Merge branch 'dev_arch_opt_3.0' into dev_robosweeper-d_app-module_221230_1.1.0

# Conflicts:
#	OCH/mogo-och-sweeper/build.gradle
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/SweeperProvider.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java
#	OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
#	OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml

OCH/mogo-och-bus-passenger/build.gradle

@@ -52,12 +52,8 @@ dependencies {
     implementation rootProject.ext.dependencies.androidxconstraintlayout
     implementation rootProject.ext.dependencies.amapnavi3dmap
     implementation project(":OCH:mogo-och-common-module")
-    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        implementation rootProject.ext.dependencies.mogo_core_function_v2x
-    }else {
-        implementation project(':foudations:mogo-aicloud-services-sdk')
-        implementation project(':core:function-impl:mogo-core-function-v2x')
-    }
+    compileOnly project(":libraries:mogo-map")
+
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/MogoOCHBusPassenger.java

@@ -1,15 +1,13 @@
 package com.mogo.och.bus.passenger;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
+
 import android.content.Context;
 
 import androidx.fragment.app.Fragment;
 import androidx.fragment.app.FragmentActivity;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.commons.module.status.IMogoStatusChangedListener;
-import com.mogo.commons.module.status.MogoStatusManager;
-import com.mogo.commons.module.status.StatusDescriptor;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.passenger.constant.BusPassengerConst;
@@ -18,17 +16,13 @@ import com.mogo.och.bus.passenger.ui.BusPassengerRouteFragment;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
-
-import java.util.Objects;
-
 /**
  * 网约车-Bus-乘客端
  *
  * Created on 2022/3/29
  */
 @Route(path = BusPassengerConst.PATH)
-public class MogoOCHBusPassenger implements IMogoOCH, IMogoStatusChangedListener {
+public class MogoOCHBusPassenger implements IMogoOCH {
     private static final String TAG = MogoOCHBusPassenger.class.getSimpleName();
 
     private FragmentActivity mActivity;
@@ -45,8 +39,7 @@ public class MogoOCHBusPassenger implements IMogoOCH, IMogoStatusChangedListener
     public Fragment createCoverage(@Nullable FragmentActivity activity, @Nullable Integer containerId) {
         this.mActivity = activity;
         this.mContainerId = containerId;
-
-//        UiThreadHandler.post(() -> stepIntoVrMode());
+        showFragment();
         return null;
     }
 
@@ -65,18 +58,6 @@ public class MogoOCHBusPassenger implements IMogoOCH, IMogoStatusChangedListener
 
     @Override
     public void init(Context context) {
-        MogoStatusManager.getInstance().registerStatusChangedListener("OchBus",StatusDescriptor.VR_MODE, this);
-    }
-
-    @Override
-    public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
-        if (descriptor == StatusDescriptor.VR_MODE) {
-            if (isTrue){
-                showFragment();
-            }else {
-                hideFragment();
-            }
-        }
     }
 
     /**
@@ -84,7 +65,6 @@ public class MogoOCHBusPassenger implements IMogoOCH, IMogoStatusChangedListener
      */
     private void stepIntoVrMode() {
         CallerLogger.INSTANCE.d( M_TAXI_P + TAG, "进入vr模式" );
-        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).stepInVrMode(true); // 白天模式
         CallerMoGoUiSettingManager.INSTANCE.stepInDayMode();//白天模式 状态栏字体颜色变黑
     }
 

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/callback/IBusPassengerControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.bus.passenger.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2022/3/31
@@ -11,5 +11,5 @@ public interface IBusPassengerControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
 }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -29,7 +29,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
@@ -89,7 +89,7 @@ public class BusPassengerModel {
     private IBusPassegerDriverStatusCallback mDriverStatusCallback; //出车收车状态
     private IBusPassengerRouteLineInfoCallback mRouteLineInfoCallback; // bus路线信息更新
 
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation  mLocation = null;
 
     private BusPassengerRoutesResult routesResult = null;
 
@@ -272,7 +272,7 @@ public class BusPassengerModel {
         IntentManager.getInstance().registerIntentListener(ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
         MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
         // 定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
 
         //2021.11.1 自动驾驶路线规划接口
         CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
@@ -284,7 +284,7 @@ public class BusPassengerModel {
         MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 
         // 注销定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
 
         MogoAiCloudSocketManager.getInstance(mContext)
                 .unregisterLifecycleListener(10010);
@@ -321,7 +321,7 @@ public class BusPassengerModel {
 
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLocation = gnssInfo;
             for (IBusPassengerControllerStatusCallback callback :mControllerStatusCallbackMap.values()){

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java

@@ -1,6 +1,7 @@
 package com.mogo.och.bus.passenger.presenter;
 
-import android.location.Location;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
+
 import android.os.Looper;
 
 import androidx.annotation.NonNull;
@@ -24,10 +25,6 @@ import com.mogo.och.bus.passenger.ui.BusPassengerRouteFragment;
 
 import java.util.List;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS_P;
-
-import mogo.telematics.pad.MessagePad;
-
 /**
  * Created on 2022/3/31
  */
@@ -112,7 +109,7 @@ public class BaseBusPassengerPresenter extends Presenter<BusPassengerRouteFragme
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (location != null){
             runOnUIThread(() -> mView.onCarLocationChanged(location));
         }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerBaseFragment.java

@@ -8,6 +8,7 @@ import android.widget.FrameLayout;
 import android.widget.ImageView;
 import android.widget.TextView;
 
+import androidx.annotation.NonNull;
 import androidx.core.widget.ContentLoadingProgressBar;
 
 import com.mogo.commons.mvp.IView;
@@ -15,14 +16,13 @@ import com.mogo.commons.mvp.MvpFragment;
 
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
+import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.bus.passenger.R;
 import com.mogo.och.bus.passenger.constant.BusPassengerConst;
 import com.mogo.och.common.module.utils.NumberFormatUtil;
-import com.mogo.och.common.module.wigets.OCHBorderShadowLayout;
 
 /**
  * Created on 2022/3/31
@@ -32,6 +32,7 @@ import com.mogo.och.common.module.wigets.OCHBorderShadowLayout;
 public abstract class BusPassengerBaseFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> {
     private static final String TAG = BusPassengerBaseFragment.class.getSimpleName();
 
+    private MapBizView mapBizView;
     private TextView mCurrentArriveStation;
     private TextView mCurrentArriveStationTitle;
     private TextView mCurrentArriveTip;
@@ -56,12 +57,12 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen
         return TAG;
     }
 
-
     @Override
     protected void initViews() {
         //隐藏小地图
         CallerSmpManager.INSTANCE.hidePanel();
 
+        mapBizView = findViewById(R.id.mapBizView);
         mCurrentArriveStation = findViewById(R.id.bus_p_cur_station_name);
         mCurrentArriveStationTitle = findViewById(R.id.bus_p_cur_station_title);
         mCurrentArriveTip = findViewById(R.id.bus_p_cur_station_tip);
@@ -83,6 +84,37 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen
     @Override
     protected void initViews(Bundle savedInstanceState) {
         super.initViews(savedInstanceState);
+        mapBizView.onCreate(savedInstanceState);
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+        mapBizView.onResume();
+    }
+
+    @Override
+    public void onSaveInstanceState(@NonNull Bundle outState) {
+        super.onSaveInstanceState(outState);
+        mapBizView.onSaveInstanceState(outState);
+    }
+
+    @Override
+    public void onLowMemory() {
+        super.onLowMemory();
+        mapBizView.onLowMemory();
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        mapBizView.onPause();
+    }
+
+    @Override
+    public void onDestroyView() {
+        mapBizView.onDestroy();
+        super.onDestroyView();
     }
 
     /**
@@ -186,11 +218,9 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen
     }
 
     public void showOverviewFragment() {
-        CallerHmiManager.INSTANCE.showSmallFragment();
         UiThreadHandler.postDelayed(new Runnable() {
             @Override
             public void run() {
-                CallerHmiManager.INSTANCE.hideSmallFragment();
             }
         },5000L);
     }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java

@@ -27,8 +27,9 @@ import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.passenger.R;
 import com.mogo.och.bus.passenger.callback.IBusPassengerMapViewCallback;
@@ -37,8 +38,6 @@ import com.mogo.och.bus.passenger.utils.BusPassengerMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 乘客屏小地图
  */
@@ -104,14 +103,14 @@ public class BusPassengerMapDirectionView
         initAMapView();
 
         // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, this);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     @Override
     protected void onDetachedFromWindow() {
         super.onDetachedFromWindow();
         // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
     }
 
     private void initAMapView() {
@@ -175,7 +174,7 @@ public class BusPassengerMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null) {
             return;
         }

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java

@@ -16,7 +16,7 @@ import androidx.recyclerview.widget.RecyclerView;
 import com.amap.api.maps.model.LatLng;
 import com.elegant.utils.UiThreadHandler;
 import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.och.bus.passenger.R;
@@ -32,8 +32,6 @@ import com.mogo.och.common.module.wigets.MarqueeTextView;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author: wangmingjun
  * @date: 2022/4/12
@@ -299,8 +297,8 @@ public class BusPassengerRouteFragment extends
         lastBearing = bearing;
     }
 
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
-        updateSpeedView((float) location.getVehicleSpeed());
+    public void onCarLocationChanged(MogoLocation location) {
+        updateSpeedView((float) location.getGnssSpeed());
     }
 
     public void updateSpeedView(float speed){

OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerTrafficLightView.kt

@@ -6,8 +6,8 @@ import android.view.LayoutInflater
 import android.widget.LinearLayout
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
-import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.bus.passenger.R
 import kotlinx.android.synthetic.main.bus_p_traffic_light_view.view.*

OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml

@@ -4,6 +4,14 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent">
 
+    <com.mogo.eagle.core.function.view.MapBizView
+        android:id="@+id/mapBizView"
+        android:layout_width="@dimen/dp_1860"
+        android:layout_height="match_parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"/>
+
     <com.mogo.eagle.core.function.hmi.ui.widget.SteeringWheelView
         android:id="@+id/steering_wheel"
         android:layout_width="@dimen/dp_490"
@@ -26,8 +34,22 @@
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent"/>
 
+    <!--浓雾预警动画-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.V2XFogEventView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+    <!--刹车、转向-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
+        android:layout_width="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:day_light_mode="true"
+        android:layout_height="wrap_content"/>
+
     <!--pnc行为决策-->
-    <com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginBottom="@dimen/dp_110"

OCH/mogo-och-bus/build.gradle

@@ -51,11 +51,12 @@ dependencies {
 
     implementation rootProject.ext.dependencies.rxjava
     implementation rootProject.ext.dependencies.rxandroid
+    implementation rootProject.ext.dependencies.androidxrecyclerview
     compileOnly rootProject.ext.dependencies.recyclerviewadapterhelper
 
     implementation project(":OCH:mogo-och-common-module")
+    compileOnly project(":libraries:mogo-map")
 
-    implementation rootProject.ext.dependencies.androidxrecyclerview
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/BusProvider.java

@@ -10,10 +10,8 @@ import androidx.fragment.app.FragmentActivity;
 import androidx.fragment.app.FragmentManager;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.commons.module.status.IMogoStatusChangedListener;
-import com.mogo.commons.module.status.MogoStatusManager;
-import com.mogo.commons.module.status.StatusDescriptor;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.constant.BusConst;
 import com.mogo.och.bus.fragment.BusFragment;
@@ -21,8 +19,6 @@ import com.mogo.och.bus.fragment.BusFragment;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 
-import java.util.Objects;
-
 /**
  * 网约车小巴业务实现入口
  *
@@ -42,13 +38,11 @@ public class BusProvider implements IMogoOCH {
      */
     private void stepIntoVrMode() {
         CallerLogger.INSTANCE.d(M_BUS + TAG, "进入vr模式");
-        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).stepInVrMode(false);
+        CallerMoGoUiSettingManager.INSTANCE.stepInNightMode();//夜间模式 状态栏字体颜色变黑
     }
 
     @Override
     public void init(Context context) {
-        MogoStatusManager.getInstance().registerStatusChangedListener("OchBus"
-                , StatusDescriptor.VR_MODE, statusChangedListener);
     }
 
     private void showFragment() {
@@ -78,22 +72,6 @@ public class BusProvider implements IMogoOCH {
 
     }
 
-    private final IMogoStatusChangedListener statusChangedListener = (descriptor, isTrue) -> {
-        if (descriptor == StatusDescriptor.VR_MODE) {
-            // 进入vr模式默认显示网约车小巴fragment
-            if (isTrue) {
-                showFragment();
-            } else {
-                hideFragment();
-            }
-        } else if (MogoStatusManager.getInstance().isVrMode()) {
-            // topView进行展示时推出网约车界面，但是不隐藏整个fragment
-            if (busFragment != null && isTrue) {
-                busFragment.hideOchBus();
-            }
-        }
-    };
-
     @Override
     public void createCoverage(FragmentActivity activity, int containerId) {
 
@@ -108,19 +86,15 @@ public class BusProvider implements IMogoOCH {
     @Nullable
     @Override
     public Fragment createCoverage(@Nullable FragmentActivity fragmentActivity, @Nullable Integer integer) {
-
         this.containerId = integer;
         this.activity = fragmentActivity;
-
-//        UiThreadHandler.postDelayed(this::stepIntoVrMode, 5_000L );
+        showFragment();
         return null;
     }
 
     @Override
     public void onDestroy() {
         //若不调用finish, 设置中打开关闭UITouch,会造成och fragment 重叠
-        MogoStatusManager.getInstance().unregisterStatusChangedListener("OchBus"
-                , StatusDescriptor.VR_MODE, statusChangedListener);
         if (activity == null) return;
         activity.finish();
     }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusControllerStatusCallback.java

@@ -2,8 +2,6 @@ package com.mogo.och.bus.callback;
 
 import com.mogo.eagle.core.data.map.MogoLocation;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * Created on 2021/9/10
  *
@@ -13,7 +11,7 @@ public interface IBusControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java

@@ -33,6 +33,8 @@ import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
 import com.mogo.eagle.core.function.hmi.ui.widget.TrafficDataView;
+import com.mogo.eagle.core.function.smp.view.SmallMapView;
+import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -72,6 +74,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     protected RelativeLayout mBadcaseBtn;
     protected RelativeLayout mAICollectBtn;
     private FrameLayout flStationPanelContainer;
+    private MapBizView mapBizView;
     private Group groupTestPanel;
     private TrafficDataView mTrafficDataView;
     // private BusTrafficLightView mTrafficLightView;
@@ -80,6 +83,8 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     private ImageView mSwitchMapModeImage;
     private LinearLayout mSwitchMapModeLayout;
 
+    protected SmallMapView smallMapView;
+
     //消息盒子
     private DriverMsgBoxButtonView viewDriverMsgBoxButton;
     private DriverMsgBoxListView viewDriverMsgBoxList;
@@ -106,6 +111,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
 
     @Override
     protected void initViews() {
+        mapBizView = findViewById(R.id.mapBizView);
         groupTestPanel = findViewById(R.id.groupTestPanel);
         slidePanelView = findViewById(R.id.module_mogo_och_slide_panel);
         ctvAutopilotStatus = findViewById(R.id.module_mogo_och_autopilot_status);
@@ -218,6 +224,22 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                 viewDriverMsgBoxBubble.isShowData(true);
             }
         });
+
+        smallMapView = findViewById(R.id.smallMapView);
+    }
+
+    @Override
+    protected void initViews(Bundle savedInstanceState) {
+        super.initViews(savedInstanceState);
+        mapBizView.onCreate(savedInstanceState);
+        smallMapView.onCreateView(savedInstanceState);
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+        mapBizView.onResume();
+        smallMapView.onResume();
     }
 
     @Nullable
@@ -247,14 +269,33 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
         BDRouteDataTestUtils.converToRouteData();
     }
 
+    @Override
+    public void onSaveInstanceState(@NonNull Bundle outState) {
+        super.onSaveInstanceState(outState);
+        mapBizView.onSaveInstanceState(outState);
+    }
+
+    @Override
+    public void onLowMemory() {
+        super.onLowMemory();
+        mapBizView.onLowMemory();
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        mapBizView.onPause();
+        smallMapView.onPause();
+    }
+
     @Override
     public void onDestroyView() {
+        mapBizView.onDestroy();
         super.onDestroyView();
         CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
         EventBus.getDefault().unregister(this);
     }
 
-
     @Override
     public void onAutopilotRecordResult(@Nullable RecordPanelOuterClass.RecordPanel recordPanel) {
 //        if (!HmiBuildConfig.isShowBadCaseView && recordPanel != null && recordPanel.getType() == 1 && recordPanel.getStat() == 100) {
@@ -266,7 +307,6 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     public void onAutopilotRecordConfig(@NonNull MessagePad.RecordDataConfig config) {
     }
 
-
     /**
      * 测试到站
      */
@@ -500,6 +540,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     @Override
     public void onDestroy() {
         super.onDestroy();
+        smallMapView.onDestroy();
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
     }
 

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java

@@ -18,7 +18,6 @@ import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.data.temp.EventLogout;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -435,7 +434,7 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
         }
 
         //清除鹰眼右下角小地图轨迹
-        CallerSmpManager.clearPolyline();
+        smallMapView.clearPolyline();
     }
 
     /**
@@ -471,7 +470,7 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
                         .latitude(lat)
                         .longitude(longi);
                 IMogoMarker marker = Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMarkerManager(AbsMogoApplication.getApp())).addMarker(uuid, options);
-                CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(
+                CenterLine centerLine = CallerMapUIServiceManager.INSTANCE.getMapUIController().getCenterLineInfo(
                         longi,lat,-1);
                 if (null != centerLine && marker != null) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
                     marker.setRotateAngle(centerLine.getAngle().floatValue());

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java

@@ -24,12 +24,13 @@ import com.mogo.commons.module.status.StatusDescriptor;
 import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
@@ -150,7 +151,7 @@ public class BusOrderModel {
         mContext = AbsMogoApplication.getApp();
         loginService = (LoginService) ARouter.getInstance().build(OchCommonConst.LOGINSERVICE).navigation();
         // 定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, mMapLocationListener);
 
         MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 
@@ -330,7 +331,7 @@ public class BusOrderModel {
         MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 
         // 注销定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
 
         //自动驾驶路线规划接口
         CallerPlanningRottingListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
@@ -377,7 +378,7 @@ public class BusOrderModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             if (null == gnssInfo) return;
             mLongitude = gnssInfo.getLongitude();
             mLatitude = gnssInfo.getLatitude();
@@ -393,7 +394,7 @@ public class BusOrderModel {
     };
 
     //根据围栏判断，是否到达站点
-    private void judgeArrivedStation(MessagePad.GnssInfo location) {
+    private void judgeArrivedStation(MogoLocation location) {
 
         if (backgroundCurrentStationIndex + 1 > stationList.size() - 1) {
             CallerLogger.INSTANCE.e(M_BUS + TAG, "到站数组越界");
@@ -634,7 +635,7 @@ public class BusOrderModel {
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
 
         CallerLogger.INSTANCE.d(M_BUS + TAG, "行程日志-开启自动驾驶====" + GsonUtil.jsonFromObject(parameters)
                 + " startLatLon=" + parameters.startName + "，endLatLon=" + parameters.endName +
@@ -778,8 +779,8 @@ public class BusOrderModel {
     public void closeBeautificationMode() {
         if (FunctionBuildConfig.isDemoMode) {//收车结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false; //是否强制绘制引导线
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
+            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);// 同步给乘客屏
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);//是否自动启动自驾
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false");
         }
     }
@@ -861,7 +862,7 @@ public class BusOrderModel {
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
             } else if (backgroundCurrentStationIndex > 0 && backgroundCurrentStationIndex < stationList.size() - 1) {
                 //美化模式下 中间站点到站 引导线要一直绘制，所以此处不出强制绘制不传false
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：false（到达中间站）");
                 clearStartAutopilotTag();
             } else {
@@ -952,8 +953,8 @@ public class BusOrderModel {
 
     private void startBeautificationMode() {
         FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-        CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
-        CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+        CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
+        CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
     }
 
     public void clearBusStationDatas() {
@@ -992,7 +993,7 @@ public class BusOrderModel {
             return;
         }
         CallerLogger.INSTANCE.d(M_BUS + TAG, "单程结束====");
-        CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+        CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
 
         endTask();
     }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java

@@ -233,9 +233,9 @@ public class BusPresenter extends Presenter<BusFragment>
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
         }
     }
 

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt

@@ -1,6 +1,6 @@
 package com.mogo.och.bus.util
 
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 
@@ -31,6 +31,6 @@ object BusSendTripInfoManager{
         d(SceneConstant.M_BUS + "BusSendTripInfoManager", "type: "+ type
                 +", lineName: "+ lineName +", departureStopName: "+ departureStopName
                 + ", arrivalStopName: "+arrivalStopName+", isLastStop: "+isLastStop)
-        CallerAutoPilotManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
+        CallerAutoPilotControlManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
     }
 }

OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java

@@ -3,7 +3,7 @@ package com.mogo.och.bus.util;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.och.bus.bean.BusRoutesResult;
@@ -198,7 +198,7 @@ public class BusTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml

@@ -5,35 +5,63 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:layout_marginTop="@dimen/dp_72">
-        <FrameLayout
-            android:id="@+id/fl_speed"
-            android:layout_width="@dimen/dp_616"
-            android:layout_height="@dimen/dp_320"
-            android:layout_marginLeft="@dimen/dp_13"
-            android:layout_marginTop="@dimen/dp_40"
-            android:visibility="visible"
-            app:layout_constraintLeft_toLeftOf="parent"
-            app:layout_constraintTop_toTopOf="parent">
+
+    <com.mogo.eagle.core.function.view.MapBizView
+        android:id="@+id/mapBizView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+    <FrameLayout
+        android:id="@+id/fl_speed"
+        android:layout_width="@dimen/dp_616"
+        android:layout_height="@dimen/dp_320"
+        android:layout_marginLeft="@dimen/dp_13"
+        android:layout_marginTop="@dimen/dp_40"
+        android:visibility="visible"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent">
 
         <com.mogo.eagle.core.function.hmi.ui.widget.TrafficDataView
             android:id="@+id/bus_arc"
             android:layout_width="match_parent"
-            android:layout_height="match_parent"/>
+            android:layout_height="match_parent" />
 
     </FrameLayout>
 
+    <!--浓雾预警动画-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.V2XFogEventView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+    <!--V2X预警红色边框-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <!--刹车、转向-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
     <!--Vip车辆标志-->
     <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
         android:layout_width="@dimen/module_vip_width"
         android:layout_height="@dimen/module_vip_height"
+        android:layout_marginStart="@dimen/dp_640"
+        android:layout_marginTop="@dimen/dp_80"
         android:visibility="gone"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        android:layout_marginStart="@dimen/dp_640"
-        android:layout_marginTop="@dimen/dp_80"/>
+        app:layout_constraintTop_toTopOf="parent" />
 
     <!--pnc行为决策-->
-    <com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginBottom="@dimen/dp_110"
@@ -77,7 +105,7 @@
         android:visibility="gone"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon"
-        tools:visibility="visible"/>
+        tools:visibility="visible" />
 
     <!--消息盒子选择入口-->
     <com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
@@ -87,8 +115,7 @@
         android:layout_marginTop="15dp"
         android:layout_marginEnd="25dp"
         app:layout_constraintRight_toLeftOf="@id/viewLimitingVelocity"
-        app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon"
-        />
+        app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon" />
     <!--消息盒子打开视图-->
     <com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView
         android:id="@+id/viewDriverMsgBoxList"
@@ -120,7 +147,7 @@
         app:layout_constraintTop_toTopOf="parent" />
 
     <!--接管提示-->
-    <com.mogo.eagle.core.function.hmi.ui.takeover.TakeOverView
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.TakeOverView
         android:layout_width="@dimen/hmi_take_over_request_width"
         android:layout_height="@dimen/hmi_take_over_request_height"
         android:layout_marginTop="@dimen/hmi_take_over_request_m_top"
@@ -143,12 +170,12 @@
         android:id="@+id/module_mogo_och_autopilot_status"
         android:layout_width="@dimen/module_mogo_och_autopilot_status_bg_width"
         android:layout_height="@dimen/module_mogo_och_autopilot_status_bg_height"
-        app:layout_constraintTop_toBottomOf="@+id/fl_speed"
-        android:background="@drawable/bus_autopilot_status_bg"
-        app:layout_constraintLeft_toLeftOf="parent"
         android:layout_marginLeft="@dimen/dp_13"
+        android:background="@drawable/bus_autopilot_status_bg"
         android:gravity="center"
-        tools:visibility="visible" >
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/fl_speed"
+        tools:visibility="visible">
 
         <ImageView
             android:id="@+id/bus_autopilot_btn_iv"
@@ -175,74 +202,74 @@
         android:id="@+id/module_mogo_och_station_panel_container"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        app:layout_constraintLeft_toLeftOf="parent"
         android:layout_marginLeft="@dimen/dp_13"
+        app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toBottomOf="@id/module_mogo_och_autopilot_status"
         app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call" />
 
     <include
         android:id="@+id/module_mogo_och_bus_test_bar"
+        layout="@layout/bus_test_bar_view"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        layout="@layout/bus_test_bar_view"
         android:visibility="visible"
-        app:layout_constraintTop_toBottomOf="@id/module_mogo_och_station_panel_container"
         app:layout_constraintLeft_toLeftOf="@id/module_mogo_och_station_panel_container"
-        tools:visibility="visible"/>
+        app:layout_constraintTop_toBottomOf="@id/module_mogo_och_station_panel_container"
+        tools:visibility="visible" />
 
     <!--切换地图远近事件 @dimen/module_switch_map -->
-        <LinearLayout
-            android:id="@+id/bus_switch_model_layout"
-            android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
-            android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
-            android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
-            app:layout_goneMarginBottom="@dimen/module_mogo_och_margin_bottom"
-            app:layout_goneMarginLeft="@dimen/module_mogo_och_margin_left"
-            android:background="@drawable/bus_switch_map_bg"
-            android:elevation="@dimen/bus_dp_10"
-            android:padding="@dimen/bus_dp_20"
-            app:layout_constraintBottom_toBottomOf="@+id/module_mogo_och_arrived_tv"
-            app:layout_constraintLeft_toRightOf="@+id/module_mogo_och_arrived_tv"
-            android:gravity="center"
-            android:orientation="horizontal">
+    <LinearLayout
+        android:id="@+id/bus_switch_model_layout"
+        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
+        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
+        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
+        android:background="@drawable/bus_switch_map_bg"
+        android:elevation="@dimen/bus_dp_10"
+        android:gravity="center"
+        android:orientation="horizontal"
+        android:padding="@dimen/bus_dp_20"
+        app:layout_constraintBottom_toBottomOf="@+id/module_mogo_och_arrived_tv"
+        app:layout_constraintLeft_toRightOf="@+id/module_mogo_och_arrived_tv"
+        app:layout_goneMarginBottom="@dimen/module_mogo_och_margin_bottom"
+        app:layout_goneMarginLeft="@dimen/module_mogo_och_margin_left">
 
-            <ImageView
-                android:id="@+id/bus_switch_model_icon"
-                android:layout_width="@dimen/dp_60"
-                android:layout_height="60dp" />
-        </LinearLayout>
-<!--    <CheckedTextView-->
-<!--        android:id="@+id/module_mogo_och_operation_status"-->
-<!--        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"-->
-<!--        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"-->
-<!--        android:background="@drawable/bus_operation_status_bg"-->
-<!--        android:elevation="@dimen/dp_10"-->
-<!--        android:gravity="center"-->
-<!--        android:text="出车"-->
-<!--        android:textAlignment="center"-->
-<!--        android:textColor="@color/bus_autopilot_text_color_selector"-->
-<!--        android:textSize="@dimen/module_mogo_och_autopilot_status_text_size"-->
-<!--        android:textStyle="bold"-->
-<!--        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"-->
-<!--        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"-->
-<!--        app:layout_constraintBottom_toBottomOf="parent"-->
-<!--        app:layout_constraintLeft_toLeftOf="parent"/>-->
+        <ImageView
+            android:id="@+id/bus_switch_model_icon"
+            android:layout_width="@dimen/dp_60"
+            android:layout_height="60dp" />
+    </LinearLayout>
+    <!--    <CheckedTextView-->
+    <!--        android:id="@+id/module_mogo_och_operation_status"-->
+    <!--        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"-->
+    <!--        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"-->
+    <!--        android:background="@drawable/bus_operation_status_bg"-->
+    <!--        android:elevation="@dimen/dp_10"-->
+    <!--        android:gravity="center"-->
+    <!--        android:text="出车"-->
+    <!--        android:textAlignment="center"-->
+    <!--        android:textColor="@color/bus_autopilot_text_color_selector"-->
+    <!--        android:textSize="@dimen/module_mogo_och_autopilot_status_text_size"-->
+    <!--        android:textStyle="bold"-->
+    <!--        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"-->
+    <!--        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"-->
+    <!--        app:layout_constraintBottom_toBottomOf="parent"-->
+    <!--        app:layout_constraintLeft_toLeftOf="parent"/>-->
 
     <TextView
         android:id="@+id/module_mogo_och_arrived_tv"
         android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
+        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
+        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
         android:background="@drawable/bus_operation_status_bg_selector"
         android:elevation="@dimen/dp_10"
-        android:text="@string/bus_arrived_str"
         android:gravity="center"
+        android:text="@string/bus_arrived_str"
         android:textColor="@color/bus_autopilot_text_color_selector"
         android:textSize="@dimen/module_mogo_och_arrived_text_size"
         android:textStyle="bold"
-        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
-        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent"/>
+        app:layout_constraintLeft_toLeftOf="parent" />
 
     <RelativeLayout
         android:id="@+id/module_mogo_och_setting_layout"
@@ -254,6 +281,7 @@
         android:elevation="@dimen/dp_10"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/bus_switch_model_layout">
+
         <ImageView
             android:layout_width="@dimen/dp_80"
             android:layout_height="@dimen/dp_80"
@@ -287,8 +315,8 @@
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
         android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
         android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
-        android:elevation="@dimen/dp_10"
         android:background="@drawable/bus_operation_status_bg_selector"
+        android:elevation="@dimen/dp_10"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/module_mogo_och_badcase_rl">
 
@@ -378,4 +406,15 @@
         ,btnAutopilotRunning,btnAutopilotRoute"
         tools:visibility="visible" />
 
+    <com.mogo.eagle.core.function.smp.view.SmallMapView
+        android:id="@+id/smallMapView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginRight="30dp"
+        android:layout_marginBottom="30dp"
+        android:visibility="visible"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        />
+
 </androidx.constraintlayout.widget.ConstraintLayout>

OCH/mogo-och-common-module/build.gradle

@@ -60,19 +60,17 @@ dependencies {
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
         api rootProject.ext.dependencies.mogoutils
         api rootProject.ext.dependencies.mogocommons
-        api rootProject.ext.dependencies.mogo_core_data
         api rootProject.ext.dependencies.mogo_core_function_call
-        implementation rootProject.ext.dependencies.mogo_core_function_v2x
         api rootProject.ext.dependencies.mogo_core_function_hmi
+        api rootProject.ext.dependencies.mogo_core_function_map
     }else {
         api project(":core:mogo-core-utils")
         api project(":foudations:mogo-commons")
-        api project(':core:mogo-core-data')
         api project(':core:mogo-core-function-call')
-        implementation project(':core:function-impl:mogo-core-function-v2x')
         api project(':core:function-impl:mogo-core-function-hmi')
+        api project(':core:function-impl:mogo-core-function-map')
     }
 
-    implementation project(':libraries:mogo-adas')
+    compileOnly project(':libraries:mogo-adas')
 
 }

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/biz/model/OchCommonLoginModel.kt

@@ -3,8 +3,9 @@ package com.mogo.och.common.module.biz.model
 import android.annotation.SuppressLint
 import android.content.Context
 import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.SharedPrefs
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -17,7 +18,6 @@ import com.mogo.och.common.module.biz.constant.TaxiLoginStatusEnum
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.biz.network.OchCommonServiceManager
 import com.mogo.och.common.module.utils.ToastUtilsOch
-import mogo.telematics.pad.MessagePad
 
 /**
  * Created by pangfan on 2021/8/19
@@ -36,7 +36,7 @@ object OchCommonLoginModel : IMoGoChassisLocationGCJ02Listener {
     fun init(context: Context) {
         mContext = context.applicationContext
         // 达到起始站围栏监听
-        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
     }
 
     fun hasInit(): Boolean {
@@ -46,7 +46,7 @@ object OchCommonLoginModel : IMoGoChassisLocationGCJ02Listener {
         return true
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLongitude = it.longitude
             mLatitude = it.latitude
@@ -65,7 +65,7 @@ object OchCommonLoginModel : IMoGoChassisLocationGCJ02Listener {
         mContext = null
         iTaxiLoginCallback = null
         // 注销到达起始站围栏监听
-        CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
     }
 
     /**

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java

@@ -4,20 +4,14 @@ import android.content.Context;
 
 import androidx.annotation.Nullable;
 
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
-import com.zhidao.support.adas.high.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 
-import chassis.Chassis;
-import system_master.SystemStatusInfo;
-
 /**
  * Created on 2022/10/9
  * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
@@ -78,36 +72,9 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
     }
 
     @Override
-    public void onAutopilotAbility(@Nullable AutopilotAbility ability) {
-        isAutopilotAbility = true;
-        autopilotAbilityReason = null;
-        if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P ||
-                ability.gear == Chassis.GearPosition.GEAR_R) {
-            isAutopilotAbility = false;
-            autopilotAbilityReason = "挡位不正常";
-        }
-
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) &&
-                ability.gear == Chassis.GearPosition.GEAR_N){ //bus档位不正常
-            isAutopilotAbility = false;
-            autopilotAbilityReason = "挡位不正常";
-        }
-
-        if (isAutopilotAbility)
-            if (ability.brake > 0) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "制动踏板被踩下";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在启动";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在关闭";
-            }
+    public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
+        this.isAutopilotAbility = isAutopilotAbility;
+        this.autopilotAbilityReason = unableAutopilotReason;
         Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
     }
 

OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java

@@ -192,7 +192,7 @@ public class CoordinateCalculateRouteUtil {
         for (MessagePad.Location m : models) {
             LatLng mogoLatLng = coordinateConverterWgsToGcj(mContext, m);
             MogoLocation location = new MogoLocation();
-            location.setBearing((float) m.getHeading());
+            location.setHeading((float) m.getHeading());
             location.setLatitude(mogoLatLng.latitude);
             location.setLongitude(mogoLatLng.longitude);
             list.add(location);
@@ -231,7 +231,7 @@ public class CoordinateCalculateRouteUtil {
      */
     public static Map<Integer,List<MogoLocation>> getRemainPointListByCompareNew(int preIndex,
                                                                            List<MogoLocation> mRoutePoints,
-                                                                                 MessagePad.GnssInfo  realLocation) {
+                                                                                 MogoLocation  realLocation) {
         Map<Integer,List<MogoLocation>> routePonits = new HashMap<>();
         List<MogoLocation> latePoints = new ArrayList<>(); // 剩余轨迹集合
         int currentIndex = 0; //记录疑似点
@@ -245,8 +245,8 @@ public class CoordinateCalculateRouteUtil {
             for (int i= 0; i < mRoutePoints.size(); i++){
                 MogoLocation latLng = mRoutePoints.get(i);
                 //todo 先看index对应点的方向和realLocation方向是否一致， 方向角度不能过90度
-                if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
-                        Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 90){
+                if (realLocation.getHeading() == realLocation.getHeading() - latLng.getHeading() ||
+                        Math.abs(realLocation.getHeading() - latLng.getHeading()) <= 90){
                     float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
                             realLocation.getLatitude(),
                             latLng.getLongitude(),latLng.getLatitude());
@@ -276,7 +276,7 @@ public class CoordinateCalculateRouteUtil {
     }
 
     public static int getArrivedPointIndexNew(int preIndex, List<MogoLocation> mRoutePoints,
-                                              MessagePad.GnssInfo  realLocation) {
+                                              MogoLocation  realLocation) {
         int currentIndex = 0; //记录疑似点         //基础点
         MogoLocation baseLatLng = mRoutePoints.get(0);
         float baseDiffDis = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
@@ -285,8 +285,8 @@ public class CoordinateCalculateRouteUtil {
 
         for (int i = 0; i < mRoutePoints.size(); i++) {
             MogoLocation latLng = mRoutePoints.get(i);
-            if (realLocation.getHeading() == realLocation.getHeading() - latLng.getBearing() ||
-                    Math.abs(realLocation.getHeading() - latLng.getBearing()) <= 90){
+            if (realLocation.getHeading() == realLocation.getHeading() - latLng.getHeading() ||
+                    Math.abs(realLocation.getHeading() - latLng.getHeading()) <= 90){
             float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
                     realLocation.getLatitude(),
                     latLng.getLongitude(), latLng.getLatitude());

OCH/mogo-och-noop/build.gradle

@@ -60,7 +60,6 @@ dependencies {
     }else {
         implementation project(":core:mogo-core-utils")
         implementation project(":foudations:mogo-commons")
-        implementation project(':core:mogo-core-data')
         implementation project(':core:mogo-core-function-call')
         implementation project(':core:function-impl:mogo-core-function-hmi')
     }

OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml

@@ -16,7 +16,6 @@
 
     <!--V2X预警红色边框-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
-        android:id="@+id/flV2XWarningView"
         android:layout_width="match_parent"
         android:layout_height="match_parent"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -39,6 +38,13 @@
             app:layout_constraintLeft_toLeftOf="parent"
             app:layout_constraintTop_toTopOf="parent" />
 
+        <com.mogo.eagle.core.function.hmi.ui.widget.SteeringWheelView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toRightOf="parent"
+            app:layout_constraintTop_toTopOf="parent" />
+
         <!--Vip车辆标志-->
         <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
             android:layout_width="@dimen/module_vip_width"
@@ -50,7 +56,7 @@
             app:layout_constraintTop_toTopOf="parent" />
 
         <!--接管提示-->
-        <com.mogo.eagle.core.function.hmi.ui.takeover.TakeOverView
+        <com.mogo.eagle.core.function.hmi.ui.vehicle.TakeOverView
             android:layout_width="@dimen/hmi_take_over_request_width"
             android:layout_height="@dimen/hmi_take_over_request_height"
             android:layout_marginTop="@dimen/hmi_take_over_request_m_top"
@@ -223,7 +229,7 @@
             tools:visibility="gone" />
 
         <!--左右转向灯-->
-        <com.mogo.eagle.core.function.hmi.ui.turnlight.TurnLightViewStatus
+        <com.mogo.eagle.core.function.hmi.ui.vehicle.TurnLightViewStatus
             android:id="@+id/turnLightView"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
@@ -233,7 +239,7 @@
             app:layout_constraintTop_toTopOf="parent" />
 
         <!--刹车ui-->
-        <com.mogo.eagle.core.function.hmi.ui.turnlight.BrakeViewStatus
+        <com.mogo.eagle.core.function.hmi.ui.vehicle.BrakeViewStatus
             android:id="@+id/brakeView"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
@@ -243,7 +249,7 @@
             app:layout_constraintTop_toTopOf="parent" />
 
         <!--pnc行为决策-->
-        <com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
+        <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_marginBottom="@dimen/dp_110"

OCH/mogo-och-sweeper/build.gradle

@@ -51,9 +51,12 @@ dependencies {
 
     implementation rootProject.ext.dependencies.rxjava
     implementation rootProject.ext.dependencies.rxandroid
-    implementation rootProject.ext.dependencies.androidxcardview
-    implementation project(":OCH:mogo-och-common-module")
     implementation rootProject.ext.dependencies.androidxrecyclerview
+    implementation rootProject.ext.dependencies.androidxcardview
+
+    implementation project(":OCH:mogo-och-common-module")
+    compileOnly project(":libraries:mogo-map")
+
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/SweeperProvider.java

@@ -1,6 +1,5 @@
 package com.mogo.och.sweeper;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
 
 import android.content.Context;
 
@@ -8,10 +7,6 @@ import androidx.fragment.app.Fragment;
 import androidx.fragment.app.FragmentActivity;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.commons.module.status.IMogoStatusChangedListener;
-import com.mogo.commons.module.status.MogoStatusManager;
-import com.mogo.commons.module.status.StatusDescriptor;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.och.sweeper.constant.SweeperConst;
@@ -34,21 +29,8 @@ public class SweeperProvider implements IMogoOCH {
     private int containerId;
     private FragmentActivity activity;
 
-    /**
-     * 进入鹰眼模式，设置手势缩放地图失效
-     */
-    private void stepIntoVrMode(){
-        CallerLogger.INSTANCE.d( M_SWEEPER + TAG, "进入vr模式" );
-        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-        if (controller != null) {
-            controller.stepInVrMode(false);
-        }
-    }
-
     @Override
     public void init(Context context) {
-        MogoStatusManager.getInstance().registerStatusChangedListener("OchSweeper"
-                , StatusDescriptor.VR_MODE, statusChangedListener);
     }
 
     private void showFragment() {
@@ -70,22 +52,6 @@ public class SweeperProvider implements IMogoOCH {
 
     }
 
-    private final IMogoStatusChangedListener statusChangedListener = (descriptor, isTrue) -> {
-        if (descriptor == StatusDescriptor.VR_MODE) {
-            // 进入vr模式默认显示清扫车fragment
-            if (isTrue) {
-                showFragment();
-            } else {
-                hideFragment();
-            }
-        } else if (MogoStatusManager.getInstance().isVrMode()) {
-            // topView进行展示时推出网约车界面，但是不隐藏整个fragment
-            if (sweeperFragment != null && isTrue) {
-                sweeperFragment.hideOchSweeper();
-            }
-        }
-    };
-
     @Override
     public void createCoverage(FragmentActivity activity, int containerId) {
 
@@ -100,11 +66,9 @@ public class SweeperProvider implements IMogoOCH {
     @Nullable
     @Override
     public Fragment createCoverage(@Nullable FragmentActivity fragmentActivity, @Nullable Integer integer) {
-
         this.containerId = integer;
         this.activity = fragmentActivity;
-
-//        UiThreadHandler.postDelayed(this::stepIntoVrMode, 5_000L );
+        showFragment();
         return null;
     }
 

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/callback/ISweeperControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.sweeper.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,7 +11,7 @@ public interface ISweeperControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo  location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java

@@ -1,5 +1,11 @@
 package com.mogo.och.sweeper.fragment;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+import static com.mogo.och.sweeper.constant.SweeperConst.TIMER_START_AUTOPILOT_INTERVAL;
+
+import android.animation.ObjectAnimator;
+import android.content.Intent;
+import android.os.Bundle;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.FrameLayout;
@@ -18,6 +24,9 @@ import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
+import com.mogo.eagle.core.function.smp.view.SmallMapView;
+import com.mogo.eagle.core.function.view.MapBizView;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
@@ -39,7 +48,7 @@ import com.mogo.och.sweeper.view.SweeperWorkModeView;
 public abstract class BaseSweeperTabFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> implements IMogoMapListener,
         View.OnClickListener {
 
-    private static final String TAG = "BaseOchFragment";
+    private static final String TAG = "BaseSweeperTabFragment";
     //地图放大缩小
     private ImageView mSwitchMapModeImage;
     private FrameLayout mSwitchMapModeLayout;
@@ -51,6 +60,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     protected FrameLayout mAICollectBtn;
     //任务列表面板
     private FrameLayout flTaskListPanelContainer;
+    private MapBizView mapBizView;
     private Group groupTestPanel;
     //清扫车车辆基本信息 速度 档位 转向灯 红绿灯等
     private SweeperTrafficDataView mTrafficDataView;
@@ -67,6 +77,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     //
     private ImageView mRefreshNavi;
 
+    private SmallMapView smallMapView;
+
     public static final String TYPE_ENTRANCE = "entrance";
     public boolean isAnimateRunning = false;
 
@@ -79,6 +91,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
 
     @Override
     protected void initViews() {
+        mapBizView = findViewById(R.id.mapBizView);
         groupTestPanel = findViewById(R.id.groupTestPanel);
         mGroupNaviPanel = findViewById(R.id.group_navi_panel);
         flTaskListPanelContainer = findViewById(R.id.module_mogo_och_task_list_container);
@@ -111,6 +124,8 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         findViewById(R.id.btnAutopilotRunning).setOnClickListener(view ->
                 debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
         );
+
+        smallMapView = findViewById(R.id.smallMapView);
     }
 
     private void updateSwitchMapIcon() {
@@ -124,11 +139,47 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
                 mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_medium);
             }
         }
+    }
 
+    @Override
+    protected void initViews(Bundle savedInstanceState) {
+        super.initViews(savedInstanceState);
+        mapBizView.onCreate(savedInstanceState);
+        smallMapView.onCreateView(savedInstanceState);
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        smallMapView.onPause();
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+        mapBizView.onResume();
+        smallMapView.onResume();
+    }
+
+    @Override
+    public void onSaveInstanceState(@NonNull Bundle outState) {
+        super.onSaveInstanceState(outState);
+        mapBizView.onSaveInstanceState(outState);
+    }
+
+    @Override
+    public void onLowMemory() {
+        super.onLowMemory();
+        mapBizView.onLowMemory();
+    }
+
+    private void debugArrivedRoute() {
+        BDRouteDataTestUtils.converToRouteData();
     }
 
     @Override
     public void onDestroyView() {
+        mapBizView.onDestroy();
         super.onDestroyView();
         CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
     }
@@ -226,6 +277,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     @Override
     public void onDestroy() {
         super.onDestroy();
+        smallMapView.onDestroy();
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
     }
 

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/presenter/SweeperPresenter.java

@@ -5,6 +5,8 @@ import android.os.Looper;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -122,9 +124,9 @@ public class SweeperPresenter extends Presenter<SweeperFragment>
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location) {
-            runOnUIThread(() -> mView.updateSpeedView((float) location.getVehicleSpeed()));
+            runOnUIThread(() -> mView.updateSpeedView((float) location.getGnssSpeed()));
         }
     }
 

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java

@@ -11,7 +11,13 @@ import android.widget.CheckedTextView;
 import android.widget.LinearLayout;
 import android.widget.TextView;
 
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.appcompat.app.AlertDialog;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -24,8 +30,6 @@ import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
 import chassis.ChassisStatesOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
 
@@ -817,7 +821,7 @@ public class SweeperOperatePanelView extends LinearLayout {
         // onSendCmd
         mCurrentCmdRequestCallback.onSendCmd();
         // 发送命令
-        CallerAutoPilotManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd);
+        CallerAutoPilotControlManager.INSTANCE.sendSweeperFuTianTaskCmd(fuTianCleanCmd);
         // log发送命令
         logSweeperCmdValue(fuTianCleanCmd);
         // 开启倒计时

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java

@@ -3,7 +3,7 @@ package com.mogo.och.sweeper.util;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
 import com.mogo.och.sweeper.bean.SweeperRoutesResult;
@@ -197,7 +197,7 @@ public class SweeperTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperLimitingVelocityView.kt

@@ -10,7 +10,7 @@ import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.LimitingVelocityView_TAG
 import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
-import com.mogo.eagle.core.function.call.v2x.CallerViewLimitingVelocityListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.och.sweeper.R
 import kotlinx.android.synthetic.main.sweeper_limiting_speed.view.*
 
@@ -29,7 +29,7 @@ class SweeperLimitingVelocityView(
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        CallerViewLimitingVelocityListenerManager.addListener(TAG, this)
+        CallerLimitingVelocityListenerManager.addListener(TAG, this)
         CallerHmiViewControlListenerManager.addListener(LimitingVelocityView_TAG, this)
     }
 
@@ -49,7 +49,7 @@ class SweeperLimitingVelocityView(
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
-        CallerViewLimitingVelocityListenerManager.removeListener(TAG)
+        CallerLimitingVelocityListenerManager.removeListener(TAG)
         CallerHmiViewControlListenerManager.removeListener(LimitingVelocityView_TAG)
     }
 

OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficLightView.kt

@@ -6,8 +6,8 @@ import android.view.LayoutInflater
 import android.widget.LinearLayout
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
-import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.sweeper.R
 import kotlinx.android.synthetic.main.sweeper_traffic_light_view.view.*

OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml

@@ -6,6 +6,12 @@
     android:layout_height="match_parent"
     android:layout_marginTop="@dimen/dp_72"
     android:id="@+id/sweeper_root_View">
+
+    <com.mogo.eagle.core.function.view.MapBizView
+        android:id="@+id/mapBizView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
     <!--车辆基本交通信息-->
     <com.mogo.och.sweeper.view.SweeperTrafficDataView
         android:id="@+id/sweeper_arc"
@@ -14,16 +20,82 @@
         android:layout_marginLeft="@dimen/dp_13"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintStart_toStartOf="parent"/>
+
+    <!--V2X预警红色边框-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <!--刹车、转向-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <!--Vip车辆标志-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
+        android:layout_width="@dimen/module_vip_width"
+        android:layout_height="@dimen/module_vip_height"
+        android:layout_marginStart="@dimen/dp_640"
+        android:layout_marginTop="@dimen/dp_80"
+        android:visibility="gone"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <!--pnc行为决策-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginBottom="@dimen/dp_110"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent" />
+
+    <!--APP、MAP版本-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.VersionNameView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginBottom="45dp"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent" />
+
+    <!--超视距-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.CameraView
+        android:id="@+id/ivCameraIcon"
+        android:layout_width="120dp"
+        android:layout_height="120dp"
+        android:layout_marginTop="45dp"
+        android:layout_marginEnd="40dp"
+        app:layout_constraintRight_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:visibility="visible" />
+
+    <!--接管提示-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.TakeOverView
+        android:layout_width="@dimen/hmi_take_over_request_width"
+        android:layout_height="@dimen/hmi_take_over_request_height"
+        android:layout_marginTop="@dimen/hmi_take_over_request_m_top"
+        android:visibility="gone"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
     <!--清扫模式面板-->
-     <com.mogo.och.sweeper.view.SweeperWorkModeView
-         android:id="@+id/sweeper_cl_work_mode"
-         android:layout_width="wrap_content"
-         android:layout_height="wrap_content"
-         android:layout_marginStart="@dimen/dp_41"
-         android:background="@drawable/bg_shape_work_mode"
-         app:layout_constraintLeft_toLeftOf="parent"
-         app:layout_constraintTop_toBottomOf="@+id/sweeper_arc"
-         android:visibility="gone"/>
+    <com.mogo.och.sweeper.view.SweeperWorkModeView
+        android:id="@+id/sweeper_cl_work_mode"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_41"
+        android:background="@drawable/bg_shape_work_mode"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/sweeper_arc"
+        android:visibility="gone"/>
     <!--清扫任务当前面板-->
     <com.mogo.och.sweeper.view.SweeperCurrentTaskInfoView
         android:id="@+id/sweeper_current_task_view"
@@ -60,7 +132,7 @@
         app:layout_constraintTop_toTopOf="@id/sweeper_cl_work_mode"
         tools:visibility="visible" />
     <!--切换地图远近事件-->
-    <FrameLayout
+    <LinearLayout
         android:id="@+id/sweeper_switch_model_layout"
         android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
@@ -78,7 +150,26 @@
             android:id="@+id/sweeper_switch_model_icon"
             android:layout_width="@dimen/dp_80"
             android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
             android:layout_gravity="center" />
+    </LinearLayout>
+
+
+    <FrameLayout
+        android:id="@+id/module_mogo_och_badcase_rl"
+        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
+        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
+        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
+        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
+        android:background="@drawable/sweeper_operation_status_bg_selector"
+        android:elevation="@dimen/dp_10"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_setting_layout">
+        <ImageView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_gravity="center"
+            android:src="@drawable/bad_case_selector" />
     </FrameLayout>
 
     <FrameLayout
@@ -99,23 +190,6 @@
             />
     </FrameLayout>
 
-    <FrameLayout
-        android:id="@+id/module_mogo_och_badcase_rl"
-        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
-        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
-        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
-        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
-        android:background="@drawable/sweeper_operation_status_bg_selector"
-        android:elevation="@dimen/dp_10"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_setting_layout">
-        <ImageView
-            android:layout_width="@dimen/dp_80"
-            android:layout_height="@dimen/dp_80"
-            android:layout_gravity="center"
-            android:src="@drawable/bad_case_selector" />
-    </FrameLayout>
-
     <FrameLayout
         android:id="@+id/module_mogo_och_ai_collet_rl"
         android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
@@ -210,52 +284,15 @@
         ,btnAutopilotRunning"
         tools:visibility="visible" />
 
-    <!--Vip车辆标志-->
-    <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
-        android:layout_width="@dimen/module_vip_width"
-        android:layout_height="@dimen/module_vip_height"
-        android:visibility="gone"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        android:layout_marginStart="@dimen/dp_640"
-        android:layout_marginTop="@dimen/dp_80"/>
-
-    <!--接管提示-->
-    <com.mogo.eagle.core.function.hmi.ui.takeover.TakeOverView
-        android:layout_width="@dimen/hmi_take_over_request_width"
-        android:layout_height="@dimen/hmi_take_over_request_height"
-        android:layout_marginTop="@dimen/hmi_take_over_request_m_top"
-        android:visibility="gone"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
-    <!--pnc行为决策-->
-    <com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
+    <com.mogo.eagle.core.function.smp.view.SmallMapView
+        android:id="@+id/smallMapView"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginBottom="@dimen/dp_110"
+        android:layout_marginRight="30dp"
+        android:layout_marginBottom="30dp"
+        android:visibility="visible"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent" />
+        />
 
-    <!--超视距-->
-    <com.mogo.eagle.core.function.hmi.ui.widget.CameraView
-        android:id="@+id/ivCameraIcon"
-        android:layout_width="120dp"
-        android:layout_height="120dp"
-        android:layout_marginTop="45dp"
-        android:layout_marginEnd="40dp"
-        app:layout_constraintRight_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        tools:visibility="visible" />
-
-    <!--APP、MAP版本-->
-    <com.mogo.eagle.core.function.hmi.ui.widget.VersionNameView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginBottom="45dp"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent" />
 </androidx.constraintlayout.widget.ConstraintLayout>

OCH/mogo-och-taxi-passenger/build.gradle

@@ -55,11 +55,8 @@ dependencies {
     implementation rootProject.ext.dependencies.amapsearch
 
     implementation project(":OCH:mogo-och-common-module")
-    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        implementation rootProject.ext.dependencies.mogo_core_function_v2x
-    }else {
-        implementation project(':core:function-impl:mogo-core-function-v2x')
-    }
+    compileOnly project(":libraries:mogo-map")
+
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/MogoOCHTaxiPassenger.java

@@ -11,7 +11,7 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.commons.module.status.IMogoStatusChangedListener;
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.module.status.StatusDescriptor;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerConst;
 import com.mogo.och.taxi.passenger.ui.TaxiPassengerBaseFragment;
@@ -19,8 +19,6 @@ import com.mogo.och.taxi.passenger.ui.TaxiPassengerBaseFragment;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 
-import java.util.Objects;
-
 public
 /**
  * @author congtaowang
@@ -29,7 +27,7 @@ public
  * 网约车-出租车-乘客端
  */
 @Route(path = TaxiPassengerConst.PATH)
-class MogoOCHTaxiPassenger implements IMogoOCH, IMogoStatusChangedListener {
+class MogoOCHTaxiPassenger implements IMogoOCH {
 
     private static final String TAG = "MogoOCHTaxiPassenger";
     private TaxiPassengerBaseFragment ochTaxiPassengerFragment;
@@ -39,7 +37,6 @@ class MogoOCHTaxiPassenger implements IMogoOCH, IMogoStatusChangedListener {
     @Override
     public void init(Context context) {
         CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "init");
-        MogoStatusManager.getInstance().registerStatusChangedListener("ochTaxi", StatusDescriptor.VR_MODE, this);
     }
 
     /**
@@ -47,8 +44,7 @@ class MogoOCHTaxiPassenger implements IMogoOCH, IMogoStatusChangedListener {
      */
     private void stepIntoVrMode() {
         CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "进入vr模式");
-        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController())
-                .stepInVrMode(false);
+        CallerMoGoUiSettingManager.INSTANCE.stepInNightMode();//夜间模式 状态栏字体颜色变黑
     }
 
     private void showFragment() {
@@ -68,17 +64,6 @@ class MogoOCHTaxiPassenger implements IMogoOCH, IMogoStatusChangedListener {
         }
     }
 
-    @Override
-    public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
-        if (descriptor == StatusDescriptor.VR_MODE) {
-            if (isTrue) {
-                showFragment();
-            } else {
-                hideFragment();
-            }
-        }
-    }
-
     @Override
     public void createCoverage(FragmentActivity activity, int containerId) {
 
@@ -95,15 +80,13 @@ class MogoOCHTaxiPassenger implements IMogoOCH, IMogoStatusChangedListener {
     public Fragment createCoverage(@Nullable FragmentActivity fragmentActivity, @Nullable Integer integer) {
         this.mActivity = fragmentActivity;
         this.mContainerId = integer;
-
-//        UiThreadHandler.postDelayed(() -> stepIntoVrMode(), 5_000L);
+        showFragment();
         return null;
     }
 
     @Override
     public void onDestroy() {
 //        若不调用finish, 设置中打开关闭UITouch,会造成och fragment 重叠
-        MogoStatusManager.getInstance().unregisterStatusChangedListener("ochTaxi", StatusDescriptor.VR_MODE, this);
         if (mActivity == null) return;
         mActivity.finish();
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/IOCHTaxiPassengerControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.taxi.passenger.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,5 +11,5 @@ public interface IOCHTaxiPassengerControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo location);
+    void onCarLocationChanged(MogoLocation location);
 }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -32,9 +32,9 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.msgbox.IMsgBoxEventListener;
 import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager;
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager;
@@ -128,7 +128,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private int delayTime = 2;
 
     private double mLongitude, mLatitude;
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation mLocation = null;
 
     private List<MogoLocation> mLocationsModels = new ArrayList<>();
 
@@ -241,7 +241,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
         IntentManager.getInstance().registerIntentListener( ConnectivityManager.CONNECTIVITY_ACTION, mNetWorkIntentListener );
         MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
         // 定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationListener);
 
         //2021.11.1 自动驾驶路线规划接口
         CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG,moGoAutopilotPlanningListener);
@@ -261,7 +261,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
         MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 
         // 注销定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
 
         MogoAiCloudSocketManager.getInstance(mContext)
                 .unregisterLifecycleListener(10010);
@@ -436,7 +436,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     }
 
     // TODO: 2021/9/12
-    public void calculateTravelDistance(MessagePad.GnssInfo carLocation){
+    public void calculateTravelDistance(MogoLocation carLocation){
         if (checkCurrentOCHOrder() && mCurrentOCHOrder.endSiteGcjPoint.size()>0) {
             double endLon = mCurrentOCHOrder.endSiteGcjPoint.get(0);
             double endLat = mCurrentOCHOrder.endSiteGcjPoint.get(1);
@@ -477,7 +477,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationListener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             //位置变化时，通过围栏判断是否到达x点
             if (null == gnssInfo) return;
             if (checkCurrentOCHOrder()) {
@@ -713,6 +713,11 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
      */
     private final ILimitingVelocityListener limitingVelocityListener = new ILimitingVelocityListener(){
 
+        @Override
+        public void onUnion(int limitingVelocity, @NonNull DataSourceType sourceType) {
+
+        }
+
         @Override
         public void onLimitingVelocityChange(int limitingVelocity, DataSourceType dataSourceType) {
             if (mVeloctityCallback != null){
@@ -973,7 +978,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "start autopilot with parameter: %s"
                 , GsonUtil.jsonFromObject(parameters)
                         + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java

@@ -122,7 +122,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         // 速度不用展示
         // LeftMenuOpen.INSTANCE.callCallBack(-1,-1,location.getSpeed());
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/TaxiPassengerServingOrderPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -139,7 +140,7 @@ public class TaxiPassengerServingOrderPresenter extends Presenter<TaxiPassengerS
     private static final long TIMEINTERVAL = 4000;
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (location != null){
             runOnUIThread(() -> mView.onCarLocationChanged(location));
             long currentTimeMillis = System.currentTimeMillis();

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/OverviewFragment.kt

@@ -0,0 +1,66 @@
+package com.mogo.och.taxi.passenger.ui
+
+import android.os.Bundle
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import com.mogo.commons.mvp.BaseFragment
+import com.mogo.eagle.core.function.view.OverMapView
+
+class OverviewFragment : BaseFragment() {
+
+    private var overmapview: OverMapView?=null
+
+    override fun onCreateView(
+        inflater: LayoutInflater,
+        container: ViewGroup?,
+        savedInstanceState: Bundle?
+    ): View {
+        if (overmapview == null) {
+            overmapview = OverMapView(requireContext())
+        } else {
+            val viewGroup = overmapview?.parent as ViewGroup
+            viewGroup.removeView(overmapview)
+        }
+        overmapview?.onCreateView(savedInstanceState)
+        return overmapview!!
+    }
+
+    override fun onResume() {
+        super.onResume()
+        overmapview?.onResume()
+    }
+
+    override fun onPause() {
+        super.onPause()
+        overmapview?.onPause()
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        overmapview?.onDestroy()
+    }
+
+    override fun getLayoutId(): Int {
+        return 0
+    }
+
+    override fun getTagName(): String {
+        return TAG
+    }
+
+    override fun initViews() {
+
+    }
+
+    companion object{
+        private const val TAG = "OverviewFragment"
+        @JvmStatic
+        fun newInstance(): OverviewFragment {
+            val args = Bundle()
+            val fragment = OverviewFragment()
+            fragment.arguments = args
+            return fragment
+        }
+    }
+}

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java

@@ -16,12 +16,12 @@ import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxListView;
+import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.utilcode.util.OverlayViewUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.listener.IMogoMapListener;
@@ -54,6 +54,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
 
     static final String TAG = "TaxiPassengerBaseFragment";
 
+    private MapBizView mapBizView;
     private ImageView mAutopilotImage;
     private ImageView mMapswitchBtn;
 
@@ -61,6 +62,8 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
     private WeakReference<TaxiPassengerCheckView> mArrivedCheckView;
     private WeakReference<TaxiPassengerStartAutopilotView> mStartAutopilotView;
     protected TaxiPassengerServingOrderFragment ochServingOrderFragment = null;
+
+    protected OverviewFragment overviewFragment = null;
     //消息盒子
     private PassengerMsgBoxButtonView viewPassengerMsgBoxButton;
     private PassengerMsgBoxBubbleView viewPassengerMsgBoxBubble;
@@ -90,6 +93,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
 
         hideEagleConfig();
 
+        mapBizView = findViewById(R.id.mapBizView);
         mAutopilotImage = findViewById(R.id.module_och_autopilot_iv);
         mMapswitchBtn = findViewById(R.id.module_och_taxi_swich_map_iv);
         updateSwitchMapIcon();
@@ -118,6 +122,12 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         });
     }
 
+    @Override
+    protected void initViews(Bundle savedInstanceState) {
+        super.initViews(savedInstanceState);
+        mapBizView.onCreate(savedInstanceState);
+    }
+
     private void updateSwitchMapIcon() {
         IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
         if (controller != null) {
@@ -149,6 +159,12 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             }
             //OverlayLeftViewUtils.INSTANCE.dismissOverlayView();
         });
+        findViewById(R.id.iv_temp).setOnClickListener(view -> {
+            OverlayLeftViewUtils.INSTANCE.showOverlayView(getActivity(),0,true,-1,true);
+            //showOrHideArrivedEndLayout(true, "北京北京北京", "1527481606997577728");
+            //showOrHidePressengerCheckPager(true, "开始站点开", "开始站点开始站点开始", "2", "京A888888", "18811539480");
+            //OCHFloatWindowManager.getInstance().ShowFloatWindow(getContext());
+        });
     }
 
     private void initArrivedView() {
@@ -172,6 +188,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
     @Override
     public void onResume() {
         super.onResume();
+        mapBizView.onResume();
 //        mPresenter.startOrStopOrderLoop();
 //        showOrHideServingOrderFragment(true,false);
 //        showOrHideStartAutopilotView(true,true);
@@ -241,8 +258,27 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         return new BaseTaxiPassengerPresenter(this);
     }
 
+    @Override
+    public void onLowMemory() {
+        super.onLowMemory();
+        mapBizView.onLowMemory();
+    }
+
+    @Override
+    public void onSaveInstanceState(@NonNull Bundle outState) {
+        super.onSaveInstanceState(outState);
+        mapBizView.onSaveInstanceState(outState);
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        mapBizView.onPause();
+    }
+
     @Override
     public void onDestroyView() {
+        mapBizView.onDestroy();
         super.onDestroyView();
         EventBus.getDefault().unregister(this);
         removeListener();
@@ -258,10 +294,12 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
     @Subscribe(threadMode = ThreadMode.MAIN)
     public void changeOverview(UIStatus uiStatus) {
         if (uiStatus.status == UIStatus.LIVE) {
-            CallerHmiManager.INSTANCE.hideSmallFragment();
+//            CallerHmiManager.INSTANCE.hideSmallFragment();
+            showOrHideOverMapViewFragment(false);
             showOrHideServingOrderFragment(true, false);
         } else if (uiStatus.status == UIStatus.OVERVIEW) {
-            CallerHmiManager.INSTANCE.showSmallFragment();
+//            CallerHmiManager.INSTANCE.showSmallFragment();
+            showOrHideOverMapViewFragment(true);
             showOrHideServingOrderFragment(false, false);
         }
     }
@@ -281,7 +319,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
         if (isShow) {
             if (ochServingOrderFragment == null) {
-                ochServingOrderFragment = new TaxiPassengerServingOrderFragment().newInstance();
+                ochServingOrderFragment = TaxiPassengerServingOrderFragment.newInstance();
             }
             if (showOrHideLefeMenu) {
                 OverlayLeftViewUtils.INSTANCE.showOverlayView(getActivity(), 0, true, -1, true);
@@ -311,7 +349,39 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             }
             if (showOrHideLefeMenu) {
                 OverlayLeftViewUtils.INSTANCE.dismissOverlayView(true);
-                CallerHmiManager.INSTANCE.hideSmallFragment();
+            }
+        }
+    }
+
+    /**
+     * 显示或隐藏全局概览
+     *
+     * @param isShow
+     */
+    public void showOrHideOverMapViewFragment(boolean isShow) {
+        FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
+        if (isShow) {
+            if (overviewFragment == null) {
+                overviewFragment = OverviewFragment.newInstance();
+            }
+            if (overviewFragment.isHidden()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(overviewFragment).commitAllowingStateLoss();
+                return;
+            }
+            if (overviewFragment.isAdded()) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                        .show(overviewFragment).commitAllowingStateLoss();
+                return;
+            }
+            transaction
+                    .setTransition(FragmentTransaction.TRANSIT_FRAGMENT_OPEN)
+                    .add(R.id.fl_container_overview, overviewFragment)
+                    .show(overviewFragment).commitAllowingStateLoss();
+        } else {
+            if (overviewFragment != null) {
+                transaction.setTransition(FragmentTransaction.TRANSIT_FRAGMENT_CLOSE)
+                        .hide(overviewFragment).commitAllowingStateLoss();
             }
         }
     }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerMapDirectionView.java

@@ -29,8 +29,9 @@ import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.taxi.passenger.R;
 import com.mogo.och.taxi.passenger.callback.ITaxiPassengerMapViewCallback;
@@ -39,8 +40,6 @@ import com.mogo.och.taxi.passenger.utils.TaxiPassengerMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * 乘客屏小地图
  */
@@ -105,14 +104,14 @@ public class TaxiPassengerMapDirectionView
         initAMapView();
 
         // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, this);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     @Override
     protected void onDetachedFromWindow() {
         super.onDetachedFromWindow();
         // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
     }
 
     private void initAMapView() {
@@ -180,7 +179,7 @@ public class TaxiPassengerMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null){
             return;
         }

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java

@@ -21,6 +21,7 @@ import androidx.fragment.app.FragmentTransaction;
 
 import com.amap.api.maps.model.LatLng;
 import com.mogo.commons.mvp.MvpFragment;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -42,8 +43,6 @@ import com.mogo.och.taxi.passenger.utils.TPRouteDataTestUtils;
 import java.util.Calendar;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author: wangmingjun
  * @date: 2022/3/8
@@ -352,8 +351,8 @@ public class TaxiPassengerServingOrderFragment extends
 
     }
 
-    public void onCarLocationChanged(MessagePad.GnssInfo location) {
-        updateSpeedView((float) location.getVehicleSpeed());
+    public void onCarLocationChanged(MogoLocation location) {
+        updateSpeedView((float) location.getGnssSpeed());
     }
 
     public void onLimitingVelocityChange(int limitingVelocity) {

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerTrafficLightView.kt

@@ -6,8 +6,8 @@ import android.view.LayoutInflater
 import android.widget.LinearLayout
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
-import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.taxi.passenger.R
 import kotlinx.android.synthetic.main.taxi_p_traffic_light_view.view.*

OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml

@@ -3,15 +3,19 @@
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    android:layout_marginTop="@dimen/dp_72">
+    android:layout_height="match_parent">
+
+    <com.mogo.eagle.core.function.view.MapBizView
+        android:id="@+id/mapBizView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
 
     <com.mogo.eagle.core.function.hmi.ui.widget.SteeringWheelView
         android:id="@+id/steering_wheel"
         android:layout_width="@dimen/dp_630"
         android:layout_height="@dimen/dp_630"
         android:layout_marginLeft="-59dp"
-        android:layout_marginTop="-40dp"
+        android:layout_marginTop="@dimen/dp_32"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
@@ -21,15 +25,29 @@
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
         android:layout_gravity="center_horizontal"
         android:layout_marginLeft="40dp"
-        android:layout_marginTop="48dp"
+        android:layout_marginTop="@dimen/dp_120"
         android:scaleType="fitXY"
         android:src="@drawable/taxi_p_un_auto_nor"
         android:visibility="gone"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <!--浓雾预警动画-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.V2XFogEventView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+    <!--刹车、转向-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
+        android:layout_width="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:day_light_mode="true"
+        android:layout_height="wrap_content"/>
+
     <!--pnc行为决策-->
-    <com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginBottom="@dimen/dp_110"
@@ -96,6 +114,7 @@
         android:id="@+id/btnAutopilotDisable"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="@dimen/dp_72"
         android:text="模拟 不可自动驾驶"
         android:textSize="20sp"
         android:visibility="gone"
@@ -154,7 +173,7 @@
         android:id="@+id/module_mogo_och_navi_panel_container"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_120"
+        android:layout_marginTop="@dimen/dp_192"
         android:layout_marginRight="@dimen/dp_10"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
@@ -163,10 +182,15 @@
         android:id="@+id/traffic_light_view"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/taxi_p_traffic_light_layout_margin_top"
+        android:layout_marginTop="@dimen/dp_95"
         android:layout_marginRight="@dimen/taxi_p_traffic_light_layout_margin_right"
         android:visibility="gone"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <FrameLayout
+        android:id="@+id/fl_container_overview"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
 </androidx.constraintlayout.widget.ConstraintLayout>

OCH/mogo-och-taxi/build.gradle

@@ -53,12 +53,8 @@ dependencies {
     implementation rootProject.ext.dependencies.amapnavi3dmap
 
     implementation project(":OCH:mogo-och-common-module")
+    compileOnly project(":libraries:mogo-map")
 
-    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        implementation rootProject.ext.dependencies.mogo_core_function_v2x
-    }else {
-        implementation project(':core:function-impl:mogo-core-function-v2x')
-    }
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/TaxiProvider.java

@@ -8,10 +8,7 @@ import androidx.fragment.app.Fragment;
 import androidx.fragment.app.FragmentActivity;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.commons.module.status.IMogoStatusChangedListener;
-import com.mogo.commons.module.status.MogoStatusManager;
-import com.mogo.commons.module.status.StatusDescriptor;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.taxi.constant.TaxiConst;
 import com.mogo.och.taxi.ui.TaxiFragment;
@@ -19,8 +16,6 @@ import com.mogo.och.taxi.ui.TaxiFragment;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
 
-import java.util.Objects;
-
 public
 /**
  * @author congtaowang
@@ -29,7 +24,7 @@ public
  * 网约车-出租车
  */
 @Route( path = TaxiConst.PATH )
-class TaxiProvider implements IMogoOCH , IMogoStatusChangedListener {
+class TaxiProvider implements IMogoOCH {
 
     private static final String TAG = "TaxiProvider";
     private TaxiFragment ochTaxiFragment;
@@ -38,7 +33,6 @@ class TaxiProvider implements IMogoOCH , IMogoStatusChangedListener {
     @Override
     public void init( Context context ) {
         CallerLogger.INSTANCE.d( M_TAXI + TAG, "init" );
-        MogoStatusManager.getInstance().registerStatusChangedListener("ochTaxi", StatusDescriptor.VR_MODE,this);
     }
 
     /**
@@ -46,7 +40,7 @@ class TaxiProvider implements IMogoOCH , IMogoStatusChangedListener {
      */
     private void stepIntoVrMode() {
         CallerLogger.INSTANCE.d( M_TAXI + TAG, "进入vr模式" );
-        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).stepInVrMode(false);
+        CallerMoGoUiSettingManager.INSTANCE.stepInNightMode();//夜间模式 状态栏字体颜色变黑
     }
 
     private void showFragment() {
@@ -66,17 +60,6 @@ class TaxiProvider implements IMogoOCH , IMogoStatusChangedListener {
         }
     }
 
-    @Override
-    public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
-        if (descriptor == StatusDescriptor.VR_MODE){
-            if (isTrue){
-                showFragment();
-            }else {
-                hideFragment();
-            }
-        }
-    }
-
     @Override
     public void createCoverage(FragmentActivity activity, int containerId) {
 
@@ -93,13 +76,13 @@ class TaxiProvider implements IMogoOCH , IMogoStatusChangedListener {
     public Fragment createCoverage(@Nullable FragmentActivity fragmentActivity, @Nullable Integer integer) {
         this.mActivity = fragmentActivity;
         this.mContainerId = integer;
+        showFragment();
         return null;
     }
 
     @Override
     public void onDestroy() {
         //若不调用finish, 设置中打开关闭UITouch,会造成och fragment 重叠
-        MogoStatusManager.getInstance().unregisterStatusChangedListener("ochTaxi", StatusDescriptor.VR_MODE,this);
         if (mActivity == null) return;
         mActivity.finish();
     }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java

@@ -1,6 +1,6 @@
 package com.mogo.och.taxi.callback;
 
-import mogo.telematics.pad.MessagePad;
+import com.mogo.eagle.core.data.map.MogoLocation;
 
 /**
  * Created on 2021/9/10
@@ -11,7 +11,7 @@ public interface ITaxiControllerStatusCallback {
     // 是否vr map模式
     void onVRModeChanged(boolean isVRMode);
     // 自车定位
-    void onCarLocationChanged(MessagePad.GnssInfo  location);
+    void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
 }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java

@@ -30,9 +30,9 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
@@ -133,7 +133,7 @@ public class TaxiModel {
     private int mPreRouteIndex = 0;
 
     private double mLongitude, mLatitude;
-    private MessagePad.GnssInfo  mLocation = null;
+    private MogoLocation  mLocation = null;
 
     private LoginService loginService;
 
@@ -223,7 +223,7 @@ public class TaxiModel {
         MogoStatusManager.getInstance().registerStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 
         //定位监听， 传false是高德坐标系
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG,mMapLocationLIstener);
 
         //2021.11.1 自动驾驶路线规划接口
         CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
@@ -262,7 +262,7 @@ public class TaxiModel {
         MogoStatusManager.getInstance().unregisterStatusChangedListener(TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener);
 
         // 注销地图监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
 
         OCHSocketMessageManager.INSTANCE.releaseSocketMessageListener(OCHSocketMessageManager.msgMonitorType);
 
@@ -823,8 +823,8 @@ public class TaxiModel {
             if (FunctionBuildConfig.isDemoMode) {
                 // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                 FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-                CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+                CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（更新本地order信息）");
             }
 
@@ -833,7 +833,7 @@ public class TaxiModel {
         if (mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.getCode()){
             if (FunctionBuildConfig.isDemoMode) {
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "setIPCDemoMode：false");
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             }
 
             clearAutopilotControlParameters();
@@ -870,8 +870,8 @@ public class TaxiModel {
         if (FunctionBuildConfig.isDemoMode) {
             // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
-            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
-            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(false);
+            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（已完成or清除当前订单）");
         }
     }
@@ -934,7 +934,7 @@ public class TaxiModel {
             return;
         }
 
-        CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
+        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s",
                 GsonUtil.jsonFromObject(parameters)
                 + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr
@@ -987,7 +987,7 @@ public class TaxiModel {
     //结束自动驾驶
     public void cancelAutopilot() {
         try {
-            CallerAutoPilotManager.INSTANCE.cancelAutoPilot();
+            CallerAutoPilotControlManager.INSTANCE.cancelAutoPilot();
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "结束自动驾驶");
         } catch (Exception e) {
             e.printStackTrace();
@@ -995,7 +995,7 @@ public class TaxiModel {
     }
 
     //根据围栏判断，是否到达起点
-    private void judgeStartStation(MessagePad.GnssInfo  location) {
+    private void judgeStartStation(MogoLocation location) {
         if (mCurrentOCHOrder == null || mCurrentOCHOrder.startSiteGcjPoint == null
                 || mCurrentOCHOrder.startSiteGcjPoint.size() < 2) {
             return;
@@ -1054,7 +1054,7 @@ public class TaxiModel {
     // 自车定位
     private final IMoGoChassisLocationGCJ02Listener mMapLocationLIstener = new IMoGoChassisLocationGCJ02Listener() {
         @Override
-        public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+        public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
             //位置变化时，通过围栏判断是否到达x点
             if (null == gnssInfo) return;
             if (checkCurrentOCHOrder()) {
@@ -1076,7 +1076,7 @@ public class TaxiModel {
         }
     };
 
-    private void judgeEndStation(MessagePad.GnssInfo  location) {
+    private void judgeEndStation(MogoLocation  location) {
         if (mCurrentOCHOrder == null || mCurrentOCHOrder.endSiteGcjPoint == null
                 || mCurrentOCHOrder.endSiteGcjPoint.size() < 2) {
             return;
@@ -1172,8 +1172,8 @@ public class TaxiModel {
                         if (FunctionBuildConfig.isDemoMode) {
                             // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
-                            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
-                            CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
+                            CallerAutoPilotControlManager.INSTANCE.setIgnoreConditionDraw(true);
+                            CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(true);
                             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）");
                         }
                     }
@@ -1243,7 +1243,7 @@ public class TaxiModel {
                 // 2022.10.08 到达目的地时候取消自动起自驾， 服务完成取消引导线和自动驾驶按钮状态
 //                FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
 //                CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
-                CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
+                CallerAutoPilotControlManager.INSTANCE.setIPCDemoMode(false);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（到达目的地）");
             }
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java

@@ -11,6 +11,7 @@ import androidx.lifecycle.LifecycleOwner;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -314,10 +315,10 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     }
 
     @Override
-    public void onCarLocationChanged(MessagePad.GnssInfo  location) {
+    public void onCarLocationChanged(MogoLocation location) {
         if (null != location){
             runOnUIThread(() -> {
-                mView.updateSpeedView((float) location.getVehicleSpeed());
+                mView.updateSpeedView((float) location.getGnssSpeed());
                 mView.updateLocation(location.getLatitude(),location.getLongitude());
             });
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java

@@ -4,6 +4,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAX
 import static com.mogo.och.taxi.constant.TaxiConst.TIMER_START_AUTOPILOT_INTERVAL;
 
 import android.animation.ObjectAnimator;
+import android.os.Bundle;
 import android.os.Handler;
 import android.os.Looper;
 import android.os.SystemClock;
@@ -31,10 +32,11 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
-import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
+import com.mogo.eagle.core.function.view.MapBizView;
+import com.mogo.eagle.core.function.smp.view.SmallMapView;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -67,6 +69,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     protected TextView mDriverRole;
     protected FrameLayout flStationPanelContainer;
     private FrameLayout flNaviPanelContainer;
+    private MapBizView mapBizView;
     private Group groupTestPanel;
     private TextView mSpeedView;
     private ImageView mAutopilotImage;
@@ -86,6 +89,8 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     protected TaxiRottingNaviFragment taxiRottingNaviFragment = null;
     // protected TaxiTrafficLightView mTrafficLightView;
 
+    protected SmallMapView smallMapView;
+
     private Handler mHandler = new Handler(Looper.getMainLooper());
 
     private Integer[] startAutopilotDrawableIds = new Integer[]{
@@ -153,6 +158,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
     @Override
     protected void initViews() {
+        mapBizView = findViewById(R.id.mapBizView);
         groupTestPanel = findViewById(R.id.groupTestPanel);
         ctvAutopilotStatusRL = findViewById(R.id.module_mogo_och_autopilot_status);
         ctvAutopilotStatusRL.setBackground(getResources().getDrawable(R.drawable.taxi_autopilot_bg_selector));
@@ -290,6 +296,29 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
                 viewDriverMsgBoxBubble.isShowData(true);
             }
         });
+
+        smallMapView = findViewById(R.id.smallMapView);
+    }
+
+    @Override
+    protected void initViews(Bundle savedInstanceState) {
+        super.initViews(savedInstanceState);
+        mapBizView.onCreate(savedInstanceState);
+        smallMapView.onCreateView(savedInstanceState);
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+        mapBizView.onResume();
+        smallMapView.onResume();
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        mapBizView.onPause();
+        smallMapView.onPause();
     }
 
     protected void onChangeOperationStatus() {
@@ -309,12 +338,31 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         }
     }
 
+    @Override
+    public void onLowMemory() {
+        super.onLowMemory();
+        mapBizView.onLowMemory();
+    }
+
+    @Override
+    public void onSaveInstanceState(@NonNull Bundle outState) {
+        super.onSaveInstanceState(outState);
+        mapBizView.onSaveInstanceState(outState);
+    }
+
     @Override
     public void onDestroyView() {
+        mapBizView.onDestroy();
         super.onDestroyView();
         CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
     }
 
+    @Override
+    public void onDestroy() {
+        super.onDestroy();
+        smallMapView.onDestroy();
+    }
+
     @Override
     public void onAutopilotRecordResult(@Nullable RecordPanelOuterClass.RecordPanel recordPanel) {
 //        if (!HmiBuildConfig.isShowBadCaseView && recordPanel != null && recordPanel.getType() == 1 && recordPanel.getStat() == 100) {
@@ -564,11 +612,11 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             transaction.commitAllowingStateLoss();
             mCloseNaviIcon.setVisibility(View.VISIBLE);
             flNaviPanelContainer.setVisibility(View.VISIBLE);
-            CallerSmpManager.hidePanel();//隐藏小地图
+            smallMapView.setVisibility(View.GONE);
         } else {
             mCloseNaviIcon.setVisibility(View.GONE);
             flNaviPanelContainer.setVisibility(View.GONE);
-            CallerSmpManager.showPanel();//显示小地图
+            smallMapView.setVisibility(View.VISIBLE);
         }
     }
 
@@ -607,12 +655,12 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             transaction.commitAllowingStateLoss();
             mCloseNaviIcon.setVisibility(View.VISIBLE);
             flNaviPanelContainer.setVisibility(View.VISIBLE);
-            CallerSmpManager.hidePanel();//隐藏小地图
+            smallMapView.setVisibility(View.GONE);
         } else {
             closeRouteViewIFHadeAdd();
             mCloseNaviIcon.setVisibility(View.GONE);
             flNaviPanelContainer.setVisibility(View.GONE);
-            CallerSmpManager.showPanel();//显示小地图
+            smallMapView.setVisibility(View.VISIBLE);
         }
     }
 

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java

@@ -21,7 +21,6 @@ import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.data.map.CenterLine;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.map.CallerHDMapManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -673,7 +672,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
     }
 
     private void clearSmallMapRouteLine() {
-        CallerSmpManager.clearPolyline();
+//        CallerSmpManager.clearPolyline();
     }
 
     /**
@@ -765,7 +764,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
                         .latitude(station.get(1))
                         .longitude(station.get(0));
                 IMogoMarker marker = Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMarkerManager(AbsMogoApplication.getApp())).addMarker(uuid, options);
-                CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(station.get(0)
+                CenterLine centerLine = CallerMapUIServiceManager.INSTANCE.getMapUIController().getCenterLineInfo(station.get(0)
                         , station.get(1), -1);
                 if (null != centerLine && marker != null) {// 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致
                     marker.setRotateAngle(centerLine.getAngle().floatValue());

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiMapDirectionView.java

@@ -29,8 +29,9 @@ import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.taxi.R;
 import com.mogo.och.taxi.utils.TaxiMapAssetStyleUtil;
@@ -38,8 +39,6 @@ import com.mogo.och.taxi.utils.TaxiMapAssetStyleUtil;
 import java.util.ArrayList;
 import java.util.List;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * taxi司机端前往目的地小地图导航
  */
@@ -99,14 +98,14 @@ public class TaxiMapDirectionView
         initAMapView();
 
         // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, this);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     @Override
     protected void onDetachedFromWindow() {
         super.onDetachedFromWindow();
         // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.removeListener(TAG);
     }
 
     private void initAMapView() {
@@ -176,7 +175,7 @@ public class TaxiMapDirectionView
     }
 
     @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
         if (gnssInfo == null){
             return;
         }

OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java

@@ -3,10 +3,9 @@ package com.mogo.och.taxi.utils;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.GsonUtils;
-import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.taxi.bean.OrderQueryRespBean;
 import com.mogo.och.taxi.constant.TaxiConst;
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
@@ -201,7 +200,7 @@ public class TaxiTrajectoryManager {
 //        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
 //        mAutoPilotLine.setVehicleModel("红旗H9");
 
-        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "sendTrajectoryReq(): "
                 + GsonUtils.toJson(mAutoPilotLine));
     }

OCH/mogo-och-taxi/src/main/res/layout/taxi_base_fragment.xml

@@ -6,6 +6,11 @@
     android:layout_height="match_parent"
     android:layout_marginTop="@dimen/dp_72">
 
+    <com.mogo.eagle.core.function.view.MapBizView
+        android:id="@+id/mapBizView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
     <LinearLayout
         android:id="@+id/module_mogo_och_speed_layout"
         android:layout_height="@dimen/taxi_tab_speed_width_height"
@@ -80,6 +85,28 @@
 
     </RelativeLayout>
 
+    <!--浓雾预警动画-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.V2XFogEventView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+    <!--V2X预警红色边框-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <!--刹车、转向-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
     <!--Vip车辆标志-->
     <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
         android:layout_width="@dimen/module_vip_width"
@@ -91,7 +118,7 @@
         app:layout_constraintTop_toTopOf="parent"/>
 
     <!--pnc行为决策-->
-    <com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginBottom="@dimen/dp_110"
@@ -177,7 +204,7 @@
         app:layout_constraintTop_toTopOf="parent" />
 
     <!--接管提示-->
-    <com.mogo.eagle.core.function.hmi.ui.takeover.TakeOverView
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.TakeOverView
         android:layout_width="@dimen/hmi_take_over_request_width"
         android:layout_height="@dimen/hmi_take_over_request_height"
         android:layout_marginTop="@dimen/hmi_take_over_request_m_top"
@@ -377,4 +404,15 @@
         app:layout_constraintBottom_toBottomOf="parent"
         android:src="@drawable/taxi_close_navi_icon"/>
 
+    <com.mogo.eagle.core.function.smp.view.SmallMapView
+        android:id="@+id/smallMapView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginRight="30dp"
+        android:layout_marginBottom="30dp"
+        android:visibility="visible"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        />
+
 </androidx.constraintlayout.widget.ConstraintLayout>

app/build.gradle

@@ -61,6 +61,9 @@ if (!isAndroidTestBuild()) {
             crash_fix {
                 enable true
             }
+            memory_leak {
+                enable true
+            }
         }
     }
 }
@@ -338,21 +341,44 @@ dependencies {
     implementation rootProject.ext.dependencies.lancetx_runtime
     implementation rootProject.ext.dependencies.mogocustommap
     implementation project(':core:function-impl:mogo-core-function-startup')
+    implementation project(':libraries:map-usbcamera')
 //    // 暂不使用Shizuku-API
 //    implementation rootProject.ext.dependencies.shizuku_provider
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
         implementation rootProject.ext.dependencies.ttspad
         implementation rootProject.ext.dependencies.mogo_core_function_hmi
+        implementation rootProject.ext.dependencies.mogocommons
+        implementation rootProject.ext.dependencies.mogo_core_utils
+        implementation rootProject.ext.dependencies.mogo_core_function_map
+        implementation rootProject.ext.dependencies.mogo_core_function_v2x
+        implementation rootProject.ext.dependencies.mogo_core_function_datacenter
+        implementation rootProject.ext.dependencies.mogo_core_function_devatools
+        implementation rootProject.ext.dependencies.mogo_core_function_chat
+        implementation rootProject.ext.dependencies.mogo_core_function_biz
+        implementation rootProject.ext.dependencies.mogo_core_function_call
 
         androidTestImplementation rootProject.ext.dependencies.mogo_core_function_call
         androidTestImplementation rootProject.ext.dependencies.mogo_core_res
     } else {
         implementation project(':tts:tts-pad')
         implementation project(':core:function-impl:mogo-core-function-hmi')
+        implementation project(':core:function-impl:mogo-core-function-map')
+        implementation project(':core:function-impl:mogo-core-function-v2x')
+        implementation project(':core:function-impl:mogo-core-function-datacenter')
+        implementation project(':core:function-impl:mogo-core-function-devatools')
+        implementation project(':core:function-impl:mogo-core-function-chat')
+        implementation project(':core:function-impl:mogo-core-function-biz')
+        implementation project(':core:mogo-core-function-call')
+        implementation project(':core:mogo-core-utils')
+        implementation project(':core:mogo-core-res')
+        implementation project(':foudations:mogo-commons')
+
         androidTestImplementation project(':core:mogo-core-function-call')
         androidTestImplementation project(':core:mogo-core-res')
+
     }
 
+
     apply from: "./functions/och.gradle"
 
     androidTestImplementation rootProject.ext.dependencies.androidx_test_core

app/src/androidTest/java/com/mogo/functions/test/AutoPilotBadCaseTest.kt

@@ -4,7 +4,7 @@ import androidx.test.core.app.ActivityScenario
 import androidx.test.ext.junit.runners.AndroidJUnit4
 import androidx.test.filters.LargeTest
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.hmi.ui.MoGoHmiFragment
+import com.mogo.eagle.core.function.hmi.ui.MoGoHmiProvider
 import com.mogo.eagle.core.function.main.MainLauncherActivity
 import kotlinx.coroutines.*
 import kotlinx.coroutines.flow.*
@@ -121,15 +121,15 @@ class AutoPilotBadCaseTest {
         delay(TimeUnit.HOURS.toMillis(2))
     }
 
-    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiFragment = suspendCancellableCoroutine {
+    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiProvider = suspendCancellableCoroutine {
         launch.onActivity { itx ->
             val executor = Executors.newSingleThreadScheduledExecutor()
             executor.scheduleAtFixedRate({
                 var find =
-                    itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                    itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
                 while (find == null) {
                     find =
-                        itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                        itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
 
                 }
                 while (!find.isResumed) {

app/src/androidTest/java/com/mogo/functions/test/MapDataCollectTest.kt

@@ -5,7 +5,7 @@ import androidx.test.core.app.ActivityScenario
 import androidx.test.ext.junit.runners.AndroidJUnit4
 import androidx.test.filters.LargeTest
 import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager
-import com.mogo.eagle.core.function.hmi.ui.MoGoHmiFragment
+import com.mogo.eagle.core.function.hmi.ui.MoGoHmiProvider
 import com.mogo.eagle.core.function.main.MainLauncherActivity
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.runBlocking
@@ -35,15 +35,15 @@ class MapDataCollectTest {
         CallerMapDataCollectorManager.setIsInit()
         delay(TimeUnit.HOURS.toMillis(1))
     }
-    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiFragment = suspendCancellableCoroutine {
+    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiProvider = suspendCancellableCoroutine {
         launch.onActivity { itx ->
             val executor = Executors.newSingleThreadScheduledExecutor()
             executor.scheduleAtFixedRate({
                 var find =
-                    itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                    itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
                 while (find == null) {
                     find =
-                        itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                        itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
 
                 }
                 while (!find.isResumed) {

app/src/androidTest/java/com/mogo/functions/test/ReminderTest.kt

@@ -81,15 +81,15 @@ class ReminderTest {
         delay(3000000)
     }
 
-    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiFragment = suspendCancellableCoroutine {
+    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiProvider = suspendCancellableCoroutine {
         launch.onActivity { itx ->
             val executor = Executors.newSingleThreadScheduledExecutor()
             executor.scheduleAtFixedRate({
                 var find =
-                    itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                    itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
                 while (find == null) {
                     find =
-                        itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                        itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
                 }
                 while (!find.isResumed) {
                     Thread.sleep(500)

app/src/androidTest/java/com/mogo/functions/test/RoadAITest.kt

@@ -136,15 +136,15 @@ class RoadAITest {
 
     }
 
-    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiFragment = suspendCancellableCoroutine {
+    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiProvider = suspendCancellableCoroutine {
         launch.onActivity { itx ->
             val executor = Executors.newSingleThreadScheduledExecutor()
             executor.scheduleAtFixedRate({
                 var find =
-                    itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                    itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
                 while (find == null) {
                     find =
-                        itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                        itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
                 }
                 while (!find.isResumed) {
                     Thread.sleep(500)

app/src/androidTest/java/com/mogo/functions/test/TipToastLeakTest.kt

@@ -3,7 +3,7 @@ package com.mogo.functions.test
 import androidx.test.core.app.ActivityScenario
 import androidx.test.ext.junit.runners.AndroidJUnit4
 import androidx.test.filters.LargeTest
-import com.mogo.eagle.core.function.hmi.ui.MoGoHmiFragment
+import com.mogo.eagle.core.function.hmi.ui.MoGoHmiProvider
 import com.mogo.eagle.core.function.main.MainLauncherActivity
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
 import kotlinx.coroutines.Dispatchers
@@ -44,15 +44,15 @@ class TipToastLeakTest {
         delay(TimeUnit.SECONDS.toMillis(2))
     }
 
-    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiFragment = suspendCancellableCoroutine {
+    private suspend fun ensureMoGoHmiFragmentShow(): MoGoHmiProvider = suspendCancellableCoroutine {
         launch.onActivity { itx ->
             val executor = Executors.newSingleThreadScheduledExecutor()
             executor.scheduleAtFixedRate({
                 var find =
-                    itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                    itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
                 while (find == null) {
                     find =
-                        itx.supportFragmentManager.fragments.find { it is MoGoHmiFragment } as? MoGoHmiFragment
+                        itx.supportFragmentManager.fragments.find { it is MoGoHmiProvider } as? MoGoHmiProvider
 
                 }
                 while (!find.isResumed) {

app/src/main/AndroidManifest.xml

@@ -20,10 +20,10 @@
         tools:replace="android:label">
         <meta-data
             android:name="design_width_in_dp"
-            android:value="5120"/>
+            android:value="2560"/>
         <meta-data
             android:name="design_height_in_dp"
-            android:value="3200"/>
+            android:value="1600"/>
 
 <!--        <provider-->
 <!--            android:name="com.rousetime.android_startup.provider.StartupProvider"-->

app/src/main/java/com/mogo/launcher/lancet/LeakCanaryCrashFix.kt

@@ -1,62 +0,0 @@
-package com.mogo.launcher.lancet
-
-import android.database.sqlite.*
-import androidx.annotation.*
-import com.knightboost.lancet.api.*
-import com.knightboost.lancet.api.annotations.*
-import com.knightboost.lancet.api.annotations.Weaver
-
-/**
- * 此类主要用来修正三方库引起的崩溃
- */
-@Keep
-@Weaver
-@Group("leak_canary_crash_fix")
-class LeakCanaryCrashFix {
-
-    @Insert
-    @TargetClass("leakcanary.internal.activity.db.ScopedLeaksDb\$DbOpener")
-    @TargetMethod(methodName = "getReadableDatabase")
-    fun proxyGetReadableSQLiteDb(): SQLiteDatabase? {
-        try {
-            return Origin.call() as SQLiteDatabase?
-        } catch (t: Throwable) {
-            t.printStackTrace()
-        }
-        return null
-    }
-
-    @Insert
-    @TargetClass("leakcanary.internal.activity.db.ScopedLeaksDb\$DbOpener")
-    @TargetMethod(methodName = "getWritableDatabase")
-    fun proxyGetWritableSQLiteDb(): SQLiteDatabase? {
-        try {
-            return Origin.call() as SQLiteDatabase?
-        } catch (t: Throwable) {
-            t.printStackTrace()
-        }
-        return null
-    }
-
-    @Insert
-    @TargetClass("leakcanary.internal.activity.db.ScopedLeaksDb\$DbOpener")
-    @TargetMethod(methodName = "close")
-    fun proxyClose() {
-        try {
-            Origin.callVoid()
-        } catch (t: Throwable) {
-            t.printStackTrace()
-        }
-    }
-
-    @Insert
-    @TargetClass("leakcanary.internal.activity.db.Io\$execute\$2")
-    @TargetMethod(methodName = "run")
-    fun proxyRun() {
-        try {
-            Origin.callVoid()
-        } catch (t: Throwable) {
-            t.printStackTrace()
-        }
-    }
-}

app/src/main/java/com/mogo/launcher/lancet/MemoryLeakFix.kt

@@ -0,0 +1,140 @@
+package com.mogo.launcher.lancet
+
+import android.app.Activity
+import android.app.Dialog
+import android.content.Context
+import android.view.View
+import androidx.annotation.*
+import androidx.core.view.ViewCompat
+import androidx.fragment.app.*
+import androidx.lifecycle.*
+import androidx.lifecycle.Lifecycle.Event
+import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
+import com.knightboost.lancet.api.*
+import com.knightboost.lancet.api.annotations.*
+import com.knightboost.lancet.api.annotations.Weaver
+import com.mogo.eagle.core.utilcode.kotlin.*
+import io.netty.util.internal.ConcurrentSet
+import java.lang.ref.*
+import java.lang.reflect.Modifier
+import java.util.concurrent.ConcurrentHashMap
+
+@Keep
+@Weaver
+@Group("memory_leak")
+class MemoryLeakFix {
+
+    @Insert
+    @ImplementedInterface("java.lang.Runnable")
+    @TargetMethod(methodName = "run")
+    fun runProxy() {
+        if (AccessSyntheticUtils.isTargetAlive(This.get())) {
+            Origin.callVoid()
+        }
+    }
+}
+
+internal class AccessSyntheticUtils {
+
+    companion object {
+
+        private val fields = ConcurrentHashMap<String, WeakReference<Any>>()
+        private val observers = ConcurrentSet<String>()
+
+        @JvmStatic
+        fun isTargetAlive(obj: Any): Boolean {
+            try {
+                val clazz = obj.javaClass
+                if (!clazz.isAnonymousClass) {
+                    return true
+                }
+                val key = clazz.name
+                return (fields[key] ?: clazz.declaredFields.find {
+                    it.isSynthetic &&
+                    ((it.modifiers and Modifier.STATIC) == 0) &&
+                    (View::class.java.isAssignableFrom(it.type) or
+                            Context::class.java.isAssignableFrom(it.type) or
+                            Fragment::class.java.isAssignableFrom(it.type) or
+                            android.app.Fragment::class.java.isAssignableFrom(it.type) or
+                            Dialog::class.java.isAssignableFrom(it.type)
+                    )
+                }?.let {
+                    it.isAccessible = true
+                    val wf = WeakReference(it.get(obj), ReferenceQueue())
+                    fields[key] = wf
+                    wf
+                })?.also {
+                    if (it.isEnqueued) {
+                        //对像被垃圾回收了
+                        fields.remove(key)
+                    }
+                }?.get()?.let { t ->
+                    var lifecycle: Lifecycle? = null
+                    val ret = when (t) {
+                        is View -> {
+                            lifecycle = t.lifecycleOwner.lifecycle
+                            ViewCompat.isAttachedToWindow(t)
+                        }
+                        is Activity -> {
+                            lifecycle = t.findViewById<View>(android.R.id.content)?.lifecycleOwner?.lifecycle
+                            !t.isFinishing && !t.isDestroyed
+                        }
+                        is Fragment -> {
+                            lifecycle = t.lifecycle
+                            !t.isDetached
+                        }
+                        is android.app.Fragment -> {
+                            lifecycle = t.view?.lifecycleOwner?.lifecycle
+                            !t.isDetached
+                        }
+                        is Dialog -> {
+                            t.window?.decorView?.let {
+                                    v ->
+                                lifecycle = v.lifecycleOwner.lifecycle
+                                ViewCompat.isAttachedToWindow(v)
+                            } ?: false
+                        }
+                        else -> {
+                            true
+                        }
+                    }
+                    if (!ret) {
+                        assignFinalFieldNull(obj, t.javaClass)
+                    } else {
+                        val l = lifecycle
+                        if (l != null && !observers.contains(key)) {
+                            observers.add(key)
+                            l.addObserver(object : LifecycleEventObserver {
+                                override fun onStateChanged(source: LifecycleOwner, event: Event) {
+                                    if (event == ON_DESTROY) {
+                                        assignFinalFieldNull(obj, t.javaClass)
+                                        observers.remove(key)
+                                    }
+                                }
+                            })
+                        }
+                    }
+                    ret
+                } ?: true
+            } catch (t: Throwable) {
+                t.printStackTrace()
+            }
+            return true
+        }
+
+        @JvmStatic
+        private fun assignFinalFieldNull(obj: Any, fieldType: Class<*>) {
+            try {
+                obj.javaClass.declaredFields.find {
+                    it.isSynthetic &&
+                            ((it.modifiers and Modifier.STATIC) == 0) && it.type == fieldType
+                }?.also {
+                    it.isAccessible = true
+                    it.set(obj, null)
+                }
+            } catch (t: Throwable) {
+                t.printStackTrace()
+            }
+        }
+    }
+}

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java

@@ -180,7 +180,7 @@ public class DataDistribution {
 
     public String cutDown(String str) {
         if (isCutDown && str.length() > 650) {
-            str = str.substring(0, 650) + "\n（已缩短。如需查看完整数据，请勾选日志存储复选框）";
+            str = str.substring(0, 650) + "\n（已缩短。如需查看完整数据，请勾选日志缩短复选框）";
         }
         return str;
     }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/adapter/ConfigAdapter.java

@@ -36,7 +36,10 @@ public class ConfigAdapter extends BaseAdapter<Config, ConfigAdapter.ViewHolder>
         }
         viewHolder.name.setText(data.name);
         viewHolder.value.setText(data.value);
-
+        if (data.color == -1) {
+            data.color = R.color.colorSlateGray;
+        }
+        viewHolder.value.setTextColor(mContext.getResources().getColor(data.color));
     }
 
     @Override

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/base/BaseAdapter.java

@@ -48,6 +48,10 @@ public abstract class BaseAdapter<D, VH extends BaseViewHolder> extends Recycler
             notifyDataSetChanged();
     }
 
+    public List<D> getData() {
+        return mDatas;
+    }
+
     public void setOnItemClickListener(OnItemClickListener<D> listener) {
         mItemClick = listener;
     }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Config.java

@@ -1,11 +1,26 @@
 package com.zhidao.adas.client.bean;
 
+import java.util.Objects;
+
 public class Config {
     public final String name;
-    public final String value;
+    public String value;
+    public int color = -1;
 
     public Config(String name, String value) {
         this.name = name;
         this.value = value;
     }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        Config config = (Config) o;
+        return Objects.equals(name, config.name);
+    }
+
+    public void cover(Config config) {
+        this.value = config.value;
+    }
 }

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java

@@ -97,7 +97,6 @@ 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.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.ByteUtil;
@@ -120,7 +119,6 @@ import java.util.Locale;
 import java.util.concurrent.ScheduledExecutorService;
 
 import bag_manager.BagManagerOuterClass;
-import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import function_state_management.FunctionStates;
 import io.netty.channel.Channel;
@@ -182,8 +180,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private ListPopupWindow listPopupWindow;
     private FloatWindow floatWindow;
     private View include_title;
-    private boolean isAutopilotAbility = true;
-    private String autopilotAbilityReason;
     private List<SpecialVehicleBean> specialVehicleBeanList;//特种车辆
     private long errorDataUpdateTime = 0;
 //    @Override
@@ -857,47 +853,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     }
 
     @Override
-    public void onAutopilotAbility(AutopilotAbility ability) {
-        isAutopilotAbility = true;
-        autopilotAbilityReason = null;
-        if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || ability.gear == Chassis.GearPosition.GEAR_R) {
-            isAutopilotAbility = false;
-            autopilotAbilityReason = "挡位不正常";
+    public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
+        if (fromFragment instanceof VersionFragment) {
+            VersionFragment fragment = (VersionFragment) fromFragment;
+            fragment.autopilotAbility(isAutopilotAbility, unableAutopilotReason);
         }
-        if (isAutopilotAbility)
-            if (ability.brake > 0) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "制动踏板被踩下";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo == null) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统Topic不正常";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在启动";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在关闭";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_FAULT) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统异常";
-            }
-        if (isAutopilotAbility)
-            for (SystemStatusInfo.HealthInfo healthInfo : ability.statusInfo.getHealthInfoList()) {
-                if (healthInfo.getState() == SystemStatusInfo.HealthState.FAULT) {
-                    isAutopilotAbility = false;
-                    autopilotAbilityReason = healthInfo.getName() + " 节点异常";
-                    break;
-                }
-            }
-        Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
+        Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + unableAutopilotReason);
     }
 
     @Override
@@ -1004,7 +965,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf);
         DataDistribution.getInstance().addData(info);
         AdasManager.getInstance().sendBasicInfoResp("", 0, com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG);
-        showToastCenter("收到车机基础信息请求:" + info.toString());
+        runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                showToastCenter("收到车机基础信息请求:" + info.toString());
+            }
+        });
     }
 
     @Override

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/VersionFragment.java

@@ -30,6 +30,7 @@ import com.zhidao.adas.client.adapter.InterfaceAdapter;
 import com.zhidao.adas.client.base.BaseFragment;
 import com.zhidao.adas.client.bean.Config;
 import com.zhidao.adas.client.bean.InterfaceModel;
+import com.zhidao.adas.client.utils.RandomColor;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants;
@@ -211,11 +212,47 @@ public class VersionFragment extends BaseFragment {
             VersionCompatibility versionCompatibility = AdasManager.getInstance().getVersionCompatibility();
             list.add(new Config("版本兼容性:", versionCompatibility == null ? null : versionCompatibility.toString()));
         }
+
         list.add(new Config("ADAS LIB版本:", AdasManager.getInstance().getAdasVersion()));
         list.add(new Config("APP构建时间:", BuildConfig.BUILD_TIME));
+        list.add(getAutopilotAbilityConfig(""));
         adapter.setData(list);
     }
 
+    private Config getAutopilotAbilityConfig(String value) {
+        return new Config("能否启动自动驾驶:", value);
+    }
+
+    public void autopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
+        List<Config> list = adapter.getData();
+        if (list != null) {
+            Config temp = getAutopilotAbilityConfig(isAutopilotAbility + "，原因：" + unableAutopilotReason);
+            int index = list.indexOf(temp);
+            if (index < 0) {
+                list.add(temp);
+                if (getActivity() != null)
+                    getActivity().runOnUiThread(new Runnable() {
+                        @Override
+                        public void run() {
+                            adapter.notifyItemInserted(list.size() - 1);
+                        }
+                    });
+            } else {
+                Config config = list.get(index);
+                config.cover(temp);
+                config.color = RandomColor.randomColor();
+                if (getActivity() != null)
+                    getActivity().runOnUiThread(new Runnable() {
+                        @Override
+                        public void run() {
+                            adapter.notifyItemChanged(index);
+                        }
+                    });
+            }
+        }
+
+
+    }
 
     @Override
     protected void onRefreshView() {

app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/RandomColor.java

@@ -0,0 +1,29 @@
+package com.zhidao.adas.client.utils;
+
+import com.zhidao.adas.client.R;
+
+import java.util.Random;
+
+
+public class RandomColor {
+    //随机颜色,且不与上一次重复
+    private static Random randomColor;
+    private static int tempColorIndex;
+    private static int[] colors = {R.color.color1, R.color.color2, R.color.color3, R.color.color4, R.color.color5};
+
+    public static int randomColor() {
+        randomColorTemp();
+        return colors[tempColorIndex];
+    }
+
+    private static void randomColorTemp() {
+        if (randomColor == null)
+            randomColor = new Random();
+        int colorInt = randomColor.nextInt(colors.length);
+        if (tempColorIndex == colorInt) {
+            randomColorTemp();
+        } else {
+            tempColorIndex = colorInt;
+        }
+    }
+}

app_ipc_monitoring/src/main/res/values/colors.xml

@@ -15,6 +15,11 @@
     <color name="connect_status_connected">#32CD32</color>
     <color name="connect_status_disconnected">#DC143C</color>
     <color name="connect_status_connecting">#FF00FF</color>
-    <color name="connect_status_disconnecting">#DAA520</color>
+    <color name="connect_status_disconnecting">#3333FF	</color>
     <color name="connect_status_search_address">#1E90FF</color>
+    <color name="color1">#FFC0CB</color>
+    <color name="color2">#FF8F00</color>
+    <color name="color3">#FFE500</color>
+    <color name="color4">#B9ED3E</color>
+    <color name="color5">#2EEDEB</color>
 </resources>

app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java

@@ -45,7 +45,6 @@ import com.zhidao.support.adas.high.AdasManager;
 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.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
@@ -589,6 +588,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     }
 
+    @Override
+    public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
+
+    }
+
 
     private void initAdas() {
         CupidLogUtils.e(TAG, "--->初始化");
@@ -857,10 +861,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         }
     }
 
-    @Override
-    public void onAutopilotAbility(AutopilotAbility ability) {
-
-    }
 
     @Override
     public void onStartAutopilotFailed(MogoReportMsg.MogoReportMessage message) {

build.gradle

@@ -35,7 +35,7 @@ buildscript {
         classpath 'com.mogo.cloud:systrace:1.0.1'
         classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'
         classpath 'com.mogo.sticky:service:1.0.8'
-        classpath 'io.github.knight-zxw:lancet-plugin:0.0.1'
+        classpath 'io.github.knight-zxw:lancet-plugin:0.0.4'
 
 //        classpath ("com.tencent.matrix:matrix-gradle-plugin:0.6.6") { changing = true }
     }

config.gradle

@@ -220,7 +220,7 @@ ext {
 
 
             //========================= LancetX ===================
-            lancetx_runtime              : "io.github.knight-zxw:lancet-runtime:0.0.1",
+            lancetx_runtime              : "io.github.knight-zxw:lancet-runtime:0.0.4",
 
             //========================= autosize ======================
             androidautoSize          : 'com.github.JessYanCoding:AndroidAutoSize:v1.2.1',

core/function-impl/mogo-core-function-biz/build.gradle

@@ -57,6 +57,9 @@ dependencies {
     kapt rootProject.ext.dependencies.aroutercompiler
 
     implementation rootProject.ext.dependencies.rxandroid
+    implementation rootProject.ext.dependencies.androidxroomruntime
+    kapt rootProject.ext.dependencies.androidxroomcompiler
+    implementation rootProject.ext.dependencies.androidxroomktx
 
     implementation project(':foudations:mogo-commons')
     implementation project(':core:mogo-core-data')

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt

@@ -2,6 +2,7 @@ package com.mogo.eagle.function.biz
 
 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.camera.CameraEntity
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.biz.IMoGoFuncBizProvider
@@ -10,9 +11,9 @@ import com.mogo.eagle.function.biz.dispatch.DispatchAutoPilotManager.Companion.d
 import com.mogo.eagle.function.biz.monitoring.CronTaskManager.Companion.cronTaskManager
 import com.mogo.eagle.function.biz.notice.NoticeSocketManager.Companion.noticeSocketManager
 import com.mogo.eagle.function.biz.notice.network.NoticeNetWorkManager
-import com.mogo.eagle.function.biz.v2x.speedlimit.SpeedLimitDispatcher
+import com.mogo.eagle.function.biz.v2x.overview.OverViewDataManager
+import com.mogo.eagle.function.biz.v2x.overview.db.OverviewDb
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
-import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightDispatcher
 import com.mogo.eagle.function.biz.v2x.vip.VipCarManager
 
 @Route(path = MogoServicePaths.PATH_FUNC_BIZ)
@@ -28,8 +29,6 @@ class FuncBizProvider : IMoGoFuncBizProvider {
 
         MogoTrafficLightManager.INSTANCE.initServer(context)
         VipCarManager.INSTANCE.initServer(context)
-        TrafficLightDispatcher.INSTANCE.initServer(context) //todo 宏宇 放入dataCenter
-        SpeedLimitDispatcher.INSTANCE.initLimit(context) //todo 宏宇，放入dataCenter
 //        RedLightWarningManager.INSTANCE.listenTrafficLight()
     }
 
@@ -68,13 +67,24 @@ class FuncBizProvider : IMoGoFuncBizProvider {
         cronTaskManager.clear()
     }
 
+    override fun fetchInfStructures() {
+        OverViewDataManager.fetchInfStructures()
+    }
+
+    override fun getAllV2XEvents() {
+        OverViewDataManager.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().sn)
+    }
+
+    override fun initOverViewDb(context: Context) {
+        OverviewDb.getDb(context)
+    }
+
     override fun onDestroy() {
         noticeSocketManager.release()
         dispatchAutoPilotManager.release()
         cronTaskManager.release()
 
         VipCarManager.INSTANCE.destroy()
-        TrafficLightDispatcher.INSTANCE.destroy()
 //        RedLightWarningManager.INSTANCE.onDestroy()
     }
 }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt

@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -130,7 +130,7 @@ class DispatchAutoPilotManager private constructor() :
                 AutopilotControlParameters.AutoPilotLonLat(it.endLat, it.endLon)
             currentAutopilot.vehicleType = 10
             CallerLogger.d(SceneConstant.Companion.M_DISPATCH + TAG, "开启自动驾驶====$currentAutopilot")
-            CallerAutoPilotManager.startAutoPilot(currentAutopilot)
+            CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
         }
     }
 

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/monitoring/CronTaskManager.kt

@@ -7,7 +7,7 @@ import com.mogo.commons.constants.HostConst
 import com.mogo.commons.utils.RetryWithDelay
 import com.mogo.eagle.core.data.camera.CameraEntity
 import com.mogo.eagle.core.data.camera.ReqLiveCarBean
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -90,7 +90,7 @@ class CronTaskManager {
      * 请求路口一定范围内的设备信息(包含：摄像头、灯)
      */
     private fun requestDeviceList() {
-        CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()?.let { location ->
+        CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()?.let { location ->
             disposable = MoGoRetrofitFactory.getInstance(HostConst.getEagleHost())
                 .create(ICameraListServices::class.java)
                 .getDeviceList(location.longitude, location.latitude, 500)
@@ -124,7 +124,7 @@ class CronTaskManager {
     }
 
     private fun requestCarCameraList() {
-        CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()?.let { location ->
+        CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()?.let { location ->
             carDisposable = MoGoRetrofitFactory.getInstance(HostConst.getEagleHost())
                 .create(ICameraListServices::class.java)
                 .getCarCameraList(ReqLiveCarBean(location.longitude, location.latitude))

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/OverViewDataManager.kt

@@ -1,21 +1,23 @@
-package com.mogo.eagle.core.function.overview
+package com.mogo.eagle.function.biz.v2x.overview
 
 import androidx.lifecycle.*
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.constants.HostConst
 import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.overview.db.OverviewDb
-import com.mogo.eagle.core.function.overview.remote.OverViewServiceApi
-import com.mogo.eagle.core.function.overview.remote.V2XEvent
+import com.mogo.eagle.core.function.call.biz.CallerFuncBizListenerManager
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.function.biz.v2x.overview.db.OverviewDb
+import com.mogo.eagle.function.biz.v2x.overview.remote.OverViewServiceApi
 import io.reactivex.Observable
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
 import io.reactivex.schedulers.Schedulers
+import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
 import java.util.concurrent.TimeUnit
 
 object OverViewDataManager {
@@ -26,37 +28,8 @@ object OverViewDataManager {
         OverviewDb.getDb(AbsMogoApplication.getApp()).overviewDao()
     }
 
-    private val _infStructures = MutableLiveData<List<Infrastructure>>()
-    private val _V2XEvents = MutableLiveData<List<V2XEvent>>()
     private var disposable: Disposable? = null
 
-    val infStructures
-        get() = _infStructures
-
-    private val _infStructuresMap = _infStructures
-        .switchMap { infStructures ->
-            liveData {
-                val map = HashMap<String, ArrayList<Infrastructure>>()
-                infStructures.forEach {
-                    val geoHash = it.geoHash
-                    if (geoHash == null) {
-                        return@forEach
-                    } else {
-                        if (!map.containsKey(geoHash)) {
-                            val list = ArrayList<Infrastructure>()
-                            list.add(it)
-                            map[geoHash] = list
-                        } else {
-                            map[geoHash]?.add(it)
-                        }
-                    }
-                }
-                emit(map)
-            }
-        }
-    val infStructuresMap
-        get() = _infStructuresMap
-
     fun fetchInfStructures() {
         ProcessLifecycleOwner.get().lifecycleScope.launch {
             val data = try {
@@ -67,8 +40,27 @@ object OverViewDataManager {
                 e.printStackTrace()
                 null
             }
-            data?.let {
-                _infStructures.value = it
+            data?.let { infStructures ->
+                withContext(Dispatchers.Default) {
+                    val map = HashMap<String, ArrayList<Infrastructure>>()
+                    infStructures.forEach {
+                        val geoHash = it.geoHash
+                        if (geoHash == null) {
+                            return@forEach
+                        } else {
+                            if (!map.containsKey(geoHash)) {
+                                val list = ArrayList<Infrastructure>()
+                                list.add(it)
+                                map[geoHash] = list
+                            } else {
+                                map[geoHash]?.add(it)
+                            }
+                        }
+                    }
+                    withContext(Dispatchers.Main) {
+                        CallerFuncBizListenerManager.invokeInfStructures(map)
+                    }
+                }
             }
         }
     }
@@ -113,13 +105,11 @@ object OverViewDataManager {
             .observeOn(AndroidSchedulers.mainThread())
             .subscribe {
                 it?.apply {
-                    _V2XEvents.value = this
+                    CallerFuncBizListenerManager.invokeV2XEvents(this)
                 }
             }
     }
 
-    fun getV2XEventLiveData() = _V2XEvents
-
     fun stopQueryV2XEvents() {
         disposable?.dispose()
     }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/db/OverviewDao.kt

@@ -1,4 +1,4 @@
-package com.mogo.eagle.core.function.overview.db
+package com.mogo.eagle.function.biz.v2x.overview.db
 
 import androidx.room.Dao
 import androidx.room.Query

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/db/OverviewDb.kt

@@ -1,4 +1,4 @@
-package com.mogo.eagle.core.function.overview.db
+package com.mogo.eagle.function.biz.v2x.overview.db
 
 import android.content.Context
 import androidx.room.Database

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/remote/OverViewServiceApi.kt

@@ -1,4 +1,4 @@
-package com.mogo.eagle.core.function.overview.remote
+package com.mogo.eagle.function.biz.v2x.overview.remote
 
 import io.reactivex.Observable
 import retrofit2.http.GET

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/overview/remote/V2XEventResult.kt

@@ -0,0 +1,20 @@
+package com.mogo.eagle.function.biz.v2x.overview.remote
+
+import androidx.annotation.Keep
+
+import com.google.gson.annotations.SerializedName
+import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.data.v2x.V2XEvent
+
+
+@Keep
+data class V2XEventResult (
+    @SerializedName("result")
+    var result: Result?
+): BaseData()
+
+@Keep
+data class Result(
+    @SerializedName("eventList")
+    var v2XEventList: List<V2XEvent>?
+)

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/redlightwarning/RedLightWarningManager.kt

@@ -6,27 +6,27 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_IVP_G
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.map.MogoLatLng
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.data.trafficlight.TrafficLightStatusHelper.getCurrentRoadTrafficLight
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
-import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
-import com.mogo.eagle.core.function.api.vip.IMoGoVipSetListener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.api.v2x.IMoGoVipSetListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
-import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallVipSetListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.core.utilcode.util.LocationUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.zhjt.service_biz.BizConfig
-import mogo.telematics.pad.MessagePad
 import kotlin.math.abs
 import kotlin.math.ceil
 import kotlin.math.floor
@@ -44,7 +44,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
     // 是否已进入到路口(停止线处)
     private var isEnter = false
 
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
 
     companion object {
 
@@ -84,7 +84,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
 
     fun listenTrafficLight() {
         CallerTrafficLightListenerManager.addListener(TAG, this)
-        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
         CallVipSetListenerManager.addListener(TAG, this)
     }
 
@@ -100,7 +100,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
         // 路口100m闯红灯预警
         mLocation?.let {
             // 单位m/s
-            val speed = it.vehicleSpeed
+            val speed = it.gnssSpeed
             // 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
             CallerLogger.d("$M_V2X$TAG", "speed is:$speed")
             if (speed <= 2.5f) return// 小于等于9km/h不处理
@@ -218,11 +218,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
             CallerHmiManager.warningV2X(
                 EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
                 EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.content,
-                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.tts,
-                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                null,
-                true,
-                5000L
+                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.tts
             )
         }
     }
@@ -258,11 +254,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
             CallerHmiManager.warningV2X(
                 EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
                 content,
-                tts,
-                EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
-                null,
-                true,
-                5000L
+                tts
             )
         }
     }
@@ -274,10 +266,10 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
     fun onDestroy() {
         CallVipSetListenerManager.removeListener(TAG)
         CallerTrafficLightListenerManager.removeListener(TAG)
-        CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLocation = it
         }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt

@@ -3,11 +3,12 @@ package com.mogo.eagle.function.biz.v2x.trafficlight.core
 import android.content.Context
 import android.os.Handler
 import android.os.Looper
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_LOOP_SEARCH_CROSS_ROAD
@@ -15,7 +16,6 @@ import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandl
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_CROSS_ROAD
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT
 import com.mogo.eagle.function.biz.v2x.trafficlight.network.TrafficLightNetWorkModel
-import mogo.telematics.pad.MessagePad
 
 class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
@@ -30,7 +30,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
     private var mContext: Context? = null
     private val trafficLightNetWorkModel = TrafficLightNetWorkModel()
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
     private var roadIDResult: RoadIDResult? = null
     private var trafficLightResult: TrafficLightResult? = null
 
@@ -41,7 +41,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
     fun initServer(context: Context) {
         mContext = context
-        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
         mThreadHandler =
             TrafficLightThreadHandler(Looper.getMainLooper(), {
                 //第一次查询路口时，如果红绿灯显示，则隐藏掉
@@ -75,7 +75,6 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
                     trafficLightNetWorkModel.requestTrafficLight(
                         it.latitude, it.longitude, it.heading, road, { result ->
                             trafficLightResult = result
-//                            TrafficLightHMIManager.INSTANCE.updateTrafficLight(result)
                             CallerTrafficLightListenerManager.invokeTrafficLightStatus(result)
                         },
                         { errorMsg ->
@@ -174,7 +173,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
         trafficLightResult = null
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLocation = it
             checkOutOfRange()

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/VipCarManager.kt

@@ -19,13 +19,12 @@ import com.mogo.eagle.core.data.trafficlight.currentRoadTrafficLight
 import com.mogo.eagle.core.data.trafficlight.isGreen
 import com.mogo.eagle.core.data.trafficlight.isRed
 import com.mogo.eagle.core.data.v2x.VipMessage
-import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
-import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallVipSetListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -211,15 +210,13 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
                             showWarning(
                                 EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_EXTEND.poiType,
                                 EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_EXTEND.content,
-                                EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_EXTEND.tts,
-                                EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_EXTEND.poiType
+                                EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_EXTEND.tts
                             )
                         } else {
                             showWarning(
                                 EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_PASS.poiType,
                                 EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_PASS.content,
-                                EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_PASS.tts,
-                                EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_PASS.poiType
+                                EventTypeEnumNew.TYPE_VIP_IDENTIFICATION_PASS.tts
                             )
                         }
                         return@turnLightToGreen
@@ -230,8 +227,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
                         showWarning(
                             EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.poiType,
                             EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.content + ", 稍后重试",
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.tts,
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.poiType
+                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.tts
                         )
                         return@turnLightToGreen
                     }
@@ -251,8 +247,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
                         showWarning(
                             EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.poiType,
                             EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.content + time,
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.tts,
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.poiType
+                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.tts
                         )
                     } else {
                         CallerLogger.d(
@@ -272,7 +267,6 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
         v2xType: String,
         alertContent: CharSequence,
         ttsContent: String,
-        tag: String
     ) {
         if (alertContent.toString().isEmpty() || ttsContent.isEmpty()) {
             Log.d("MsgBox-VipCarManager", "alertContent或ttsContent为空!")
@@ -280,15 +274,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
         CallerMsgBoxManager.saveMsgBox(
             MsgBoxBean(MsgBoxType.V2X, V2XMsg(v2xType, alertContent.toString(), ttsContent))
         )
-        CallerHmiManager.warningV2X(
-            v2xType, alertContent, ttsContent, tag,
-            object : IMoGoWarningStatusListener {
-                override fun onShow() {}
-                override fun onDismiss() {}
-            },
-            true,
-            5000L
-        )
+        CallerHmiManager.warningV2X(v2xType, alertContent, ttsContent)
     }
 
     fun destroy() {

core/function-impl/mogo-core-function-chat/src/main/java/com/mogo/eagle/core/function/chat/facade/MoGoChatFacade.kt

@@ -15,7 +15,7 @@ import com.mogo.eagle.core.function.api.chat.biz.IMCallType.CALL_TYPE_DEFAULT
 import com.mogo.eagle.core.function.api.chat.biz.IMCallType.CALL_TYPE_VEHICLE_TEAM
 import com.mogo.eagle.core.function.api.chat.biz.IMCallType.CALL_TYPE_VOICE
 import com.mogo.eagle.core.function.api.chat.biz.IMType.*
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.chat.facade.analytics.ChatAnalyticsFacade
 import com.mogo.eagle.core.function.chat.facade.audio.AudioFocusFacade
 import com.mogo.eagle.core.function.chat.facade.bridge.BridgeApi
@@ -581,7 +581,7 @@ object MoGoChatFacade: IMoGoChatFacade {
             }
             //告之服务器给发送方下发接收通话消息
             try {
-                val location = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
+                val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
                 val response = serverApi.requestConnectStatus(ConnectStatusParam(MoGoAiCloudClientConfig.getInstance().sn, sn, roomId, PUSH_MSG_AGREE_ENTER, CALL_TYPE_VOICE.type).also {
                     it.nickName = mySelf.get().name
                     it.headImgUrl = mySelf.get().icon
@@ -812,7 +812,7 @@ object MoGoChatFacade: IMoGoChatFacade {
             }
             val response = serverApi.inviteJoinVehicleTeam(CallRequestParam().also {
                 val user = mySelf.get()
-                val location = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
+                val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
                 it.snSender = mySn
                 it.snReceiver = sn
                 it.nickName = user.name
@@ -958,7 +958,7 @@ object MoGoChatFacade: IMoGoChatFacade {
             }
             //告之服务器给发送方下发接收通话消息
             try {
-                val location = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
+                val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
                 val response = serverApi.requestConnectStatus(ConnectStatusParam(MoGoAiCloudClientConfig.getInstance().sn, sn, roomId, PUSH_MSG_AGREE_ENTER, CALL_TYPE_VEHICLE_TEAM.type).also {
                     it.nickName = mySelf.get().name
                     it.headImgUrl = mySelf.get().icon

core/function-impl/mogo-core-function-chat/src/main/java/com/mogo/eagle/core/function/chat/facade/net/ChatServiceModel.kt

@@ -8,7 +8,7 @@ import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.data.chat.UserInfo
 import com.mogo.eagle.core.function.api.chat.biz.ChatConsts
 import com.mogo.eagle.core.function.api.chat.biz.IMCallType.CALL_TYPE_VOICE
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.chat.facade.net.bean.*
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
@@ -69,7 +69,7 @@ internal class ChatServiceModel {
         val map = hashMapOf<String, String>()
         val sn = MoGoAiCloudClientConfig.getInstance().sn
 
-        val location = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
+        val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
         if (location != null) {
             params.lon = location.longitude
             params.lat = location.latitude
@@ -103,7 +103,7 @@ internal class ChatServiceModel {
 
     suspend fun requestRoomInfo(param: CallRequestParam): BaseResponse<RoomInfo> {
         val map = hashMapOf<String, String>()
-        val location = CallerChassisLocationGCJ20ListenerManager.getChassisLocationGCJ02()
+        val location = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
         if (location != null) {
             param.lat = location.latitude
             param.lon = location.longitude

core/function-impl/mogo-core-function-datacenter/build.gradle

@@ -57,6 +57,7 @@ dependencies {
     implementation rootProject.ext.dependencies.mogoaicloudtelematic
 
     implementation rootProject.ext.dependencies.mogoobu
+    implementation rootProject.ext.dependencies.amapnavi3dmap
 
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
         implementation rootProject.ext.dependencies.mogo_core_data

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

@@ -4,6 +4,9 @@ import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.datacenter.IDataCenterProvider
+import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher
+import com.mogo.eagle.core.function.datacenter.v2x.SpeedLimitDispatcher
+import com.mogo.eagle.core.function.datacenter.v2x.TrafficLightDispatcher
 
 @Route(path = MogoServicePaths.PATH_DATA_CENTER_MODULE)
 class DataCenterProvider: IDataCenterProvider {
@@ -12,10 +15,16 @@ class DataCenterProvider: IDataCenterProvider {
         get() = "DataCenterProvider"
 
     override fun init(context: Context?) {
+        MoGoLocationDispatcher.initListener()
 
+        context?.let {
+            TrafficLightDispatcher.INSTANCE.initServer(it)
+            SpeedLimitDispatcher.INSTANCE.initLimit(it)
+        }
     }
 
     override fun onDestroy() {
-
+        TrafficLightDispatcher.INSTANCE.destroy()
+        SpeedLimitDispatcher.INSTANCE.destroy()
     }
 }

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

@@ -21,7 +21,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
@@ -52,6 +52,7 @@ import com.zhidao.support.adas.high.OnMultiDeviceListener
 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.zhidao.support.adas.high.common.MogoReport
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
@@ -67,8 +68,9 @@ import java.util.concurrent.TimeUnit
  * @date 2021/9/22 8:43 下午
  */
 @Route(path = MogoServicePaths.PATH_AUTO_PILOT)
-class MoGoAutopilotProvider :
-    IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
+class MoGoAutopilotControlProvider :
+    IMoGoAutopilotControlProvider,
+    IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
     IMoGoAutopilotCarConfigListener {
     private val TAG = "MoGoAutoPilotProvider"
     private var mContext: Context? = null
@@ -104,6 +106,7 @@ class MoGoAutopilotProvider :
                 .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
                 .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                 .setClient(false)
+                .setIdentityMode(FunctionBuildConfig.appIdentityMode)
 //                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
                 .build()
 
@@ -194,6 +197,7 @@ class MoGoAutopilotProvider :
                                 val options = AdasOptions
                                     .Builder()
                                     .setClient(true)
+                                    .setIdentityMode(FunctionBuildConfig.appIdentityMode)
                                     .build()
                                 AdasManager.getInstance()
                                     .create(options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -221,6 +225,7 @@ class MoGoAutopilotProvider :
             .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
             .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
             .setClient(false)// 乘客端直连工控机改为false
+            .setIdentityMode(FunctionBuildConfig.appIdentityMode)
             .build()
         AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
         //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////
@@ -716,7 +721,20 @@ class MoGoAutopilotProvider :
     }
 
     override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
-        Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----")
         AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd)
     }
+
+    override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
+        if (isDrawPointCloud) {
+            AdasManager.getInstance().subscribeInterface(
+                Constants.TERMINAL_ROLE.DRIVER,
+                Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
+                MessageType.TYPE_RECEIVE_POINT_CLOUD)
+        } else {
+            AdasManager.getInstance().subscribeInterface(
+                Constants.TERMINAL_ROLE.DRIVER,
+                Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
+                MessageType.TYPE_RECEIVE_POINT_CLOUD)
+        }
+    }
 }

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

@@ -45,8 +45,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
@@ -61,7 +59,6 @@ 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.AutopilotAbility
 import com.zhidao.support.adas.high.bean.AutopilotStatistics
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.service.chain.ChainLog
@@ -135,10 +132,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
             clientPkFileName = "sn"
     )
     override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
-        // WGS84坐标系高精度位置信息
-        invokeChassisLocationWGS84(gnssInfo)
-        // GCJ02高德坐标系位置信息
-        invokeChassisLocationGCJ02(gnssInfo)
+        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
+
         if (gnssInfo != null) {
             if (1 == FunctionBuildConfig.gpsProvider) {
                 // 同步给MAP地图
@@ -614,8 +609,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
      */
-    override fun onAutopilotAbility(ability: AutopilotAbility?) {
-        invokeAutopilotAbility(ability)
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
+        invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
     }
 
     /**

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

@@ -5,7 +5,7 @@ import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -52,13 +52,13 @@ class MoGoAdasMsgConnectStatusListenerImpl :
             // 同步SN给工控机
             syncBasicInfoToAutopilot()
             //每次工控机连接成功后，需同步当前设置的美化模式状态
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             //当连接状态是关闭美化模式时，同步给工控机
             if (!FunctionBuildConfig.isDemoMode) {
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
             }
             //每次工控机连接成功后，需同步当前设置的雨天模式状态
-            CallerAutoPilotManager.setRainMode(FunctionBuildConfig.isRainMode)
+            CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接失败 reason:$reason")
             if (connectStatus) {

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

@@ -1,9 +1,9 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.server
 
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
-import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 
 /**
  * @author xiaoyuzhou
@@ -26,6 +26,6 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
     }
 
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
-        CallerAutoPilotManager.sendTrafficLightData(trafficLightResult)
+        CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
     }
 }

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

@@ -8,9 +8,9 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -174,7 +174,7 @@ class TeleMsgHandler : IMsgHandler {
 
     private fun queryCarConfig() {
         invokeNettyConnResult("乘客屏请求司机屏向工控机查询配置信息")
-        CallerAutoPilotManager.getCarConfig()
+        CallerAutoPilotControlManager.getCarConfig()
     }
 
     override fun handleClientConn2Server(channel: Channel?) {

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/IMoGoLocationListener.kt

@@ -1,16 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.location
-
-import com.mogo.eagle.core.data.enums.DataSourceType
-import mogo.telematics.pad.MessagePad
-
-/**
- * 位置回调监听
- */
-interface IMoGoLocationListener {
-    /**
-     * 位置改变回调用
-     * @param gnssInfo 位置信息
-     * @param sourceType 数据来源
-     */
-    fun onLocationChanged(gnssInfo: MessagePad.GnssInfo, sourceType: DataSourceType)
-}