[6.8.2]

[fea]
[轨迹下载回调相关]

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

@@ -5,6 +5,7 @@ import androidx.fragment.app.Fragment
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.magic.mogo.och.charter.fragment.DriverM1Fragment
 import com.magic.mogo.och.charter.manager.CharterAnalyticsManager
+import com.magic.mogo.och.charter.manager.CharterTrajectoryManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.och.common.module.constant.OchCommonConst
@@ -29,10 +30,12 @@ class CharterDriverProvider : CommonServiceImpl() {
             fragment = DriverM1Fragment()
         }
         OchAutopilotAnalytics.ochEventKey = CharterAnalyticsManager.getInstance()
+        CharterTrajectoryManager.load()
         return fragment!!
     }
 
     override fun resetFragment() {
+        CharterTrajectoryManager.release()
         fragment = null
         OchAutopilotAnalytics.ochEventKey = null
     }

OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/manager/CharterTrajectoryManager.kt

@@ -15,6 +15,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ActivityUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.och.common.module.biz.login.LoginStatusManager
+import com.mogo.och.common.module.manager.autopilot.trajectory.ITrajectoryListListener
+import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.utils.SoundPoolHelper
 import io.reactivex.Observable
@@ -29,7 +31,7 @@ import java.util.concurrent.TimeUnit
  * Bus轨迹管理：给MEC下发用于轨迹下载的信息
  * Created on 2022/6/23
  */
-object CharterTrajectoryManager {
+object CharterTrajectoryManager : ITrajectoryListListener {
 
     private const val TAG = "CharterTrajectoryManager"
     private var mAutoPilotLine: AutoPilotLine? = null
@@ -37,6 +39,14 @@ object CharterTrajectoryManager {
     private var mLineName = ""
     private var mSendReqDisposable: Disposable? = null
 
+    fun load(){
+        TrajectoryManager.addListener(TAG,this)
+    }
+
+    fun release(){
+        TrajectoryManager.removeListener(TAG)
+    }
+
     /**
      * 同步Bus路线信息
      */
@@ -54,57 +64,35 @@ object CharterTrajectoryManager {
         }
     }
 
-    fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) {
+    override fun onDownLoadStart(lineId: Long) {
-        onAutopilotGuardian(guardianInfo)
+        stopTrajReqLoop()
     }
 
-    /**
+    override fun onDownLoadSuccess(lineId: Long) {
-     * 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
+        stopTrajReqLoop()
-     * @param guardianInfo
+    }
-     */
+
-    fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
+    override fun onDownLoadReady(lineId: Long) {
-        if (guardianInfo == null || !guardianInfo.hasCode()) return
+        super.onDownLoadReady(lineId)
-        if ("ISYS_INIT_TRAJECTORY_START" == guardianInfo.code) {
+        DriverM1Model.get().getBusOrderResult()?.lineId?.let {
-            // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
+            syncTrajectoryInfo(it, DriverM1Model.get().getBusOrderResult()?.lineName!!)
-            d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹开始下载")
+        }
-            OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹开始下载", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
+    }
-            stopTrajReqLoop()
+
-        } else if ("ISYS_INIT_TRAJECTORY_SUCCESS" == guardianInfo.code) {
+    override fun onDistanceWithTrajectory(lineId: Long) {
-            // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
+        super.onDistanceWithTrajectory(lineId)
-            d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹下载成功")
+        DriverM1Model.get().getBusOrderResult()?.lineId?.let {
-            OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载成功", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
+            syncTrajectoryInfo(it, DriverM1Model.get().getBusOrderResult()?.lineName!!)
-            stopTrajReqLoop()
+        }
-        } else if ("ISYS_INIT_TRAJECTORY_FAILURE" == guardianInfo.code) {
+        CallerMsgBoxManager.saveMsgBox(
-            // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
+            MsgBoxBean(
-            d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() " + "轨迹下载失败，本地无对应轨迹")
+                MsgBoxType.OPERATION,
-            OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地无对应轨迹", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
+                OperationMsg(
-            // ToastUtils.showShort("轨迹下载失败，本地无对应轨迹");
+                    System.currentTimeMillis(), "请尽快操作车辆至适当位置掉头！", -1
-        } else if ("ISYS_INIT_TRAJECTORY_WARNING" == guardianInfo.code) {
-            // 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
-            d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() " + "轨迹下载失败，本地有对应轨迹，认为成功")
-            OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载失败，本地有对应轨迹，认为成功", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
-            // ToastUtils.showShort("轨迹下载失败，本地有对应轨迹，认为成功");
-        } else if ("ISYS_INIT_TRAJECTORY_TIMEOUT" == guardianInfo.code) {
-            // 5. 轨迹管理_轨迹下载超时
-            d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹下载超时")
-            OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 轨迹下载超时", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
-        }  else if ("EMAP_ATTITUDE_INIT_FAILED" == guardianInfo.getCode()) {
-            // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
-            d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() ssm ready，再次发起下载")
-            OchChainLogManager.writeChainLog("轨迹监控","onAutopilotGuardian() 当前位置距离轨迹距离大于15m", eventID = OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
-            DriverM1Model.get().getBusOrderResult()?.lineId?.let {
-                syncTrajectoryInfo(it, DriverM1Model.get().getBusOrderResult()?.lineName!!)
-            }
-            CallerMsgBoxManager.saveMsgBox(
-                MsgBoxBean(
-                    MsgBoxType.OPERATION,
-                    OperationMsg(
-                        System.currentTimeMillis(), "请尽快操作车辆至适当位置掉头！", -1
-                    )
                 )
             )
-            SoundPoolHelper.getSoundPoolHelper().playSoundWithRedId(ActivityUtils.getTopActivity(), R.raw.startautopilot)
+        )
-        }
+        SoundPoolHelper.getSoundPoolHelper().playSoundWithRedId(ActivityUtils.getTopActivity(), R.raw.startautopilot)
     }
 
     private fun setupAutoPilotLine() {

OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt

@@ -124,10 +124,6 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
         DriverM1Model.get().pushOperationalToMsgBox(DateTimeUtil.getCurrentTimeStamp()
             ,context.getString(R.string.charter_last_15_minutes))
     }
-    
-    override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?, lineId: Long) {
-        CharterTrajectoryManager.onAutopilotGuardian(guardianInfo,lineId)
-    }
 
     override fun onAutopilotArriveAtStation(arrivalNotification: ArrivedStation?) {
         DriverM1Model.get().onAutopilotArriveAtStation()

OCH/common/common/src/main/java/com/mogo/och/common/module/biz/login/LoginInfo.java

@@ -13,6 +13,7 @@ public class LoginInfo {
     private String phone;//手机号
     private Integer lineId;//线路id
     private Integer taskId;//任务id
+    private Integer siteId;//任务id
     private String vin;//车辆唯一识别码
     private String cityCode;//城市编码
     private String brand;//东风
@@ -24,6 +25,8 @@ public class LoginInfo {
     private long tenantId;//租户id:
     private long driverId;
 
+    private long businessStatus;//?????
+
     public int getDriverStatus() {
         return driverStatus;
     }
@@ -160,6 +163,22 @@ public class LoginInfo {
         this.driverId = driverId;
     }
 
+    public Integer getSiteId() {
+        return siteId;
+    }
+
+    public void setSiteId(Integer siteId) {
+        this.siteId = siteId;
+    }
+
+    public long getBusinessStatus() {
+        return businessStatus;
+    }
+
+    public void setBusinessStatus(long businessStatus) {
+        this.businessStatus = businessStatus;
+    }
+
     @Override
     public String toString() {
         return "LoginInfo{" +
@@ -173,6 +192,7 @@ public class LoginInfo {
                 ", phone='" + phone + '\'' +
                 ", lineId=" + lineId +
                 ", taskId=" + taskId +
+                ", siteId=" + siteId +
                 ", vin='" + vin + '\'' +
                 ", cityCode='" + cityCode + '\'' +
                 ", brand='" + brand + '\'' +
@@ -180,6 +200,7 @@ public class LoginInfo {
                 ", photos='" + photos + '\'' +
                 ", tenantId=" + tenantId +
                 ", driverId=" + driverId +
+                ", businessStatus=" + businessStatus +
                 '}';
     }
 
@@ -189,30 +210,7 @@ public class LoginInfo {
         if (o == null || getClass() != o.getClass()) return false;
 
         LoginInfo loginInfo = (LoginInfo) o;
-
+        return driverStatus == loginInfo.driverStatus && servingStatus == loginInfo.servingStatus && businessType == loginInfo.businessType && purpose == loginInfo.purpose && tenantId == loginInfo.tenantId && driverId == loginInfo.driverId && businessStatus == loginInfo.businessStatus && Objects.equals(orderNo, loginInfo.orderNo) && Objects.equals(sn, loginInfo.sn) && Objects.equals(plateNumber, loginInfo.plateNumber) && Objects.equals(phone, loginInfo.phone) && Objects.equals(lineId, loginInfo.lineId) && Objects.equals(taskId, loginInfo.taskId) && Objects.equals(siteId, loginInfo.siteId) && Objects.equals(vin, loginInfo.vin) && Objects.equals(cityCode, loginInfo.cityCode) && Objects.equals(brand, loginInfo.brand) && Objects.equals(carModel, loginInfo.carModel) && Objects.equals(photos, loginInfo.photos);
-        if (driverStatus != loginInfo.driverStatus) return false;
-        if (servingStatus != loginInfo.servingStatus) return false;
-        if (businessType != loginInfo.businessType) return false;
-        if (purpose != loginInfo.purpose) return false;
-        if (tenantId != loginInfo.tenantId) return false;
-        if (driverId != loginInfo.driverId) return false;
-        if (!Objects.equals(orderNo, loginInfo.orderNo))
-            return false;
-        if (!Objects.equals(sn, loginInfo.sn)) return false;
-        if (!Objects.equals(plateNumber, loginInfo.plateNumber))
-            return false;
-        if (!Objects.equals(phone, loginInfo.phone)) return false;
-        if (!Objects.equals(lineId, loginInfo.lineId))
-            return false;
-        if (!Objects.equals(taskId, loginInfo.taskId))
-            return false;
-        if (!Objects.equals(vin, loginInfo.vin)) return false;
-        if (!Objects.equals(cityCode, loginInfo.cityCode))
-            return false;
-        if (!Objects.equals(brand, loginInfo.brand)) return false;
-        if (!Objects.equals(carModel, loginInfo.carModel))
-            return false;
-        return Objects.equals(photos, loginInfo.photos);
     }
 
     @Override
@@ -220,20 +218,22 @@ public class LoginInfo {
         int result = driverStatus;
         result = 31 * result + servingStatus;
         result = 31 * result + businessType;
-        result = 31 * result + (int)tenantId;
+        result = 31 * result + Objects.hashCode(orderNo);
-        result = 31 * result + (int)driverId;
-        result = 31 * result + (orderNo != null ? orderNo.hashCode() : 0);
         result = 31 * result + purpose;
-        result = 31 * result + (sn != null ? sn.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(sn);
-        result = 31 * result + (plateNumber != null ? plateNumber.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(plateNumber);
-        result = 31 * result + (phone != null ? phone.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(phone);
-        result = 31 * result + (lineId != null ? lineId.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(lineId);
-        result = 31 * result + (taskId != null ? taskId.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(taskId);
-        result = 31 * result + (vin != null ? vin.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(siteId);
-        result = 31 * result + (cityCode != null ? cityCode.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(vin);
-        result = 31 * result + (brand != null ? brand.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(cityCode);
-        result = 31 * result + (carModel != null ? carModel.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(brand);
-        result = 31 * result + (photos != null ? photos.hashCode() : 0);
+        result = 31 * result + Objects.hashCode(carModel);
+        result = 31 * result + Objects.hashCode(photos);
+        result = 31 * result + Long.hashCode(tenantId);
+        result = 31 * result + Long.hashCode(driverId);
+        result = 31 * result + Long.hashCode(businessStatus);
         return result;
     }
 }

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

@@ -132,12 +132,7 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
     override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         var lineId = -1L
-        if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START == guardianInfo?.code ||
+        guardianInfo?.let {
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS == guardianInfo?.code ||
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE == guardianInfo?.code ||
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING == guardianInfo?.code ||
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT == guardianInfo?.code
-        ) {
             val msg = guardianInfo.msg
             try {
                 val regex = Regex("lineid:(\\d+)")
@@ -159,16 +154,9 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
 
                 }
             }
-            if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS == guardianInfo?.code){
-                TrajectoryManager.addDownLoadSuccessLine(lineId)
-            }
-            if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE == guardianInfo?.code){
-                // 更新轨迹没有更新lineId 第二次下载失败 删除App成功缓存(概率很低)
-                TrajectoryManager.removeDownLoadSuccessLine(lineId)
-            }
         }
 
-        TrajectoryManager.carDownLoadTrajectoryLog(guardianInfo?.code)
+        TrajectoryManager.carDownLoadTrajectoryLog(guardianInfo?.code,lineId)
 
         M_LISTENERS.forEach {
             val listener = it.value

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

@@ -4,12 +4,29 @@ import com.mogo.eagle.core.data.map.MogoLocation
 
 interface ITrajectoryListListener{
     /**
-     * @param routeArrivied 已经走过的坐标
+     * @param trajectoryList gcj 坐标轨迹集合
-     * @param routeArriving 没有走过的坐标
-     * @param location 车的坐标
-     * @return
      */
-    fun trajectoryCallback(
+    fun trajectoryCallback(trajectoryList: MutableList<MogoLocation>){}
-        trajectoryList: MutableList<MogoLocation>,
+
-    )
+    /**
+     * @param maxDistanceAllPoint 轨迹全长
+     */
+    fun trajectoryDistanceCallback(maxDistanceAllPoint: Double){}
+    // 开始下载轨迹
+    fun onDownLoadStart(lineId: Long){}
+    // 下载轨迹成功
+    fun onDownLoadSuccess(lineId: Long){}
+    // 下载轨迹是吧
+    fun onDownLoadFail(lineId: Long){}
+    // 下载轨迹超时
+    fun onDownLoadTimeout(lineId: Long){}
+    // 加载轨迹失败
+    fun onLoadFail(lineId: Long){}
+    // 轨迹不存在
+    fun onTrajectoryNotExist(lineId: Long){}
+    // 底盘已就行
+    fun onDownLoadReady(lineId: Long) {}
+
+    // 当前位置距离轨迹大于15m
+    fun onDistanceWithTrajectory(lineId: Long) {}
 }

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

@@ -9,17 +9,14 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog
+import com.mogo.och.common.module.utils.CallerBase
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.zhjt.mogo.adas.data.bean.MogoReport
 import mogo.telematics.pad.MessagePad
-import java.util.concurrent.ConcurrentHashMap
 
-object TrajectoryManager : IMoGoPlanningRottingListener {
+object TrajectoryManager :  CallerBase<ITrajectoryListListener>(),IMoGoPlanningRottingListener {
     const val TAG = "TrajectoryManager"
 
-    private val distanceListeners: ConcurrentHashMap<String, ITrajectoryListListener> =
-        ConcurrentHashMap()
-
     private val downLoadSuccessLineIds = mutableListOf<Long>()
 
     /**
@@ -88,52 +85,92 @@ object TrajectoryManager : IMoGoPlanningRottingListener {
                 maxDistanceAllPoint += distanceItem
             }
         }
-        distanceListeners.forEach {
+        M_LISTENERS.forEach {
             it.value.trajectoryCallback(mRoutePoints)
         }
+        M_LISTENERS.forEach {
+            it.value.trajectoryDistanceCallback(maxDistanceAllPoint)
+        }
     }
 
-    fun addTrajectoryListListenerr(tag: String, listener: ITrajectoryListListener?) {
+    private fun addDownLoadSuccessLine(lineId:Long){
-        if (distanceListeners.containsKey(tag)) {
-            return
-        }
-        if(listener==null){
-            distanceListeners.remove(tag)
-            return
-        }
-        distanceListeners[tag] = listener
-    }
-
-    fun addDownLoadSuccessLine(lineId:Long){
         if(lineId>0){
             OchChainLogManager.writeChainLog("轨迹监控", " 轨迹下载成功${lineId}", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
             downLoadSuccessLineIds.add(lineId)
         }
     }
-    fun removeDownLoadSuccessLine(lineId:Long){
+    private fun removeDownLoadSuccessLine(lineId:Long){
         if(lineId>0&& downLoadSuccessLineIds.contains(lineId)){
             downLoadSuccessLineIds.remove(lineId)
         }
     }
     
-    fun carDownLoadTrajectoryLog(code:String?){
+        fun carDownLoadTrajectoryLog(code: String?, lineId: Long){
         when (code) {
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START ->  writeTrajectoryLog("轨迹开始下载")
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START ->  {
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS ->  writeTrajectoryLog("轨迹下载成功")
+                writeTrajectoryLog("轨迹开始下载")
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE ->  writeTrajectoryLog("轨迹下载失败，本地无对应轨迹")
+                M_LISTENERS.forEach {
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING ->  writeTrajectoryLog("轨迹下载失败，本地有对应轨迹，认为成功")
+                    it.value.onDownLoadStart(lineId)
-            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT ->  writeTrajectoryLog("轨迹下载超时")
+                }
-            MogoReport.Code.Info.ISSM.FUNC_AUTO_PILOT_READY ->  writeTrajectoryLog("再次发起下载、 ssm ready，再次发起下载")
+            }
-            MogoReport.Code.Error.EMAP.TRA_LOAD_FAILED ->  writeTrajectoryLog("onAutopilotGuardian() 加载轨迹文件失败")
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS ->  {
-            MogoReport.Code.Error.EMAP.TRA_NOT_EXIST ->  writeTrajectoryLog("onAutopilotGuardian() 无法找到轨迹文件")
+                writeTrajectoryLog("轨迹下载成功")
+                addDownLoadSuccessLine(lineId)
+                M_LISTENERS.forEach {
+                    it.value.onDownLoadSuccess(lineId)
+                }
+            }
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_FAILURE ->  {
+                writeTrajectoryLog("轨迹下载失败，本地无对应轨迹")
+                // 更新轨迹没有更新lineId 第二次下载失败 删除App成功缓存(概率很低)
+                removeDownLoadSuccessLine(lineId)
+                M_LISTENERS.forEach {
+                    it.value.onDownLoadFail(lineId)
+                }
+            }
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_WARNING ->  {
+                writeTrajectoryLog("轨迹下载失败，本地有对应轨迹，认为成功")
+                M_LISTENERS.forEach {
+                    it.value.onDownLoadSuccess(lineId)
+                }
+            }
+            MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_TIMEOUT -> {
+                writeTrajectoryLog("轨迹下载超时")
+                M_LISTENERS.forEach {
+                    it.value.onDownLoadTimeout(lineId)
+                }
+            }
+            MogoReport.Code.Info.ISSM.FUNC_AUTO_PILOT_READY ->  {
+                writeTrajectoryLog("再次发起下载、 ssm ready，再次发起下载")
+                M_LISTENERS.forEach {
+                    it.value.onDownLoadReady(lineId)
+                }
+            }
+            MogoReport.Code.Error.EMAP.TRA_LOAD_FAILED -> {
+                writeTrajectoryLog("onAutopilotGuardian() 加载轨迹文件失败")
+                M_LISTENERS.forEach {
+                    it.value.onLoadFail(lineId)
+                }
+            }
+            MogoReport.Code.Error.EMAP.TRA_NOT_EXIST ->  {
+                writeTrajectoryLog("onAutopilotGuardian() 无法找到轨迹文件")
+                M_LISTENERS.forEach {
+                    it.value.onTrajectoryNotExist(lineId)
+                }
+            }
+            MogoReport.Code.Error.EMAP.ATTITUDE_INIT_FAILED->{
+                writeTrajectoryLog("onAutopilotGuardian() 当前位置距离轨迹距离大于15m")
+
+                M_LISTENERS.forEach {
+                    it.value.onDistanceWithTrajectory(lineId)
+                }
+            }
             else -> {}
         }
-
-
     }
     
     private fun writeTrajectoryLog(message:String){
-        writeChainLog("轨迹监控", "再次发起下载", true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
+        writeChainLog("轨迹监控", message, true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY)
     }
 
 }

OCH/offline/driver/src/main/java/com/mogo/och/offline/ShuttleDriverProvider.kt

@@ -10,6 +10,7 @@ import com.mogo.och.common.module.constant.OchCommonConst
 import com.mogo.och.common.module.biz.provider.CommonServiceImpl
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutopilotAnalytics
 import com.mogo.och.offline.util.BusAnalyticsManager
+import com.mogo.och.offline.util.OffLineTrajectoryManager
 
 /**
  * 网约车小巴业务实现入口
@@ -31,11 +32,13 @@ class ShuttleDriverProvider : CommonServiceImpl() {
             busFragment = ShuttleFragment()
         }
         OchAutopilotAnalytics.ochEventKey = BusAnalyticsManager.getInstance()
+        OffLineTrajectoryManager.load()
         return busFragment!!
     }
 
     override fun resetFragment() {
         OchAutopilotAnalytics.ochEventKey = null
+        OffLineTrajectoryManager.release()
         busFragment = null
     }
 

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

@@ -55,7 +55,7 @@ import com.mogo.och.offline.callback.IBusControllerStatusCallback;
 import com.mogo.och.offline.callback.IRefreshBusStationsCallback;
 import com.mogo.och.offline.callback.ISlidePannelHideCallback;
 import com.mogo.och.offline.constant.BusConst;
-import com.mogo.och.offline.util.BusTrajectoryManager;
+import com.mogo.och.offline.util.OffLineTrajectoryManager;
 import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager;
@@ -826,7 +826,7 @@ public class OrderModel {
         updateBusTaskStatus(stationList);
 
         //需放在currentStationIndex赋值之后
-        BusTrajectoryManager.getInstance().syncTrajectoryInfo();
+        OffLineTrajectoryManager.INSTANCE.syncTrajectoryInfo();
     }
 
     private void beforeTaskTips() {

OCH/offline/driver/src/main/java/com/mogo/och/offline/presenter/BusPresenter.java

@@ -28,7 +28,7 @@ import com.mogo.och.offline.callback.ISlidePannelHideCallback;
 import com.mogo.och.offline.fragment.ShuttleFragment;
 import com.mogo.och.offline.model.BusLineModel;
 import com.mogo.och.offline.model.OrderModel;
-import com.mogo.och.offline.util.BusTrajectoryManager;
+import com.mogo.och.offline.util.OffLineTrajectoryManager;
 import com.mogo.och.common.module.biz.login.ILoginCallback;
 import com.mogo.och.common.module.biz.login.LoginStatusManager;
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager;
@@ -286,11 +286,6 @@ public class BusPresenter extends Presenter<ShuttleFragment>
     }
 
 
-    @Override
-    public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo, long lineId) {
-        BusTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo,lineId);
-    }
-
     @Override
     public void onStatusChange(LoginStatusEnum currentStatus) {
         CallerLogger.d(M_BUS + TAG, " loginStatus =" + LoginStatusManager.isLogin());
@@ -300,8 +295,7 @@ public class BusPresenter extends Presenter<ShuttleFragment>
             BusLineModel.startLoopAllLine();
         }else {
             BusLineModel.stopLoopAllLine();
-            BusTrajectoryManager.getInstance().stopTrajReqLoop();
+            OffLineTrajectoryManager.INSTANCE.stopTrajReqLoop();
-            BusTrajectoryManager.getInstance().stopTrajReqLoop();
             clearBusStationsMarkers();
             if(mView!=null) {
                 mView.hideSlidePanel();

OCH/offline/driver/src/main/java/com/mogo/och/offline/util/OffLineTrajectoryManager.kt

@@ -1,180 +1,183 @@
-package com.mogo.och.offline.util;
+package com.mogo.och.offline.util
 
-import androidx.annotation.Nullable;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters.AutoPilotLine
-
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendTrajectoryDownloadReq
-import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
-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.GsonUtils;
+import com.mogo.eagle.core.utilcode.util.GsonUtils
-import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager;
+import com.mogo.och.common.module.biz.login.LoginStatusManager.isLogin
-import com.mogo.och.data.bean.BusRoutesResult;
+import com.mogo.och.common.module.manager.autopilot.trajectory.ITrajectoryListListener
-import com.mogo.och.offline.constant.BusConst;
+import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
-import com.mogo.och.offline.model.OrderModel;
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
-import com.mogo.och.common.module.biz.login.LoginStatusManager;
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog
-
+import com.mogo.och.offline.constant.BusConst
-import java.util.concurrent.TimeUnit;
+import com.mogo.och.offline.model.OrderModel
-
+import io.reactivex.Observable
-import io.reactivex.Observable;
+import io.reactivex.android.schedulers.AndroidSchedulers
-import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.disposables.Disposable
-import io.reactivex.disposables.Disposable;
+import io.reactivex.functions.Function
-import io.reactivex.schedulers.Schedulers;
+import io.reactivex.schedulers.Schedulers
-import mogo_msg.MogoReportMsg;
+import mogo_msg.MogoReportMsg.MogoReportMessage
-
+import java.util.concurrent.TimeUnit
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
 
 /**
  * Bus轨迹管理：给MEC下发用于轨迹下载的信息
  * Created on 2022/6/23
  */
-public class BusTrajectoryManager {
+object OffLineTrajectoryManager : ITrajectoryListListener {
-    private static final String TAG = BusTrajectoryManager.class.getSimpleName();
 
-    private static final class SingletonHolder {
+    private var mAutoPilotLine: AutoPilotLine? = null
-        private static final BusTrajectoryManager INSTANCE = new BusTrajectoryManager();
+    private var mSendReqDisposable: Disposable? = null
+
+    private val TAG: String = OffLineTrajectoryManager::class.java.simpleName
+
+    init {
+        mAutoPilotLine = AutoPilotLine(
+            -1, "",
+            "", "", "", "", 0, "",
+            "", "", "", "", 0
+        )
     }
 
-    public static BusTrajectoryManager getInstance() {
+    fun load(){
-        return BusTrajectoryManager.SingletonHolder.INSTANCE;
+        TrajectoryManager.addListener(TAG,this)
     }
 
-    private AutopilotControlParameters.AutoPilotLine mAutoPilotLine = null;
+    fun release(){
-    private Disposable mSendReqDisposable = null;
+        TrajectoryManager.removeListener(TAG)
-
-    public BusTrajectoryManager() {
-        mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1, "",
-                "", "", "", "", 0, "",
-                "", "", "", "", 0);
     }
 
     /**
      * 同步Bus路线信息
      */
-    public void syncTrajectoryInfo() {
+    fun syncTrajectoryInfo() {
-        BusRoutesResult routesResult = OrderModel.getInstance().getBusRoutesResult();
+        val routesResult = OrderModel.getInstance().busRoutesResult
-        if (LoginStatusManager.isLogin() && routesResult != null
+        if (isLogin() && routesResult != null && OrderModel.getInstance().currentStationIndex == 0 && !OrderModel.getInstance().isGoingToNextStation) {
-                && OrderModel.getInstance().getCurrentStationIndex() == 0
+            d(SceneConstant.M_BUS + TAG, "syncTrajectoryInfo() start.")
-                && !OrderModel.getInstance().isGoingToNextStation()) {
+            startTrajReqLoop()
-            CallerLogger.d(M_BUS + TAG, "syncTrajectoryInfo() start.");
-            startTrajReqLoop();
         } else {
             // 无路线信息or当前未在始发站
-            CallerLogger.d(M_BUS + TAG, "syncTrajectoryInfo() stop.");
+            d(SceneConstant.M_BUS + TAG, "syncTrajectoryInfo() stop.")
-            stopTrajReqLoop();
+            stopTrajReqLoop()
         }
     }
 
-    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo,long lineId) {
+    override fun onDownLoadStart(lineId: Long) {
-        onAutopilotGuardian(guardianInfo);
+        stopTrajReqLoop()
     }
 
-    /**
+    override fun onDownLoadSuccess(lineId: Long) {
-     * 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
+        stopTrajReqLoop()
-     * @param guardianInfo
-     */
-    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
-        if (guardianInfo == null || !guardianInfo.hasCode()) return;
-        if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())) {
-            // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
-            stopTrajReqLoop();
-        } else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())) {
-            // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
-            stopTrajReqLoop();
-        } else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())) {
-            // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
-        } else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())) {
-            // 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
-        } else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())) {
-            // 5. 轨迹管理_轨迹下载超时
-        } else if ("ISSM_FUNC_AUTO_PILOT_READY".equals(guardianInfo.getCode())) {
-            // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
-            syncTrajectoryInfo();
-        }
     }
 
-    private void setupAutoPilotLine() {
+    override fun onDownLoadReady(lineId: Long) {
-        BusRoutesResult routesResult = OrderModel.getInstance().getBusRoutesResult();
+        super.onDownLoadReady(lineId)
+        // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
+        syncTrajectoryInfo()
+    }
+
+    private fun setupAutoPilotLine() {
+        val routesResult = OrderModel.getInstance().busRoutesResult
         if (routesResult == null) {
-            CallerLogger.e(M_BUS + TAG,
+            e(
-                    "setupAutoPilotLine(): routesResult is null.");
+                SceneConstant.M_BUS + TAG,
-            return;
+                "setupAutoPilotLine(): routesResult is null."
+            )
+            return
         } else {
             if (mAutoPilotLine == null) {
-                mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+                mAutoPilotLine = AutoPilotLine(
-                        routesResult.getLineId(), routesResult.getName(),
+                    routesResult.lineId.toLong(), routesResult.name,
-                        routesResult.csvFileUrl, routesResult.csvFileMd5,
+                    routesResult.csvFileUrl, routesResult.csvFileMd5,
-                        routesResult.txtFileUrl, routesResult.txtFileMd5,
+                    routesResult.txtFileUrl, routesResult.txtFileMd5,
-                        routesResult.contrailSaveTime, routesResult.carModel,
+                    routesResult.contrailSaveTime, routesResult.carModel,
-                        routesResult.csvFileUrlDPQP, routesResult.csvFileMd5DPQP,
+                    routesResult.csvFileUrlDPQP, routesResult.csvFileMd5DPQP,
-                        routesResult.txtFileUrlDPQP, routesResult.txtFileMd5DPQP,
+                    routesResult.txtFileUrlDPQP, routesResult.txtFileMd5DPQP,
-                        routesResult.contrailSaveTimeDPQP);
+                    routesResult.contrailSaveTimeDPQP
+                )
             } else {
-                mAutoPilotLine.setLineId(routesResult.getLineId());
+                mAutoPilotLine!!.lineId = routesResult.lineId.toLong()
-                mAutoPilotLine.setLineName(routesResult.getName());
+                mAutoPilotLine!!.lineName = routesResult.name
-                mAutoPilotLine.setTrajUrl(routesResult.csvFileUrl==null?"":routesResult.csvFileUrl);
+                mAutoPilotLine!!.trajUrl =
-                mAutoPilotLine.setTrajMd5(routesResult.csvFileMd5==null?"":routesResult.csvFileMd5);
+                    if (routesResult.csvFileUrl == null) "" else routesResult.csvFileUrl
-                mAutoPilotLine.setStopUrl(routesResult.txtFileUrl==null?"":routesResult.txtFileUrl);
+                mAutoPilotLine!!.trajMd5 =
-                mAutoPilotLine.setStopMd5(routesResult.txtFileMd5==null?"":routesResult.txtFileMd5);
+                    if (routesResult.csvFileMd5 == null) "" else routesResult.csvFileMd5
-                mAutoPilotLine.setTimestamp(routesResult.contrailSaveTime);
+                mAutoPilotLine!!.stopUrl =
-                mAutoPilotLine.setVehicleModel(routesResult.carModel==null?"":routesResult.carModel);
+                    if (routesResult.txtFileUrl == null) "" else routesResult.txtFileUrl
+                mAutoPilotLine!!.stopMd5 =
+                    if (routesResult.txtFileMd5 == null) "" else routesResult.txtFileMd5
+                mAutoPilotLine!!.timestamp = routesResult.contrailSaveTime
+                mAutoPilotLine!!.vehicleModel =
+                    if (routesResult.carModel == null) "" else routesResult.carModel
             }
         }
     }
 
-    private void clearAutoPilotLine() {
+    private fun clearAutoPilotLine() {
-        if (mAutoPilotLine == null) return;
+        if (mAutoPilotLine == null) return
-        mAutoPilotLine.setLineId(-1);
+        mAutoPilotLine!!.lineId = -1
-        mAutoPilotLine.setLineName("");
+        mAutoPilotLine!!.lineName = ""
-        mAutoPilotLine.setTrajUrl("");
+        mAutoPilotLine!!.trajUrl = ""
-        mAutoPilotLine.setTrajMd5("");
+        mAutoPilotLine!!.trajMd5 = ""
-        mAutoPilotLine.setStopUrl("");
+        mAutoPilotLine!!.stopUrl = ""
-        mAutoPilotLine.setStopMd5("");
+        mAutoPilotLine!!.stopMd5 = ""
-        mAutoPilotLine.setTimestamp(0);
+        mAutoPilotLine!!.timestamp = 0
-        mAutoPilotLine.setVehicleModel("");
+        mAutoPilotLine!!.vehicleModel = ""
-        mAutoPilotLine.setTrajUrl_dpqp("");
+        mAutoPilotLine!!.trajUrl_dpqp = ""
-        mAutoPilotLine.setTrajMd5_dpqp("");
+        mAutoPilotLine!!.trajMd5_dpqp = ""
-        mAutoPilotLine.setStopUrl_dpqp("");
+        mAutoPilotLine!!.stopUrl_dpqp = ""
-        mAutoPilotLine.setStopMd5_dpqp("");
+        mAutoPilotLine!!.stopMd5_dpqp = ""
-        mAutoPilotLine.setTimestamp_dpqp(0);
+        mAutoPilotLine!!.timestamp_dpqp = 0
     }
 
-    private void startTrajReqLoop() {
+    private fun startTrajReqLoop() {
-        if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
+        if (mSendReqDisposable != null && !mSendReqDisposable!!.isDisposed) {
-            return;
+            return
         }
-        CallerLogger.d(M_BUS + TAG, "startTrajReqLoop()");
+        d(SceneConstant.M_BUS + TAG, "startTrajReqLoop()")
-        setupAutoPilotLine();
+        setupAutoPilotLine()
-        mSendReqDisposable = Observable.interval(BusConst.LOOP_DELAY,
+        mSendReqDisposable = Observable.interval(
-                BusConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
+            BusConst.LOOP_DELAY,
-                .map((aLong -> aLong + 1))
+            BusConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS
-                .subscribeOn(Schedulers.io())
+        )
-                .observeOn(AndroidSchedulers.mainThread())
+            .map((Function { aLong: Long -> aLong + 1 }))
-                .subscribe(aLong -> {
+            .subscribeOn(Schedulers.io())
-                    if (aLong > BusConst.LOOP_SEND_TRAJ_TIMES) {
+            .observeOn(AndroidSchedulers.mainThread())
-                        stopTrajReqLoop();
+            .subscribe { aLong: Long ->
-                        return;
+                if (aLong > BusConst.LOOP_SEND_TRAJ_TIMES) {
-                    }
+                    stopTrajReqLoop()
-                    CallerLogger.d(M_BUS + TAG, "loop sendTrajectoryReq: " + aLong);
+                    return@subscribe
-                    sendTrajectoryReq();
+                }
-                });
+                d(SceneConstant.M_BUS + TAG, "loop sendTrajectoryReq: $aLong")
+                sendTrajectoryReq()
+            }
     }
 
-    public void stopTrajReqLoop() {
+    fun stopTrajReqLoop() {
         if (mSendReqDisposable != null) {
-            CallerLogger.d(M_BUS + TAG, "stopTrajReqLoop()");
+            d(SceneConstant.M_BUS + TAG, "stopTrajReqLoop()")
-            mSendReqDisposable.dispose();
+            mSendReqDisposable!!.dispose()
-            mSendReqDisposable = null;
+            mSendReqDisposable = null
-            clearAutoPilotLine();
+            clearAutoPilotLine()
         }
     }
 
-    private void sendTrajectoryReq() {
+    private fun sendTrajectoryReq() {
         if (mAutoPilotLine == null) {
-            CallerLogger.e(M_BUS + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
+            e(SceneConstant.M_BUS + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!")
-            return;
+            return
         }
-        OchChainLogManager.writeChainLog("轨迹监控","sendTrajectoryReq() 下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+        writeChainLog(
-        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+            "轨迹监控",
-        CallerLogger.d(M_BUS + TAG, "sendTrajectoryReq(): "
+            "sendTrajectoryReq() 下发轨迹 轨迹id" + mAutoPilotLine!!.lineId,
-                + GsonUtils.toJson(mAutoPilotLine));
+            true,
+            OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+        )
+        sendTrajectoryDownloadReq(mAutoPilotLine!!)
+        d(
+            SceneConstant.M_BUS + TAG, "sendTrajectoryReq(): "
+                    + GsonUtils.toJson(mAutoPilotLine)
+        )
     }
 }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ShuttleDriverProvider.kt

@@ -23,6 +23,7 @@ import com.mogo.och.weaknet.repository.db.repository.WriteOffDb
 import com.mogo.och.weaknet.ui.bizswitch.SwitchBizView
 import com.mogo.och.weaknet.ui.qr.QrOpenView
 import com.mogo.och.weaknet.util.BusAnalyticsManager
+import com.mogo.och.weaknet.util.BusTrajectoryManager
 
 /**
  * 网约车小巴业务实现入口
@@ -53,6 +54,7 @@ class ShuttleDriverProvider : CommonServiceImpl() {
         OchAutopilotAnalytics.ochEventKey = BusAnalyticsManager
         LineModel.init()
         ScannerClientManager.load()
+        BusTrajectoryManager.load()
         return busFragment!!
     }
 
@@ -61,6 +63,7 @@ class ShuttleDriverProvider : CommonServiceImpl() {
         OchAutopilotAnalytics.ochEventKey = null
         LineModel.release()
         ScannerClientManager.release()
+        BusTrajectoryManager.release()
         RepositoryManager.release()
     }
 

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/OrderModel.kt

@@ -109,12 +109,6 @@ object OrderModel {
             onArriveAt(arrivedStation, "底盘触发进站")
         }
 
-
-        override fun onAutopilotGuardian(guardianInfo: MogoReportMessage, lineId: Long) {
-            BusTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo, lineId)
-        }
-
-
     }
 
     private  val ochTransform = object : OchTransformDispatch {
@@ -130,7 +124,7 @@ object OrderModel {
             //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
             if (isGoingToNextStation && !isArrivedStation) {
                 OCHThreadPoolManager.getsInstance().locationExecute {
-                    onArriveAt(null, "兜底：根据定位计算到站")
+                    onArriveAt(null, "兜底：距离站点15m内 每秒钟向底盘查询是否到站 底盘返回")
                 }
             }
         }
@@ -367,7 +361,7 @@ object OrderModel {
             ThirdDeviceData.sendTaskDetailsToClients()
 
             //需放在currentStationIndex赋值之后
-            BusTrajectoryManager.getInstance().syncTrajectoryInfo()
+            BusTrajectoryManager.syncTrajectoryInfo()
         }
     }
 
@@ -523,7 +517,7 @@ object OrderModel {
                 OchChainLogManager.writeChainLog("错误","${e.message}")
             }
             MapMakerManager.removeAllMapMarkerByOwner(TAG)
-            BusTrajectoryManager.getInstance().stopTrajReqLoop();
+            BusTrajectoryManager.stopTrajReqLoop();
             LoginStatusManager.loginOut()
         }
     }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/fragment/BusPresenter.kt

@@ -57,7 +57,7 @@ class BusPresenter(view: ShuttleFragment?) : Presenter<ShuttleFragment?>(view),
         if (isLogin()) {
             //OrderModel.queryBusRoutes()
         } else {
-            BusTrajectoryManager.getInstance().stopTrajReqLoop()
+            BusTrajectoryManager.stopTrajReqLoop()
             OrderModel.closeBeautificationMode()
         }
     }

OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/util/BusTrajectoryManager.kt

@@ -1,161 +1,197 @@
-package com.mogo.och.weaknet.util;
+package com.mogo.och.weaknet.util
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
-
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendTrajectoryDownloadReq
-import androidx.annotation.Nullable;
+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.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
+import com.mogo.eagle.core.utilcode.util.GsonUtils
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.och.common.module.biz.login.LoginStatusManager.isLogin
-import com.mogo.eagle.core.utilcode.util.GsonUtils;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager.contraiInfo
-import com.mogo.och.common.module.biz.login.LoginStatusManager;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager.initAutopilotControlParameters
-import com.mogo.och.common.module.manager.autopilot.line.LineManager;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager.lineInfos
-import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager;
+import com.mogo.och.common.module.manager.autopilot.trajectory.ITrajectoryListListener
-import com.mogo.och.data.bean.ContraiInfo;
+import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
-import com.mogo.och.data.bean.LineInfo;
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
-import com.mogo.och.weaknet.constant.BusConst;
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog
-import com.mogo.och.weaknet.model.OrderModel;
+import com.mogo.och.weaknet.constant.BusConst
-import com.mogo.och.weaknet.model.LineModel;
+import com.mogo.och.weaknet.model.LineModel.currentTask
-import com.zhjt.mogo.adas.data.bean.MogoReport;
+import com.mogo.och.weaknet.model.LineModel.startStationIndex
-
+import com.mogo.och.weaknet.model.OrderModel.isGoingToNextStation
-import java.util.concurrent.TimeUnit;
+import com.zhjt.mogo.adas.data.bean.MogoReport
-
+import io.reactivex.Observable
-import io.reactivex.Observable;
+import io.reactivex.android.schedulers.AndroidSchedulers
-import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.disposables.Disposable
-import io.reactivex.disposables.Disposable;
+import io.reactivex.functions.Function
-import io.reactivex.schedulers.Schedulers;
+import io.reactivex.schedulers.Schedulers
-import mogo_msg.MogoReportMsg;
+import mogo_msg.MogoReportMsg.MogoReportMessage
+import java.util.concurrent.TimeUnit
 
 /**
  * Bus轨迹管理：给MEC下发用于轨迹下载的信息
  * Created on 2022/6/23
  */
-public class BusTrajectoryManager {
+object BusTrajectoryManager : ITrajectoryListListener {
-    private static final String TAG = BusTrajectoryManager.class.getSimpleName();
 
-    private static final class SingletonHolder {
+    private val TAG: String = BusTrajectoryManager::class.java.simpleName
-        private static final BusTrajectoryManager INSTANCE = new BusTrajectoryManager();
+
+    private var mAutopilotControlParameters: AutopilotControlParameters? = null
+    private var mSendReqDisposable: Disposable? = null
+
+    init {
+        mAutopilotControlParameters = AutopilotControlParameters()
     }
 
-    public static BusTrajectoryManager getInstance() {
+    fun load(){
-        return SingletonHolder.INSTANCE;
+        TrajectoryManager.addListener(TAG,this)
     }
 
-    private AutopilotControlParameters mAutopilotControlParameters = null;
+    fun release(){
-    private Disposable mSendReqDisposable = null;
+        TrajectoryManager.removeListener(TAG)
-
-    public BusTrajectoryManager() {
-        mAutopilotControlParameters = new AutopilotControlParameters();
     }
 
+
     /**
      * 同步Bus路线信息
      */
-    public void syncTrajectoryInfo() {
+    fun syncTrajectoryInfo() {
-        if(mAutopilotControlParameters==null||mAutopilotControlParameters.autoPilotLine==null){
+        if (mAutopilotControlParameters == null || mAutopilotControlParameters!!.autoPilotLine == null) {
-            OchChainLogManager.writeChainLog("轨迹监控", "开始或者结束下发轨迹 轨迹id" + -1, true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+            writeChainLog(
-        }else {
+                "轨迹监控",
-            OchChainLogManager.writeChainLog("轨迹监控", "开始或者结束下发轨迹 轨迹id" + mAutopilotControlParameters.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+                "开始或者结束下发轨迹 轨迹id" + -1,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
+        } else {
+            writeChainLog(
+                "轨迹监控",
+                "开始或者结束下发轨迹 轨迹id" + mAutopilotControlParameters!!.autoPilotLine!!.lineId,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
         }
-        if (LoginStatusManager.isLogin() && LineModel.INSTANCE.getCurrentTask() != null
+        if (isLogin() && currentTask != null && startStationIndex == 0 && !isGoingToNextStation) {
-                && LineModel.getStartStationIndex() == 0
+            d(SceneConstant.M_BUS + TAG, "syncTrajectoryInfo() start.")
-                && !OrderModel.isGoingToNextStation()) {
+            startTrajReqLoop()
-            CallerLogger.d(M_BUS + TAG, "syncTrajectoryInfo() start.");
-            startTrajReqLoop();
         } else {
             // 无路线信息or当前未在始发站
-            CallerLogger.d(M_BUS + TAG, "syncTrajectoryInfo() stop.");
+            d(SceneConstant.M_BUS + TAG, "syncTrajectoryInfo() stop.")
-            stopTrajReqLoop();
+            stopTrajReqLoop()
         }
     }
 
-    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo,long lineId) {
+    override fun onDownLoadStart(lineId: Long) {
-        onAutopilotGuardian(guardianInfo);
+        stopTrajReqLoop()
     }
 
-    /**
+    override fun onDownLoadSuccess(lineId: Long) {
-     * 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
+        stopTrajReqLoop()
-     * @param guardianInfo
-     */
-    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
-        if (guardianInfo == null || !guardianInfo.hasCode()) return;
-        if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_START.equals(guardianInfo.getCode())) {
-            stopTrajReqLoop();
-        } else if (MogoReport.Code.Info.ISYS.INIT_TRAJECTORY_SUCCESS.equals(guardianInfo.getCode())) {
-            stopTrajReqLoop();
-        } else if (MogoReport.Code.Info.ISSM.FUNC_AUTO_PILOT_READY.equals(guardianInfo.getCode())) {
-            syncTrajectoryInfo();
-        }
     }
 
-    private void setupAutoPilotLine() {
+    override fun onDownLoadReady(lineId: Long) {
-        ContraiInfo contraiInfo = LineManager.getContraiInfo();
+        syncTrajectoryInfo()
-        LineInfo lineInfos = LineManager.getLineInfos();
+    }
+
+    private fun setupAutoPilotLine() {
+        val contraiInfo = contraiInfo
+        val lineInfos = lineInfos
         if (contraiInfo == null || lineInfos == null) {
-            CallerLogger.e(M_BUS + TAG,
+            e(
-                    "setupAutoPilotLine(): routesResult is null.");
+                SceneConstant.M_BUS + TAG,
-            return;
+                "setupAutoPilotLine(): routesResult is null."
+            )
+            return
         } else {
-            mAutopilotControlParameters = LineManager.INSTANCE.initAutopilotControlParameters();
+            mAutopilotControlParameters = initAutopilotControlParameters()
         }
     }
 
-    private void clearAutoPilotLine() {
+    private fun clearAutoPilotLine() {
-        if (mAutopilotControlParameters == null) return;
+        if (mAutopilotControlParameters == null) return
-        mAutopilotControlParameters = null;
+        mAutopilotControlParameters = null
     }
 
-    private void startTrajReqLoop() {
+    private fun startTrajReqLoop() {
-        if(mAutopilotControlParameters==null||mAutopilotControlParameters.autoPilotLine==null){
+        if (mAutopilotControlParameters == null || mAutopilotControlParameters!!.autoPilotLine == null) {
-            OchChainLogManager.writeChainLog("轨迹监控", "开始下发轨迹 轨迹id" + -1, true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+            writeChainLog(
-        }else {
+                "轨迹监控",
-            OchChainLogManager.writeChainLog("轨迹监控", "开始下发轨迹 轨迹id" + mAutopilotControlParameters.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+                "开始下发轨迹 轨迹id" + -1,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
+        } else {
+            writeChainLog(
+                "轨迹监控",
+                "开始下发轨迹 轨迹id" + mAutopilotControlParameters!!.autoPilotLine!!.lineId,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
         }
-        if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
+        if (mSendReqDisposable != null && !mSendReqDisposable!!.isDisposed) {
-            return;
+            return
         }
-        CallerLogger.d(M_BUS + TAG, "startTrajReqLoop()");
+        d(SceneConstant.M_BUS + TAG, "startTrajReqLoop()")
-        setupAutoPilotLine();
+        setupAutoPilotLine()
-        mSendReqDisposable = Observable.interval(BusConst.LOOP_DELAY,
+        mSendReqDisposable = Observable.interval(
-                BusConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
+            BusConst.LOOP_DELAY,
-                .map((aLong -> aLong + 1))
+            BusConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS
-                .subscribeOn(Schedulers.io())
+        )
-                .observeOn(AndroidSchedulers.mainThread())
+            .map((Function { aLong: Long -> aLong + 1 }))
-                .subscribe(aLong -> {
+            .subscribeOn(Schedulers.io())
-                    if (aLong > BusConst.LOOP_SEND_TRAJ_TIMES) {
+            .observeOn(AndroidSchedulers.mainThread())
-                        stopTrajReqLoop();
+            .subscribe { aLong: Long ->
-                        return;
+                if (aLong > BusConst.LOOP_SEND_TRAJ_TIMES) {
-                    }
+                    stopTrajReqLoop()
-                    CallerLogger.d(M_BUS + TAG, "loop sendTrajectoryReq: " + aLong);
+                    return@subscribe
-                    sendTrajectoryReq();
+                }
-                });
+                d(SceneConstant.M_BUS + TAG, "loop sendTrajectoryReq: $aLong")
+                sendTrajectoryReq()
+            }
     }
 
-    public void stopTrajReqLoop() {
+    fun stopTrajReqLoop() {
-        if(mAutopilotControlParameters==null||mAutopilotControlParameters.autoPilotLine==null){
+        if (mAutopilotControlParameters == null || mAutopilotControlParameters!!.autoPilotLine == null) {
-            OchChainLogManager.writeChainLog("轨迹监控", "结束下发轨迹 轨迹id" + -1, true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+            writeChainLog(
-        }else {
+                "轨迹监控",
-            OchChainLogManager.writeChainLog("轨迹监控", "结束下发轨迹 轨迹id" + mAutopilotControlParameters.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+                "结束下发轨迹 轨迹id" + -1,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
+        } else {
+            writeChainLog(
+                "轨迹监控",
+                "结束下发轨迹 轨迹id" + mAutopilotControlParameters!!.autoPilotLine!!.lineId,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
         }
         if (mSendReqDisposable != null) {
-            CallerLogger.d(M_BUS + TAG, "stopTrajReqLoop()");
+            d(SceneConstant.M_BUS + TAG, "stopTrajReqLoop()")
-            mSendReqDisposable.dispose();
+            mSendReqDisposable!!.dispose()
-            mSendReqDisposable = null;
+            mSendReqDisposable = null
-            clearAutoPilotLine();
+            clearAutoPilotLine()
         }
     }
 
-    private void sendTrajectoryReq() {
+    private fun sendTrajectoryReq() {
-        if(mAutopilotControlParameters==null||mAutopilotControlParameters.autoPilotLine==null||mAutopilotControlParameters.autoPilotLine.getLineId()==-1){
+        if (mAutopilotControlParameters == null || mAutopilotControlParameters!!.autoPilotLine == null || mAutopilotControlParameters!!.autoPilotLine!!.lineId == -1L) {
-            CallerLogger.e(M_BUS + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
+            e(SceneConstant.M_BUS + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!")
-            setupAutoPilotLine();
+            setupAutoPilotLine()
-            if(mAutopilotControlParameters==null||mAutopilotControlParameters.autoPilotLine==null||mAutopilotControlParameters.autoPilotLine.getLineId()==-1){
+            if (mAutopilotControlParameters == null || mAutopilotControlParameters!!.autoPilotLine == null || mAutopilotControlParameters!!.autoPilotLine!!.lineId == -1L) {
-                return;
+                return
             }
         }
-        OchChainLogManager.writeChainLog("轨迹监控","sendTrajectoryReq() 下发轨迹 轨迹id"+ mAutopilotControlParameters.autoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
+        writeChainLog(
-        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutopilotControlParameters.autoPilotLine,0);
+            "轨迹监控",
-        CallerLogger.d(M_BUS + TAG, "sendTrajectoryReq(): "
+            "sendTrajectoryReq() 下发轨迹 轨迹id" + mAutopilotControlParameters!!.autoPilotLine!!.lineId,
-                + GsonUtils.toJson(mAutopilotControlParameters));
+            true,
+            OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+        )
+        sendTrajectoryDownloadReq(mAutopilotControlParameters!!.autoPilotLine!!, 0)
+        d(
+            SceneConstant.M_BUS + TAG, "sendTrajectoryReq(): "
+                    + GsonUtils.toJson(mAutopilotControlParameters)
+        )
     }
+
 }

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/TaxiUnmannedDriverProvider.kt

@@ -14,6 +14,7 @@ import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutopilotAnalyt
 import com.mogo.och.unmanned.taxi.ui.base.TaxiFragment
 import com.mogo.och.unmanned.taxi.ui.bizswitch.SwitchBizView
 import com.mogo.och.unmanned.taxi.utils.TaxiAnalyticsManager
+import com.mogo.och.unmanned.taxi.utils.TaxiTrajectoryManager
 
 /**
  * @author congtaowang
@@ -38,11 +39,13 @@ class TaxiUnmannedDriverProvider : CommonServiceImpl() {
             ochTaxiFragment = TaxiFragment()
         }
         OchAutopilotAnalytics.ochEventKey = TaxiAnalyticsManager.getInstance()
+        TaxiTrajectoryManager.load()
         return ochTaxiFragment!!
     }
 
     override fun resetFragment() {
         CallerLogger.d(SceneConstant.M_TAXI + tag, "resetFragment")
+        TaxiTrajectoryManager.releast()
         OchAutopilotAnalytics.ochEventKey = null
         ochTaxiFragment = null
     }

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt

@@ -279,16 +279,6 @@ object TaxiTaskModel {
 
     private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener =
         object : IOchAutopilotStatusListener {
-            override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {
-            }
-
-            override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) {
-                TaxiTrajectoryManager.onAutopilotGuardian(guardianInfo,lineId)
-            }
-
-            override fun onAutopilotStatusResponseFromCan(state: Int) {
-
-            }
 
             override fun onAutopilotStatusResponse(state: Int) {
                 i(TAG, "onAutopilotStatusResponse autopilotsState= $state")

OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.kt

@@ -8,6 +8,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
+import com.mogo.och.common.module.manager.autopilot.trajectory.ITrajectoryListListener
+import com.mogo.och.common.module.manager.autopilot.trajectory.TrajectoryManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog
 import com.mogo.och.unmanned.taxi.bean.TrajectoryListRespBean
@@ -30,7 +32,7 @@ import java.util.concurrent.TimeUnit
  * Taxi轨迹管理：给MEC下发用于轨迹下载的信息
  * Created on 2022/6/22
  */
-object TaxiTrajectoryManager {
+object TaxiTrajectoryManager : ITrajectoryListListener {
 
     private val TAG: String = TaxiTrajectoryManager::class.java.simpleName
 
@@ -52,6 +54,14 @@ object TaxiTrajectoryManager {
         mPreAutoPilotLine = AutopilotControlParameters()
     }
 
+    fun load(){
+        TrajectoryManager.addListener(TAG,this)
+    }
+
+    fun releast(){
+        TrajectoryManager.removeListener(TAG)
+    }
+
     /**
      * 同步订单信息
      */
@@ -77,26 +87,16 @@ object TaxiTrajectoryManager {
         }
     }
 
-    fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) {
+    override fun onDownLoadStart(lineId: Long) {
-        onAutopilotGuardian(guardianInfo)
+        stopTrajReqLoop();
     }
 
-    /**
+    override fun onDownLoadSuccess(lineId: Long) {
-     * 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
+        stopTrajReqLoop();
-     * @param guardianInfo
+    }
-     */
+
-    fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
+    override fun onDownLoadReady(lineId: Long) {
-        if (guardianInfo == null || !guardianInfo.hasCode()) return
+        syncTrajectoryInfo()
-        if ("ISYS_INIT_TRAJECTORY_START" == guardianInfo.code) {
-            stopTrajReqLoop()
-        } else if ("ISYS_INIT_TRAJECTORY_TIMEOUT" == guardianInfo.code) {
-            writeChainLog(
-                "轨迹监控",
-                "onAutopilotGuardian() 轨迹下载超时",
-                true,
-                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
-            )
-        }
     }
 
     private fun setupAutoPilotLine() {