[3.3.0][M1] 360环视需求代码提交

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

@@ -56,6 +56,7 @@ import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import com.zhidao.support.adas.high.common.MessageType
+import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.MogoReport
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
@@ -559,7 +560,7 @@ class MoGoAutopilotControlProvider :
 
     /**
      * 获取全部参数
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
      * @return boolean
      */
@@ -569,12 +570,12 @@ class MoGoAutopilotControlProvider :
 
     /**
      * 参数获取请求
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
-     * @param paramType 参数类型{@link com.zhidao.support.adas.high.common.Constants.PARAM_TYPE}
+     * @param paramType  参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
      * @return boolean
      */
-    override fun sendGetParamReq(paramType: Int): Boolean {
+    override fun sendGetParamReq(paramType: AdasConstants.MapSystemParamType): Boolean {
         return AdasManager.getInstance().sendGetParamReq(paramType)
     }
 

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

@@ -60,7 +60,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
-import com.zhidao.support.adas.high.bean.AdasParam
+import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
@@ -796,6 +796,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param adasParam 解析后的配置参数
      */
     override fun onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) {
+        CallerAutopilotGetParamResponseDispatcher.dispatchResponse(header, getParamResp, adasParam)
     }
 
     /**

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

@@ -20,6 +20,7 @@ import com.mogo.eagle.core.function.api.devatools.apm.*
 import com.mogo.eagle.core.function.api.devatools.strict.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.api.devatools.download.*
+import com.mogo.eagle.core.function.api.lookaround.*
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.tencent.matrix.Matrix
@@ -42,6 +43,7 @@ import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigCenter.Compani
 import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigImpl
 import com.zhjt.mogo_core_function_devatools.koom.KoomInitTask
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager
+import com.zhjt.mogo_core_function_devatools.lookaround.*
 import com.zhjt.mogo_core_function_devatools.matrix.DynamicConfigImpl
 import com.zhjt.mogo_core_function_devatools.mofang.MoFangManager.Companion.moFangManager
 import com.zhjt.mogo_core_function_devatools.monitor.MonitorManager
@@ -72,6 +74,9 @@ class DevaToolsProvider : IDevaToolsProvider {
 
     private val strictModeProvider by lazy { StrictModeProviderImpl() }
 
+
+    private val lookAroundDataProvider by lazy { MoGoLookAroundProviderImpl() }
+
     @Volatile
     private var mDockerVersion: String? = null
 
@@ -105,6 +110,7 @@ class DevaToolsProvider : IDevaToolsProvider {
             // 监听弱网
             WeakNetworkStrategy.startListen()
         }
+        lookAroundDataProvider.init(mContext!!)
     }
 
     override fun checkMonitorDb() {
@@ -356,4 +362,6 @@ class DevaToolsProvider : IDevaToolsProvider {
         return upgradeManager.upgradeProvider()
     }
     override fun strict(): IStrictModeProvider = strictModeProvider
+
+    override fun lookAroundDataProvider(): IMoGoLookAroundProvider = lookAroundDataProvider
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/lookaround/MoGoLookAroundProviderImpl.kt

@@ -0,0 +1,160 @@
+package com.zhjt.mogo_core_function_devatools.lookaround
+
+import android.content.*
+import android.graphics.BitmapFactory
+import android.util.*
+import androidx.core.util.Pools
+import com.mogo.eagle.core.data.config.*
+import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.lookaround.*
+import com.mogo.eagle.core.function.api.lookaround.data.*
+import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.utilcode.mogo.*
+import com.zhjt.mogo.adas.data.*
+import com.zhjt.mogo.adas.data.bean.*
+import kotlinx.coroutines.*
+import kotlinx.coroutines.channels.*
+import kotlinx.coroutines.channels.Channel.Factory.CONFLATED
+import kotlinx.coroutines.flow.*
+import mogo.telematics.pad.MessagePad.Header
+import mogo.telematics.pad.MessagePad.SetParamReq
+import java.util.concurrent.atomic.AtomicInteger
+import kotlin.concurrent.*
+
+internal class MoGoLookAroundProviderImpl: IMoGoLookAroundProvider, IMoGoSweeperFutianBackCameraVideoListener, IMoGoRoboBusJinlvM1StitchedVideoListener, IMoGoGetParamResponseListener {
+
+    companion object {
+        private const val TAG = "MoGoLookAroundProvider"
+    }
+
+    @OptIn(ExperimentalCoroutinesApi::class)
+    private var channel: Channel<LookAroundData> = Channel(CONFLATED)
+        get() {
+            return if (field.isClosedForReceive || field.isClosedForSend) {
+                Channel(CONFLATED)
+            } else {
+                field
+            }
+        }
+
+    private val pool by lazy { Pools.SynchronizedPool<LookAroundData>(10) }
+
+    private val bitmapWidth by lazy { AtomicInteger(0) }
+
+    private val bitmapHeight by lazy { AtomicInteger(0) }
+
+    //276,319,147,366
+    private val targetX by lazy { AtomicInteger(0) }
+
+    private val targetY by lazy { AtomicInteger(0) }
+
+    private val targetWidth by lazy { AtomicInteger(0) }
+
+    private val targetHeight by lazy { AtomicInteger(0) }
+
+    private val scope by lazy { CoroutineScope(Dispatchers.IO + SupervisorJob()) }
+
+    @Volatile
+    private var job: Job? = null
+
+    override fun init(ctx: Context) {
+        CallerSweeperFutianBackCameraVideoListenerManager.addListener(TAG, this)
+        CallerRoboBusJinlvM1StitchedVideoListenerManager.addListener(TAG, this)
+        CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
+        if (AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
+            sendReqForParamPeriod()
+        }
+    }
+
+    private fun sendReqForParamPeriod() {
+        scope.launch {
+            while (targetX.get() == 0 || targetY.get() == 0) {
+                CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM)
+                delay(2000)
+            }
+        }.also {
+            job = it
+        }
+    }
+
+    @OptIn(ExperimentalCoroutinesApi::class)
+    override fun flow(): Flow<LookAroundData> = channelFlow {
+        val iterator = this@MoGoLookAroundProviderImpl.channel.iterator()
+        while (iterator.hasNext()) {
+            send(iterator.next())
+        }
+    }.flowOn(Dispatchers.IO)
+
+    override fun onRoboBusJinlvM1StitchedVideo(data: ByteArray) {
+        if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) {
+            val options = BitmapFactory.Options()
+            options.inJustDecodeBounds = true
+            BitmapFactory.decodeByteArray(data,0 , data.size, options)
+            bitmapWidth.set(options.outWidth)
+            bitmapHeight.set(options.outHeight)
+        }
+        Log.d(TAG, "-- onRoboBusJinlvM1StitchedVideo -- bitmap:[${bitmapWidth.get()}, ${bitmapHeight.get()}] -- data: ${data.size}")
+        var old = pool.acquire()
+        try {
+            if (old == null) {
+                old = LookAroundData(data, bitmapWidth.get(), bitmapHeight.get(), targetX.get(), targetY.get(), targetWidth.get(), targetHeight.get())
+            } else {
+                old.data = data
+                old.bitmapWidth = bitmapWidth.get()
+                old.bitmapHeight = bitmapHeight.get()
+                old.targetX = targetX.get()
+                old.targetY = targetY.get()
+                old.targetWidth = targetWidth.get()
+                old.targetHeight = targetHeight.get()
+            }
+            channel.trySend(old)
+        } finally {
+            if (old != null) {
+                pool.release(old)
+            }
+        }
+
+    }
+
+    override fun onSweeperFutianBackCameraVideo(data: ByteArray) {
+        if (bitmapWidth.get() == 0 || bitmapHeight.get() == 0) {
+            val options = BitmapFactory.Options()
+            options.inJustDecodeBounds = true
+            BitmapFactory.decodeByteArray(data,0 , data.size, options)
+            bitmapWidth.set(options.outWidth)
+            bitmapHeight.set(options.outHeight)
+        }
+        Log.d(TAG, "-- onSweeperFutianBackCameraVideo -- bitmap:[${bitmapWidth.get()}, ${bitmapHeight.get()}] -- data: ${data.size}")
+        var old = pool.acquire()
+        try {
+            if (old == null) {
+                old = LookAroundData(data, bitmapWidth.get(), bitmapHeight.get(), targetX.get(), targetY.get(), targetWidth.get(), targetHeight.get())
+            } else {
+                old.data = data
+                old.bitmapWidth = bitmapWidth.get()
+                old.bitmapHeight = bitmapHeight.get()
+                old.targetX = targetX.get()
+                old.targetY = targetY.get()
+                old.targetWidth = targetWidth.get()
+                old.targetHeight = targetHeight.get()
+            }
+            channel.trySend(old)
+        } finally {
+            if (old != null) {
+                pool.release(old)
+            }
+        }
+    }
+
+    override fun onGetParamResp(header: Header, getParamResp: SetParamReq, adasParam: AdasParam) {
+        Log.d(TAG, "-- onGetParamResp -- 1 --")
+        val parse = adasParam.m1StitchedVideoSelfVehicleParamParse
+        if (parse != null) {
+            targetX.set(parse.x)
+            targetY.set(parse.y)
+            targetWidth.set(parse.width)
+            targetHeight.set(parse.height)
+            Log.d(TAG, "-- onGetParamResp -- 2 --:[x: ${parse.x}, y: ${parse.y}, width: ${parse.width}, height: ${parse.height}]")
+        }
+    }
+}

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/StatusManager.kt

@@ -8,16 +8,13 @@ import androidx.lifecycle.*
 import androidx.lifecycle.Lifecycle.Event
 import androidx.lifecycle.Lifecycle.Event.ON_CREATE
 import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.mogo.logger.*
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.util.*
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.GpsStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.IpcStatus
-//import com.zhjt.mogo_core_function_devatools.status.entity.NetStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.RTKStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.entity.TracingStatus
@@ -26,13 +23,11 @@ import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import com.zhjt.mogo_core_function_devatools.status.flow.can.CanImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.gps.GpsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.ipc.IpcImpl
-//import com.zhjt.mogo_core_function_devatools.status.flow.nets.NetsImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.rtk.RTKImpl
 import com.zhjt.mogo_core_function_devatools.status.flow.trace.TracingImpl
 import com.zhjt.mogo_core_function_devatools.status.ui.StatusView
 import kotlinx.coroutines.*
 import kotlinx.coroutines.flow.*
-import mogo_msg.MogoReportMsg
 import java.lang.ref.*
 import java.util.concurrent.*
 
@@ -42,52 +37,14 @@ object StatusManager {
     private const val TAG = "StatusManager"
 
     private lateinit var model: StatusModel
-//    private var timer: Job? = null
     private var hasInit = false
     private val listeners by lazy { CopyOnWriteArrayList<IStatusListener>() }
     private var container: WeakReference<ViewGroup>? = null
 
-//    private val listener = object : IMoGoAutopilotStatusListener {
-//        override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
-//            super.onAutopilotGuardian(guardianInfo)
-//            guardianInfo?.code?.takeIf {
-//                CallerLogger.d("$M_DEVA$TAG", "-- onAutopilotGuardian ---: code: $it")
-//                it.contains("RTK_STATUS", true) || it.contains("CAN", true) || it == "ILCT_RTK_OR_SLAM_CHANGE"
-//            }?.run {
-//                CallerLogger.d("$M_DEVA$TAG", "-- onAutopilotGuardian trigger req ---: code: $this")
-//                req()
-//            }
-//        }
-//    }
-
-//    private val appStateListener = object : IAppStateListener {
-//
-//        override fun onAppStateChanged(isForeground: Boolean) {
-//            if (isForeground) {
-//                req()
-//            } else {
-//                timer?.cancel()
-//            }
-//        }
-//    }
-
     private val flows: ArrayList<IFlow<out Status>> by lazy {
         ArrayList()
     }
 
-//    private fun req() {
-//        timer?.cancel()
-//        model.viewModelScope.launch(Dispatchers.IO) {
-//            CallerAutoPilotManager.sendStatusQueryReq()
-//            while (true) {
-//                delay(60000) //一分钟主动请求一次
-//                CallerAutoPilotManager.sendStatusQueryReq()
-//            }
-//        }.also {
-//            timer = it
-//        }
-//    }
-
     fun init(ctx: Context) {
         if (hasInit) {
             return
@@ -109,14 +66,10 @@ object StatusManager {
 
     private fun onCreate(ctx: Context) {
         val values = model.status.value?.second ?: throw IllegalStateException("state is not right.")
-//        CallerAutoPilotStatusListenerManager.addListener(TAG, listener)
-//        AppStateManager.registerAppStateListener(appStateListener)
-//        req()
         values.map {
             when (it) {
                 is CanStatus -> CanImpl(ctx)
                 is IpcStatus -> IpcImpl(ctx)
-//                is NetStatus -> NetsImpl(ctx)
                 is GpsStatus -> GpsImpl(ctx)
                 is TracingStatus -> TracingImpl(ctx)
                 is RTKStatus -> RTKImpl(ctx)
@@ -138,16 +91,6 @@ object StatusManager {
         }
     }
 
-
-    fun registerListener(listener: IStatusListener) {
-        listeners.add(listener)
-    }
-
-
-    fun unRegisterListener(listener: IStatusListener) {
-        listeners.remove(listener)
-    }
-
     fun show(container: ViewGroup) {
         if (container.childCount > 0) {
             if (container.visibility != View.VISIBLE) {
@@ -166,9 +109,6 @@ object StatusManager {
 
     private fun onDestroy(ctx: Context) {
         hasInit = false
-//        CallerAutoPilotStatusListenerManager.removeListener(TAG)
-//        AppStateManager.unRegisterAppStateListener(appStateListener)
-//        timer?.cancel()
         flows.forEach {
             it.onDestroy()
         }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt

@@ -23,7 +23,6 @@ internal class StatusModel : ViewModel() {
             it += CanStatus(false)
             it += TracingStatus(UNKNOWN)
             it += RTKStatus("", -1)
-            // it += NetStatus(false)
             it += GpsStatus(enabled = false, isGranted = false)
         })
     }

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

@@ -3,7 +3,10 @@ package com.mogo.eagle.core.function.hmi.ui
 import android.content.Context
 import android.text.TextUtils
 import android.util.*
-import android.view.ViewGroup
+import android.view.*
+import android.view.ViewGroup.LayoutParams
+import android.widget.FrameLayout
+import androidx.core.view.*
 import androidx.lifecycle.ProcessLifecycleOwner
 import androidx.lifecycle.lifecycleScope
 import com.alibaba.android.arouter.facade.annotation.Route
@@ -22,9 +25,10 @@ import com.mogo.eagle.core.data.biz.notice.NoticeNormalData
 import com.mogo.eagle.core.data.biz.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
+import com.mogo.eagle.core.function.call.hmi.*
 import com.mogo.eagle.core.function.call.v2x.CallerV2XWarningListenerManager
 import com.mogo.eagle.core.function.hmi.ui.camera.RoadVideoDialog
+import com.mogo.eagle.core.function.hmi.ui.lookaround.*
 import com.mogo.eagle.core.function.hmi.ui.notice.DispatchDialogManager
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeCheckDialog
 import com.mogo.eagle.core.function.hmi.ui.notice.traffic.NoticeTrafficDialog
@@ -35,15 +39,17 @@ import com.mogo.eagle.core.function.hmi.ui.tools.ModifyBindingCarDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.ToBindingCarDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.UpgradeAppDialog
 import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
+import com.mogo.eagle.core.utilcode.floating.*
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
 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
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
-import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.*
 import com.zhjt.service_biz.BizConfig
 import kotlinx.coroutines.*
 import kotlinx.coroutines.selects.*
+import java.lang.ref.WeakReference
 import java.util.concurrent.atomic.AtomicReference
 
 /**
@@ -62,6 +68,11 @@ class MoGoHmiProvider : IMoGoHmiProvider {
     private var lastShowV2XJob: Job? = null
     private var context: Context? = null
 
+    /**
+     * 360环视窗口引用
+     */
+    private val lookAround by lazy { AtomicReference<MoGoPopWindow>() }
+
     private val scope by lazy { CoroutineScope(Dispatchers.Default + SupervisorJob()) }
 
     override fun init(context: Context?) {
@@ -312,4 +323,38 @@ class MoGoHmiProvider : IMoGoHmiProvider {
         }
     }
 
+    override fun show360LookAround() {
+        val activity = AppStateManager.currentActivity() ?: return
+        val old = lookAround.get()
+        if (old != null && old.isShowing()) {
+            return
+        }
+        old?.hide()
+        MoGoPopWindow.Builder()
+            .attachToActivity(activity)
+            .contentView(M1LookAroundView(activity))
+            .draggable(true)
+            .isDismissOnTouchOutside(false)
+            .gravityInActivity(Gravity.CENTER)
+            .width(700)
+            .height(1400)
+            .onDismissed {
+                lookAround.set(null)
+            }
+            .build().also {
+                lookAround.set(it)
+            }.show()
+    }
+
+    override fun hide360LookAround() {
+       val old = lookAround.get()
+       if (old == null || !old.isShowing()) {
+           return
+       }
+       old.hide()
+    }
+
+    override fun is360LookAroundShowing(): Boolean {
+        return lookAround.get()?.isShowing() ?: false
+    }
 }

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/lookaround/M1LookAroundView.kt

@@ -0,0 +1,347 @@
+package com.mogo.eagle.core.function.hmi.ui.lookaround
+
+import android.content.*
+import android.graphics.*
+import android.graphics.Paint.Style.STROKE
+import android.os.Handler
+import android.os.HandlerThread
+import android.os.SystemClock
+import android.util.*
+import android.view.SurfaceHolder
+import android.view.SurfaceView
+import android.widget.Toast
+import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.lookaround.data.*
+import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.devatools.*
+import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.Utils
+import kotlinx.coroutines.*
+import kotlinx.coroutines.Runnable
+import kotlinx.coroutines.flow.*
+import java.util.concurrent.atomic.AtomicReference
+import kotlin.math.*
+
+class M1LookAroundView: SurfaceView, SurfaceHolder.Callback, Runnable, IMoGoChassisSteeringStateListener {
+
+    constructor(context: Context?) : super(context)
+    constructor(context: Context?, attrs: AttributeSet?) : super(context, attrs)
+    constructor(context: Context?, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr)
+
+    companion object {
+        private const val TAG = "M1LookAroundView"
+
+        private const val BROKE_LINE_LENGTH = 40f
+
+        private const val VEHICLE_STEERING_RATIO = 21
+    }
+
+    init {
+        holder.addCallback(this)
+    }
+
+    private val handler by lazy { AtomicReference<Handler>() }
+
+    private val bitmapPaint by lazy { Paint(Paint.ANTI_ALIAS_FLAG or Paint.FILTER_BITMAP_FLAG).also { it.xfermode = null } }
+
+    private val routerPaint = Paint().also {
+        it.color = Color.RED
+        it.isAntiAlias = true
+        it.style = STROKE
+        it.strokeWidth = 5f
+    }
+
+    private val brokePaint = Paint().also {
+        it.color = Color.RED
+        it.isAntiAlias = true
+        it.style = STROKE
+        it.strokeJoin = Paint.Join.ROUND
+        it.strokeWidth = 5f
+    }
+
+    private val brokePath by lazy { Path() }
+
+    private val routerPath = Path()
+
+    private val innerRect by lazy { RectF() }
+
+    private val outerRect by lazy { RectF() }
+
+    /**
+     * 方向盘转角
+     */
+    @Volatile
+    private var steering: Float = 0f
+
+    @Volatile
+    private var surfaceWidth = 0
+
+    @Volatile
+    private var surfaceHeight = 0
+
+    @Volatile
+    private var isSurfaceValid = false
+
+    @Volatile
+    private var data: LookAroundData? = null
+
+    override fun surfaceCreated(holder: SurfaceHolder?) {
+        val old = handler.get()
+        if (old == null) {
+            handler.set(HandlerThread("look-around-drawer").let { it.start(); Handler(it.looper) })
+        } else {
+            old.looper.quitSafely()
+            handler.set(HandlerThread("look-around-drawer").let { it.start(); Handler(it.looper) })
+        }
+        handler.get()?.removeCallbacks(this)
+        handler.get()?.post(this)
+        isSurfaceValid = true
+    }
+
+    override fun surfaceChanged(holder: SurfaceHolder?, format: Int, width: Int, height: Int) {
+        this.surfaceWidth = width
+        this.surfaceHeight = height
+    }
+
+    override fun surfaceDestroyed(holder: SurfaceHolder?) {
+        isSurfaceValid = false
+    }
+
+    override fun run() {
+        var isTimedBlock = false
+        try {
+            Log.d(TAG, "--- 1 ---")
+            if (!isSurfaceValid) {
+                isTimedBlock = true
+                return
+            }
+            if (this.surfaceWidth <= 0 || this.surfaceHeight <= 0) {
+                Log.d(TAG, "--- 2 ---")
+                isTimedBlock = true
+                return
+            }
+            Log.d(TAG, "--- 3 ---")
+            val data = this.data ?: return
+            val targetX = data.targetX
+            val targetY = data.targetY
+            val targetWidth = data.targetWidth
+            val targetHeight = data.targetHeight
+            val bitmapWidth = data.bitmapWidth
+            val bitmapHeight = data.bitmapHeight
+            val scaleX = this.surfaceWidth * 1.0f / bitmapWidth
+            val scaleY = this.surfaceHeight * 1.0f / bitmapHeight
+            val bytes = data.data
+            if (bytes == null) {
+                isTimedBlock = true
+                Log.d(TAG, "--- 4 ---")
+                return
+            }
+            Log.d(TAG, "--- 5 ---")
+            val canvas = holder.lockCanvas()
+            try {
+                if (canvas == null) {
+                    Log.d(TAG, "--- 6 ---")
+                    isTimedBlock = true
+                    return
+                }
+                //1. 绘制图片
+                var startTime = SystemClock.elapsedRealtime()
+                val bitmap = BitmapFactory.decodeByteArray(bytes, 0, bytes.size)
+                Log.d(TAG, "--- cost for decode bitmap: ${SystemClock.elapsedRealtime() - startTime}ms.")
+                if (bitmap == null) {
+                    Log.d(TAG, "--- 7 ---")
+                    isTimedBlock = true
+                    return
+                }
+                try {
+                    startTime = SystemClock.elapsedRealtime()
+                    canvas.save()
+                    canvas.scale(scaleX, scaleY)
+                    canvas.drawBitmap(bitmap, 0f, 0f, bitmapPaint)
+                } finally {
+                    canvas.restore()
+                    if (!bitmap.isRecycled) {
+                        bitmap.recycle()
+                    }
+                    Log.d(TAG, "--- draw decoded bitmap cost: ${SystemClock.elapsedRealtime() - startTime}ms.")
+                }
+                //2. 绘制车的信息
+                Log.d(TAG, "--- 8 ---")
+                val newTargetX = targetX * scaleX
+                val newTargetY = targetY * scaleY
+                val newTargetWidth = targetWidth * scaleX
+                val newTargetHeight = targetHeight * scaleY
+                try {
+                    //2.1 绘制车前的转向角
+                    canvas.save()
+                    var steering = this.steering
+                    if (abs(steering) < 1) {
+                       steering = 0f
+                    }
+                    if (steering == 0f) {
+                        canvas.translate(newTargetX + newTargetWidth * 0.5f, newTargetY)
+                        routerPath.reset()
+                        val halfX = newTargetWidth * 0.5f
+                        var startX = - halfX
+                        val startY= 0f
+                        routerPath.moveTo(startX, startY)
+                        var endX = startX
+                        val endY = - newTargetY
+                        routerPath.lineTo(endX, endY)
+                        canvas.drawPath(routerPath, routerPaint)
+                        startX += newTargetWidth
+                        endX += newTargetWidth
+                        routerPath.reset()
+                        routerPath.moveTo(startX, startY)
+                        routerPath.lineTo(endX, endY)
+                        canvas.drawPath(routerPath, routerPaint)
+                    } else {
+                        val outerAngle = abs(steering * 1.0 / VEHICLE_STEERING_RATIO)
+                        val radians = Math.toRadians(outerAngle)
+                        val d = (newTargetHeight / tan(radians)).toFloat()
+                        if (steering < 0) {
+                            // 左打轮
+                            // 将坐标原点平移到圆心
+                            canvas.translate(newTargetX - (d - newTargetWidth), newTargetY + newTargetHeight)
+                            //外圆半径
+                            val outerR = (newTargetHeight / sin(radians)).toFloat()
+                            //内圆半径
+                            val innerR = sqrt((newTargetHeight * 1.0).pow(2.0) + ((d - newTargetWidth) * 1.0).pow(2.0)).toFloat()
+                            val innerAngle = Math.toDegrees(asin(newTargetHeight / innerR) * 1.0)
+                            outerRect.set(-outerR, -outerR, outerR, outerR)
+                            innerRect.set(-innerR, -innerR, innerR, innerR)
+                            canvas.drawArc(outerRect, -outerAngle.toFloat(), -60f, false, routerPaint)
+                            canvas.drawArc(innerRect, -innerAngle.toFloat(), -60f, false, routerPaint)
+                        }
+
+                        if (steering > 0) {
+                            //右打轮
+                            // 将坐标原点平移到圆心
+                            canvas.translate(newTargetX + d, newTargetY + newTargetHeight)
+                            //外圆半径
+                            val outerR = (newTargetHeight / sin(radians)).toFloat()
+                            //内圆半径
+                            val innerR = sqrt((newTargetHeight * 1.0).pow(2.0) + ((d - newTargetWidth) * 1.0).pow(2.0)).toFloat()
+                            val innerAngle = Math.toDegrees(asin(newTargetHeight / innerR) * 1.0)
+                            outerRect.set(-outerR, -outerR, outerR, outerR)
+                            innerRect.set(-innerR, -innerR, innerR, innerR)
+                            canvas.drawArc(outerRect, 180f + outerAngle.toFloat(), 60f, false, routerPaint)
+                            canvas.drawArc(innerRect, 180f + innerAngle.toFloat(), 60f, false, routerPaint)
+                        }
+                    }
+                } finally {
+                    canvas.restore()
+                }
+
+                try {
+                    //2.2 绘制车周围盲区标定
+                    canvas.save()
+                    canvas.translate(newTargetX + newTargetWidth * 0.5f, newTargetY)
+                    Log.d(TAG, "--- 9 ---:[$targetX:$newTargetX, $targetY:$newTargetY, $targetWidth:$newTargetWidth, $targetHeight:$newTargetHeight]")
+                    val halfTargetWidth = newTargetWidth * 0.5f
+                    var startX = -halfTargetWidth
+                    var startY = BROKE_LINE_LENGTH
+                    var endX = startX
+                    var endY = 0f
+                    // 绘制左上角
+                    brokePath.reset()
+                    brokePath.moveTo(startX, startY)
+                    brokePath.lineTo(endX, endY)
+                    endX += BROKE_LINE_LENGTH
+                    brokePath.lineTo(endX, endY)
+                    canvas.drawPath(brokePath, brokePaint)
+
+                    // 绘制右上角
+                    startX = halfTargetWidth - BROKE_LINE_LENGTH
+                    startY = 0f
+
+                    endX = halfTargetWidth
+                    endY = 0f
+                    brokePath.reset()
+                    brokePath.moveTo(startX, startY)
+                    brokePath.lineTo(endX, endY)
+                    endY += BROKE_LINE_LENGTH
+                    brokePath.lineTo(endX, endY)
+                    canvas.drawPath(brokePath, brokePaint)
+
+                    //绘制左下角
+                    startX = -halfTargetWidth
+                    startY = newTargetHeight - BROKE_LINE_LENGTH
+                    endX = startX
+                    endY = newTargetHeight
+                    brokePath.reset()
+                    brokePath.moveTo(startX, startY)
+                    brokePath.lineTo(endX, endY)
+                    endX += BROKE_LINE_LENGTH
+                    brokePath.lineTo(endX, endY)
+                    canvas.drawPath(brokePath, brokePaint)
+
+                    //绘制右下角
+                    startX = halfTargetWidth - BROKE_LINE_LENGTH
+                    startY = newTargetHeight
+                    endX = halfTargetWidth
+                    endY = startY
+                    brokePath.reset()
+                    brokePath.moveTo(startX, startY)
+                    brokePath.lineTo(endX, endY)
+                    endY -= BROKE_LINE_LENGTH
+                    brokePath.lineTo(endX, endY)
+                    canvas.drawPath(brokePath, brokePaint)
+                } finally {
+                    canvas.restore()
+                }
+            } finally {
+                if (canvas != null) {
+                    holder.unlockCanvasAndPost(canvas)
+                }
+            }
+        } finally {
+            if (isTimedBlock) {
+                try {
+                    Thread.sleep(2000)
+                } catch (ignore: Exception) { }
+            }
+            handler.get().post(this)
+        }
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
+        Log.d(TAG, "--- 发起订阅 ---")
+        CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(true)
+        scope.launch(ThreadUtils.getCpuPool().asCoroutineDispatcher()) {
+            CallerDevaToolsManager.lookAroundProvider()?.flow()?.also { flow ->
+                flow.onEach {
+                    Log.d(TAG, "-- onEach ---:$it")
+                    if (it.isValid()) {
+                        data = it
+                    }
+                }.collect()
+            }
+        }
+
+        // 订阅后，5秒内未收到有效数据, 提示用户当前MAP版本不支持
+        scope.launch {
+            delay(5000)
+            val d = data
+            if (d == null || !d.isValid()) {
+                Toast.makeText(Utils.getApp(), "当前MAP版本不支持360环视，请升级MAP版本", Toast.LENGTH_SHORT).show()
+            }
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerChassisSteeringStateListenerManager.removeListener(TAG)
+        Log.d(TAG, "--- 取消订阅 ---")
+        CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(false)
+        handler.get()?.looper?.quitSafely()
+    }
+
+    override fun onAutopilotSteeringData(steering: Float) {
+        Log.d(TAG, "--- onAutopilotSteeringData --: steering: $steering")
+        this.steering = steering
+    }
+}

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

@@ -223,6 +223,23 @@ internal class SOPSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isNewV2NData = isChecked
         }
 
+        // M1 360度环视
+        tbNew360LookAround?.also {
+            if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
+                it.isEnabled = false
+            } else {
+                it.isEnabled = true
+                it.setOnCheckedChangeListener { _, isChecked ->
+                    if (isChecked) {
+                        CallerHmiManager.showM1360LookAround()
+                    } else {
+                        CallerHmiManager.hidM1360LookAround()
+                    }
+                }
+                it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
+            }
+        }
+
         //变道绕障的目标障碍物速度阈值
         tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
         ivSpeedReduce.setOnClickListener {

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

@@ -1,87 +0,0 @@
-package com.mogo.eagle.core.function.hmi.ui.widget;
-
-
-import android.content.Context;
-import android.graphics.Bitmap;
-import android.graphics.drawable.Drawable;
-import android.util.AttributeSet;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-import androidx.appcompat.widget.AppCompatImageView;
-
-import com.bumptech.glide.Priority;
-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.IMoGoSweeperFutianBackCameraVideoListener;
-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
- */
-public class SweeperVideoView extends AppCompatImageView implements IMoGoSweeperFutianBackCameraVideoListener {
-    private static final String TAG = SweeperVideoView.class.getSimpleName();
-    private final RequestOptions requestOptions = new RequestOptions()
-            .priority(Priority.HIGH)
-            .skipMemoryCache(true)
-            .diskCacheStrategy(DiskCacheStrategy.NONE)
-            .dontAnimate();
-
-    public SweeperVideoView(@NonNull Context context) {
-        super(context);
-    }
-
-    public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs) {
-        super(context, attrs);
-    }
-
-    public SweeperVideoView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
-        super(context, attrs, defStyleAttr);
-    }
-
-    @Override
-    protected void onAttachedToWindow() {
-        super.onAttachedToWindow();
-        CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.addListener(TAG, this);
-    }
-
-    @Override
-    protected void onDetachedFromWindow() {
-        super.onDetachedFromWindow();
-        CallerSweeperFutianBackCameraVideoListenerManager.INSTANCE.removeListener(this);
-    }
-
-    private final CustomTarget<Bitmap> target = new CustomTarget<Bitmap>() {
-        @Override
-        public void onResourceReady(@NonNull Bitmap resource, @Nullable Transition<? super Bitmap> transition) {
-            //回调内容
-            if (!resource.isRecycled()) {
-                SweeperVideoView.this.setImageBitmap(resource);
-            }
-        }
-
-        @Override
-        public void onLoadCleared(@Nullable Drawable placeholder) {
-            //这个方法在target被回收时调用，如果在除了imageView以外的地方引用了imageView中的bitmap，在这里清除引用以避免崩溃
-        }
-    };
-
-    @Override
-    public void onSweeperFutianBackCameraVideo(@NonNull byte[] data) {
-        ThreadUtils.runOnUiThread(new Runnable() {
-            @Override
-            public void run() {
-                GlideApp.with(SweeperVideoView.this)
-                        .asBitmap()
-                        .load(data)
-                        .placeholder(SweeperVideoView.this.getDrawable())
-                        .apply(requestOptions)
-                        .into(target);
-            }
-        });
-    }
-}

core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_m1_look_around.xml

@@ -0,0 +1,25 @@
+<?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"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <com.mogo.eagle.core.function.hmi.ui.widget.MogoVideoView
+        android:id="@+id/mogo_video_view"
+        android:layout_width="0dip"
+        android:layout_height="0dip"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"/>
+
+    <com.mogo.eagle.core.function.hmi.ui.lookaround.BezierView
+        android:id="@+id/mogo_bezier_view"
+        android:layout_width="0dip"
+        android:layout_height="0dip"
+        android:background="@android:color/transparent"
+        app:layout_constraintTop_toTopOf="@+id/mogo_video_view"
+        app:layout_constraintBottom_toBottomOf="@+id/mogo_video_view"
+        app:layout_constraintStart_toStartOf="@+id/mogo_video_view"
+        app:layout_constraintEnd_toEndOf="@+id/mogo_video_view"/>
+</androidx.constraintlayout.widget.ConstraintLayout>

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

@@ -261,6 +261,19 @@
         app:layout_constraintRight_toLeftOf="@id/verticalGuideLine"
         />
 
+    <androidx.appcompat.widget.SwitchCompat
+        android:id="@+id/tbNew360LookAround"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="360环视"
+        android:paddingTop="25dp"
+        android:paddingBottom="25dp"
+        android:scaleY="1.2"
+        android:scaleX="1.2"
+        app:layout_constraintTop_toBottomOf="@id/tbIPCReport"
+        app:layout_constraintLeft_toRightOf="@+id/verticalGuideLine"
+        app:layout_constraintRight_toRightOf="parent" />
+
     <TextView
         android:id="@+id/tvSpeedThresholdTitle"
         android:layout_width="wrap_content"

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

@@ -11,6 +11,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskReq
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
+import com.zhjt.mogo.adas.data.AdasConstants
 
 /**
  * @author xiaoyuzhou
@@ -208,7 +209,7 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      * @param paramType 参数类型{@link com.zhidao.support.adas.high.common.Constants.PARAM_TYPE}
      * @return boolean
      */
-    fun sendGetParamReq(paramType: Int): Boolean
+    fun sendGetParamReq(paramType: AdasConstants.MapSystemParamType): Boolean
 
     /**
      * 获取数据采集录制模式配置列表

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

@@ -0,0 +1,20 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import com.zhjt.mogo.adas.data.bean.*
+import mogo.telematics.pad.*
+
+
+interface IMoGoGetParamResponseListener {
+
+    /**
+     * 参数获取应答
+     * <p>
+     * 调用{@link AdasManager#sendGetAllParamReq()}或{@link AdasManager#sendGetParamReq(int)}
+     * 如果对应的value是空串，说明没有这个param或者get失败了。重启后值还是在redis里
+     *
+     * @param header       头
+     * @param getParamResp 配置参数
+     * @param adasParam 解析后的配置参数
+     */
+    fun  onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam)
+}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt

@@ -14,6 +14,7 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.function.api.devatools.apm.*
 import com.mogo.eagle.core.function.api.devatools.strict.*
 import com.mogo.eagle.core.function.api.devatools.download.*
+import com.mogo.eagle.core.function.api.lookaround.*
 import com.mogo.eagle.core.function.api.upgrade.*
 
 /**
@@ -205,4 +206,10 @@ interface IDevaToolsProvider : IProvider {
     fun upgradeProvider(): IMoGoUpgradeProvider?
 
     fun strict(): IStrictModeProvider
+
+
+    /**
+     * 360环视数据提供者
+     */
+    fun lookAroundDataProvider(): IMoGoLookAroundProvider
 }

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

@@ -133,4 +133,19 @@ interface IMoGoHmiProvider :IProvider{
     fun updateStatusBarDownloadView(insert: Boolean, tag: String, progress: Int)
 
 
+    /**
+     * 展示360环视弹窗，主要用于M1车型
+     */
+    fun show360LookAround()
+
+    /**
+     * 隐藏360环视弹窗，主要用于M1车型
+     */
+    fun hide360LookAround()
+
+
+    /**
+     * 360环视弹窗是否正在展示
+     */
+    fun is360LookAroundShowing(): Boolean
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/IMoGoLookAroundProvider.kt

@@ -0,0 +1,12 @@
+package com.mogo.eagle.core.function.api.lookaround
+
+import android.content.Context
+import com.mogo.eagle.core.function.api.lookaround.data.*
+import kotlinx.coroutines.flow.*
+
+interface IMoGoLookAroundProvider {
+
+    fun init(ctx: Context)
+
+    fun flow(): Flow<LookAroundData>
+}

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/lookaround/data/LookAroundData.kt

@@ -0,0 +1,13 @@
+package com.mogo.eagle.core.function.api.lookaround.data
+
+data class LookAroundData(var data: ByteArray?, var bitmapWidth: Int, var bitmapHeight: Int, var targetX: Int = 0, var targetY: Int = 0, var targetWidth: Int = 0, var targetHeight: Int = 0) {
+
+    override fun toString(): String {
+        return "LookAroundData(data=${data?.size}, bitmapWidth=$bitmapWidth, bitmapHeight=$bitmapHeight, targetX=$targetX, targetY=$targetY, targetWidth=$targetWidth, targetHeight=$targetHeight)"
+    }
+}
+
+
+fun LookAroundData.isValid(): Boolean {
+    return this.data != null && this.bitmapWidth > 0 && this.bitmapHeight > 0 && targetX > 0 && targetY > 0 && targetWidth > 0 && targetHeight > 0
+}

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

@@ -20,6 +20,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.StartTaskResp
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume.SuspendResumeTaskReq
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfirmResp
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
+import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
 import com.zhjt.service_biz.BizConfig
@@ -273,7 +274,7 @@ object CallerAutoPilotControlManager {
 
     /**
      * 获取全部参数
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
      * @return boolean
      */
@@ -283,12 +284,12 @@ object CallerAutoPilotControlManager {
 
     /**
      * 参数获取请求
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
-     * @param paramType 参数类型{@link com.zhidao.support.adas.high.common.Constants.PARAM_TYPE}
+     * @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
      * @return boolean
      */
-    fun sendGetParamReq(paramType: Int): Boolean? {
+    fun sendGetParamReq(paramType: AdasConstants.MapSystemParamType): Boolean? {
         return providerApi?.sendGetParamReq(paramType)
     }
     /**

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

@@ -0,0 +1,17 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.call.base.*
+import com.zhjt.mogo.adas.data.bean.*
+import mogo.telematics.pad.*
+
+object CallerAutopilotGetParamResponseDispatcher: CallerBase<IMoGoGetParamResponseListener>() {
+
+
+   fun dispatchResponse(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) {
+       M_LISTENERS.forEach {
+           val listener = it.value
+           listener.onGetParamResp(header, getParamResp, adasParam)
+       }
+   }
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt

@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.api.devatools.apm.*
 import com.mogo.eagle.core.function.api.devatools.download.*
 import com.mogo.eagle.core.function.api.upgrade.*
 import com.mogo.eagle.core.function.api.devatools.strict.*
+import com.mogo.eagle.core.function.api.lookaround.*
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 
@@ -255,4 +256,6 @@ object CallerDevaToolsManager {
     fun upgradeProvider(): IMoGoUpgradeProvider? = devaToolsProviderApi?.upgradeProvider()
 
     fun strict(): IStrictModeProvider? = devaToolsProviderApi?.strict()
+
+    fun lookAroundProvider(): IMoGoLookAroundProvider? = devaToolsProviderApi?.lookAroundDataProvider()
 }

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

@@ -198,4 +198,25 @@ object CallerHmiManager {
     fun updateStatusBarDownloadView(insert: Boolean, tag: String, progress: Int) {
         hmiProviderApi?.updateStatusBarDownloadView(insert, tag, progress)
     }
+
+    /**
+     * 展示M1车型的360环视控件
+     */
+    fun showM1360LookAround() {
+        hmiProviderApi?.show360LookAround()
+    }
+
+    /**
+     * 隐藏M1车型的360环视控件
+     */
+    fun hidM1360LookAround() {
+        hmiProviderApi?.hide360LookAround()
+    }
+
+    /**
+     * 返回M1车型的360环视弹窗是否正在展示
+     */
+    fun isM1360LookAroundShowing(): Boolean {
+        return hmiProviderApi?.is360LookAroundShowing() ?: false
+    }
 }

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/floating/MoGoPopWindow.kt

@@ -0,0 +1,307 @@
+package com.mogo.eagle.core.utilcode.floating
+
+import android.annotation.*
+import android.app.Activity
+import android.graphics.Rect
+import android.graphics.drawable.ColorDrawable
+import android.util.Log
+import android.view.Gravity
+import android.view.LayoutInflater
+import android.view.MotionEvent
+import android.view.View
+import android.view.ViewGroup
+import android.view.WindowManager
+import android.widget.PopupWindow
+import androidx.annotation.LayoutRes
+import androidx.core.view.doOnAttach
+import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope
+import com.mogo.eagle.core.utilcode.util.*
+import java.util.concurrent.atomic.AtomicBoolean
+
+class MoGoPopWindow private constructor(builder: Builder){
+
+
+    private val content: View = builder.content ?: throw AssertionError("要填充的View不能为空")
+
+    private val pop: PopupWindow by lazy { PopupWindow(builder.width, builder.height) }
+
+    private val offsetX: Int = builder.offsetX
+
+    private var offsetY: Int = builder.offsetY
+
+    private var gravityInActivity: Int = builder.gravityInActivity
+
+    private val activity: Activity = builder.attachToActivity ?: throw AssertionError("要依附Activity实例不能为空")
+
+    private val isDraggable: Boolean = builder.isDraggable
+
+    private val isDismissOnTouchOutside: Boolean = builder.isDismissOnTouchOutside
+
+    private val isPendingShow by lazy { AtomicBoolean(false) }
+
+    private val onDismissed: (() -> Unit)? = builder.onDismissed
+
+    private val onShowed: (() -> Unit)? = builder.onShowed
+
+    private val onTouchInterceptorInDrag: ((child: View, event: MotionEvent) -> Boolean)? = builder.onTouchInterceptorInDrag
+
+    private val onViewAttachedToWindow: ((content: View) -> Unit)? = builder.onViewAttachedToWindow
+
+    @SuppressLint("ClickableViewAccessibility") fun show() {
+        if (isPendingShow.get() || pop.isShowing) {
+            return
+        }
+        isPendingShow.set(true)
+        activity.lifeCycleScope.launchWhenResumed {
+            val parent = activity.findViewById<View>(android.R.id.content) ?: throw AssertionError("附着的Activity上的ID为[android.R.id.content]的控件不存在.")
+            pop.contentView = content
+            pop.isAttachedInDecor = true
+            pop.setBackgroundDrawable(ColorDrawable())
+            content.doOnAttach {
+                onViewAttachedToWindow?.invoke(content)
+                onShowed?.invoke()
+            }
+            pop.setOnDismissListener {
+                onDismissed?.invoke()
+            }
+            pop.isTouchable = true
+            if (isDismissOnTouchOutside) {
+                pop.isFocusable = true
+                pop.isOutsideTouchable = true
+            } else {
+                pop.isFocusable= false
+                pop.isOutsideTouchable = false
+            }
+            if (isDraggable) {
+                val outer = Rect()
+                var oldRawX = 0f
+                var oldRawY = 0f
+                var isDownConsumed = false
+                pop.setTouchInterceptor { _, event ->
+                    if (event == null) {
+                        return@setTouchInterceptor false
+                    }
+                    val rawX = event.rawX
+                    val rawY = event.rawY
+                    if (event.actionMasked == MotionEvent.ACTION_DOWN) {
+                        val child = findChildInContent(content.parent as? ViewGroup, event.x, event.y) ?: content
+                        Log.d(TAG, "child -> : ${child.javaClass.simpleName}")
+                        if (onTouchInterceptorInDrag?.invoke(child, event) == true) {
+                            isDownConsumed = true
+                            return@setTouchInterceptor false
+                        }
+                        if (outer.isEmpty) {
+                            val location = IntArray(2)
+                            parent.getLocationOnScreen(location)
+                            val left = location[0]
+                            val top = location[1]
+                            val right = left + parent.width
+                            val bottom = top + parent.height
+                            outer.set(left,top, right, bottom)
+                        }
+                        oldRawX = rawX
+                        oldRawY = rawY
+                    }
+                    if (event.actionMasked == MotionEvent.ACTION_MOVE) {
+                        if (!isDownConsumed) {
+                            val dx = (rawX - oldRawX).toInt()
+                            val dy = (rawY - oldRawY).toInt()
+                            val params = content.rootView.layoutParams as WindowManager.LayoutParams
+                            val oldX = params.x
+                            val oldY = params.y
+                            val newX = oldX + dx
+                            val newY = oldY + dy
+                            if (outer.contains(rawX.toInt(), rawY.toInt())) {
+                                pop.update(newX, newY, content.width, content.height)
+                            }
+                            oldRawX = rawX
+                            oldRawY = rawY
+                        }
+                    }
+
+                    if (event.actionMasked == MotionEvent.ACTION_UP || event.actionMasked == MotionEvent.ACTION_CANCEL) {
+                        if (isDownConsumed) {
+                            isDownConsumed = false
+                        }
+                    }
+                    false
+                }
+            }
+            pop.showAtLocation(parent, gravityInActivity, offsetX, offsetY)
+        }
+    }
+
+    private tailrec fun findChildInContent(group: ViewGroup?, x: Float, y: Float): View? {
+        if (group == null) {
+            return null
+        }
+        val count = group.childCount
+        if (count == 0) {
+            return null
+        }
+        for (i in (count - 1) downTo 0) {
+            val child = group.getChildAt(i)
+            val location = IntArray(2)
+            child.getLocationInWindow(location)
+            val rect = Rect(location[0], location[1], location[0] + child.width, location[1] + child.height)
+            val intX = x.toInt()
+            val intY = y.toInt()
+            if (child is ViewGroup) {
+                if (rect.contains(intX, intY)) {
+                    return findChildInContent(child, x, y)
+                }
+                continue
+            }
+            if (rect.contains(intX, intY)) {
+                return child
+            }
+        }
+        return null
+    }
+
+    fun hide() {
+        if (!pop.isShowing) {
+            return
+        }
+        activity.lifeCycleScope.launchWhenResumed {
+            pop.dismiss()
+        }
+    }
+
+    fun isShowing(): Boolean = isPendingShow.get() || pop.isShowing
+
+    class Builder {
+
+        /**
+         * 内容控件实例，设置了此字段，不能再设置[layoutId]
+         */
+        internal var content: View? = null
+
+        /**
+         * 内容控件的布局ID，设置了此字段，不能再设置[content]
+         */
+        internal var layoutId: Int? = null
+
+        /**
+         * 当前窗口是否可拖拽
+         */
+        internal var isDraggable: Boolean = false
+
+        /**
+         * 点击弹窗外部区域，是否消失
+         */
+        internal var isDismissOnTouchOutside: Boolean = false
+
+        /**
+         * 依附的Activity实例
+         */
+        internal var attachToActivity: Activity? = null
+
+        /**
+         * 相对于父控件X方向上的偏移量
+         */
+        internal var offsetX: Int = 0
+
+        /**
+         * 相对于父控件Y方向上的偏移量
+         */
+        internal var offsetY: Int = 0
+
+        /**
+         * 相对于父控件的布局位置
+         */
+        internal var gravityInActivity: Int = Gravity.NO_GRAVITY
+
+        internal var width: Int = WindowManager.LayoutParams.WRAP_CONTENT
+
+        internal var height: Int = WindowManager.LayoutParams.WRAP_CONTENT
+
+        internal var onShowed:(()-> Unit)? = null
+
+        internal var onDismissed: (()-> Unit)? = null
+
+        /**
+         * 当处于拖拽状态时，是响应拖拽还是当前窗口自己的事件
+         */
+        internal var onTouchInterceptorInDrag: ((childInContent: View, event: MotionEvent) -> Boolean)? = null
+
+
+        /**
+         * 当控件被attach到窗口的时候，回调
+         */
+        internal var onViewAttachedToWindow: ((content: View) -> Unit)? = null
+
+        fun contentView(content: View) = apply {
+            this.content = content
+        }
+
+        fun layoutId(@LayoutRes id: Int) = apply {
+            this.layoutId = id
+        }
+
+        fun draggable(draggable: Boolean) = apply {
+            this.isDraggable = draggable
+        }
+
+        fun isDismissOnTouchOutside(flag: Boolean) = apply {
+            this.isDismissOnTouchOutside = flag
+        }
+
+        fun attachToActivity(activity: Activity) = apply {
+            this.attachToActivity = activity
+        }
+
+        fun offsetX(x: Int) = apply {
+            this.offsetY = x
+        }
+
+        fun offsetY(y: Int) = apply {
+            this.offsetY = y
+        }
+
+        fun width(w: Int) = apply {
+            this.width = w
+        }
+
+        fun height(h: Int) = apply {
+            this.height = h
+        }
+
+        fun gravityInActivity(gravity: Int) = apply {
+            this.gravityInActivity = gravity
+        }
+
+        fun onTouchInterceptorInDrag(block: (childInContent: View, event: MotionEvent) -> Boolean) = apply {
+            this.onTouchInterceptorInDrag = block
+        }
+
+        fun onShowed(block: () -> Unit) = apply {
+            this.onShowed = block
+        }
+
+        fun onDismissed(block: () -> Unit) = apply {
+            this.onDismissed = block
+        }
+
+        fun onViewAttachedToWindow(block: (content: View) -> Unit) = apply {
+            this.onViewAttachedToWindow = block
+        }
+
+        fun build() : MoGoPopWindow {
+            val activity = attachToActivity ?: throw AssertionError("依附的activity不能为空")
+            if (content != null && layoutId != null) {
+                throw AssertionError("两者不能同时设置")
+            }
+            if (content == null && layoutId == null) {
+                throw AssertionError("两者不能都不设置，至少设置一个")
+            }
+            if (content == null) {
+                content = LayoutInflater.from(activity).inflate(layoutId!!, null)
+            }
+            if (content != null && content?.parent != null) {
+                throw AssertionError("内容控件不允许包含父控件.")
+            }
+            return MoGoPopWindow(this)
+        }
+    }
+}

core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/floating/AbsFloatingView.kt

@@ -0,0 +1,223 @@
+package com.mogo.eagle.core.utilcode.mogo.floating
+
+import android.annotation.*
+import android.content.*
+import android.content.res.*
+import android.os.*
+import android.util.*
+import android.view.*
+import android.widget.*
+import androidx.annotation.*
+
+abstract class AbsFloatingView: FrameLayout {
+
+    private var mPortraitY = 0f
+
+    private var mWindowWidth: Int = 0
+
+    private var mWindowHeight: Int = 0
+
+    private var mAnimator: AutoMoveEdgeAnimator? = null
+
+    /**
+     * 系统状态栏的高度
+     */
+    private var mStatusBarHeight: Int = 0
+
+    private var mOldX: Float = 0f
+
+    private var mOldY: Float = 0f
+
+    private var mOldRawX: Float = 0f
+
+    private var mOldRawY: Float = 0f
+
+    companion object {
+        private const val MARGIN_EDGE = 13
+    }
+
+
+    constructor(context: Context) : this(context, null)
+    constructor(context: Context, attrs: AttributeSet?) : this(context, attrs, 0)
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : this(context, attrs, defStyleAttr, 0)
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {
+        isClickable = true
+        isFocusable = true
+        mStatusBarHeight = getStatusBarHeight()
+    }
+
+    @SuppressLint("InternalInsetResource")
+    private fun getStatusBarHeight(): Int {
+        val resourceId = context.resources.getIdentifier("status_bar_height", "dimen", "android")
+        if (resourceId > 0) {
+            return context.resources.getDimensionPixelSize(resourceId)
+        }
+        return 0
+    }
+
+
+    @CallSuper
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        val layoutId = getLayoutId()
+        if (layoutId == 0) {
+            throw AssertionError("view: ${this::class.java.simpleName}'s getLayoutId() return a invalid resID: 0")
+        }
+        val child = LayoutInflater.from(context).inflate(layoutId, this, true)
+        onChildInflated(child)
+        if (autoMoveToEdge()) {
+            mAnimator = AutoMoveEdgeAnimator()
+        }
+    }
+
+    @CallSuper
+    override fun onDetachedFromWindow() {
+        if (autoMoveToEdge()) {
+            mAnimator?.stop()
+        }
+        super.onDetachedFromWindow()
+    }
+
+    @SuppressLint("ClickableViewAccessibility")
+    final override fun onTouchEvent(event: MotionEvent?): Boolean {
+        if (!isDragEnabled()) {
+            return super.onTouchEvent(event)
+        }
+        if (event == null) {
+            return false
+        }
+        when(event.actionMasked) {
+            MotionEvent.ACTION_DOWN -> {
+                mOldX = x
+                mOldY = y
+                mOldRawX = event.rawX
+                mOldRawY = event.rawY
+                updateSize()
+                if (autoMoveToEdge()) {
+                    mAnimator?.stop()
+                }
+            }
+            MotionEvent.ACTION_MOVE -> {
+                updateViewPosition(event)
+            }
+            MotionEvent.ACTION_UP -> {
+                mPortraitY = 0f
+                if (autoMoveToEdge()) {
+                    moveToEdge()
+                }
+            }
+        }
+        return true
+    }
+
+    private fun updateViewPosition(event: MotionEvent) {
+        var destX = mOldX + event.rawX - mOldRawX
+        if (!autoMoveToEdge()) {
+            if (destX < 0f) {
+                destX = 0f
+            } else {
+                val widthLeft = mWindowWidth - width
+                if (destX > widthLeft) {
+                    destX = widthLeft.toFloat()
+                }
+            }
+        }
+        x = destX
+        var destY = mOldY + event.rawY - mOldRawY
+        if (destY < mStatusBarHeight) {
+            destY = mStatusBarHeight.toFloat()
+        }
+        val heightLeft = mWindowHeight - height
+        if (destY > heightLeft) {
+            destY = heightLeft.toFloat()
+        }
+        y = destY
+    }
+
+    private fun moveToEdge() {
+        moveToEdge(isNearestLeft(), context.resources.configuration.orientation == Configuration.ORIENTATION_LANDSCAPE)
+    }
+
+    private fun moveToEdge(isLeft: Boolean, isLandscape: Boolean) {
+        val moveDistance = if (isLeft) MARGIN_EDGE else mWindowWidth - MARGIN_EDGE
+        if (!isLandscape && mPortraitY != 0f) {
+            y = mPortraitY
+            mPortraitY = 0f
+        }
+        mAnimator?.start(moveDistance.toFloat(), 0f.coerceAtLeast(y).coerceAtMost((mWindowHeight - height).toFloat()))
+    }
+
+    private fun isNearestLeft(): Boolean {
+        val middle = mWindowWidth / 2
+        return x < middle
+    }
+
+    private fun updateSize() {
+        val group = parent as? ViewGroup ?: return
+        mWindowWidth = group.width
+        mWindowHeight = group.height
+    }
+
+    override fun onConfigurationChanged(newConfig: Configuration?) {
+        super.onConfigurationChanged(newConfig)
+        if (parent != null) {
+            val isLandscape = newConfig?.orientation == Configuration.ORIENTATION_LANDSCAPE
+            if (isLandscape) {
+                mPortraitY = y
+            }
+            post {
+                updateSize()
+                moveToEdge(isNearestLeft(), isLandscape)
+            }
+        }
+    }
+
+    @LayoutRes
+    abstract fun getLayoutId(): Int
+
+    protected open fun isDragEnabled(): Boolean = true
+
+    protected open fun autoMoveToEdge(): Boolean = false
+
+    protected open fun onChildInflated(child: View) { }
+
+    private fun move(deltaX: Float, deltaY: Float) {
+        x += deltaX
+        y += deltaY
+    }
+
+    private inner class AutoMoveEdgeAnimator: Runnable {
+
+        private val handler by lazy { Handler(Looper.getMainLooper()) }
+
+        private var destX: Float = 0f
+
+        private var destY: Float = 0f
+
+        private var startTime: Long = 0L
+
+        override fun run() {
+            if (rootView == null || rootView.parent == null) {
+                return
+            }
+            val progress = 1f.coerceAtMost((SystemClock.elapsedRealtime() - startTime) / 400f)
+            val deltaX = (destX - x) * progress
+            val deltaY = (destY - y) * progress
+            move(deltaX, deltaY)
+            if (progress < 1) {
+                handler.post(this)
+            }
+        }
+
+        fun start(x: Float, y: Float) {
+            this.destX = x
+            this.destY = y
+            startTime = SystemClock.elapsedRealtime()
+            handler.post(this)
+        }
+
+        fun stop() {
+            handler.removeCallbacks(this)
+        }
+    }
+}

core/mogo-core-utils/src/main/res/values/ids.xml

@@ -2,4 +2,5 @@
 <resources>
     <item name="tag_click_time" type="id" />
     <item name="view_lifecycle_owner" type="id" />
+    <item name="mogo_pop_window" type="id" />
 </resources>

libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/AdasParam.java

@@ -1,8 +1,9 @@
-package com.zhidao.support.adas.high.bean;
+package com.zhjt.mogo.adas.data.bean;
 
 import android.text.TextUtils;
+import android.util.Log;
 
-import com.zhidao.support.adas.high.common.Constants;
+import com.zhjt.mogo.adas.data.AdasConstants;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -52,6 +53,19 @@ public class AdasParam {
      */
     public final int weakNetSlowDown;
 
+    /**
+     * m1拼接视频自车位置参数(string),格式:x,y,width,height
+     * MAP发出的原始数据
+     */
+    public final String m1StitchedVideoSelfVehicleParam;
+
+    /**
+     * m1拼接视频自车位置参数
+     * 解析后的数据
+     * 为空的原因：未查询此数据、工控机不存在此数据、解析失败
+     */
+    public final M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse;
+
     public AdasParam(MessagePad.SetParamReq param) {
         int detouringCmd = -1;
         double detouringSpeed = -1.0;
@@ -61,6 +75,8 @@ public class AdasParam {
         int hadmapSpeedLimitValid = -1;
         int rampThetaValid = -1;
         int weakNetSlowDown = -1;
+        String m1StitchedVideoSelfVehicleParam = null;
+        M1StitchedVideoSelfVehicleParam m1StitchedVideoSelfVehicleParamParse = null;
         if (param != null) {
             int size = param.getReqsCount();
             if (size > 0) {
@@ -68,38 +84,49 @@ public class AdasParam {
                     MessagePad.SetOneParam oneParam = param.getReqs(i);
                     int type = oneParam.getType();
                     String value = oneParam.getValue();
-                    if (type == Constants.PARAM_TYPE.DETOURING) {
+                    if (type == AdasConstants.MapSystemParamType.DETOURING_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             detouringCmd = Integer.parseInt(value);
                         }
-                    } else if (type == Constants.PARAM_TYPE.DETOURING_SPEED) {
+                    } else if (type == AdasConstants.MapSystemParamType.DETOURING_SPEED_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             detouringSpeed = Double.parseDouble(value);
                         }
-                    } else if (type == Constants.PARAM_TYPE.AEB) {
+                    } else if (type == AdasConstants.MapSystemParamType.AEB_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             aebCmd = Integer.parseInt(value);
                         }
-                    } else if (type == Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID) {
+                    } else if (type == AdasConstants.MapSystemParamType.LANE_CHANGE_RESTRAIN_VALID_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             laneChangeRestrainValid = Integer.parseInt(value);
                         }
-                    } else if (type == Constants.PARAM_TYPE.STOP_YIELD_VALID) {
+                    } else if (type == AdasConstants.MapSystemParamType.STOP_YIELD_VALID_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             stopYieldValid = Integer.parseInt(value);
                         }
-                    } else if (type == Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID) {
+                    } else if (type == AdasConstants.MapSystemParamType.HADMAP_SPEED_LIMIT_VALID_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             hadmapSpeedLimitValid = Integer.parseInt(value);
                         }
-                    } else if (type == Constants.PARAM_TYPE.RAMP_THETA_VALID) {
+                    } else if (type == AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             rampThetaValid = Integer.parseInt(value);
                         }
-                    } else if (type == Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN) {
+                    } else if (type == AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE) {
                         if (!TextUtils.isEmpty(value)) {
                             weakNetSlowDown = Integer.parseInt(value);
                         }
+                    } else if (type == AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM_VALUE) {
+                        if (!TextUtils.isEmpty(value)) {
+                            m1StitchedVideoSelfVehicleParam = value;
+                            try {
+                                String[] s = value.split(",");
+                                m1StitchedVideoSelfVehicleParamParse = new M1StitchedVideoSelfVehicleParam(Integer.parseInt(s[0]), Integer.parseInt(s[1]), Integer.parseInt(s[2]), Integer.parseInt(s[3]));
+                            } catch (Exception e) {
+                                Log.e("AdasParam", "M1拼接视频自车位置参数解析失败", e);
+                                e.printStackTrace();
+                            }
+                        }
                     }
                 }
             }
@@ -112,6 +139,8 @@ public class AdasParam {
         this.hadmapSpeedLimitValid = hadmapSpeedLimitValid;
         this.rampThetaValid = rampThetaValid;
         this.weakNetSlowDown = weakNetSlowDown;
+        this.m1StitchedVideoSelfVehicleParam = m1StitchedVideoSelfVehicleParam;
+        this.m1StitchedVideoSelfVehicleParamParse = m1StitchedVideoSelfVehicleParamParse;
     }
 
     @Override
@@ -123,6 +152,21 @@ public class AdasParam {
                 "\n停车让行线前避让等待开关=" + (stopYieldValid == -1 ? "未知" : stopYieldValid == 0 ? "无需等待" : "等待") +
                 "\n地图限速功能开关=" + (hadmapSpeedLimitValid == -1 ? "未知" : hadmapSpeedLimitValid == 0 ? "不使用" : "使用") +
                 "\n环岛模式开关=" + (rampThetaValid == -1 ? "未知" : rampThetaValid == 0 ? "普通模式" : "环岛模式") +
-                "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用");
+                "\n弱网减速停车策略开关=" + (weakNetSlowDown == -1 ? "未知" : weakNetSlowDown == 0 ? "关闭" : "使用") +
+                "\nm1拼接视频自车位置参数=" + (m1StitchedVideoSelfVehicleParam == null ? "未知" : m1StitchedVideoSelfVehicleParam);
+    }
+
+    public static class M1StitchedVideoSelfVehicleParam {
+        public final int x;
+        public final int y;
+        public final int width;
+        public final int height;
+
+        public M1StitchedVideoSelfVehicleParam(int x, int y, int width, int height) {
+            this.x = x;
+            this.y = y;
+            this.width = width;
+            this.height = height;
+        }
     }
 }

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -6,7 +6,7 @@ import "geometry.proto";
 enum ProtocolVersion
 {
     Defaultver = 0;
-    CurrentVersion = 12; //每次修改proto文件增加1
+    CurrentVersion = 10; //每次修改proto文件增加1
 }
 
 enum MessageType

libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto

@@ -0,0 +1,18 @@
+syntax = "proto3";
+package com.zhjt.mogo.adas.data;
+
+
+//MAP系统参数类型
+enum MapSystemParamType{
+  DEFAULT_TYPE = 0;
+  DETOURING = 1;//绕障类功能开关
+  DETOURING_SPEED = 2;//变道绕障的目标障碍物速度阈值
+  AEB = 3;//AEB开关
+  LANE_CHANGE_RESTRAIN_VALID = 4;//限制绕障开关
+  STOP_YIELD_VALID = 5;//停车让行线前避让等待开关
+  HADMAP_SPEED_LIMIT_VALID = 6;//地图限速功能开关
+  RAMP_THETA_VALID = 7;//环岛模式开关
+  WEAK_NET_SLOW_DOWN = 8;//弱网减速停车策略开关
+  M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM = 9;//m1拼接视频自车位置参数(string), 格式:x,y,width,height
+}
+

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -21,6 +21,7 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhjt.mogo.adas.data.bean.AdasParam;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.ByteUtil;
@@ -44,6 +45,7 @@ import com.zhidao.support.adas.high.socket.FpgaSocket;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 import com.zhidao.support.adas.high.thread.DispatchHandler;
+import com.zhjt.mogo.adas.data.AdasConstants;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
@@ -1552,7 +1554,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendDetouring(int enable) {
-        return sendSetParamReq(Constants.PARAM_TYPE.DETOURING, String.valueOf(enable));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.DETOURING_VALUE, String.valueOf(enable));
     }
 
     /**
@@ -1563,7 +1565,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendDetouringSpeed(double speed) {
-        return sendSetParamReq(Constants.PARAM_TYPE.DETOURING_SPEED, String.valueOf(speed));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.DETOURING_SPEED_VALUE, String.valueOf(speed));
     }
 
     /**
@@ -1575,7 +1577,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendAebCmd(int enable) {
-        return sendSetParamReq(Constants.PARAM_TYPE.AEB, String.valueOf(enable));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.AEB_VALUE, String.valueOf(enable));
     }
 
     /**
@@ -1587,7 +1589,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendLaneChangeRestrainValid(int enable) {
-        return sendSetParamReq(Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID, String.valueOf(enable));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.LANE_CHANGE_RESTRAIN_VALID_VALUE, String.valueOf(enable));
     }
 
     /**
@@ -1599,7 +1601,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendStopYieldValid(int enable) {
-        return sendSetParamReq(Constants.PARAM_TYPE.STOP_YIELD_VALID, String.valueOf(enable));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.STOP_YIELD_VALID_VALUE, String.valueOf(enable));
     }
 
 
@@ -1612,7 +1614,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendHadmapSpeedLimitValid(int enable) {
-        return sendSetParamReq(Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID, String.valueOf(enable));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.HADMAP_SPEED_LIMIT_VALID_VALUE, String.valueOf(enable));
     }
 
     /**
@@ -1624,7 +1626,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendRampThetaValid(int enable) {
-        return sendSetParamReq(Constants.PARAM_TYPE.RAMP_THETA_VALID, String.valueOf(enable));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE, String.valueOf(enable));
     }
 
     /**
@@ -1635,46 +1637,47 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public boolean sendWeakNetSlowDown(int enable) {
-        return sendSetParamReq(Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN, String.valueOf(enable));
+        return sendSetParamReq(AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE, String.valueOf(enable));
     }
 
     /**
      * 获取全部参数
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
      * @return boolean
      */
     @Override
     public boolean sendGetAllParamReq() {
-        return sendGetParamReq(Constants.PARAM_TYPE.UNKNOWN);
+        return sendGetParamReq(null);
     }
 
     /**
      * 参数获取请求
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
-     * @param paramType 参数类型{@link Constants.PARAM_TYPE}
+     * @param paramType 参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
      * @return boolean
      */
     @Override
-    public boolean sendGetParamReq(@Define.ParamType int paramType) {
+    public boolean sendGetParamReq(AdasConstants.MapSystemParamType paramType) {
         MessagePad.SetParamReq req;
-        if (paramType == Constants.PARAM_TYPE.UNKNOWN) {
+        if (paramType == null || paramType == AdasConstants.MapSystemParamType.DEFAULT_TYPE) {
             req = MessagePad.SetParamReq
                     .newBuilder()
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.DETOURING))
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.DETOURING_SPEED))
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.AEB))
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID))
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.STOP_YIELD_VALID))
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID))
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.RAMP_THETA_VALID))
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.DETOURING_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.DETOURING_SPEED_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.AEB_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.LANE_CHANGE_RESTRAIN_VALID_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.STOP_YIELD_VALID_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.HADMAP_SPEED_LIMIT_VALID_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.WEAK_NET_SLOW_DOWN_VALUE))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(AdasConstants.MapSystemParamType.M1_STITCHED_VIDEO_SELF_VEHICLE_PARAM_VALUE))
                     .build();
         } else {
             req = MessagePad.SetParamReq
                     .newBuilder()
-                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(paramType))
+                    .addReqs(MessagePad.SetOneParam.newBuilder().setType(paramType.getNumber()))
                     .build();
         }
         return sendPBMessage(MessageType.TYPE_SEND_GET_PARAM_REQ.typeCode, req.toByteArray());

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java

@@ -5,6 +5,7 @@ import android.text.TextUtils;
 
 import androidx.annotation.NonNull;
 
+import com.zhjt.mogo.adas.data.bean.AdasParam;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.AppPreferenceHelper;
 import com.zhidao.support.adas.high.common.Constants;
@@ -17,6 +18,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
+import com.zhjt.mogo.adas.data.AdasConstants;
 
 import java.util.HashSet;
 import java.util.List;
@@ -914,7 +916,7 @@ public class AdasManager implements IAdasNetCommApi {
 
     /**
      * 获取全部参数
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
      * @return boolean
      */
@@ -925,13 +927,13 @@ public class AdasManager implements IAdasNetCommApi {
 
     /**
      * 参数获取请求
-     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq)}
+     * 结果回调{@link OnAdasListener#onGetParamResp(MessagePad.Header, MessagePad.SetParamReq, AdasParam)}
      *
-     * @param paramType 参数类型{@link Constants.PARAM_TYPE}
+     * @param paramType  参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
      * @return boolean
      */
     @Override
-    public boolean sendGetParamReq(@Define.ParamType int paramType) {
+    public boolean sendGetParamReq(AdasConstants.MapSystemParamType paramType) {
         return mChannel != null && mChannel.sendGetParamReq(paramType);
     }
 

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java

@@ -11,6 +11,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTaskSuspendResume;
 import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm;
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop;
+import com.zhjt.mogo.adas.data.AdasConstants;
 
 import java.util.List;
 import java.util.Set;
@@ -571,10 +572,10 @@ public interface IAdasNetCommApi {
     /**
      * 参数获取请求
      *
-     * @param paramType
+     * @param paramType  参数类型:libraries/mogo-adas-data/src/main/proto/personal/adas_constants.proto
      * @return boolean
      */
-    boolean sendGetParamReq(@Define.ParamType int paramType);
+    boolean sendGetParamReq(AdasConstants.MapSystemParamType paramType);
 
 
     /**

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -4,12 +4,12 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.mogo.support.obu.ObuScene;
-import com.zhidao.support.adas.high.bean.AdasParam;
+import com.zhjt.mogo.adas.data.AdasConstants;
 import com.zhidao.support.adas.high.common.MessageType;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
+import com.zhjt.mogo.adas.data.bean.AdasParam;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
-import org.jetbrains.annotations.NotNull;
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable;
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask;
@@ -377,7 +377,7 @@ public interface OnAdasListener {
      * @param header 头
      * @param rsi    数据
      */
-    void onV2nCongestionEvent(@NotNull MessagePad.Header header, @NotNull MogoV2X.RSI_PB rsi);
+    void onV2nCongestionEvent(@NonNull MessagePad.Header header, @NonNull MogoV2X.RSI_PB rsi);
 
     /**
      * 主车路径全局事件推送
@@ -389,19 +389,19 @@ public interface OnAdasListener {
      * @param congestion       拥堵
      * @param parkingViolation 违停 ---包含 静态障碍车
      */
-    void onV2nGlobalPathEvents(@NotNull MessagePad.Header header, @NotNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, @Nullable MogoV2X.RSM_PB parkingViolation);
+    void onV2nGlobalPathEvents(@NonNull MessagePad.Header header, @NonNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, @Nullable MogoV2X.RSM_PB parkingViolation);
 
     /**
      * 参数获取应答
      * <p>
-     * 调用{@link AdasManager#sendGetAllParamReq()}或{@link AdasManager#sendGetParamReq(int)}
+     * 调用{@link AdasManager#sendGetAllParamReq()}或{@link AdasManager#sendGetParamReq(AdasConstants.MapSystemParamType)}
      * 如果对应的value是空串，说明没有这个param或者get失败了。重启后值还是在redis里
      *
      * @param header       头
      * @param getParamResp 配置参数
-     * @param adasParam 解析后的配置参数
+     * @param adasParam    解析后的配置参数
      */
-    void onGetParamResp(@NotNull MessagePad.Header header, @NotNull MessagePad.SetParamReq getParamResp, @NotNull AdasParam adasParam);
+    void onGetParamResp(@NonNull MessagePad.Header header, @NonNull MessagePad.SetParamReq getParamResp, @NonNull AdasParam adasParam);
 
     /**
      * M1拼接视频 10Hz

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java

@@ -120,18 +120,4 @@ public class Constants {
         int OLD_CHASSIS = 1;//老底盘
     }
 
-    /**
-     * 参数类型
-     */
-    public interface PARAM_TYPE {
-        int UNKNOWN = -1;
-        int DETOURING = 1;//绕障类功能开关
-        int DETOURING_SPEED = 2;//变道绕障的目标障碍物速度阈值
-        int AEB = 3;//AEB开关
-        int LANE_CHANGE_RESTRAIN_VALID = 4;//限制绕障开关
-        int STOP_YIELD_VALID = 5;//停车让行线前避让等待开关
-        int HADMAP_SPEED_LIMIT_VALID = 6;//地图限速功能开关
-        int RAMP_THETA_VALID = 7;//环岛模式开关
-        int WEAK_NET_SLOW_DOWN = 8;//弱网减速停车策略开关
-    }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java

@@ -55,11 +55,4 @@ public final class Define {
     public @interface AutopilotStartStatus {
     }
 
-    @IntDef(flag = true, value = {Constants.PARAM_TYPE.DETOURING, Constants.PARAM_TYPE.DETOURING_SPEED,
-            Constants.PARAM_TYPE.AEB, Constants.PARAM_TYPE.LANE_CHANGE_RESTRAIN_VALID,
-            Constants.PARAM_TYPE.STOP_YIELD_VALID, Constants.PARAM_TYPE.HADMAP_SPEED_LIMIT_VALID,
-            Constants.PARAM_TYPE.RAMP_THETA_VALID, Constants.PARAM_TYPE.WEAK_NET_SLOW_DOWN})
-    @Retention(RetentionPolicy.SOURCE)
-    public @interface ParamType {
-    }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GetParamRespMessage.java

@@ -5,7 +5,7 @@ import android.os.SystemClock;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.bean.AdasParam;
+import com.zhjt.mogo.adas.data.bean.AdasParam;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;