Merge branch 'release_sweeper-d_230614_3.1.4.1' into 'master'

[Publish]Sweeper driver 230614 V3.1.4

See merge request SCA/L4HA/AndroidApp/MoGoEagleEye!796

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

@@ -10,30 +10,29 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
 import com.mogo.eagle.core.data.autopilot.toRouteInfo
-import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
+import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_MULTI_CONNECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
-import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
-import com.mogo.eagle.core.data.biz.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.server.AsyncDataToAutopilotServer
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.EventListener
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.IMsgHandler
 import com.mogo.eagle.core.function.datacenter.autopilot.telematic.TeleMsgHandler
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
-import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
@@ -320,14 +319,41 @@ class MoGoAutopilotControlProvider :
     }
 
     override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
+        startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.PAD)
+    }
+
+    override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
+        if (controlParameters==null){
+            startAutoPilotWithNoParameter(Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }else{
+            startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }
+    }
+    private fun startAutoPilotWithNoParameter(source: Int) {
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             val invokeResult = AdasManager.getInstance()
-                .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                .sendAutoPilotModeReq(1, source, null)
+            invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+        } else {
+            if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+                val invokeResult = AdasManager.getInstance()
+                    .sendAutoPilotModeReq(1, source, null)
+                invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+            } else {
+                invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
+                CallerLogger.e("$M_ADAS_IMPL$TAG", "车机与工控机链接失败，无法开启自动驾驶")
+            }
+        }
+    }
+    private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            val invokeResult = AdasManager.getInstance()
+                .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
             invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
         } else {
             if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
                 val invokeResult = AdasManager.getInstance()
-                    .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                    .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
                 invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
             } else {
                 invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt

@@ -9,6 +9,7 @@ import android.content.Intent
 import android.content.IntentFilter
 import android.view.KeyEvent
 import com.mogo.commons.context.ContextHolderUtil
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.mofang.MfConstants
 import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangListener
@@ -17,9 +18,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetAcceleratedSpeed
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorSetHorn
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilotByMoFang
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager.invokeMoFangStatus
 import com.mogo.eagle.core.function.call.mofang.CallerMofangListenerManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 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_F
@@ -319,7 +322,12 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                         if (HmiBuildConfig.isShowMfToastView) {
                             ToastUtils.showShort("方块 单击E 开启自动驾驶 timeInterval: ${pressEUpTime - startPressTime}ms")
                         }
-                        startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
+                        //清扫车有FSM模块，魔方启动自驾时需要将Source修改为魔方，以便telamatics做区分并在转发时增加flag标记
+                        if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
+                            startAutoPilotByMoFang(getAutoPilotStatusInfo().autopilotControlParameters)
+                        } else{
+                            startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
+                        }
                     }
                 }
             }