[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"