Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0

# Conflicts: # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.java
2023-02-17 14:23:49 +08:00
parent e2e75d96ae 89ed9838a3
commit cba1b8c1aa
43 changed files with 585 additions and 211 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84Lis
 import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.CoordinateTransform
+import com.mogo.eagle.core.utilcode.util.MultiDisplayUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.support.obu.model.MogoObuHvBasicsData
@@ -124,6 +125,7 @@ object MoGoLocationDispatcher :
                DataSourceType.TELEMATIC
            )
        }
+        MultiDisplayUtils.getOtherDisplay()
    }

    /**
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -11,12 +11,14 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.api.map.angle.Default
 import com.mogo.eagle.core.function.api.map.angle.TooClose
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
@@ -577,18 +579,24 @@ class MogoPrivateObuNewManager private constructor() {
        info: ObuScene.RvWarningData
    ) {
        //  这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
-        var alertContent: String = ""
-        var ttsContent: String = ""
+        var alertContent = ""
+        var ttsContent = ""
+        var v2xType = appId
        var changeVisualAngle = false
        when (appId) {
            //前向碰撞预警
            MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
-
-//                ObuManager.getInstance().obuRvToTrackedObject(info) //todo emArrow
+                if (FunctionBuildConfig.isObuWarningFusionUnion) {
+                    alertContent = "前车距离过近"
+                    ttsContent = "前车距离过近"
+                    CallerObuWarningListenerManager.invokeTrackerFusionData(ObuManager.getInstance().obuRvToTrackedObject(info))
+                } else {
+                    alertContent =
+                        EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
+                    ttsContent =
+                        EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
+                }
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType
            }

            //交叉路口碰撞预警
@@ -597,6 +605,7 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
                ttsContent =
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType
            }

            //左转辅助预警
@@ -605,6 +614,7 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
                ttsContent =
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType
            }

            //盲区预警
@@ -613,6 +623,7 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
                alertContent =
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType
                if (
                    direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
@@ -638,7 +649,8 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
                ttsContent =
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
-                if (
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType
+                    if (
                    direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
@@ -661,6 +673,7 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
                ttsContent =
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType
            }

            //紧急制动预警
@@ -669,6 +682,7 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
                ttsContent =
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType
            }

            //异常车辆提醒
@@ -687,6 +701,7 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
                ttsContent =
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType
                alertContent = String.format(alertContent, direction.desc)
                ttsContent = String.format(ttsContent, direction.desc)
            }
@@ -696,6 +711,7 @@ class MogoPrivateObuNewManager private constructor() {
                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
                ttsContent =
                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
+                v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
            }

            // 这里处理固定的提示信息,包括了<紧急车辆提醒>
@@ -715,9 +731,9 @@ class MogoPrivateObuNewManager private constructor() {
                )
                if (level == 2 || level == 3) {
                    //不显示弹框，其它保留
-                    saveObuData(appId, alertContent, ttsContent)
+                    saveObuData(v2xType, alertContent, ttsContent)
                    CallerHmiManager.warningV2X(
-                        appId,
+                        v2xType,
                        alertContent,
                        ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
                        object : IMoGoWarningStatusListener {
@@ -736,10 +752,12 @@ class MogoPrivateObuNewManager private constructor() {
                        }, direction
                    )
                }
+
                //更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
                TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
                    CallerMapUIServiceManager.getMarkerService()
                        ?.updateITrafficThreatLevelInfo(it)
+                    CallerObuWarningListenerManager.invokeTrackerWarningInfo(it)
                }
            }
            // 删除
@@ -751,6 +769,7 @@ class MogoPrivateObuNewManager private constructor() {
                    it.threatLevel = 0x01
                    CallerMapUIServiceManager.getMarkerService()
                        ?.updateITrafficThreatLevelInfo(it)
+                    CallerObuWarningListenerManager.removeTrackerWarningInfo(it)
                }
            }
        }
@@ -815,13 +834,24 @@ class MogoPrivateObuNewManager private constructor() {
                if (!isShowRunRedLight) {
                    isShowRunRedLight = true
                    CallerLogger.d(
-                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}", "changeTrafficLightStatus 闯红灯 --------> ")
+                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
+                        "changeTrafficLightStatus 闯红灯 --------> "
+                    )
                    ttsContent =
                        EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
                    alertContent =
                        EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                    saveObuData(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent)
-                    showWarning(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, alertContent, ttsContent, WarningDirectionEnum.ALERT_WARNING_NON)
+                    saveObuData(
+                        EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                        alertContent,
+                        ttsContent
+                    )
+                    showWarning(
+                        EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                        alertContent,
+                        ttsContent,
+                        WarningDirectionEnum.ALERT_WARNING_NON
+                    )
                }
            }

@@ -839,16 +869,27 @@ class MogoPrivateObuNewManager private constructor() {
                    ttsContent =
                        String.format(
                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
-                            adviceSpeedTts)
+                            adviceSpeedTts
+                        )
                    alertContent =
                        String.format(
                            EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
-                            adviceSpeed)
+                            adviceSpeed
+                        )

                    val maxSpeed = currentLight.suggestMaxSpeed
                    if (maxSpeed > 0) {
-                        saveObuData(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, alertContent, ttsContent)
-                        showWarning(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, alertContent, ttsContent, WarningDirectionEnum.ALERT_WARNING_NON)
+                        saveObuData(
+                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
+                            alertContent,
+                            ttsContent
+                        )
+                        showWarning(
+                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
+                            alertContent,
+                            ttsContent,
+                            WarningDirectionEnum.ALERT_WARNING_NON
+                        )
                    }
                }
            }
@@ -914,7 +955,12 @@ class MogoPrivateObuNewManager private constructor() {
    /**
     * 消息盒子对应消息的语音播报
     */
-    private fun showWarning(type: String, content: String, tts: String, direction: WarningDirectionEnum) {
+    private fun showWarning(
+        type: String,
+        content: String,
+        tts: String,
+        direction: WarningDirectionEnum
+    ) {
        CallerHmiManager.warningV2X(
            type,
            content,
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -158,6 +158,10 @@ class DevaToolsProvider : IDevaToolsProvider {
        upgradeManager.updateUpgradeProgress(mContext!!)
    }

+    override fun updateObuUpgradeStatus() {
+        upgradeManager.updateObuUpgradeStatus(mContext!!)
+    }
+
    override fun showStatusBar(ctx: Context, container: ViewGroup) {
        StatusManager.init(ctx)
        StatusManager.show(container)
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
@@ -43,6 +43,8 @@ class BindingCarManager : IMoGoAutopilotCarConfigListener {

    fun init(context: Context) {
        mContext = context
+        SharedPrefsMgr.getInstance(mContext!!).putLong("typeDriver", 0)
+        SharedPrefsMgr.getInstance(mContext!!).putLong("typePassenger", 0)
        CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
        ipcUpgradeManager.init(context)
        UiThreadHandler.postDelayed({ queryAppUpgrade() }, 10_000)
@@ -57,6 +59,9 @@ class BindingCarManager : IMoGoAutopilotCarConfigListener {
        if (carConfigResp != null && !TextUtils.isEmpty(carConfigResp.macAddress)) {
            Log.d("Upgrade", "MoGoHandAdasMsgManager address = " + carConfigResp.macAddress)
            getBindingCarInfo(carConfigResp.macAddress, MoGoAiCloudClientConfig.getInstance().sn)
+
+            //obu的升级,只需要司机屏连接
+            queryObuUpgrade(carConfigResp.macAddress)
        }
    }

@@ -162,11 +167,11 @@ class BindingCarManager : IMoGoAutopilotCarConfigListener {
    }

    /**
-     * 司机屏 处理obu升级即可,乘客屏不需要处理 TODO OBU的角色
+     * 司机屏 处理obu升级即可,乘客屏不需要处理
     *
     */
-    fun queryObuUpgrade() {
-        ObuUpgradeAppNetWorkManager.getInstance().getObuUpgradeInfo(mContext, mAddress, role.toString() + "")
+    private fun queryObuUpgrade(macAddress: String) {
+        ObuUpgradeAppNetWorkManager.getInstance().getObuUpgradeInfo(mContext, macAddress)
    }

 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
@@ -74,17 +74,20 @@ class BindingCarNetWorkManager private constructor() {
                override fun onSubscribe(d: Disposable) {}
                override fun onNext(info: BindingCarInfo) {
                    if (info != null && info.getData() != null) {
-                        d(SceneConstant.M_BINDING + TAG, "getBindingCarInfo data =" + info.getData().toString())
-                        if (!SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.MAC_ADDRESS).equals(macAddress) && DebugConfig.isCarModelChange()) {
-                            updateCarVrIconRes(info.getData().brandId);
-                        }
+                        d(
+                            SceneConstant.M_BINDING + TAG,
+                            "getBindingCarInfo data =" + info.getData().toString()
+                        )
+                        updateCarVrIconRes(info.getData().brandId);
                        when (info.getData().compare) {
                            "0" -> showBindingCarDialog()
                            "3" -> showModifyBindingCarDialog()
                            "null" -> TipToast.shortTip("当前工控机没有入库")
                        }
-                        SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.CAR_INFO, GsonUtils.toJson(info.getData()))
-                        SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.MAC_ADDRESS, macAddress)
+                        SharedPrefsMgr.getInstance(context).putString(
+                            SharedPrefsConstants.CAR_INFO,
+                            GsonUtils.toJson(info.getData())
+                        )
                    }
                }

@@ -133,10 +136,7 @@ class BindingCarNetWorkManager private constructor() {
                            SceneConstant.M_BINDING + TAG,
                            "modifyBindingCar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString()
                        )
-                        if (!SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.MAC_ADDRESS).equals(macAddress) && DebugConfig.isCarModelChange()) {
-                            updateCarVrIconRes(info.data.brandId);
-                        }
-                        SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.MAC_ADDRESS, macAddress)
+                        updateCarVrIconRes(info.data.brandId)
                    }
                }

@@ -155,6 +155,9 @@ class BindingCarNetWorkManager private constructor() {
        if (brandId == null || brandId.isEmpty()) {
            return
        }
+        if (getDefaultId() == brandId) {
+            return
+        }
        d(SceneConstant.M_BINDING + TAG, "updateCarVrIconRes : $brandId")
        when (brandId) {
            "1" -> {
@@ -176,4 +179,12 @@ class BindingCarNetWorkManager private constructor() {
        }
    }

+    private fun getDefaultId(): String {
+        return when (HdMapBuildConfig.currentCarVrIconRes) {
+            R.raw.chuzuche -> "1"
+            R.raw.xiaobache -> "3"
+            else -> "1"
+        }
+    }
+
 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/ObuUpgradeAppNetWorkManager.java
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/ObuUpgradeAppNetWorkManager.java
@@ -7,6 +7,7 @@ import android.content.Context;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.constants.HostConst;
 import com.mogo.eagle.core.data.bindingcar.UpgradeAppInfo;
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.network.MoGoRetrofitFactory;
 import com.mogo.eagle.core.network.utils.GsonUtil;
@@ -48,17 +49,17 @@ public class ObuUpgradeAppNetWorkManager {
    }

    /**
-     * 获取obu升级信息
+     * 获取obu升级信息，obu升级服务端使用app升级接口，根据screenType区分类型
     * mac ：工控机mac地址
     * screenType ： 类型
     */
-    public void getObuUpgradeInfo(Context context, String mac, String screenType) {
+    public void getObuUpgradeInfo(Context context, String mac) {
 //        String sn = "X20202203105S688HZ";
 //        String mac = "48:b0:2d:3a:bc:78";
        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
-        int versionCode = AppUtils.getAppVersionCode();
-        CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo mac = " + mac + "---type = " + screenType + "---sn = " + sn + "---versionCode =" + versionCode);
-        UpgradeAppRequest request = new UpgradeAppRequest(sn, mac, screenType);
+        String obuVersionName = String.valueOf(AppUtils.getAppVersionCode()); // TODO 获取obu的版本号, string和int 服务端处理
+        CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo mac = " + mac + "---sn = " + sn + "---obuVersionName =" + obuVersionName);
+        UpgradeAppRequest request = new UpgradeAppRequest(sn, mac, "7");
        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
        mUpgradeApiService.getUpgradeInfo(requestBody)
                .subscribeOn(Schedulers.io())
@@ -71,9 +72,10 @@ public class ObuUpgradeAppNetWorkManager {
                    @Override
                    public void onNext(@NonNull UpgradeAppInfo info) {
                        if (info != null && info.result != null) {
-                            CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo url = " + info.result.getAppUrl() + "----code = " + info.result.getVersionCode() + "--versionCode =" + versionCode + "--info.result = " + info.result);
-                            if (info.result.getVersionCode() > versionCode) {
-                                CallerHmiManager.INSTANCE.showUpgradeDialog(info.result.getAppUrl().substring(info.result.getAppUrl().lastIndexOf("/")+1), info.result.getAppUrl(), info.result.getInstallTitle(), info.result.getInstallContent(), info.result.getInstallType());
+                            CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo url = " + info.result.getAppUrl() + "----name = " + info.result.getVersionName() + "--obuVersionName =" + obuVersionName + "--info.result = " + info.result);
+                            if (!String.valueOf(info.result.getVersionName()).equals(obuVersionName)) {
+                                //下载 TAG和文件名 TODO
+                                CallerDevaToolsManager.INSTANCE.downLoadPackage("OBU", info.result.getAppUrl());
                            }
                        } else {
                            CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo onNext info == null");
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
@@ -14,6 +14,8 @@ import com.mogo.eagle.core.utilcode.breakpoint.utils.DownloadUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.util.AppUtils
+import com.mogo.eagle.core.utilcode.util.ZipUtils
+import java.io.IOException

 class UpgradeManager : IDownload {

@@ -116,6 +118,9 @@ class UpgradeManager : IDownload {
        }
    }

+    /**
+     * 鹰眼app下载监听
+     */
    fun updateUpgradeProgress(context: Context) {
        val builder = NotificationCompat.Builder(context)
        //        builder.setSmallIcon(R.mipmap.icon1001);//todo emArrow 更换图标，去除地图下载图标的依赖关系
@@ -147,4 +152,34 @@ class UpgradeManager : IDownload {
            })
    }

+    /**
+     * obu升级包下载监听
+     */
+    fun updateObuUpgradeStatus(context: Context) {
+        CallerDevaToolsUpgradeListenerManager.addListener(
+            TAG,
+            object : IMogoDevaToolsUpgradeListener {
+                override fun onStart(url: String?) {}
+                override fun onPause(url: String?) {}
+                override fun onProgress(url: String?, length: Int) {
+
+                }
+
+                override fun onFinished(url: String?) {
+                    //下载完成，解压文件 TODO
+                    try {
+                        val files = ZipUtils.unzipFile("", "")
+                        //传给obu升级
+
+                    } catch (e: IOException) {
+                        //解压失败
+
+                        e.printStackTrace()
+                    }
+                }
+
+                override fun onError(url: String?, errorMsg: String?) {}
+            })
+    }
+
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt
@@ -20,8 +20,7 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo.NoticeTrafficAccou
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.notice.NoticeValue
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager.bizProvider
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
@@ -201,8 +200,8 @@ class NoticeTrafficDialog : BaseFloatDialog, LifecycleObserver {
                mTrafficStyleInfo!!.lat, mTrafficStyleInfo!!.lon
            )
            parameters.startLatLon = AutoPilotLonLat(
-                getCurWgs84Lat(),
-                getCurWgs84Lon()
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude,
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude
            )
            parameters.endLatLon = AutoPilotLonLat(gcj02[0], gcj02[1])
            startAutoPilot(parameters)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ToggleDebugViewTrigger.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ToggleDebugViewTrigger.kt
@@ -0,0 +1,16 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.View
+
+class ToggleDebugViewTrigger(context: Context, attrs: AttributeSet?
+) : View(context, attrs){
+
+    init {
+        setOnLongClickListener {
+            ToggleDebugView.toggleDebugView.toggle(this.context)
+            true
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
@@ -12,10 +12,12 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.Utils
 import kotlinx.android.synthetic.main.view_steering_brake.view.*

@@ -30,6 +32,7 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
        private const val TAG = "SteeringBrakeView"
    }

+    @Volatile
    private var isShowTurnLight = false
    private var brakeLight = -1

@@ -59,11 +62,13 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
                "$M_HMI$TAG",
                "---onAutopilotLightSwitchData  ---Acceleration = " + gnssInfo.acceleration + "-- brakeLight = " + brakeLight
            )
-            if (!isShowTurnLight) { //在不展示转向灯的情况下，展示车辆刹车的动效
-                brakeView.visibility = View.VISIBLE
-                brakeView.setBrakeLight(brakeLight)
-            } else {
-                brakeView.visibility = View.GONE
+            ThreadUtils.runOnUiThread {
+                if (!isShowTurnLight) { //在不展示转向灯的情况下，展示车辆刹车的动效
+                    brakeView.visibility = View.VISIBLE
+                    brakeView.setBrakeLight(brakeLight)
+                } else {
+                    brakeView.visibility = View.GONE
+                }
            }
        }
    }
@@ -73,13 +78,16 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
        //can数据转发  转向灯状态 0是正常 1是左转 2是右转
        if (lightSwitch != null) {
            CallerLogger.d("$M_HMI$TAG", "---lightSwitch.getNumber() = " + lightSwitch.number)
-            if (lightSwitch.number == 1 || lightSwitch.number == 2) {
-                isShowTurnLight = true
-                brakeView.visibility = View.VISIBLE
-                brakeView.setBrakeLight(0)
-            } else {
-                brakeView.visibility = View.GONE
-                isShowTurnLight = false
+            ThreadUtils.runOnUiThread {
+                if (lightSwitch.number == 1 || lightSwitch.number == 2) {
+                    isShowTurnLight = true
+                    brakeView.visibility = View.VISIBLE
+                    brakeView.setBrakeLight(0)
+                } else {
+                    brakeView.visibility = View.GONE
+                    isShowTurnLight = false
+                }
+                turnLightView.visibility = View.VISIBLE
            }
        }
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
@@ -12,15 +12,10 @@ import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import chassis.Chassis
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
-import com.mogo.eagle.core.function.api.map.angle.Turning
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.hmi.R
-import kotlinx.android.synthetic.main.view_steering_brake.view.*
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import kotlinx.android.synthetic.main.view_turn_light_status.view.*
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.GlobalScope
-import kotlinx.coroutines.launch

 /**
 * @description
@@ -39,6 +34,9 @@ open class TurnLightViewStatus @JvmOverloads constructor(
    }

    private val visible: Boolean
+    private var isLeftLight: Boolean = false
+    private var isRightLight: Boolean = false
+    private var isDisappear: Boolean = false

    init {
        val typedArray = context.obtainStyledAttributes(attrs, R.styleable.TurnLightView)
@@ -71,8 +69,9 @@ open class TurnLightViewStatus @JvmOverloads constructor(
    override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
        super.onAutopilotLightSwitchData(lightSwitch)
        lightSwitch?.let {
-            turnLightView.visibility = View.VISIBLE
-            setTurnLight(it)
+            ThreadUtils.runOnUiThread {
+                setTurnLight(it)
+            }
        }
    }

@@ -83,27 +82,37 @@ open class TurnLightViewStatus @JvmOverloads constructor(
        if (!isAttachedToWindow) {
            return
        }
-        GlobalScope.launch(Dispatchers.Main) {
-            //根据左右进行显示和隐藏，实际要判断每个来的时间和频度
-            when (directionLight) {
-                Chassis.LightSwitch.LIGHT_LEFT -> { //左转向
-                    CallerVisualAngleManager.changeAngle(Turning(true))
+        //根据左右进行显示和隐藏，实际要判断每个来的时间和频度
+        when (directionLight.number) {
+            Chassis.LightSwitch.LIGHT_LEFT_VALUE -> { //左转向
+                if (!isLeftLight) {
+                    isLeftLight = true
+                    isRightLight = false
+                    isDisappear = false
                    showNormalAnimation()
                    left_select_image.visibility = View.VISIBLE
                    right_select_image.visibility = View.GONE
                    right_select_image.clearAnimation()
                    setAnimation(left_select_image)
                }
-                Chassis.LightSwitch.LIGHT_RIGHT -> { //右转向
-                    CallerVisualAngleManager.changeAngle(Turning(true))
+            }
+            Chassis.LightSwitch.LIGHT_RIGHT_VALUE -> { //右转向
+                if (!isRightLight) {
+                    isRightLight = true
+                    isLeftLight = false
+                    isDisappear = false
                    showNormalAnimation()
                    left_select_image.visibility = View.GONE
                    right_select_image.visibility = View.VISIBLE
                    left_select_image.clearAnimation()
                    setAnimation(right_select_image)
                }
-                else -> { //消失
-                    CallerVisualAngleManager.changeAngle(Turning(false))
+            }
+            Chassis.LightSwitch.LIGHT_NONE_VALUE -> { //消失
+                if (!isDisappear) {
+                    isDisappear = true
+                    isLeftLight = false
+                    isRightLight = false
                    animationDisappear()
                }
            }
@@ -154,8 +163,10 @@ open class TurnLightViewStatus @JvmOverloads constructor(
            }

            override fun onAnimationEnd(p0: Animation?) {
-                left_nor_image.visibility = View.GONE
-                right_nor_image.visibility = View.GONE
+                if (!visible) {
+                    left_nor_image.visibility = View.GONE
+                    right_nor_image.visibility = View.GONE
+                }
            }
        })

@@ -167,10 +178,9 @@ open class TurnLightViewStatus @JvmOverloads constructor(
            }

            override fun onAnimationEnd(p0: Animation?) {
-                if (visible) {
+                if (!visible) {
                    turn_light_layout.visibility = View.GONE
                }
-                stopAnimate()
            }
        })
    }
@@ -179,19 +189,13 @@ open class TurnLightViewStatus @JvmOverloads constructor(
    private fun setAnimation(imageView: ImageView) {
        val animationSet = AnimatorSet()
        val valueAnimator = ObjectAnimator.ofFloat(imageView, "alpha", 0f, 1.0f)
-        val valueAnimatorDisappare = ObjectAnimator.ofFloat(imageView, "alpha", 1.0f, 0f)
+        val valueAnimatorDisappear = ObjectAnimator.ofFloat(imageView, "alpha", 1.0f, 0f)
        valueAnimator.duration = 1000
-        valueAnimatorDisappare.duration = 800
+        valueAnimatorDisappear.duration = 800
        valueAnimator.repeatCount = -1
-        valueAnimatorDisappare.repeatCount = -1
-        animationSet.playTogether(valueAnimatorDisappare, valueAnimator)
+        valueAnimatorDisappear.repeatCount = -1
+        animationSet.playTogether(valueAnimatorDisappear, valueAnimator)
        animationSet.start()
    }

-    private fun stopAnimate() {
-        turn_light_layout.clearAnimation()
-        left_nor_image.clearAnimation()
-        right_nor_image.clearAnimation()
-    }
-
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
@@ -10,8 +10,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 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.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -80,7 +79,10 @@ class AutoPilotStatusView constructor(
        currentAutopilot.endName = "HYJC"
        currentAutopilot.isSpeakVoice = false
        currentAutopilot.startLatLon =
-            AutopilotControlParameters.AutoPilotLonLat(getCurWgs84Lat(), getCurWgs84Lon())
+            AutopilotControlParameters.AutoPilotLonLat(
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude,
+                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude
+            )
        currentAutopilot.endLatLon =
            AutopilotControlParameters.AutoPilotLonLat(26.819716071924688, 112.57715442110867)
        currentAutopilot.vehicleType = 10
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/LimitingVelocityView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/LimitingVelocityView.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.hmi.ui.widget

 import android.content.Context
 import android.util.AttributeSet
+import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -12,6 +13,7 @@ import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import kotlinx.android.synthetic.main.view_limiting_speed_vr.view.*

 /**
@@ -37,13 +39,16 @@ class LimitingVelocityView constructor(
    }

    override fun onLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
-        if (limitingVelocity > 0) {
-            this.visibility = View.VISIBLE
-            tvLimitingVelocity.text = "$limitingVelocity"
-            tvLimitingSource.text = sourceType.name
-        } else {
-            this.visibility = View.GONE
-            tvLimitingSource.text = ""
+        ThreadUtils.runOnUiThread {
+            if (limitingVelocity > 0) {
+                visibility = View.VISIBLE
+                tvLimitingVelocity.text = "$limitingVelocity"
+                Log.d("emArrow","limit : ${ DataSourceType.getName(sourceType)}")
+                tvLimitingSource.text = DataSourceType.getName(sourceType)
+            } else {
+                visibility = View.GONE
+                tvLimitingSource.text = ""
+            }
        }
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -53,6 +53,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
            CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
        }
        CallerDevaToolsManager.INSTANCE.updateUpgradeProgress();
+        CallerDevaToolsManager.INSTANCE.updateObuUpgradeStatus();
    }

    @Override
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_limiting_speed_vr.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_limiting_speed_vr.xml
@@ -23,14 +23,12 @@
        android:id="@+id/tvLimitingSource"
        android:layout_width="120dp"
        android:layout_height="35dp"
-        android:layout_marginEnd="40dp"
        android:gravity="center"
-        android:text=""
+        android:text="123"
        android:textColor="@color/color_FFFFFF"
        android:textSize="@dimen/dp_30"
        android:textStyle="bold"
        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/tvLimitingVelocity"
-        android:visibility="gone" />
+        app:layout_constraintTop_toBottomOf="@+id/tvLimitingVelocity" />

 </androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -4,10 +4,13 @@ import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
+import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -21,7 +24,7 @@ import mogo.yycp.api.proto.SocketDownData
 */
@Route(path = PATH_IDENTIFY)
 class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGoSubscriber,
-    IMoGoAutopilotIdentifyListener {
+    IMoGoAutopilotIdentifyListener, IMoGoObuStatusListener {

    private val TAG = "MapIdentifySubscriber"

@@ -37,11 +40,12 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo

    override fun onCrate() {
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
-
+        CallerObuWarningListenerManager.addListener(TAG, this)
    }

    override fun onDestroy() {
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        CallerObuWarningListenerManager.removeListener(TAG)
    }

    override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
@@ -62,7 +66,6 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
        try {
            if (FunctionBuildConfig.isDrawAiCloudFusion) {
                ThreadUtils.getSinglePool().execute {
-//                    aiCloudDataDrawer.renderAiCloudResult(cloudData)
                    IdentifyFactory.renderAiCloudResult(cloudData)
                }
            } else {
@@ -74,7 +77,6 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
    }

    fun clearAiCloudRoma() {
-//        aiCloudDataDrawer.clearAiMarker()
        IdentifyFactory.clearAiMarker()
    }

@@ -92,6 +94,47 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
        }
    }

+    override fun updateTrackerFusionData(trackObject: TrackedObject?) {
+        super.updateTrackerFusionData(trackObject)
+        try {
+            if (FunctionBuildConfig.isObuWarningFusionUnion) {
+                ThreadUtils.getSinglePool().execute {
+                    //todo emArrow
+                }
+            } else {
+
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    override fun updateTrackerWarningInfo(trafficData: TrafficData) {
+        super.updateTrackerWarningInfo(trafficData)
+        try {
+            if (FunctionBuildConfig.isObuWarningFusionUnion) {
+                ThreadUtils.getSinglePool().execute {
+                    IdentifyFactory.renderOBUWarningObj(true, trafficData)
+                }
+            } else {
+                IdentifyFactory.renderOBUWarningObj(false, trafficData)
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    override fun removeTrackerWarningInfo(trafficData: TrafficData) {
+        super.removeTrackerWarningInfo(trafficData)
+        try {
+            ThreadUtils.getSinglePool().execute {
+                IdentifyFactory.renderOBUWarningObj(false, trafficData)
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
    override fun getIdentifyObj(uuid: String): TrackedObject? {
        return IdentifyFactory.getIdentifyObj(uuid)
    }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
@@ -5,16 +5,20 @@ import android.graphics.Color;
 import android.os.Handler;
 import android.os.HandlerThread;
 import android.util.Log;
+
 import androidx.core.util.Pools;
+
 import com.mogo.eagle.core.data.map.MogoLatLng;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
 import com.mogo.map.MogoOverlayManager;
 import com.mogo.map.overlay.IMogoOverlayManager;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.map.overlay.MogoPolylineOptions;
+
 import java.util.LinkedList;
 import java.util.List;
+
 import mogo.telematics.pad.MessagePad;

 public class RouteOverlayDrawer {
@@ -128,8 +132,8 @@ public class RouteOverlayDrawer {
                    pps.add(acquire);
                    RouteStrategy.INSTANCE.check(route.getVelocity(), route.getAcceleration(), routeList.size());
                }
-                double lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
-                double lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
+                double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+                double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
                if (points.size() > 0) {
                    MogoLatLng top = null;
                    while (points.size() != 0) {
@@ -140,8 +144,8 @@ public class RouteOverlayDrawer {
                        if (first == top) {
                            break;
                        }
-                        lon = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon();
-                        lat = CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat();
+                        lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+                        lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
                        long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
                        if (angle >= 90) {
                            RouteStrategy.INSTANCE.remove(first.acc);
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.view
 import android.content.Context
 import android.os.Bundle
 import android.util.AttributeSet
+import android.util.Log
 import androidx.lifecycle.LifecycleObserver
 import chassis.Chassis
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -12,14 +13,16 @@ import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.map.MogoMapView


-class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context, attrs), IMoGoSkinModeChangeListener,
-    IMoGoChassisLocationWGS84Listener, IMoGoChassisLamplightListener , LifecycleObserver {
-    
-    companion object{
+class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context, attrs),
+    IMoGoSkinModeChangeListener,
+    IMoGoChassisLocationWGS84Listener, IMoGoChassisLamplightListener, LifecycleObserver {
+
+    companion object {
        private const val TAG = "MapBizView"
    }

@@ -34,7 +37,7 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,

    }

-    private fun initMapView(){
+    private fun initMapView() {
        map?.uiSettings?.let {
            //设置所有手势是否可用
            it.setAllGesturesEnabled(true)
@@ -84,23 +87,47 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
        setExtraGPSData(gnssInfo)
    }

+    @Volatile
+    private var isVisualAngleChanged = false
+
    override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
        super.onAutopilotLightSwitchData(lightSwitch)
        lightSwitch?.let {
            when (it.number) {
-                1 -> { //左转灯
-                    CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(4, 500)
+                Chassis.LightSwitch.LIGHT_LEFT_VALUE -> { //左转灯
+                    CallerVisualAngleManager.showTurning(true)
+                    showTurn(1)
                }
-                2 -> { //右转灯
-                    CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(2, 500)
+                Chassis.LightSwitch.LIGHT_RIGHT_VALUE -> { //右转灯
+                    CallerVisualAngleManager.showTurning(true)
+                    showTurn(2)
+
                }
-                else -> {
-                    CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(3, 500)
+                Chassis.LightSwitch.LIGHT_NONE_VALUE -> {
+                    CallerVisualAngleManager.showTurning(false)
+                    hideTurn()
                }
            }
        }
    }

+    private fun showTurn(lightNum: Int) {
+        if (!isVisualAngleChanged) {
+            isVisualAngleChanged = true
+            when (lightNum) {
+                1 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(4, 500)
+                2 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(2, 500)
+            }
+        }
+    }
+
+    private fun hideTurn() {
+        if (isVisualAngleChanged) {
+            isVisualAngleChanged = false
+            CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(3, 500)
+        }
+    }
+
    override fun onDestroy() {
        // 先取消注册数据，再onDestroy
        CallerSkinModeListenerManager.removeListener(TAG)
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -196,6 +196,20 @@ class OverMapView @JvmOverloads constructor(
        }
    }

+    /**
+     * 清空线路并隐藏起、终点
+     */
+    fun clearCustomPolyline() {
+        if (mBottomPolyline != null) {
+            mBottomPolyline!!.remove()
+        }
+        if (mCoveredPolyline != null) {
+            mCoveredPolyline!!.remove()
+        }
+        mStartMarker?.isVisible = false
+        mEndMarker?.isVisible = false
+    }
+
    private fun initView(context: Context) {
        mContext = context
        val smpView = LayoutInflater.from(context).inflate(R.layout.module_overview_map_view, this)
@@ -413,15 +427,6 @@ class OverMapView @JvmOverloads constructor(
        return false
    }

-    fun clearCustomPolyline() {
-        if (mBottomPolyline != null) {
-            mBottomPolyline!!.remove()
-        }
-        if (mCoveredPolyline != null) {
-            mCoveredPolyline!!.remove()
-        }
-    }
-
    /**
     * 绘制新基建Markers(比如：摄像头)
     *
@@ -615,6 +620,7 @@ class OverMapView @JvmOverloads constructor(
            mCoveredPolyline = mAMap!!.addPolyline(polylineOptions)
            if (mBottomPolyline != null) {
                mBottomPolyline!!.remove()
+                mBottomPolyline = null
            }
        }
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
@@ -11,7 +11,7 @@ import com.mogo.commons.utils.Trigonometric;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.v2x.DrawLineInfo;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoPersonWarnPolylineManager;
@@ -44,8 +44,8 @@ public class V2XWarningMarker implements IV2XMarker {
    private final List fillPoints = new ArrayList();//停止线经纬度合集
    private boolean isFirstLocation = false;
    private MogoLatLng carLocation = new MogoLatLng(
-            CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lat(),
-            CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84Lon()
+            CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude(),
+            CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude()
    );

    /*
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/MapUtils.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/MapUtils.kt
@@ -3,7 +3,7 @@ package com.mogo.eagle.core.function.v2x.events.utils
 import android.content.Context
 import android.graphics.Rect
 import com.mogo.eagle.core.data.map.MogoLatLng
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.util.WindowUtils

@@ -24,8 +24,8 @@ class MapUtils {
                mBoundRect.right = WindowUtils.dip2px(context, 100f)
                // 当前车辆位置
                val carLocation = MogoLatLng(
-                    CallerAutoPilotStatusListenerManager.getCurWgs84Lat(),
-                    CallerAutoPilotStatusListenerManager.getCurWgs84Lon()
+                    CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude,
+                    CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude
                )
                // 调整自适应的地图镜头
                CallerMapUIServiceManager.getMapUIController()