseFragment(), OnRosHostClickListener,
     override fun onHiddenChanged(hidden: Boolean) {
         super.onHiddenChanged(hidden)
         if (!hidden) {
-            if (!isInit) {
+            initData()
-                isInit = true
+        }
-                rosHostsView.setDatas(
+    }
-                    fmdAct.getRosHostArguments(),
+
-                    fmdAct.getCloudMapVersion()
+    fun initData() {
-                )
+        if (!isInit) {
-            }
+            isInit = true
+            rosHostsView.setDatas(
+                fmdAct.getRosHostArguments(),
+                fmdAct.getCloudMapVersion()
+            )
         }
     }
 

core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/ui/views/StateBarView.java

@@ -27,12 +27,17 @@ import androidx.lifecycle.LifecycleRegistry;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.zhjt.mogo.adas.data.AdasConstants;
 import com.zhjt.mogo_core_function_devatools.rviz.R;
+import com.zhjt.mogo_core_function_devatools.rviz.common.config.SSHAccountConfig;
 import com.zhjt.mogo_core_function_devatools.rviz.common.coroutines.FlowBus;
 import com.zhjt.mogo_core_function_devatools.rviz.common.utils.DetectHtml;
 import com.zhjt.mogo_core_function_devatools.rviz.common.utils.NetworkUtilsExtend;
 import com.zhjt.mogo_core_function_devatools.rviz.constant.AppConfigInfo;
 import com.zhjt.mogo_core_function_devatools.rviz.constant.EventKey;
 import com.zhjt.mogo_core_function_devatools.rviz.model.entities.AdasConnectionStatus;
+import com.zhjt.mogo_core_function_devatools.rviz.ssh.SSH;
+import com.zhjt.mogo_core_function_devatools.rviz.ssh.function.call.CallerSshConnectionListenerManager;
+import com.zhjt.mogo_core_function_devatools.rviz.ssh.function.listener.OnSshConnectionListener;
+import com.zhjt.mogo_core_function_devatools.rviz.ssh.module.SSHHostBean;
 
 import java.net.Inet4Address;
 import java.net.InetAddress;
@@ -47,7 +52,7 @@ import mogo.telematics.pad.MessagePad;
 /**
  * 连接以及状态展示
  */
-public class StateBarView extends LinearLayout implements LifecycleOwner, NetworkUtilsExtend.NetworkCallbackListener {
+public class StateBarView extends LinearLayout implements LifecycleOwner, NetworkUtilsExtend.NetworkCallbackListener, OnSshConnectionListener {
     private static final String TAG = StateBarView.class.getSimpleName();
     private final CoroutineScope scopeSubscriber = CoroutineScopeKt.CoroutineScope(MainScope().getCoroutineContext());
     private final LifecycleRegistry lifecycle = new LifecycleRegistry(this);
@@ -55,6 +60,7 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ
     private TextView ipView;
     private TextView vehicleNumberView;
     private TextView adasStateView;
+    private TextView sshStateView;
 
     @NonNull
     @Override
@@ -101,7 +107,6 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ
         setListener();
         initView();
         getNetWorkType();
-//        FlowBus.INSTANCE.<String>with(EventKey.GET_VEHICLE_CONFIG).post(scopeSubscriber, EventKey.GET_VEHICLE_CONFIG);
         FlowBus.INSTANCE.<MessagePad.CarConfigResp>with(EventKey.UPDATE_CAR_CONFIG_STATE).register(this, it -> {
             setHintTextView(vehicleNumberView, it.getPlateNumber());
         });
@@ -109,20 +114,35 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ
             String msg = getResources().getString(R.string.rviz_fmd_disconnected);
             AdasConstants.IpcConnectionStatus ipcConnectionStatus = it.getIpcConnectionStatus();
             String reason = it.getReason();
-            if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
+            if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.DISCONNECTED) {
+                msg = getResources().getString(R.string.rviz_fmd_disconnected);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
                 msg = getResources().getString(R.string.rviz_fmd_connected);
-            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.DISCONNECTED) {
-                msg = "连接失败";
             } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTING) {
-                msg = "连接中";
+                msg = getResources().getString(R.string.rviz_fmd_connecting);
-                if (!TextUtils.isEmpty(reason)) {
+                setHintTextView(netNameView, getNetWorkType());
-                    if (reason.contains("（")) {
+                setHintTextView(ipView, getIpAddressString());
-                        String[] str = reason.split("（");
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_TIMER ||
-                        msg = str[0];
+                    ipcConnectionStatus == AdasConstants.IpcConnectionStatus.RECONNECTING_NETWORK) {
-                    } else {
+                msg = getResources().getString(R.string.rviz_fmd_reconnecting);
-                        msg = reason;
+                setHintTextView(netNameView, getNetWorkType());
-                    }
+                setHintTextView(ipView, getIpAddressString());
-                }
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECT_EXCEPTION) {
+                msg = getResources().getString(R.string.rviz_fmd_connect_exception);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.ILLEGAL_ADDRESS) {
+                msg = getResources().getString(R.string.rviz_fmd_illegal_address);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.SEARCH_ADDRESS) {
+                msg = getResources().getString(R.string.rviz_fmd_search_address);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.NOT_FOUND_ADDRESS) {
+                msg = getResources().getString(R.string.rviz_fmd_not_found_address);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CERTIFICATION_FAILED) {
+                msg = getResources().getString(R.string.rviz_fmd_certification_failed);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.HEARTBEAT_TIMEOUT) {
+                msg = getResources().getString(R.string.rviz_fmd_heartbeat_timeout);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.PROTOCOL_MISMATCH) {
+                msg = getResources().getString(R.string.rviz_fmd_protocol_mismatch);
+            } else if (ipcConnectionStatus == AdasConstants.IpcConnectionStatus.SERVER_DISCONNECTED) {
+                msg = getResources().getString(R.string.rviz_fmd_server_disconnected);
             }
             setHintTextView(adasStateView, msg);
             if (ipcConnectionStatus != AdasConstants.IpcConnectionStatus.CONNECTED) {
@@ -150,10 +170,12 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ
         ipView = findViewById(R.id.ip_view);
         vehicleNumberView = findViewById(R.id.vehicle_number_view);
         adasStateView = findViewById(R.id.adas_state_view);
+        sshStateView = findViewById(R.id.ssh_state_view);
         setHintTextView(netNameView, getNetWorkType());
         setHintTextView(ipView, getIpAddressString());
         setHintTextView(vehicleNumberView, TextUtils.isEmpty(AppConfigInfo.INSTANCE.getPlateNumber()) ? getResources().getString(R.string.rviz_fmd_disconnected) : AppConfigInfo.INSTANCE.getPlateNumber());
         setHintTextView(adasStateView, getResources().getString(R.string.rviz_fmd_disconnected));
+        setHintTextView(sshStateView, getResources().getString(R.string.rviz_fmd_disconnected));
     }
 
     /**
@@ -218,9 +240,20 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ
                 textView.setText(Html.fromHtml(text));
             }
         } else {
-            if (getResources().getString(R.string.rviz_fmd_disconnected).equals(text) || getResources().getString(R.string.rviz_fmd_unknown).equals(text) || "连接失败".equals(text)) {
+            if (getResources().getString(R.string.rviz_fmd_disconnected).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_unknown).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_connect_exception).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_illegal_address).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_not_found_address).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_certification_failed).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_heartbeat_timeout).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_protocol_mismatch).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_server_disconnected).equals(text)) {
                 textView.setTextColor(getResources().getColor(R.color.rviz_fmd_status_error));
-            } else if (getResources().getString(R.string.rviz_fmd_gain).equals(text) || "连接中".equals(text) || "重连中".equals(text)) {
+            } else if (getResources().getString(R.string.rviz_fmd_gain).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_connecting).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_reconnecting).equals(text) ||
+                    getResources().getString(R.string.rviz_fmd_search_address).equals(text)) {
                 textView.setTextColor(Color.YELLOW);
             } else {
                 textView.setTextColor(getResources().getColor(R.color.rviz_fmd_status_normal));
@@ -233,6 +266,8 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ
     protected void onAttachedToWindow() {
         super.onAttachedToWindow();
         lifecycle.setCurrentState(Lifecycle.State.STARTED);
+        NetworkUtilsExtend.Companion.addNetworkCallback(this);
+        CallerSshConnectionListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     @Override
@@ -240,9 +275,40 @@ public class StateBarView extends LinearLayout implements LifecycleOwner, Networ
         super.onDetachedFromWindow();
         lifecycle.setCurrentState(Lifecycle.State.DESTROYED);
         NetworkUtilsExtend.Companion.removeNetworkCallback(this);
+        CallerSshConnectionListenerManager.INSTANCE.removeListener(TAG);
     }
 
     public View getVehicleNumberView() {
         return vehicleNumberView;
     }
+
+    @Override
+    public void onSshConnecting(@NonNull SSHHostBean host, int rosHostArgumentPosition, boolean isInserted) {
+        if (TextUtils.equals(host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) {
+            setHintTextView(sshStateView, "连接中");
+        }
+    }
+
+    @Override
+    public void onSshConnected(@NonNull SSH ssh) {
+        if (TextUtils.equals(ssh.host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) {
+            setHintTextView(sshStateView, getResources().getString(R.string.rviz_fmd_connected));
+        }
+    }
+
+    @Override
+    public void onSshDisconnected(@NonNull SSHHostBean host) {
+        if (TextUtils.equals(host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) {
+            setHintTextView(sshStateView, "已断开");
+        }
+    }
+
+    @Override
+    public void onSshConnectFailure(@NonNull SSHHostBean host, @NonNull String msg) {
+        if (TextUtils.equals(host.getHostname(), SSHAccountConfig.INSTANCE.getRosMasterIp())) {
+            setHintTextView(sshStateView, "连接失败");
+            setHintTextView(netNameView, getNetWorkType());
+            setHintTextView(ipView, getIpAddressString());
+        }
+    }
 }

core/function-impl/mogo-core-function-devatools-rviz/src/main/java/com/zhjt/mogo_core_function_devatools/rviz/widgets/ros/host/RosHostView.java

@@ -2,9 +2,7 @@ package com.zhjt.mogo_core_function_devatools.rviz.widgets.ros.host;
 
 import android.content.Context;
 import android.graphics.Rect;
-import android.text.TextUtils;
 import android.util.AttributeSet;
-import android.util.Pair;
 import android.view.LayoutInflater;
 import android.view.View;
 

core/function-impl/mogo-core-function-devatools-rviz/src/main/res/layout/rviz_fmd_view_state_bar.xml

@@ -11,7 +11,7 @@
 
     <LinearLayout
         style="@style/RvizFmdStateBarLayoutStyle"
-        android:layout_weight="1.1">
+        android:layout_weight="1">
 
         <TextView
             style="@style/RvizFmdStateBarHintStyle"
@@ -38,7 +38,7 @@
 
     <LinearLayout
         style="@style/RvizFmdStateBarLayoutStyle"
-        android:layout_weight=".8">
+        android:layout_weight=".7">
 
         <TextView
             style="@style/RvizFmdStateBarHintStyle"
@@ -51,20 +51,7 @@
 
     <LinearLayout
         style="@style/RvizFmdStateBarLayoutStyle"
-        android:layout_weight="1.2">
+        android:layout_weight="0.9">
-
-        <TextView
-            style="@style/RvizFmdStateBarHintStyle"
-            android:text="ROS Master SSH状态：" />
-
-        <TextView
-            android:id="@+id/ssh_state_view"
-            style="@style/RvizFmdStateBarValueStyle" />
-    </LinearLayout>
-
-    <LinearLayout
-        style="@style/RvizFmdStateBarLayoutStyle"
-        android:layout_weight="0.8">
 
         <TextView
             style="@style/RvizFmdStateBarHintStyle"
@@ -75,5 +62,18 @@
             style="@style/RvizFmdStateBarValueStyle" />
     </LinearLayout>
 
+    <LinearLayout
+        style="@style/RvizFmdStateBarLayoutStyle"
+        android:layout_weight="1.3">
+
+        <TextView
+            style="@style/RvizFmdStateBarHintStyle"
+            android:text="ROS Master SSH状态：" />
+
+        <TextView
+            android:id="@+id/ssh_state_view"
+            style="@style/RvizFmdStateBarValueStyle" />
+    </LinearLayout>
+
 
 </LinearLayout>

core/function-impl/mogo-core-function-devatools-rviz/src/main/res/values/strings.xml

@@ -1,8 +1,19 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
     <string name="rviz_fmd_unknown">未知</string>
-    <string name="rviz_fmd_connected">已连接</string>
     <string name="rviz_fmd_disconnected">未连接</string>
+    <string name="rviz_fmd_connected">已连接</string>
+    <string name="rviz_fmd_connecting">连接中</string>
+    <string name="rviz_fmd_reconnecting">重连中</string>
+    <string name="rviz_fmd_connect_exception">连接失败</string>
+    <string name="rviz_fmd_illegal_address">地址非法</string>
+    <string name="rviz_fmd_search_address">搜索域控</string>
+    <string name="rviz_fmd_not_found_address">找不到域控</string>
+    <string name="rviz_fmd_certification_failed">认证异常</string>
+    <string name="rviz_fmd_heartbeat_timeout">心跳超时</string>
+    <string name="rviz_fmd_protocol_mismatch">协议不匹配</string>
+    <string name="rviz_fmd_server_disconnected">域控断开</string>
+
     <string name="rviz_fmd_gain">获取中</string>
     <string name="rviz_fmd_wifi">(WiFi)</string>
     <string name="rviz_fmd_mobile_network">移动网络</string>

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

@@ -1567,7 +1567,9 @@ internal class DebugSettingView @JvmOverloads constructor(
      */
     @SuppressLint("SetTextI18n")
     private fun setDomainControllerCheckedChangeListener() {
-        etAutopilotIP.setText("192.168.1.")
+        val string = SharedPrefsMgr.getInstance()
+            .getString(SharedPrefsConstants.inputIpDomainController, "192.168.1.")
+        etAutopilotIP.setText(string)
         etAutopilotIP.text?.let { etAutopilotIP.setSelection(it.length) }
         //设置工控机IP
         btnSetAutopilotIP.setOnClickListener {
@@ -1575,6 +1577,7 @@ internal class DebugSettingView @JvmOverloads constructor(
             if (autoPilotIp.isNotEmpty()) {
                 SSHAccountConfig.setRosMasterIp(autoPilotIp.split(":", "：").first())
                 CallerAutoPilotControlManager.resetIpAddress(autoPilotIp)
+                SharedPrefsMgr.getInstance().putString(SharedPrefsConstants.inputIpDomainController,autoPilotIp)
             } else {
                 ToastUtils.showShort("请输入正确的IP地址")
             }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/v2n/RoadV2NEventWindowView.kt

@@ -75,8 +75,8 @@ class RoadV2NEventWindowView @JvmOverloads constructor(
         AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
     }
 
-    private val isB2 by lazy {
+    private val isB1 by lazy {
-        AppIdentityModeUtils.isB2(FunctionBuildConfig.appIdentityMode)
+        AppIdentityModeUtils.isB1(FunctionBuildConfig.appIdentityMode)
     }
 
     private var currentEventUUID: String = ""
@@ -93,7 +93,7 @@ class RoadV2NEventWindowView @JvmOverloads constructor(
 
     private fun initView() {
         if (isPassengerScreen) {
-            if (isB2) {
+            if (isB1) {
                 setB2PassengerScreenView()
             } else {
                 setTaxiPassengerScreenView()

foudations/mogo-commons/src/main/java/com/mogo/commons/constants/SharedPrefsConstants.java

@@ -18,4 +18,6 @@ public class SharedPrefsConstants {
     public static final String APP_UPGRADE_CONTENT = "app_upgrade_content";
 
     public static final String APP_MAC = "app_mac";
+
+    public static final String inputIpDomainController = "InputIpDomainController";
 }