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

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！"

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);

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 updateStartAutoPilotBtnByAutoPilotState(
-    fun setData(
+        isManualAutoPilotState: Boolean,
-        taskInfo: TaskInfo?,
+        isAutoSubTask: Boolean,
-        currentPosition: Int = -1
+        isSubTaskRunning: Boolean
     ) {
-        // 更新 任务名称、任务时间
+        if (isManualAutoPilotState && isAutoSubTask && isSubTaskRunning) {
-        taskInfo?.apply {
+            tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF"))
-            this@SweeperCurrentTaskInfoView.listTask = subListList
+            tvStartAuto.isSelected = true
-            tvTaskName.text = taskName
+        } else {
-            val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
+            tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
-            val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
+            tvStartAuto.isSelected = false
-            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)
-            }
         }
     }
 
-    /**
+        /**
-     * 设置任务的状态
+         * 设置当前任务数据
-     */
+         */
-    private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) {
+        @SuppressLint("SetTextI18n")
-        when (taskStatus) {
+        fun setData(
-            SweeperCommon.TaskStatus.RUNNING -> {
+            taskInfo: TaskInfo?,
-                tvTaskState.text = "任务执行中"
+            currentPosition: Int = -1
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
+        ) {
+            // 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
-            SweeperCommon.TaskStatus.SUSPENDED -> {
+            updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START)
-                tvTaskState.text = "任务已暂停"
+            // 更新子任务列表
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
+            listTask?.let {
-            }
+                //特殊处理当前暂无执行中任务的情况
-
+                if (currentPosition == -1) {
-            else -> {
+                    setCurrentData(currentPosition + 1)
-                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])
+                    setCurrentData(currentPosition)
-                    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)
                 }
             }
         }
-    }
+
-}
+        /**
+         * 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)
+                    }
+                }
+            }
+        }
+    }

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)
     }

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)
     }
 
     /**

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

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
+ * 图片帧展示View
- * 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)
  */
-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);
     }
 

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(

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)
+}

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)
-}

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
     }

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)
+        }
+    }
+}

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)
-        }
-    }
-}

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

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"),

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);
     }
 }

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 {
 

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
+                    //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) {
+                    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());