[Feat]添加自动驾驶设置车速功能

config.gradle

@@ -114,7 +114,7 @@ ext {
             obusdk                       : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
             mogoobu                      : 'com.zhidao.support.obu:mogoobu:1.0.0.19',
             mogoami                      : 'com.zhidao.support.obu.ami:mogoami:1.0.0.10',
-            adasHigh                     : 'com.zhidao.support.adas:high:1.2.0.14',
+            adasHigh                     : 'com.zhidao.support.adas:high:1.2.1.1',
 
             // google
             googlezxing                  : "com.google.zxing:core:3.3.3",

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

@@ -57,7 +57,7 @@ class MoGoAutopilotProvider :
     }
 
     override fun recordPackage(): Boolean {
-        return AdasManager.getInstance().recordPackage()
+        return AdasManager.getInstance().recordPackage(1, (System.currentTimeMillis() / 1000).toInt())
     }
 
     override fun setEnableLog(isEnableLog: Boolean) {
@@ -72,5 +72,7 @@ class MoGoAutopilotProvider :
 
     }
 
-
+    override fun setAutoPilotSpeed(speed: Int) {
+        AdasManager.getInstance().setSpeed(speed)
+    }
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt

@@ -18,6 +18,7 @@ import com.mogo.eagle.core.data.notice.NoticeNormalData
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWaringProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
+import com.mogo.eagle.core.function.call.check.CallerCheckManager
 import com.mogo.eagle.core.function.call.monitor.CallerMonitorManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.WaringConst
@@ -29,9 +30,11 @@ import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
 import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
+import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
 import com.mogo.eagle.core.function.hmi.ui.utils.visible
 import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.module.common.enums.EventTypeEnum
 import com.mogo.utils.logger.Logger
 import kotlinx.android.synthetic.main.fragment_hmi.*
@@ -62,6 +65,10 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
     private var cameraListView: CameraListView? = null
     private var cameraViewFloat: WarningFloat.Builder? = null
 
+    private var toolsView: AutoPilotAndCheckView? = null
+    // 检测、自动驾驶速度设置
+    private var toolsViewFloat: WarningFloat.Builder? = null
+
     override fun vipIdentification(visible: Boolean) {
         ThreadUtils.runOnUiThread {
             Logger.d(TAG, "vipIdentification")
@@ -80,6 +87,11 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
                 showCameraList(CallerMonitorManager.getCameraList())
             }
         }
+        viewCheckStatus?.setOnClickListener {
+            if (toolsViewFloat == null) {
+                showToolsFloat()
+            }
+        }
 
         viewShowDebugView.setOnLongClickListener {
             Log.d(TAG, "长按显示状态工具栏")
@@ -126,6 +138,65 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
         }
     }
 
+    private fun showToolsFloat() {
+        Logger.d(TAG, "showToolsFloat")
+        context?.let {
+            if (toolsViewFloat == null) {
+                if (toolsView == null) {
+                    toolsView = AutoPilotAndCheckView(it)
+                    toolsView!!.setClickListener(object : AutoPilotAndCheckView.ClickListener {
+                        override fun go2CheckPage() {
+                            // 启动检测页面
+                            CallerCheckManager.startCheckActivity(context)
+                            dismissToolsFloatView()
+                        }
+
+                        override fun onClose(v: View) {
+                            dismissToolsFloatView()
+                        }
+                    })
+                }
+                toolsViewFloat = WarningFloat.with(it)
+                    .setTag("ToolsViewFloat")
+                    .setLayout(toolsView!!)
+                    .setSidePattern(SidePattern.LEFT)
+                    .setGravity(Gravity.LEFT, offsetY = 72)
+                    .setImmersionStatusBar(true)
+                    .setAnimator(object : DefaultAnimator() {
+                        override fun enterAnim(
+                            view: View,
+                            params: WindowManager.LayoutParams,
+                            windowManager: WindowManager,
+                            sidePattern: SidePattern
+                        ): Animator? =
+                            super.enterAnim(view, params, windowManager, sidePattern)
+                                ?.apply {
+                                    interpolator = OvershootInterpolator()
+                                }
+
+                        override fun exitAnim(
+                            view: View,
+                            params: WindowManager.LayoutParams,
+                            windowManager: WindowManager,
+                            sidePattern: SidePattern
+                        ): Animator? =
+                            super.exitAnim(view, params, windowManager, sidePattern)
+                                ?.setDuration(200)
+                    })
+                    .addWarningStatusListener(object : IMoGoWarningStatusListener {
+                        override fun onDismiss() {
+                            toolsViewFloat = null
+                            toolsView = null
+                            // TODO:("")
+                        }
+                    })
+                    .show()
+            } else {
+                toolsViewFloat?.show()
+            }
+        }
+    }
+
     /**
      * 根据配置文件初始化视图显示
      */
@@ -468,6 +539,18 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
         cameraListView?.showNoSignal()
     }
 
+    override fun showToolsView() {
+        if (toolsViewFloat == null) {
+            showToolsFloat()
+        } else {
+            ToastUtils.showShort("弹窗状态有误!")
+        }
+    }
+
+    override fun hideToolsView() {
+        dismissToolsFloatView()
+    }
+
     private fun showCameraList(cameraList: List<CameraEntity>?) {
         context?.let {
             if (cameraViewFloat == null) {
@@ -544,6 +627,14 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
         }
     }
 
+    private fun dismissToolsFloatView() {
+        toolsViewFloat?.let {
+            WarningFloat.dismiss(it.config.floatTag, false)
+            toolsViewFloat = null
+            toolsView = null
+        }
+    }
+
     override fun onDestroy() {
         super.onDestroy()
         Log.d(TAG, "onDestroy")

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt

@@ -0,0 +1,59 @@
+package com.mogo.eagle.core.function.hmi.ui.tools
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import android.widget.FrameLayout
+import com.mogo.eagle.core.function.call.check.CallerCheckManager
+import com.mogo.eagle.core.function.hmi.R
+import kotlinx.android.synthetic.main.view_auto_pilot_check.view.*
+
+/**
+ * @author ChenFufeng
+ * 设置自动驾驶速度和检测页入口
+ */
+class AutoPilotAndCheckView : FrameLayout {
+
+    private val TAG = "AutoPilotAndCheckView"
+
+    private var clickListener: ClickListener? = null
+
+    @JvmOverloads
+    constructor(context: Context, attrs: AttributeSet? = null, defStyleAttr: Int = 0) : super(
+        context,
+        attrs,
+        defStyleAttr
+    )
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_auto_pilot_check, this, true)
+        initView()
+    }
+
+    private fun initView() {
+        ivCloseIcon.setOnClickListener {
+            clickListener?.onClose(it)
+        }
+        ivCheckIcon.setOnClickListener {
+            clickListener?.go2CheckPage()
+        }
+    }
+
+    fun setClickListener(clickListener: ClickListener) {
+        this.clickListener = clickListener
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+    }
+
+    interface ClickListener {
+        fun go2CheckPage()
+        fun onClose(v: View)
+    }
+}

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckStatusView.kt

@@ -27,10 +27,10 @@ class CheckStatusView @JvmOverloads constructor(
 
         setBackgroundResource(R.drawable.module_ext_check)
 
-        setOnClickListener {
+//        setOnClickListener {
-            // 启动检测页面
+//            // 启动检测页面
-            CallerCheckManager.startCheckActivity(getContext())
+//            CallerCheckManager.startCheckActivity(getContext())
-        }
+//        }
     }
 
     private fun showErrorIcon() {

core/function-impl/mogo-core-function-hmi/src/main/res/drawable/pilot_speed_bg.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#263869" />
+    <corners android:radius="20px" />
+    <stroke android:color="#5EBFFF" android:width="2px" />
+</shape>

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml

@@ -0,0 +1,130 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="960px"
+    android:layout_height="1600px"
+    android:background="@color/notice_check_dialog_bg_color"
+    >
+
+    <View
+        android:layout_width="14px"
+        android:layout_height="50px"
+        android:background="#FF2966EC"
+        android:layout_marginStart="80px"
+        android:layout_marginTop="158px"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        />
+
+    <TextView
+        android:layout_width="84px"
+        android:layout_height="86px"
+        android:text="检测"
+        android:textColor="#FFFFFFFF"
+        android:textSize="42px"
+        android:layout_marginStart="113px"
+        android:layout_marginTop="140px"
+        android:gravity="center"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        />
+
+    <ImageView
+        android:id="@+id/ivCheckIcon"
+        android:layout_width="150px"
+        android:layout_height="150px"
+        android:layout_marginTop="266px"
+        android:layout_marginStart="113px"
+        android:background="@drawable/check_car_nor"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/tvCheck"
+        android:layout_width="128px"
+        android:layout_height="42px"
+        android:text="车辆检测"
+        android:textColor="#FFA7B6F0"
+        android:textSize="32px"
+        android:layout_marginStart="124px"
+        android:layout_marginTop="23px"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/ivCheckIcon"
+        />
+
+    <View
+        android:layout_width="14px"
+        android:layout_height="50px"
+        android:background="#FF2966EC"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvCheck"
+        android:layout_marginTop="94px"
+        android:layout_marginStart="80px"
+        />
+
+    <TextView
+        android:id="@+id/tvSpeedTitle"
+        android:layout_width="168px"
+        android:layout_height="86px"
+        android:text="车速设置"
+        android:textColor="#FFFFFFFF"
+        android:textSize="42px"
+        android:gravity="center"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvCheck"
+        android:layout_marginStart="113px"
+        android:layout_marginTop="76px"
+        />
+
+    <androidx.appcompat.widget.LinearLayoutCompat
+        android:layout_width="390px"
+        android:layout_height="140px"
+        android:orientation="horizontal"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvSpeedTitle"
+        android:background="@drawable/pilot_speed_bg"
+        android:layout_marginTop="40px"
+        android:layout_marginStart="113px"
+        >
+
+        <androidx.appcompat.widget.AppCompatEditText
+            android:layout_width="0dp"
+            android:layout_height="match_parent"
+            android:layout_weight="1"
+            android:layout_marginStart="92px"
+            android:textColor="#FFFFFFFF"
+            android:text="30"
+            android:textSize="80px"
+            android:gravity="center"
+            />
+
+        <TextView
+            android:layout_width="93px"
+            android:layout_height="53px"
+            android:text="km/h"
+            android:textColor="#B3FFFFFF"
+            android:textSize="38px"
+            android:layout_marginEnd="28px"
+            />
+
+    </androidx.appcompat.widget.LinearLayoutCompat>
+
+    <ImageView
+        android:id="@+id/ivCloseIcon"
+        android:layout_width="107px"
+        android:layout_height="107px"
+        android:layout_marginTop="65px"
+        android:layout_marginEnd="40px"
+        android:background="@drawable/icon_close_nor"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="500px"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:background="@color/notice_blue"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>

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

@@ -56,4 +56,5 @@ public interface IMoGoAutopilotProvider extends IMoGoFunctionServerProvider {
      */
     void setIsWriteLog(boolean isWriteLog);
 
+    void setAutoPilotSpeed(int speed);
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt

@@ -144,4 +144,8 @@ interface IMoGoWaringProvider  {
     fun startRoadCameraLive(flvUrl: String)
 
     fun showNoSignView()
+
+    fun showToolsView()
+
+    fun hideToolsView()
 }

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

@@ -63,4 +63,7 @@ object CallerAutoPilotManager {
         providerApi.setIsWriteLog(isWriteLog)
     }
 
+    fun setAutoPilotSpeed(speed: Int) {
+        providerApi.setAutoPilotSpeed(speed)
+    }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt

@@ -200,4 +200,12 @@ object CallerHmiManager : CallerBase() {
     fun showNoSignalView() {
         waringProviderApi.showNoSignView()
     }
+
+    fun showToolsView() {
+        waringProviderApi.showToolsView()
+    }
+
+    fun hideToolsView() {
+        waringProviderApi.hideToolsView()
+    }
 }

modules/mogo-module-adas/src/main/java/com/mogo/module/adas/OnAdasListenerAdapter.java

@@ -28,6 +28,7 @@ import com.zhidao.support.adas.high.bean.RectInfo;
 import com.zhidao.support.adas.high.bean.TrajectoryInfo;
 import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 import com.zhidao.support.adas.high.bean.guardian.AutopilotGuardianInfo;
+import com.zhidao.support.adas.high.bean.record.AutopilotRecordResult;
 import com.zhidao.support.obu.ami.AmiClientManager;
 
 import java.util.ArrayList;
@@ -150,6 +151,11 @@ public class OnAdasListenerAdapter implements OnAdasListener {
         CallerAutoPilotStatusListenerManager.INSTANCE.invokeAutopilotGuardian(autopilotRoute);
     }
 
+    @Override
+    public void onAutopilotRecord(AutopilotRecordResult result) {
+
+    }
+
 
     @Override
     public void onLightStateData(LightStatueInfo lightStatueInfo) {