[6.7.0]

[fea]
[shuttle 启动自驾功能]

OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java

@@ -371,14 +371,9 @@ public class OrderModel {
     }
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
-        @Override
-        public void brakeStatusChanged(boolean isBrakeAvailable) {
-
-        }
 
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
-            OchAutopilotAnalytics.INSTANCE.triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage, System.currentTimeMillis());
             if (mPassengerCallback != null && !FunctionBuildConfig.isDemoMode){
                 CallerLogger.e( M_BUS + TAG, "mAdasStartFailureListener = "+startFailedMessage );
                 mPassengerCallback.onStartAdasFailure();

OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt

@@ -307,8 +307,6 @@ class DriverM1Model {
                 startFailedCode: String,
                 startFailedMessage: String
             ) {
-                OchAutopilotAnalytics
-                    .triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage,System.currentTimeMillis())
                 if (mControllerStatusCallback != null) {
 
                     d(SceneConstant.M_CHARTER_D + TAG,
@@ -316,9 +314,6 @@ class DriverM1Model {
                     mControllerStatusCallback?.onStartAdasFailure()
                 }
             }
-
-            override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
-            }
         }
 
     //监听网络变化，避免启动机器时无网导致无法更新订单信息

OCH/common/common/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt

@@ -7,6 +7,4 @@ package com.mogo.och.common.module.callback
 interface OchAdasStartFailureCallback {
     fun onStartAutopilotFailure(startFailedCode : String, startFailedMessage : String)
 
-    fun brakeStatusChanged(isBrakeAvailable: Boolean)
-
 }

OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java

@@ -10,9 +10,12 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager;
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.util.ParseVersionUtils;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
@@ -123,7 +126,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
                     " onAutopilotAbility =" +  unableAutopilotReasons.toString());
             if (unableAutopilotReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
                     && unableAutopilotReasons.toString().contains(UnableLaunchReason.UnableType.CHASSIS_BRAKE.name())) {
-                failureCallback.brakeStatusChanged(isAutopilotAbility);
+                //failureCallback.brakeStatusChanged(isAutopilotAbility);
             }
 
         }
@@ -136,6 +139,9 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
             startFailedCode = statistics.failedMessage.getCode();
             startFailedMessage = statistics.failedMessage.getMsg();
             failureCallback.onStartAutopilotFailure(startFailedCode, startFailedMessage);
+            if(!AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)){
+                LineManager.invokeStartAutopilotFailure(startFailedCode, startFailedMessage);
+            }
             Logger.d(TAG, String.format("statistics-startFailedCode = s%; startFailedMessage = s%",
                     startFailedCode, startFailedMessage));
         }

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

@@ -95,6 +95,7 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener, IMoGoFsm2024Listen
     @JvmStatic
     fun startAutoPilot(controlParameters: AutopilotControlParameters?): Long {
         val sessionId = CallerAutoPilotControlManager.startAutoPilot(controlParameters)
+        LineManager.isReStartAutopilot = false
         globalSessionId.set(sessionId)
         fsmBackSessionId.set(-1L)
         OchAutopilotAnalytics.triggerStartAutopilotParameters(controlParameters, sessionId)

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

@@ -9,6 +9,7 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.och.common.module.R
 import com.mogo.och.common.module.manager.autopilot.autopilot.bean.ArrivedStation
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
 import com.mogo.och.common.module.utils.CallerBase
 import com.zhjt.mogo.adas.data.AdasConstants
@@ -25,7 +26,15 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
 
     const val TAG = "OCHAutoPilotStatusListenerManager"
 
-    private var autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
+    private var canStartAutopilot:Boolean? by Delegates.observable(null) { _, oldValue, newValue ->
+        if (oldValue != newValue) {
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.canStartAutopilot(newValue?:false)
+            }
+        }
+    }
+    private var _autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
         if (oldValue != newValue) {
             if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
                 if(oldValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
@@ -38,6 +47,9 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
                     }
                 }
             }
+            if(newValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+                LineManager.triggerStartServiceEvent(true, 0)
+            }
 
             M_LISTENERS.forEach {
                 val listener = it.value
@@ -45,12 +57,19 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
             }
         }
     }
+    val autopilotState:Int
+        get() = _autopilotState
     init {
         //2021.11.1 鹰眼架构整合，由IMoGoAutopilotStatusListener逐步替代IMogoAdasOCHCallback接口
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerAutoPilotControlManager.addStartAutopilotStateListener(TAG,this)
     }
 
+    override fun doSomeAfterAddListener(tag: String, listener: IOchAutopilotStatusListener) {
+        super.doSomeAfterAddListener(tag, listener)
+        listener.onAutopilotStatusResponse(_autopilotState)
+    }
+
     override fun onAutopilotTrajectoryDownloadReq(
         autoPilotLine: AutopilotControlParameters.AutoPilotLine,
         downloadType: Int
@@ -63,7 +82,7 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
     }
 
     override fun onAutopilotStatusResponse(state: Int) {
-        autopilotState = state
+        _autopilotState = state
     }
 
     override fun onAutopilotDockerInfo(dockerVersion: String) {
@@ -172,10 +191,7 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
     }
 
     override fun invoke(canStartAutopilot: Boolean) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.canStartAutopilot(canStartAutopilot)
-        }
+        this.canStartAutopilot = canStartAutopilot
     }
 
     override fun onAutopilotStatusResponseFromCan(state: Int) {
@@ -184,5 +200,10 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
             val listener = it.value
             listener.onAutopilotStatusResponseFromCan(state)
         }
+        when (state) {
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                LineManager.triggerStartServiceEvent(true,1)
+            }
+        }
     }
 }

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

@@ -11,6 +11,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.loop.BizLoopManager
 
@@ -58,7 +59,7 @@ object OchAutopilotAnalytics {
 
 
     /**
-     * 正式把参数传给底层
+     * 正式启动自驾把参数传给底层
      */
     fun triggerStartAutopilotParameters(controlParameters: AutopilotControlParameters?, sessionId: Long){
         val params = HashMap<String, Any>()
@@ -115,6 +116,7 @@ object OchAutopilotAnalytics {
     private val timeOutRunnable = Runnable {
         // 15s内未开启，上报失败埋点
         triggerStartAutopilotFailureEvent("", "15s后app等待超时", System.currentTimeMillis())
+        LineManager.invokeStartAutopilotTimeOut()
     }
 
     /**

OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java

@@ -6,4 +6,10 @@ public interface ILineCallback {
     default void drawLineSuccess(){}
 
     default void drawLineFail(){}
+
+    default void startAutopilotSuccess(){}
+
+    default void startAutopilotTimeOut(){}
+
+    default void startAutopilotFailure(String startFailedCode,String startFailedMessage){}
 }

OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt

@@ -1,18 +1,30 @@
 package com.mogo.och.common.module.manager.autopilot.line
 
+import android.text.TextUtils
+import com.elegant.network.utils.GsonUtil
 import com.mogo.commons.env.ProjectUtils
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLonLat
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.map.MogoLocation
+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.map.CallerMapGlobalTrajectoryDrawManager
 import com.mogo.eagle.core.function.call.order.CallerOrderListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS
+import com.mogo.eagle.core.utilcode.util.StringUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager.startAutoPilot
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutopilotAnalytics
+import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.utils.CallerBase
+import com.mogo.och.common.module.voice.VoiceNotice
 import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.data.bean.ContraiInfo
 import com.mogo.och.data.bean.LineInfo
@@ -45,10 +57,15 @@ object LineManager : CallerBase<ILineCallback>() {
      */
     var endStation: BusStationBean? = null
 
+    var isReStartAutopilot = true
+
     /**
      * 设置站点信息
      */
     fun setStartAndEndStation(startStation: BusStationBean?, endStation: BusStationBean?) {
+        if(this.startStation!=startStation||this.endStation!=endStation){
+            isReStartAutopilot = true
+        }
         this.startStation = startStation
         this.endStation = endStation
         if(startStation==null||endStation==null){
@@ -167,10 +184,19 @@ object LineManager : CallerBase<ILineCallback>() {
             }
             d(M_BUS + TAG, "AutopilotControlParameters is update.")
             CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(parameters)
+            val startStationLocation = MogoLocation()
+            startStationLocation.latitude = start.gcjLat
+            startStationLocation.longitude = start.gcjLon
+
+            val endStationLocation = MogoLocation()
+            endStationLocation.latitude = end.gcjLat
+            endStationLocation.longitude = end.gcjLon
+            TrajectoryAndDistanceManager.setStationPoint(startStationLocation, endStationLocation, lineInfo.lineId)
         }
     }
     private fun clearAutopilotControlParameters(){
         CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(null)
+        TrajectoryAndDistanceManager.setStationPoint(null, null, null)
     }
 
     fun hasDrawnGlobalTrajectory(): Boolean {
@@ -239,5 +265,116 @@ object LineManager : CallerBase<ILineCallback>() {
         return parameters
     }
 
+    // 启动自动驾驶
+    fun startAutopilot() {
+
+        /**
+         * 存在Session
+         */
+        if (!OchAutoPilotManager.canStartAutopilotBySessionId()) {
+            return
+        }
+
+        OchAutopilotAnalytics.triggerClickStartAutopilotTime(System.currentTimeMillis())
+
+        //1、判断轨迹url是否可用
+        if(contraiInfo==null){
+            ToastUtils.showLong("无发布轨迹, 请发布后重试")
+            return
+        }else{
+
+            if (FunctionBuildConfig.isPassStartAutopilotCommand
+                && TextUtils.isEmpty(contraiInfo!!.csvFileUrl)
+                && TextUtils.isEmpty(contraiInfo!!.csvFileMd5)
+            ) {
+                ToastUtils.showLong("无发布轨迹, 请发布后重试")
+                e(
+                    TAG, "isPassStartAutopilotCommand = " +
+                            FunctionBuildConfig.isPassStartAutopilotCommand
+                            + "busRoutesResult.csvFileUrl = " + LineManager.contraiInfo!!.csvFileUrl
+                )
+                return
+            }
+        }
+
+        //2、6个条件判断
+        if (!CallerAutoPilotControlManager.isCanStartAutopilot(true, 0)) {
+            return
+        }
+
+        // 3、距离轨迹15m计算
+        val resion = OchAutoPilotManager.canStartAutoPilotByDistance(contraiInfo!!.lineId)
+        if (!StringUtils.isEmpty(resion)) {
+            ToastUtils.showShort(resion)
+            VoiceNotice.showNotice(resion)
+            return
+        }
+        //4、ssm 给出数据
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
+            triggerUnableStartAPReasonEvent()
+            return
+        }
+
+        triggerStartServiceEvent(false,0)
+
+        val parameters = initAutopilotControlParameters()
+        if (null == parameters) {
+            e(M_BUS + TAG, "行程日志-AutopilotControlParameters is empty.")
+            return
+        }
+
+        val sessionId  = startAutoPilot(parameters)
+        OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId)
+
+        d(
+            M_BUS + TAG,
+            "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
+                    + " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
+                    "isRestart = " + LineManager.isReStartAutopilot
+        )
+
+        M_LISTENERS.forEach {
+            it.value.startAutopilotSuccess()
+        }
+    }
+
+    private fun triggerUnableStartAPReasonEvent() {
+        getStationsWithLine { start, end, line ->
+            OchAutopilotAnalytics.triggerUnableStartAPReasonEvent(
+                start.name, end.name,line.lineId.toString() , "",
+                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason
+            )
+        }
+    }
+
+    fun triggerStartServiceEvent(send: Boolean,source:Int) {
+        getStations { start, end ->
+            OchAutopilotAnalytics.triggerStartAutopilotEvent(
+                isReStartAutopilot,
+                send,
+                start.name,
+                end.name,
+                lineInfos!!.lineId.toInt(),
+                "",
+                System.currentTimeMillis(),
+                source
+            )
+        }
+    }
+
+    @JvmStatic
+    fun invokeStartAutopilotTimeOut(){
+        M_LISTENERS.forEach {
+            it.value.startAutopilotTimeOut()
+        }
+    }
+
+    @JvmStatic
+    fun invokeStartAutopilotFailure(startFailedCode: String, startFailedMessage: String) {
+        OchAutopilotAnalytics.triggerStartAutopilotFailureEventByAdas(startFailedCode,startFailedMessage,System.currentTimeMillis())
+        M_LISTENERS.forEach {
+            it.value.startAutopilotFailure(startFailedCode,startFailedMessage)
+        }
+    }
 
 }

OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/autopilot/AutopilotState.kt

@@ -0,0 +1,210 @@
+package com.mogo.och.common.module.wigets.autopilot
+
+import android.animation.ObjectAnimator
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.animation.LinearInterpolator
+import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.findViewTreeViewModelStoreOwner
+import com.mogo.eagle.core.utilcode.kotlin.onClick
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.och.common.module.R
+import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
+import com.mogo.och.common.module.utils.BigFrameAnimatorContainer
+import com.mogo.och.common.module.utils.ResourcesUtils
+import kotlinx.android.synthetic.main.common_autopilot_view.view.aciv_autopilot_running_ani
+import kotlinx.android.synthetic.main.common_autopilot_view.view.aciv_autopilot_state
+import kotlinx.android.synthetic.main.common_autopilot_view.view.actv_autopilot_head
+import kotlinx.android.synthetic.main.common_autopilot_view.view.actv_autopilot_state
+import kotlinx.android.synthetic.main.common_autopilot_view.view.actv_pxjs_state
+
+class AutopilotState @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), IOchAutopilotStatusListener,
+    AutopilotStateModel.AutopilotStateCallback {
+
+    private val TAG = "AutopilotState"
+
+    private var viewModel:AutopilotStateModel?=null
+
+    private var autopilotStateAnimator: BigFrameAnimatorContainer?=null
+
+    private lateinit var autopilotLoadingAnimator: ObjectAnimator
+
+    private fun initView() {
+        LayoutInflater.from(context).inflate(R.layout.common_autopilot_view, this, true)
+        autopilotStateAnimator = BigFrameAnimatorContainer(R.array.in_auto, 31, aciv_autopilot_running_ani)
+        autopilotLoadingAnimator =  ObjectAnimator.ofFloat(aciv_autopilot_state, "rotation", 0f, 360f);
+        autopilotLoadingAnimator.interpolator = LinearInterpolator()
+        autopilotLoadingAnimator.repeatCount = -1 //无限循环
+        autopilotLoadingAnimator.duration = 1000 //无限循环
+        onClick {
+            startAutopilot()
+        }
+    }
+
+    fun startAutopilot(){
+        viewModel?.startAutopilot()
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        viewModel = findViewTreeViewModelStoreOwner()?.let {
+            ViewModelProvider(it).get(AutopilotStateModel::class.java)
+        }
+        viewModel?.setViewCallback(this)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+    }
+
+
+
+    init {
+        try {
+            initView()
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    override fun startAutopilotAnimation() {
+        CallerLogger.d(TAG,"播放启动自驾动画")
+        aciv_autopilot_state.setImageResource(R.drawable.common_autopilot_enable)
+
+        actv_pxjs_state.visibility = GONE
+        actv_autopilot_head.visibility = VISIBLE
+        actv_autopilot_state.visibility = VISIBLE
+
+        actv_autopilot_head.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_starting)
+        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        AutopilotState@this.isEnabled = false
+
+        autopilotLoadingAnimator.start()
+    }
+
+    override fun stopAutopilotAnimation() {
+        CallerLogger.d(TAG,"结束启动自驾动画")
+        aciv_autopilot_state.setImageResource(R.drawable.common_autopilot_enable)
+
+        actv_pxjs_state.visibility = GONE
+        actv_autopilot_head.visibility = VISIBLE
+        actv_autopilot_state.visibility = VISIBLE
+
+        actv_autopilot_head.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_starting)
+        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        AutopilotState@this.isEnabled = false
+
+        autopilotLoadingAnimator.cancel()
+    }
+
+    override fun inAutopilot() {
+        CallerLogger.d(TAG,"展示自驾中UI")
+        aciv_autopilot_state.setImageResource(R.drawable.common_autopilot_running)
+
+        actv_pxjs_state.visibility = GONE
+        actv_autopilot_head.visibility = VISIBLE
+        actv_autopilot_state.visibility = VISIBLE
+
+        actv_autopilot_head.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_running)
+        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        AutopilotState@this.isEnabled = false
+
+        aciv_autopilot_running_ani.visibility = VISIBLE
+        autopilotStateAnimator?.start()
+        autopilotLoadingAnimator.cancel()
+    }
+
+    override fun autopilotDisable() {
+        CallerLogger.d(TAG,"不可启动自驾")
+        aciv_autopilot_state.setImageResource(R.drawable.common_autopilot_unenable)
+
+        actv_pxjs_state.visibility = GONE
+        actv_autopilot_head.visibility = VISIBLE
+        actv_autopilot_state.visibility = VISIBLE
+
+        actv_autopilot_head.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_start)
+        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+
+        AutopilotState@this.isEnabled = false
+
+        aciv_autopilot_running_ani.visibility = GONE
+        autopilotStateAnimator?.stop()
+        autopilotLoadingAnimator.cancel()
+    }
+
+    override fun canStartAutopilot() {
+        CallerLogger.d(TAG,"可以启动自驾")
+        aciv_autopilot_state.setImageResource(R.drawable.common_autopilot_enable)
+
+        actv_pxjs_state.visibility = GONE
+        actv_autopilot_head.visibility = VISIBLE
+        actv_autopilot_state.visibility = VISIBLE
+
+        actv_autopilot_head.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_start)
+        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        AutopilotState@this.isEnabled = true
+
+        aciv_autopilot_running_ani.visibility = GONE
+        autopilotStateAnimator?.stop()
+        autopilotLoadingAnimator.cancel()
+    }
+
+    override fun inRemoteDriver() {
+        CallerLogger.d(TAG,"展示平行驾驶中UI")
+        aciv_autopilot_state.setImageResource(R.drawable.common_autopilot_running)
+
+        actv_pxjs_state.visibility = VISIBLE
+        actv_autopilot_head.visibility = GONE
+        actv_autopilot_state.visibility = GONE
+
+        actv_autopilot_head.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_start)
+        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        AutopilotState@this.isEnabled = false
+
+        aciv_autopilot_running_ani.visibility = VISIBLE
+        autopilotStateAnimator?.start()
+        autopilotLoadingAnimator.cancel()
+    }
+
+    override fun startAutopilotSuccess() {
+
+    }
+
+    override fun startAutopilotFail() {
+        CallerLogger.d(TAG,"启动自动驾驶失败")
+        aciv_autopilot_state.setImageResource(R.drawable.common_autopilot_fail)
+
+        actv_pxjs_state.visibility = GONE
+        actv_autopilot_head.visibility = VISIBLE
+        actv_autopilot_state.visibility = VISIBLE
+
+        actv_autopilot_head.setTextColor(ResourcesUtils.getColor(R.color.common_B3FFFFFF))
+        actv_autopilot_state.setTextColor(ResourcesUtils.getColor(R.color.common_FF4E41))
+        actv_autopilot_state.text = ResourcesUtils.getString(R.string.common_autopilot_fail)
+        actv_pxjs_state.setTextColor(ResourcesUtils.getColor(R.color.common_19FFCB))
+        AutopilotState@this.isEnabled = false
+
+        aciv_autopilot_running_ani.visibility = VISIBLE
+        autopilotStateAnimator?.stop()
+        autopilotLoadingAnimator.cancel()
+    }
+
+}

OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/autopilot/AutopilotStateModel.kt

@@ -0,0 +1,154 @@
+package com.mogo.och.common.module.wigets.autopilot
+
+import android.text.TextUtils
+import androidx.lifecycle.ViewModel
+import com.elegant.network.utils.GsonUtil
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS
+import com.mogo.eagle.core.utilcode.util.StringUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.och.common.module.callback.OchAdasStartFailureCallback
+import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager.canStartAutoPilotByDistance
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager.canStartAutoPilotSSM
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager.startAutoPilot
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
+import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutopilotAnalytics
+import com.mogo.och.common.module.manager.autopilot.line.ILineCallback
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
+import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
+import com.mogo.och.common.module.manager.loop.BizLoopManager
+import com.mogo.och.common.module.voice.VoiceNotice.showNotice
+import java.util.concurrent.atomic.AtomicBoolean
+import java.util.concurrent.atomic.AtomicLong
+
+/**
+ * @author XuXinChao
+ * @description BadCase录包管理页面
+ * @since: 2022/12/15
+ */
+class AutopilotStateModel :  ViewModel(), IOchAutopilotStatusListener, ILineCallback{
+
+    private val TAG = AutopilotStateModel::class.java.simpleName
+
+    private var viewCallback:AutopilotStateCallback?=null
+
+    private val isPalyStartAni = AtomicBoolean(false)
+
+
+    override fun onCleared() {
+        this.viewCallback = null
+        OchAutoPilotStatusListenerManager.removeListener(TAG)
+        LineManager.removeListener(TAG)
+    }
+
+    fun setViewCallback(viewCallback:AutopilotStateCallback){
+        this.viewCallback = viewCallback
+        OchAutoPilotStatusListenerManager.addListener(TAG,this)
+        LineManager.addListener(TAG,this)
+    }
+
+    override fun onAutopilotStatusResponse(state: Int) {
+        OchChainLogManager.writeChainLog("自驾信息","自驾状态变化:${state}")
+        autopilotStateChange()
+    }
+
+    override fun canStartAutopilot(canStart: Boolean) {
+        OchChainLogManager.writeChainLog("自驾信息","能否启动自驾:${canStart}")
+        autopilotStateChange()
+    }
+
+    private fun autopilotStateChange(){
+        BizLoopManager.runInMainThread{
+            OchChainLogManager.writeChainLog("自驾信息","自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${CallerAutoPilotControlManager.isCanStartAutopilot(false)}")
+            when (OchAutoPilotStatusListenerManager.autopilotState) {
+                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE-> {// 不可用 不可启动自驾
+
+                    this.viewCallback?.autopilotDisable()
+                }
+                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE-> {
+                    if (!CallerAutoPilotControlManager.isCanStartAutopilot(false)) {// 不可用
+                        this.viewCallback?.autopilotDisable()
+                    } else {// 部分可用
+                        this.viewCallback?.canStartAutopilot()
+                    }
+                }
+                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING-> {// 自驾中
+                    this.viewCallback?.stopAutopilotAnimation()
+                    this.viewCallback?.inAutopilot()
+                }
+                IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING-> {// 平行驾驶中
+                    this.viewCallback?.stopAutopilotAnimation()
+                    this.viewCallback?.inRemoteDriver()
+                }
+            }
+        }
+    }
+
+    fun startAutopilot() {
+        OchChainLogManager.writeChainLog("自驾信息","启动自驾")
+        LineManager.startAutopilot()
+    }
+
+    override fun startAutopilotSuccess() {
+        OchChainLogManager.writeChainLog("自驾信息","启动自驾成功")
+        BizLoopManager.runInMainThread {
+            this.viewCallback?.startAutopilotAnimation()
+            isPalyStartAni.set(true)
+        }
+    }
+
+    override fun startAutopilotTimeOut() {
+        OchChainLogManager.writeChainLog("自驾信息","启动自驾超时失败")
+        BizLoopManager.runInMainThread{
+            this.viewCallback?.stopAutopilotAnimation()
+            this.viewCallback?.startAutopilotFail()
+            this.isPalyStartAni.set(false)
+            UiThreadHandler.postDelayed({
+                autopilotStateChange()
+            },1000,UiThreadHandler.MODE.QUEUE)
+        }
+    }
+
+    override fun startAutopilotFailure(startFailedCode: String?, startFailedMessage: String?) {
+        OchChainLogManager.writeChainLog("自驾信息","底盘强制失败原因：${startFailedCode}_${startFailedMessage}")
+        BizLoopManager.runInMainThread{
+            this.viewCallback?.stopAutopilotAnimation()
+            this.viewCallback?.startAutopilotFail()
+            this.isPalyStartAni.set(false)
+            UiThreadHandler.postDelayed({
+                autopilotStateChange()
+            },1000,UiThreadHandler.MODE.QUEUE)
+        }
+    }
+
+    interface AutopilotStateCallback{
+        //开始动画
+        fun startAutopilotAnimation()
+        //结束动画
+        fun stopAutopilotAnimation()
+
+        // 进入自动驾驶
+        fun inAutopilot()
+        // 自动驾驶不可用
+        fun autopilotDisable()
+        // 可用启动自驾
+        fun canStartAutopilot()
+        // 进入平行驾驶
+        fun inRemoteDriver()
+
+        //  启动自驾成功
+        fun startAutopilotSuccess()
+        // 启动自驾失败
+        fun startAutopilotFail()
+    }
+}
+