[chang]移除adas lib中工控机升级接口给地图升级sdk版本

2022-05-18 12:32:16 +08:00
parent 8f1824822e
commit f3001c2441
39 changed files with 25 additions and 677 deletions
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
@@ -110,7 +110,6 @@ public class DataDistribution {
    public final List<String> listWarn = new ArrayList<>();
    public final List<String> listArrivalNotification = new ArrayList<>();
    public final List<String> listErrorData = new ArrayList<>();
-    public final List<String> listUpdate = new ArrayList<>();
    public final List<String> listPointCloud = new ArrayList<>();

    public String cutDown(String str) {
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/LogSave.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/LogSave.java
@@ -89,12 +89,20 @@ public class LogSave {
    }

    public void stop() {
-        queue.clear();
-        if (future != null && !future.isCancelled()) {
-            future.cancel(true);
+        if (future != null) {
+            Runnable runnable = new Runnable() {
+                @Override
+                public void run() {
+                    queue.clear();
+                    if (!future.isCancelled()) {
+                        future.cancel(true);
+                    }
+                    future = null;
+                    closeBufferedWriter();
+                }
+            };
+            ThreadPoolManager.getsInstance().execute(runnable);
        }
-        future = null;
-        closeBufferedWriter();
    }

    private void closeBufferedWriter() {
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
@@ -21,7 +21,6 @@ import com.zhidao.adas.client.base.BaseFragment;
 import com.zhidao.adas.client.utils.Constants;
 import com.zhidao.adas.client.utils.MyLinearLayoutManager;
 import com.zhidao.support.adas.high.AdasManager;
-import com.zhidao.support.adas.high.bean.IPCUpgradeInfo;

 /**
 * @author song kenan
@@ -78,13 +77,13 @@ public class InfoFragment extends BaseFragment {
        btn1.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
-                AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.affirm());
+//                AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.affirm());
            }
        });
        btn2.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
-                AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.cancel());
+//                AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.cancel());
            }
        });

@@ -128,15 +127,6 @@ public class InfoFragment extends BaseFragment {
            case Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP:
                adapter.setData(DataDistribution.getInstance().listGlobalPathResp);
                break;
-            case Constants.TITLE.RECEIVE_IPC_UPGRADE_STATUS:
-                layout_update.setVisibility(View.VISIBLE);
-//                text2.setText("IPC升级 \nUpgradeStatus：" + IPCUpgradeStateInfo.UpgradeStatus.getStatus(info.getUpgradeStatus()) +
-//                        "\nDownloadStatus：" + IPCUpgradeStateInfo.DownloadStatus.getStatus(info.getDownloadStatus()) +
-//                        "\nUpgradeMode：" + IPCUpgradeStateInfo.UpgradeMode.getStatus(info.getUpgradeMode()) +
-//                        "\nProgress：" + info.getProgress() +
-//                        "\nImages：" + info.getImages());
-                adapter.setData(DataDistribution.getInstance().listUpdate);
-                break;
            case Constants.TITLE.RECEIVE_RECORD_RESULT:
                adapter.setData(DataDistribution.getInstance().listRecordPanel);
                break;
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -72,25 +72,21 @@ import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnMultiDeviceListener;
-import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 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.PointCloudDecoder;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
-import com.zhidao.support.adas.high.protocol.RawData;

 import java.net.Inet4Address;
 import java.net.InetAddress;
 import java.net.NetworkInterface;
 import java.net.SocketException;
-import java.text.DecimalFormat;
 import java.util.ArrayList;
 import java.util.Enumeration;
 import java.util.List;
 import java.util.concurrent.ScheduledExecutorService;
-import java.util.concurrent.atomic.AtomicInteger;
-import java.util.concurrent.atomic.AtomicLong;

 import chassis.VehicleStateOuterClass;
 import io.netty.channel.Channel;
@@ -144,7 +140,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
    private InfoFragment trajectoryFragment;
    private InfoFragment autopilotWayArriveFragment;
    private InfoFragment autopilotRouteFragment;
-    private InfoFragment upgradeFragment;
    private InfoFragment badcseFragment;
    private InfoFragment errorFragment;
    private InfoFragment reportMessageFragment;
@@ -531,7 +526,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
        titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
        titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION);
-        titleFragmentData.add(Constants.TITLE.RECEIVE_IPC_UPGRADE_STATUS);
        titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);


@@ -664,15 +658,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                            transaction.commit();
                        }
                        break;
-                    case Constants.TITLE.RECEIVE_IPC_UPGRADE_STATUS:
-                        showToastCenter("“" + data + "”功能暂时未开发");
-                        if (upgradeFragment == null)
-                            upgradeFragment = new InfoFragment(data);
-                        if (!upgradeFragment.isVisible()) {
-                            transaction.replace(R.id.fl_info, upgradeFragment);
-                            transaction.commit();
-                        }
-                        break;
                    case Constants.TITLE.RECEIVE_RECORD_RESULT:
                        if (badcseFragment == null)
                            badcseFragment = new InfoFragment(data);
@@ -706,6 +691,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                        }
                        break;
                    case Constants.TITLE.RECEIVE_PERCEPTION_OBSTACLES:
+                        showToastCenter("此接口目前弃用");
 //                        hintTrackedObjects(true);
                        if (perceptionObstaclesFragment == null)
                            perceptionObstaclesFragment = new InfoFragment(data);
@@ -939,11 +925,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        DataDistribution.getInstance().addData(base);
    }

-    @Override
-    public void onUpgradeStateInfo(final IPCUpgradeStateInfo info) {
-//        LogSave.getInstance().saveLog("接收", info.toString());
-    }
-

    private void initAdas() {
        CupidLogUtils.e(TAG, "--->初始化");
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
@@ -160,7 +160,6 @@ public class Constants {
        String RECEIVE_GLOBAL_PATH_RESP = "自动驾驶路径";
        String RECEIVE_WARN = "预警数据";
        String RECEIVE_ARRIVAL_NOTIFICATION = "到站提醒";
-        String RECEIVE_IPC_UPGRADE_STATUS = "升级状态";
        String RECEIVE_ERROR = "错误数据";


--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -42,7 +42,6 @@ import com.mogo.telematic.server.netty.NettyServerListener
 import com.mogo.telematic.server.netty.NettyTcpServer
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.AdasOptions
-import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
 import com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
@@ -353,14 +352,12 @@ class MoGoAutopilotProvider :
     * 工控机升级确认
     */
    override fun setIPCUpgradeAffirm() {
-        AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.affirm())
    }

    /**
     * 工控机升级取消
     */
    override fun setIPCUpgradeCancel() {
-        AdasManager.getInstance().sendBaseInfo(IPCUpgradeInfo.cancel())
    }

    /**
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -38,7 +38,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateLi
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
-import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
@@ -338,9 +337,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

-    override fun onUpgradeStateInfo(info: IPCUpgradeStateInfo) {
-
-    }

    override fun onError(status: ProtocolStatus, bytes: ByteArray) {

--- a/gradle.properties
+++ b/gradle.properties
@@ -164,7 +164,7 @@ MOGO_V2X_SDK_VERSION=1.3.56
 # ADAS LIB Maven配置（用于地图部门测试使用，鹰眼项目中使用本地依赖） #
 ADAS_LIB_GROUP=com.zhidao.support.adas
 ADAS_LIB_POM_ARTIFACT_ID=high
-ADAS_LIB_CHILD_VERSION=.2
+ADAS_LIB_CHILD_VERSION=.3

 ADAS_DATA_LIB_GROUP=com.zhjt.mogo.adas.data
 ADAS_DATA_LIB_POM_ARTIFACT_ID=adas-data
--- a/libraries/mogo-adas/README.md
+++ b/libraries/mogo-adas/README.md
@@ -286,15 +286,7 @@
     */
    AdasManager.getInstance().delIPCFixationIP(Context context);
 ~~~
-~~~java
-    /**
-     * 发送升级指令 TODO 将会被删除
-     *
-     * @param info
-     */
-    @Deprecated
-    AdasManager.getInstance().sendBaseInfo(BaseInfo info);
-~~~
+

 ## OnAdasListener
 ### 工控机数据回调
@@ -427,15 +419,6 @@
     */
    void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification);
 ~~~
-~~~java
-    /**
-     * 升级状态
-     *
-     * @param info
-     */
-    @Deprecated
-    void onUpgradeStateInfo(IPCUpgradeStateInfo info);
-~~~
 ~~~java
    /**
     * 向IPC发送命令返回结果
--- a/libraries/mogo-adas/build.gradle
+++ b/libraries/mogo-adas/build.gradle
@@ -71,7 +71,7 @@ dependencies {
    //okhttp3的依赖
    implementation 'com.squareup.okhttp3:okhttp:3.12.3'
    // parser
-    implementation rootProject.ext.dependencies.gson
+//    implementation rootProject.ext.dependencies.gson
    implementation project(':libraries:mogo-adas-data')
    // logger
    //implementation 'com.orhanobut:logger:2.2.0'
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -18,8 +18,6 @@ import androidx.annotation.Nullable;

 import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
-import com.google.protobuf.TextFormat;
-import com.zhidao.support.adas.high.bean.BaseInfo;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.ByteUtil;
 import com.zhidao.support.adas.high.common.Constants;
@@ -48,7 +46,6 @@ import java.util.HashSet;
 import java.util.Timer;
 import java.util.TimerTask;
 import java.util.concurrent.atomic.AtomicInteger;
-import java.util.concurrent.atomic.AtomicLong;

 import mogo.telematics.pad.MessagePad;
 import okio.ByteString;
@@ -88,10 +85,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     */
    public static final boolean ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER = true;

-    /**
-     * 序列化rect
-     */
-    private final Gson gson = new Gson();
    /**
     * 消息工厂
     */
@@ -225,7 +218,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     *
     * @param msg 消息
     */
-    public boolean sendWsMessage(String msg) {
+    private boolean sendWsMessage(String msg) {
        return mSocket != null && mSocket.sendDataWebSocket(msg);
    }

@@ -246,25 +239,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
        return false;
    }

-    /**
-     * 处理webSocket
-     *
-     * @param text text数据
-     */
-    private void handlerWSMsg(String text) {
-        try {
-            JSONObject jsonObjectWs = new JSONObject(text);
-            String action = jsonObjectWs.optString("action");
-            if (TextUtils.isEmpty(action)) {
-                CupidLogUtils.w("--->action is null");
-                return;
-            }
-            myMessageFactory.createMessage(action).handlerMsg(gson, mAdasListener, text);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
    /**
     * 解析工控机发送过来PB的数据
     *
@@ -604,19 +578,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
        CupidLogUtils.setEnableLog(isEnableLog);
    }

-    /**
-     * 向工控机发送数据
-     *
-     * @param info 基础信息
-     */
-    @Override
-    public void sendBaseInfo(BaseInfo info) {
-        if (info == null) {
-            return;
-        }
-        String msg = gson.toJson(info);
-        sendWsMessage(msg);
-    }

 /**************************************************************************************************************************/
    /**
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -4,7 +4,6 @@ import android.content.Context;

 import androidx.annotation.NonNull;

-import com.zhidao.support.adas.high.bean.BaseInfo;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.AppPreferenceHelper;
 import com.zhidao.support.adas.high.common.Constants;
@@ -120,16 +119,6 @@ public class AdasManager implements IAdasNetCommApi {
        return carConfig;
    }

-    /**
-     * 发送信息
-     *
-     * @param msg 消息
-     */
-    private void sendMessage(String msg) {
-        if (mChannel != null) {
-            mChannel.sendWsMessage(msg);
-        }
-    }

    /**
     * 连接工控机
@@ -477,17 +466,4 @@ public class AdasManager implements IAdasNetCommApi {
    public long getTimeoutDetectionTime() {
        return ReceiveTimeoutManager.getInstance().getTimeout();
    }
-
-    /**
-     * 发送升级指令 TODO 将会被删除
-     *
-     * @param info
-     */
-    @Override
-    @Deprecated
-    public void sendBaseInfo(BaseInfo info) {
-        if (mChannel != null) {
-            mChannel.sendBaseInfo(info);
-        }
-    }
 }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -2,7 +2,6 @@ package com.zhidao.support.adas.high;

 import androidx.annotation.NonNull;

-import com.zhidao.support.adas.high.bean.BaseInfo;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants;

@@ -184,14 +183,6 @@ public interface IAdasNetCommApi {
    // TODO 需求暂停 待讨论
 //    boolean getRoutes();

-    /**
-     * 发送升级指令 TODO 将会被删除
-     *
-     * @param info
-     */
-    @Deprecated
-    void sendBaseInfo(BaseInfo info);
-
    /**
     * 解析工控机发送过来的数据
     * 多设备时使用
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high;

-import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
 import com.zhidao.support.adas.high.common.ProtocolStatus;

 import chassis.VehicleStateOuterClass;
@@ -158,14 +157,6 @@ public interface OnAdasListener {
     */
    void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification);

-    /**
-     * 升级状态
-     *
-     * @param info
-     */
-    @Deprecated
-    void onUpgradeStateInfo(IPCUpgradeStateInfo info);
-
    /**
     * 数据错误
     *
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/BaseInfo.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/BaseInfo.java
@@ -1,24 +0,0 @@
-package com.zhidao.support.adas.high.bean;
-
-@Deprecated
-public abstract class BaseInfo<T> {
-    protected String action;
-    protected T values;
-
-
-    public BaseInfo(String action) {
-        this.action = action;
-    }
-
-    public String getAction() {
-        return action;
-    }
-
-    public T getValues() {
-        return values;
-    }
-
-    public void setValues(T values) {
-        this.values = values;
-    }
-}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/IPCUpgradeInfo.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/IPCUpgradeInfo.java
@@ -1,51 +0,0 @@
-package com.zhidao.support.adas.high.bean;
-
-/**
- * 工控机升级
- */
-@Deprecated
-public class IPCUpgradeInfo extends BaseInfo<IPCUpgradeInfo.Values> {
-    public IPCUpgradeInfo() {
-        super("ipc_upgrade");
-    }
-
-    /**
-     * 用户不同意升级
-     *
-     * @return
-     */
-    public static IPCUpgradeInfo cancel() {
-        IPCUpgradeInfo info = new IPCUpgradeInfo();
-        info.values = new IPCUpgradeInfo.Values();
-        info.values.state = 0;
-        return info;
-    }
-
-    /**
-     * 用户同意升级
-     *
-     * @return
-     */
-    public static IPCUpgradeInfo affirm() {
-        IPCUpgradeInfo info = new IPCUpgradeInfo();
-        info.values = new IPCUpgradeInfo.Values();
-        info.values.state = 1;
-        return info;
-    }
-
-    public static class Values {
-        /**
-         * 0 不同意升级
-         * 1 同意升级
-         */
-        private int state;
-
-        public int getState() {
-            return state;
-        }
-
-        public void setState(int state) {
-            this.state = state;
-        }
-    }
-}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/IPCUpgradeStateInfo.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/IPCUpgradeStateInfo.java
@@ -1,283 +0,0 @@
-package com.zhidao.support.adas.high.bean;
-
-import com.google.gson.annotations.SerializedName;
-
-/**
- * 工控机升级
- */
-@Deprecated
-public class IPCUpgradeStateInfo extends BaseInfo<IPCUpgradeStateInfo.Values> {
-    /**
-     * 升级模式
-     */
-    public enum UpgradeMode {
-        /**
-         * 0:静默升级
-         * 3:提示升级
-         */
-        DATA_NULL(-1, "数据为NULL"),
-        QUIET(0, "静默升级"),
-        HINT(3, "提示升级");
-        public final int code;
-        public final String describe;
-
-        private UpgradeMode(int code, String describe) {
-            this.code = code;
-            this.describe = describe;
-        }
-
-        public static UpgradeMode getStatus(int code) {
-            switch (code) {
-                default:
-                case -1:
-                    return DATA_NULL;
-                case 0:
-                    return QUIET;
-                case 3:
-                    return HINT;
-
-            }
-        }
-
-        @Override
-        public String toString() {
-            return "{" +
-                    "code=" + code +
-                    ", describe='" + describe + '\'' +
-                    '}';
-        }
-    }
-
-    /**
-     * 下载状态
-     */
-    public enum DownloadStatus {
-        /**
-         * 30:开始下载
-         * 31:下载完成
-         * 32:下载失败
-         */
-        DATA_NULL(-1, "数据为NULL"),
-        START(30, "开始下载"),
-        FINISH(31, "下载完成"),
-        FAILED(32, "下载失败");
-        public final int code;
-        public final String describe;
-
-        private DownloadStatus(int code, String describe) {
-            this.code = code;
-            this.describe = describe;
-        }
-
-        public static DownloadStatus getStatus(int code) {
-            switch (code) {
-                default:
-                case -1:
-                    return DATA_NULL;
-                case 30:
-                    return START;
-                case 31:
-                    return FINISH;
-                case 32:
-                    return FAILED;
-            }
-        }
-
-        @Override
-        public String toString() {
-            return "{" +
-                    "code=" + code +
-                    ", describe='" + describe + '\'' +
-                    '}';
-        }
-    }
-
-    /**
-     * 下载状态
-     */
-    public enum UpgradeStatus {
-        /**
-         * 60:是否升级
-         * 61:升级成功
-         * 62:升级失败
-         * 63:用户确认
-         * 64:用户取消
-         */
-        DATA_NULL(-1, "数据为NULL"),
-        AFFIRM(60, "是否升级"),
-        SUCCEED(61, "升级成功"),
-        FAILED(62, "升级失败"),
-        USER_AFFIRM(63, "用户确认"),
-        USER_CANCEL(64, "用户取消");
-        public final int code;
-        public final String describe;
-
-        private UpgradeStatus(int code, String describe) {
-            this.code = code;
-            this.describe = describe;
-        }
-
-        public static UpgradeStatus getStatus(int code) {
-            switch (code) {
-                default:
-                case -1:
-                    return DATA_NULL;
-                case 60:
-                    return AFFIRM;
-                case 61:
-                    return SUCCEED;
-                case 62:
-                    return FAILED;
-                case 63:
-                    return USER_AFFIRM;
-                case 64:
-                    return USER_CANCEL;
-            }
-        }
-
-        @Override
-        public String toString() {
-            return "{" +
-                    "code=" + code +
-                    ", describe='" + describe + '\'' +
-                    '}';
-        }
-    }
-
-    public IPCUpgradeStateInfo(String action) {
-        super(action);
-    }
-
-    /**
-     * 获取升级包下载进度
-     *
-     * @return
-     */
-    public Values.Progress getProgress() {
-        if (this.values == null) return null;//数据或解析异常
-        return this.values.progress;
-    }
-
-    /**
-     * 获取下载状态
-     *
-     * @return
-     */
-    public int getDownloadStatus() {
-        if (this.values == null) return -1;//数据或解析异常
-        return this.values.downloadStatus;
-    }
-
-    /**
-     * 获取升级状态
-     *
-     * @return
-     */
-    public int getUpgradeStatus() {
-        if (this.values == null) return -1;//数据或解析异常
-        return this.values.upgradeStatus;
-    }
-
-    /**
-     * 获取升级模式
-     *
-     * @return
-     */
-    public int getUpgradeMode() {
-        if (this.values == null) return -1;//数据或解析异常
-        return this.values.upgradeMode;
-    }
-
-    /**
-     * 获取版本号
-     *
-     * @return
-     */
-    public String getImages() {
-        if (this.values == null) return null;//数据或解析异常
-        return this.values.images;
-    }
-
-    public static class Values {
-        /**
-         * int 类型， 升级模式  静默升级不需要前端通知,工控机会自动升级
-         */
-        @SerializedName("upgrade_mode")
-        private int upgradeMode = -1;
-        private Progress progress;
-        /**
-         * int 类型， 下载状态, 如果下载完成，下载进度会为空
-         */
-        @SerializedName("download_status")
-        private int downloadStatus = -1;
-        /**
-         * int 类型， 升级状态
-         */
-        @SerializedName("upgrade_status")
-        private int upgradeStatus = -1;
-        /**
-         * string 类型，版本号
-         */
-        private String images;
-
-        public static class Progress {
-            /**
-             * total : 307405010
-             * current : 1071793
-             */
-            /**
-             * int 类型  ，包总大小，字节
-             */
-            private int total;
-            /**
-             * int 类型 ，包已经下载大小，字节
-             */
-            private int current;
-
-            public int getTotal() {
-                return total;
-            }
-
-            public int getCurrent() {
-                return current;
-            }
-
-            @Override
-            public String toString() {
-                return "{" +
-                        "total=" + total +
-                        ", current=" + current +
-                        '}';
-            }
-        }
-    }
-}
-
-/**
- * upgrade_mode:
- * 0-静默升级
- * 1-提示升级
- * download_status:
- * 30:开始下载
- * 31:下载完成
- * 32:下载失败
- * upgrade_status:
- * 60:是否升级
- * 61:升级成功
- * 62:升级失败
- * 63:用户确认
- * 64:用户取消
- * *{
- * *	"action": "ipc_upgrade_status",
- * * 	"values": {
- * * 		"progress": {
- * * 			"total": 307405010,                     //int 类型  ，包总大小，字节
- * * 			"current": 1071793                      //int 类型 ，包已经下载大小，字节
- * *                },
- * * 		"download_status": 31,                      //int 类型， 下载状态, 如果下载完成，下载进度会为空
- * * 		"upgrade_status": 61,                        //int 类型， 升级状态
- * * 		"upgrade_mode": 1,                          //int 类型， 升级模式
- * * 		"images": "mogohub.tencentcloudcr.com/autocar/df:RoboTaxi_MAP-taxi_2.1.3.1_20211214_huzhengming"* 	}       //string 类型，版本号
- * *
- * * }
- */
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -39,13 +39,7 @@ public enum MessageType {
    @Deprecated
    TYPE_RECEIVE_WARN(MessagePad.MessageType.MsgTypeWarn, "预警数据"),
    TYPE_RECEIVE_ARRIVAL_NOTIFICATION(MessagePad.MessageType.MsgTypeArrivalNotification, "到站提醒"),
-    TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求, 比如系统重启，启用新镜像"),
-
-    /**
-     * 工控机升级状态
-     */
-    @Deprecated
-    TYPE_RECEIVE_IPC_UPGRADE_STATUS(null, "IPC升级状态");
+    TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求, 比如系统重启，启用新镜像");

    /**
     * 消息action code
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ArrivalNotificationMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class ArrivalNotificationMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.ArrivalNotification arrivalNotification = MessagePad.ArrivalNotification.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class AutopilotStateMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BasicInfoReqMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class BasicInfoReqMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.BasicInfoReq autopilotState = MessagePad.BasicInfoReq.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/CarConfigRespMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
@@ -14,10 +13,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class CarConfigRespMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.CarConfigResp carConfigResp = MessagePad.CarConfigResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GlobalPathRespMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class GlobalPathRespMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.GlobalPathResp globalPathResp = MessagePad.GlobalPathResp.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java
@@ -1,7 +1,6 @@
 package com.zhidao.support.adas.high.msg;


-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -13,10 +12,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class GnssInfoMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.GnssInfo trajectory = MessagePad.GnssInfo.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMsg.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMsg.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -16,7 +15,7 @@ public interface IMsg {
     *
     * @param msg
     */
-    void handlerMsg(Gson gson, OnAdasListener adasListener, String msg);
+//    void handlerMsg(Gson gson, OnAdasListener adasListener, String msg);

    /**
     * 分发处理
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/IMyMessageFactory.java
@@ -10,7 +10,7 @@ public interface IMyMessageFactory {
     * @param messageType 消息类型
     * @return
     */
-    public IMsg createMessage(String messageType);
+//    public IMsg createMessage(String messageType);

    /**
     * @param messageCode 消息类型
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
@@ -30,26 +30,6 @@ public class MyMessageFactory implements IMyMessageFactory {
    private IMsg arrivalNotificationMessage;//到站提醒


-    private IMsg nuImplMessage;//空实现
-    private IMsg autopilotUpgradeStatusMessage;//工控机升级状态
-
-
-    @Override
-    public IMsg createMessage(String messageType) {
-        if ("ipc_upgrade_status".equals(messageType)) {
-            //ws 工控机升级状态
-            if (autopilotUpgradeStatusMessage == null) {
-                autopilotUpgradeStatusMessage = new WsAutopilotUpgradeStatusMessage();
-            }
-            return autopilotUpgradeStatusMessage;
-        } else {
-            if (nuImplMessage == null) {
-                nuImplMessage = new NuImplMessage();
-            }
-            return nuImplMessage;
-        }
-    }
-
    @Override
    public IMsg createMessage(MessagePad.MessageType messageType) {
        if (messageType == MessageType.TYPE_RECEIVE_TRAJECTORY.typeCode) {
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/NuImplMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/NuImplMessage.java
@@ -1,28 +0,0 @@
-package com.zhidao.support.adas.high.msg;
-
-import com.google.gson.Gson;
-import com.google.protobuf.InvalidProtocolBufferException;
-import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.protocol.RawData;
-
-import mogo.telematics.pad.MessagePad;
-
-/**
- * @author nie yunlong
- * @des 空实现防止空指针
- * @date 2020/3/12
- */
-public class NuImplMessage extends MyAbstractMessageHandler {
-
-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-
-    }
-
-    @Override
-    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
-
-    }
-
-
-}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionObstaclesMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import perception.ObjectOuterClass;
 */
 public class PerceptionObstaclesMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        ObjectOuterClass.TrackedObjects trackedObjects = ObjectOuterClass.TrackedObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import perception.TrafficLightOuterClass;
 */
 public class PerceptionTrafficLightMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        TrafficLightOuterClass.TrafficLights trafficLights = TrafficLightOuterClass.TrafficLights.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
@@ -1,6 +1,6 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
+
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +12,6 @@ import rule_segement.PointCloud;
 */
 public class PointCloudMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        PointCloud.LidarPointCloud pointCloud = PointCloud.LidarPointCloud.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PredictionObstacleTrajectoryMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import prediction.Prediction;
 */
 public class PredictionObstacleTrajectoryMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        Prediction.mPredictionObjects objects = Prediction.mPredictionObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/RecordResultMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import record_cache.RecordPanelOuterClass;
 */
 public class RecordResultMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        RecordPanelOuterClass.RecordPanel recordPanel = RecordPanelOuterClass.RecordPanel.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import mogo_msg.MogoReportMsg;
 */
 public class ReportMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MogoReportMsg.MogoReportMessage mogoReportMessage = MogoReportMsg.MogoReportMessage.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrackedObjectsMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -14,11 +13,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class TrackedObjectsMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.TrackedObjects trackedObjects = MessagePad.TrackedObjects.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/TrajectoryMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import mogo.telematics.pad.MessagePad;
 */
 public class TrajectoryMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.Trajectory trajectory = MessagePad.Trajectory.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -12,10 +11,6 @@ import chassis.VehicleStateOuterClass;
 */
 public class VehicleStateMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        VehicleStateOuterClass.VehicleState vehicleState = VehicleStateOuterClass.VehicleState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WarnMessage.java
@@ -1,6 +1,5 @@
 package com.zhidao.support.adas.high.msg;

-import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
@@ -13,10 +12,6 @@ import mogo.telematics.pad.MessagePad;
@Deprecated
 public class WarnMessage extends MyAbstractMessageHandler {

-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-    }
-
    @Override
    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
        MessagePad.Warn warn = MessagePad.Warn.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/WsAutopilotUpgradeStatusMessage.java
@@ -1,31 +0,0 @@
-package com.zhidao.support.adas.high.msg;
-
-import com.google.gson.Gson;
-import com.google.protobuf.InvalidProtocolBufferException;
-import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.bean.IPCUpgradeStateInfo;
-import com.zhidao.support.adas.high.protocol.RawData;
-
-/**
- * @des 工控机升级状态 之后版本会被替换成PB格式
- * @date 2020/3/12
- */
-@Deprecated
-public class WsAutopilotUpgradeStatusMessage extends MyAbstractMessageHandler {
-
-    @Override
-    public void handlerMsg(Gson gson, OnAdasListener adasListener, String msg) {
-        IPCUpgradeStateInfo autopilotStatus = gson.fromJson(msg, IPCUpgradeStateInfo.class);
-        if (adasListener != null) {
-            adasListener.onUpgradeStateInfo(autopilotStatus);
-        }
-//        CupidLogUtils.i("工控机升级", "msg=" + msg);
-    }
-
-    @Override
-    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
-
-    }
-
-
-}