Merge branch 'dev_sweeper-d_230717_3.2.0' into 'release_sweeper-d_230717_3.2.0.1'

Dev sweeper d 230717 3.2.0 See merge request SCA/L4HA/AndroidApp/MoGoEagleEye!816
2023-08-18 06:15:33 +00:00
parent 6e0de8d35f 703b62940e
commit da62eb37de
18 changed files with 208 additions and 142 deletions
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -7,6 +7,7 @@ import chassis.ChassisStatesOuterClass
 import com.amap.api.maps.model.LatLng
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_ENABLE
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -36,6 +37,7 @@ import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
+import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
@@ -143,7 +145,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente

    override fun setAutoState(state: Int) {
        super.setAutoState(state)
-        getCurrentTaskView().updateStartAutoPilotBtnState(state)
+        getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
+            state == STATUS_AUTOPILOT_ENABLE,
+            mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
+            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING)
    }

    fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
@@ -216,6 +221,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
            addTaskData()
            mPresenter?.isHasTaskInfo(true)

+            //更新自动驾驶按钮样式
+            updateStartAutoPilotBtnByAutoPilotState()
+
            //恢复高精地图上的Marker
            mCurrentRunningSubTaskInfo?.also {
                addHDMapMarkerBySubTask(it)
@@ -227,6 +235,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
            addTaskData()
            mPresenter?.isHasTaskInfo(true)

+            //更新自动驾驶按钮样式
+            updateStartAutoPilotBtnByAutoPilotState()
+
            if (taskInfo.isPop) {
                showReceivedBigTaskDialog()
            } else {
@@ -243,6 +254,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
        }
    }

+    private fun updateStartAutoPilotBtnByAutoPilotState() {
+        getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
+            mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE,
+            mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
+            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING
+        )
+    }
+
    /**
     * 根据云端同步的子任务状态，更新列表中任务状态
     */
@@ -253,6 +272,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
    ) {
        mLoadingDialog.hideLoading()
        updateSubTaskInfo(taskId, subTaskId, subTaskStatus)
+        updateStartAutoPilotBtnByAutoPilotState()
    }

    /**
@@ -534,7 +554,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                        var ttsString = "云端恢复任务，注意车辆即将启动！"
                        mCurrentSuspendSubTaskInfo?.also { suspendSub ->
                            val isAutoPoilotState =
-                                mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE
+                                mPresenter?.autopilotState == STATUS_AUTOPILOT_RUNNING
                            when {
                                suspendSub.taskModel == TaskModel.MANUAL -> {
                                    ttsString = "云端恢复任务，请继续手动驾驶完成任务！"
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -646,6 +646,7 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
    @Override
    public void onAutopilotIpcConnectStatusChanged(int status, @Nullable String reason) {
        if (status == 0x00) {//判断工控机重连后，获取当前正在执行的子任务,延时10秒，防止工控机连接上时SN为空
+            CallerAutoPilotControlManager.INSTANCE.setIsSubscribeBackCameraVideoVideo(0, false);//TODO 当前3.2.0版本产品未规划后摄像头展示功能
            UiThreadHandler.postDelayed(() -> {
                getCurrentTask();
            }, 10000);
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
@@ -64,7 +64,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
    /**
     * 根据当前自动驾驶状态，更新【请求进入自动驾驶】按钮样式
     */
-    fun updateStartAutoPilotBtnState(autopilotState: Int) {
+    fun updateStartAutoPilotBtnByAutoPilotState(autopilotState: Int) {
        when (autopilotState) {
            //不可自动驾驶
            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
@@ -90,102 +90,119 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
    }

    /**
-     * 设置当前任务数据
+     * 根据 当前自动驾驶状态-是否是自动驾驶子任务-子任务是否在运行，更新【请求进入自动驾驶】按钮样式
     */
-    @SuppressLint("SetTextI18n")
-    fun setData(
-        taskInfo: TaskInfo?,
-        currentPosition: Int = -1
+    fun updateStartAutoPilotBtnByAutoPilotState(
+        isManualAutoPilotState: Boolean,
+        isAutoSubTask: Boolean,
+        isSubTaskRunning: Boolean
    ) {
-        // 更新 任务名称、任务时间
-        taskInfo?.apply {
-            this@SweeperCurrentTaskInfoView.listTask = subListList
-            tvTaskName.text = taskName
-            val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
-            val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
-            tvTaskTime.text =
-                "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
-                    DateTimeUtil.formatCalendarToString(
-                        calendarEnd,
-                        DateTimeUtil.HH_mm
-                    )
-                }"
-        }
-        // 更新大任务状态
-        updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START)
-        // 更新子任务列表
-        listTask?.let {
-            //特殊处理当前暂无执行中任务的情况
-            if (currentPosition == -1) {
-                setCurrentData(currentPosition + 1)
-            } else {
-                setCurrentData(currentPosition)
-            }
+        if (isManualAutoPilotState && isAutoSubTask && isSubTaskRunning) {
+            tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF"))
+            tvStartAuto.isSelected = true
+        } else {
+            tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+            tvStartAuto.isSelected = false
        }
    }

-    /**
-     * 设置任务的状态
-     */
-    private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) {
-        when (taskStatus) {
-            SweeperCommon.TaskStatus.RUNNING -> {
-                tvTaskState.text = "任务执行中"
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
+        /**
+         * 设置当前任务数据
+         */
+        @SuppressLint("SetTextI18n")
+        fun setData(
+            taskInfo: TaskInfo?,
+            currentPosition: Int = -1
+        ) {
+            // 更新 任务名称、任务时间
+            taskInfo?.apply {
+                this@SweeperCurrentTaskInfoView.listTask = subListList
+                tvTaskName.text = taskName
+                val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
+                val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
+                tvTaskTime.text =
+                    "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
+                        DateTimeUtil.formatCalendarToString(
+                            calendarEnd,
+                            DateTimeUtil.HH_mm
+                        )
+                    }"
            }
-
-            SweeperCommon.TaskStatus.SUSPENDED -> {
-                tvTaskState.text = "任务已暂停"
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
-            }
-
-            else -> {
-                tvTaskState.text = "任务待开始"
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
-            }
-        }
-    }
-
-    /**
-     * 填充数据
-     */
-    private fun setCurrentData(currentPosition: Int) {
-        listTask?.let {
-            if (it.size == 1) {
-                preSubTask.setData(it[currentPosition], isLastTask = true)
-                currentSubTask.visibility = View.INVISIBLE
-                lastSubTask.visibility = View.INVISIBLE
-            } else if (it.size == 2) {
-                if (currentPosition == 0) {
-                    preSubTask.setData(it[currentPosition])
-                    currentSubTask.setData(it[1], isLastTask = true)
+            // 更新大任务状态
+            updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START)
+            // 更新子任务列表
+            listTask?.let {
+                //特殊处理当前暂无执行中任务的情况
+                if (currentPosition == -1) {
+                    setCurrentData(currentPosition + 1)
                } else {
-                    preSubTask.setData(it[currentPosition - 1])
-                    currentSubTask.setData(it[currentPosition], isLastTask = true)
-                }
-                preSubTask.visibility = View.VISIBLE
-                currentSubTask.visibility = View.VISIBLE
-                lastSubTask.visibility = View.GONE
-            } else {
-                preSubTask.visibility = View.VISIBLE
-                currentSubTask.visibility = View.VISIBLE
-                lastSubTask.visibility = View.VISIBLE
-                //当前正在执行的任务是第一个子任务
-                if (currentPosition == 0) {
-                    preSubTask.setData(it[currentPosition])
-                    currentSubTask.setData(it[1])
-                    lastSubTask.setData(it[2], isLastTask = true)
-                    //当前正在执行的任务是最后一个子任务
-                } else if (currentPosition == it.size - 1) {
-                    preSubTask.setData(it[currentPosition - 2])
-                    currentSubTask.setData(it[currentPosition - 1])
-                    lastSubTask.setData(it[currentPosition], isLastTask = true)
-                } else {
-                    preSubTask.setData(it[currentPosition - 1])
-                    currentSubTask.setData(it[currentPosition])
-                    lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
+                    setCurrentData(currentPosition)
                }
            }
        }
-    }
-}
+
+        /**
+         * 设置任务的状态
+         */
+        private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) {
+            when (taskStatus) {
+                SweeperCommon.TaskStatus.RUNNING -> {
+                    tvTaskState.text = "任务执行中"
+                    tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
+                }
+
+                SweeperCommon.TaskStatus.SUSPENDED -> {
+                    tvTaskState.text = "任务已暂停"
+                    tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
+                }
+
+                else -> {
+                    tvTaskState.text = "任务待开始"
+                    tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
+                }
+            }
+        }
+
+        /**
+         * 填充数据
+         */
+        private fun setCurrentData(currentPosition: Int) {
+            listTask?.let {
+                if (it.size == 1) {
+                    preSubTask.setData(it[currentPosition], isLastTask = true)
+                    currentSubTask.visibility = View.INVISIBLE
+                    lastSubTask.visibility = View.INVISIBLE
+                } else if (it.size == 2) {
+                    if (currentPosition == 0) {
+                        preSubTask.setData(it[currentPosition])
+                        currentSubTask.setData(it[1], isLastTask = true)
+                    } else {
+                        preSubTask.setData(it[currentPosition - 1])
+                        currentSubTask.setData(it[currentPosition], isLastTask = true)
+                    }
+                    preSubTask.visibility = View.VISIBLE
+                    currentSubTask.visibility = View.VISIBLE
+                    lastSubTask.visibility = View.GONE
+                } else {
+                    preSubTask.visibility = View.VISIBLE
+                    currentSubTask.visibility = View.VISIBLE
+                    lastSubTask.visibility = View.VISIBLE
+                    //当前正在执行的任务是第一个子任务
+                    if (currentPosition == 0) {
+                        preSubTask.setData(it[currentPosition])
+                        currentSubTask.setData(it[1])
+                        lastSubTask.setData(it[2], isLastTask = true)
+                        //当前正在执行的任务是最后一个子任务
+                    } else if (currentPosition == it.size - 1) {
+                        preSubTask.setData(it[currentPosition - 2])
+                        currentSubTask.setData(it[currentPosition - 1])
+                        lastSubTask.setData(it[currentPosition], isLastTask = true)
+                    } else {
+                        preSubTask.setData(it[currentPosition - 1])
+                        currentSubTask.setData(it[currentPosition])
+                        lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
+                    }
+                }
+            }
+        }
+    }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -1045,6 +1045,14 @@ class MoGoAutopilotControlProvider :
        }
    }

+    override fun setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean) {
+        val type =
+            if (isSubscribe) Constants.SUBSCRIBE_TYPE.SUBSCRIBE else Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE
+        AdasManager.getInstance().subscribeInterface(
+            role, type, MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO
+        )
+    }
+
    override fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
        return AdasManager.getInstance().sendRoboBusJinlvM1FrontDoorCmd(switchCmd)
    }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -535,7 +535,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param data   数据
     */
    override fun onBackCameraVideo(header: MessagePad.Header, data: ByteArray) {
-        CallerSweeperFutianBackCameraVideoListenerManager.invokeSweeperFutianBackCameraVideo(data)
+        CallerBackCameraVideoListenerManager.invokeBackCameraVideo(data)
    }

    /**
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt
@@ -21,7 +21,7 @@ import mogo.telematics.pad.MessagePad.SetParamReq
 import java.util.concurrent.atomic.AtomicInteger
 import kotlin.concurrent.*

-internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {
+internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {

    companion object {
        private const val TAG = "MoGoLookAroundProvider"
@@ -58,7 +58,7 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeper
    private var job: Job? = null

    override fun init(ctx: Context) {
-        CallerSweeperFutianBackCameraVideoListenerManager.addListener(TAG, this)
+        CallerBackCameraVideoListenerManager.addListener(TAG, this)
        CallerRoboBusJinlvM1StitchedVideoListenerManager.addListener(TAG, this)
        CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
        if (AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
@@ -116,7 +116,7 @@ internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeper

    }

-    override fun onSweeperFutianBackCameraVideo(data: ByteArray) {
+    override fun onBackCameraVideo(data: ByteArray) {
        if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) {
            val options = BitmapFactory.Options()
            options.inJustDecodeBounds = true
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/MogoVideoView.java
@@ -15,18 +15,17 @@ import com.bumptech.glide.load.engine.DiskCacheStrategy;
 import com.bumptech.glide.request.RequestOptions;
 import com.bumptech.glide.request.target.CustomTarget;
 import com.bumptech.glide.request.transition.Transition;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoBackCameraVideoListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoRoboBusJinlvM1StitchedVideoListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerBackCameraVideoListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedVideoListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianBackCameraVideoListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.glide.GlideApp;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;

 /**
- * 清扫车摄像头展示View 10Hz
- * M1拼接视频展示View 10Hz  需要订阅（连接成功后订阅才生效）：CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(isSubscribe)
+ * 图片帧展示View
 */
-public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
+public class MogoVideoView extends AppCompatImageView implements IMoGoBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener {
    private static final String TAG = MogoVideoView.class.getSimpleName();
    private final RequestOptions requestOptions = new RequestOptions()
            .priority(Priority.HIGH)
@@ -49,14 +48,14 @@ public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFut
    @Override
    protected void onAttachedToWindow() {
        super.onAttachedToWindow();
-        CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
+        CallerBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
        CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.addListener(TAG, this);
    }

    @Override
    protected void onDetachedFromWindow() {
        super.onDetachedFromWindow();
-        CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this);
+        CallerBackCameraVideoListenerManager.INSTANCE.removeListener(this);
        CallerRoboBusJinlvM1StitchedVideoListenerManager.INSTANCE.removeListener(this);
    }

@@ -90,7 +89,7 @@ public class MogoVideoView extends AppCompatImageView implements IMoGoSweeperFut
    }

    @Override
-    public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
+    public void onBackCameraVideo(@NonNull byte[] data) {
        draw(data);
    }

--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -423,6 +423,13 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
     */
    fun setIsSubscribeM1StitchedVideo(isSubscribe: Boolean)

+    /**
+     * 后摄像头接口订阅 目前用于清扫车后摄像头接口和Taxi右后摄像头接口
+     * @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param isSubscribe 是否订阅
+     */
+    fun setIsSubscribeBackCameraVideoVideo(role: Int,isSubscribe: Boolean)
+
    fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean

    fun sendRoboBusJinlvM1AirConditionerCmd(
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoBackCameraVideoListener.kt
@@ -0,0 +1,13 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+/**
+ * 后摄像头视频数据
+ * 目前用于清扫车（福田）后摄像头和Taxi右后摄像头
+ * 需要进行接口订阅才能 CallerAutoPilotControlManager.setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean)
+ */
+interface IMoGoBackCameraVideoListener {
+    /**
+     * 后摄像头视频数据 10Hz 每一帧为一张图片
+     */
+    fun onBackCameraVideo(data: ByteArray)
+}
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt
@@ -1,11 +0,0 @@
-package com.mogo.eagle.core.function.api.autopilot
-
-/**
- * 清扫车（福田）后摄像头视频数据
- */
-interface IMoGoSweeperFutianBackCameraVideoListener {
-    /**
-     * 清扫车（福田）后摄像头视频数据 10Hz 每一帧为一张图片
-     */
-    fun onSweeperFutianBackCameraVideo(data: ByteArray)
-}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -578,6 +578,15 @@ object CallerAutoPilotControlManager {
        providerApi?.setIsSubscribeM1StitchedVideo(isSubscribe)
    }

+    /**
+     * 后摄像头接口订阅 目前用于清扫车后摄像头接口和Taxi右后摄像头接口
+     * @param role 角色 详情参见{@link Constants.TERMINAL_ROLE}
+     * @param isSubscribe 是否订阅
+     */
+    fun setIsSubscribeBackCameraVideoVideo(role: Int, isSubscribe: Boolean) {
+        providerApi?.setIsSubscribeBackCameraVideoVideo(role, isSubscribe)
+    }
+
    fun sendRoboBusJinlvM1FrontDoorCmd(switchCmd: Int): Boolean {
        return providerApi?.sendRoboBusJinlvM1FrontDoorCmd(switchCmd) ?: false
    }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerBackCameraVideoListenerManager.kt
@@ -0,0 +1,20 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoBackCameraVideoListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 后摄像头视频数据
+ */
+object CallerBackCameraVideoListenerManager : CallerBase<IMoGoBackCameraVideoListener>() {
+
+    /**
+     * 后摄像头视频数据
+     */
+    fun invokeBackCameraVideo(data: ByteArray) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onBackCameraVideo(data)
+        }
+    }
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
@@ -1,20 +0,0 @@
-package com.mogo.eagle.core.function.call.autopilot
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-
-/**
- * 清扫车（福田）后摄像头视频数据
- */
-object CallerSweeperFutianBackCameraVideoListenerManager : CallerBase<IMoGoSweeperFutianBackCameraVideoListener>() {
-
-    /**
-     * 后摄像头视频数据
-     */
-    fun invokeSweeperFutianBackCameraVideo(data: ByteArray) {
-        M_LISTENERS.forEach {
-            val listener = it.value
-            listener.onSweeperFutianBackCameraVideo(data)
-        }
-    }
-}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -261,7 +261,8 @@ public interface OnAdasListener {
 //    void onFSMStatusReasonRespond(@NonNull MessagePad.Header header, @NonNull FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond respond);

    /**
-     * 清扫车后部摄像头视频 10Hz
+     * 后部摄像头视频 10Hz
+     * 目前用于清扫车后摄像头和Taxi右右后摄像头
     *
     * @param header 头
     * @param data   数据
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -28,7 +28,7 @@ public enum MessageType {
    TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
    TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
    TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
-    TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "清扫车后摄像头"),
+    TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "后摄像头"),
    TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),

    TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
@@ -9,7 +9,8 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;

 /**
- * 清扫车后摄像头 10Hz
+ * 清扫车和Taxi后摄像头
+ * 需要主动订阅，否则工控机不会发送此数据
 */
 public class BackCameraVideoMessage extends MyAbstractMessageHandler {

@@ -21,13 +22,13 @@ public class BackCameraVideoMessage extends MyAbstractMessageHandler {
        int len = raw.getPackageLengthValue() - raw.getOffsetValue();
        byte[] data = new byte[len];
        System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
-        AdasChannel.calculateTimeConsumingOnDispatchRaw("清扫车后摄像头", raw.receiveTime);
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("后摄像头", raw.receiveTime);
        long nowTime = 0;
        if (CupidLogUtils.isEnableLog())
            nowTime = SystemClock.elapsedRealtime();
        if (adasListener != null) {
            adasListener.onBackCameraVideo(raw.getHeader(), data);
        }
-        AdasChannel.calculateTimeConsumingBusiness("清扫车后摄像头", nowTime);
+        AdasChannel.calculateTimeConsumingBusiness("后摄像头", nowTime);
    }
 }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/M1StitchedVideoMessage.java
@@ -10,6 +10,7 @@ import com.zhidao.support.adas.high.protocol.RawData;

 /**
 * M1拼接视频 10Hz
+ * 需要主动订阅，否则工控机不会发送此数据
 */
 public class M1StitchedVideoMessage extends MyAbstractMessageHandler {

--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/subscribe/SubscribeInterface.java
@@ -139,8 +139,8 @@ public class SubscribeInterface {
        if (types.length > 0) {
            for (MessageType messageType : types) {
                if (messageType.name().toLowerCase().contains("type_receive")) {
-                    //连接成功后只有M1拼接视频接收接口默认不进行订阅，其他接收接口默认自动订阅
-                    if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO) {
+                    //连接成功后只有M1拼接视频接收接口和后摄像头接口默认不进行订阅，其他接收接口默认自动订阅
+                    if (messageType == MessageType.TYPE_RECEIVE_M1_STITCHED_VIDEO || messageType == MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO) {
                        unsubscribedInterface.put(messageType, messageType.typeCode.getNumber());
                    } else {
                        subscribedInterface.put(messageType, messageType.typeCode.getNumber());