[6.0.0][adas-data][data-centre]能否启动自驾接口修改，加入消息来源字段，以及修改为多条消息同时上报；鹰眼数据中心中修改为事件触发式回调，以及融合域控连接状态原因等；加入主动获取当前状态接口；

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

@@ -55,6 +55,7 @@ import com.zhidao.support.adas.high.OnAdasListener
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
+import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
@@ -754,8 +755,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
      */
-    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
-        invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?) {
+        invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
     }
 
     /**

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

@@ -8,6 +8,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -40,6 +41,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
     }
 
     override fun onConnectionIPCStatus(ipcConnectionStatus: Int, reason: String?) {
+        CallerAutopilotActionsListenerManager.setConnected(ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED)
         CallerAutoPilotStatusListenerManager.invokeAutoPilotIPCStatusChanged(
             ipcConnectionStatus,
             reason

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

@@ -1,13 +1,15 @@
 package com.mogo.eagle.core.function.api.autopilot
 
+import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
+
 
 /**
- * pnc actions 决策 驾驶的意图
+ * 自动驾驶能力 能否启动自动驾驶
  */
 interface IMoGoAutopilotActionsListener {
 
     /**
      * pnc actions 决策 驾驶的意图
      */
-    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?)
+    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?)
 }

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

@@ -1,19 +1,103 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.isConnected
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhjt.mogo.adas.data.bean.UnableAutopilotReason
 
 
 /**
- * pnc actions 决策 驾驶的意图
+ * 能否启动自驾管理类
  */
 object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsListener>() {
+    @Volatile
+    private var isConnected = false
+    private var isAutopilotAbility: Boolean = false
+    private var unableAutopilotReasons: ArrayList<UnableAutopilotReason>? = null
 
-    @Synchronized
-    fun invokeAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
+    init {
+        isConnected = isConnected()
+        isAutopilotAbility = false
+        unableAutopilotReasons = disconnectedReason()
+        printLog("初始化")
+    }
+
+    private fun disconnectedReason(): ArrayList<UnableAutopilotReason> {
+        val list = ArrayList<UnableAutopilotReason>()
+        list.add(UnableAutopilotReason(UnableAutopilotReason.SourceType.LIB, "未连接自动驾驶系统"))
+        return list
+    }
+
+    /**
+     * 能否启动自动驾驶
+     */
+    fun isAutopilotAbility(): Boolean {
+        return isAutopilotAbility
+    }
+
+    /**
+     * 获取不能启动自驾的原因
+     *  null：表示没有任何原因证，证明isAutopilotAbility为true
+     */
+    fun getUnableAutopilotReasons(): ArrayList<UnableAutopilotReason>? {
+        return unableAutopilotReasons
+    }
+
+    fun setConnected(isConnected: Boolean) {
+        if (this.isConnected != isConnected) {
+            this.isConnected = isConnected
+            this.isAutopilotAbility = isConnected
+            unableAutopilotReasons = if (isConnected) null else disconnectedReason()
+            notification()
+            printLog("更新数据 连接状态变更")
         }
     }
+
+    @Synchronized
+    fun invokeAutopilotAbility(
+        isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableAutopilotReason>?
+    ) {
+        if (isConnected) {
+            var isEquals: Boolean = true
+            if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
+                unableAutopilotReasons.let { onw ->
+                    onw.sortWith(compareBy(UnableAutopilotReason::hashCode));
+                    this.unableAutopilotReasons?.let { old ->
+                        old.sortWith(compareBy(UnableAutopilotReason::hashCode));
+                        isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
+                        Log.i(
+                            "ddd",
+                            "都不为null时=${isEquals}=${this.isAutopilotAbility} ${(if (this.unableAutopilotReasons == null) null else this.unableAutopilotReasons.toString())}"
+                        )
+                    }
+                }
+            } else isEquals =
+                !(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
+            Log.i(
+                "ddd",
+                " 两个List是否相同=${isEquals} 新是否能启动自驾=${isAutopilotAbility} 老是否能启动自驾=${this.isAutopilotAbility} 新List是否为空=${unableAutopilotReasons == null} 老List是否为空=${this.unableAutopilotReasons == null}"
+            )
+            if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
+                this.isAutopilotAbility = isAutopilotAbility
+                this.unableAutopilotReasons = unableAutopilotReasons
+                notification()
+                printLog("更新数据")
+            }
+        }
+    }
+
+    private fun notification() {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
+        }
+    }
+
+    fun printLog(tag: String) {
+        Log.i(
+            "ddd",
+            "${tag}=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}"
+        )
+    }
 }