Merge branch 'dev_robotaxi-d_230912_6.1.0' into dev_minibus-d_230919_6.1.0

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

@@ -118,7 +118,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
                 "$M_V2X$TAG",
                 "路口经度为：${trafficLightResult.lon}，纬度为：${trafficLightResult.lat}；车的经度为：${it.longitude}，纬度为：${it.latitude}；两点距离为：${distance}"
             )
-            val remainTime = trafficLightStatus.remain
+            val remainTime = trafficLightStatus.time()
             val arriveTime = distance / speed
             CallerLogger.d(
                 "$M_V2X$TAG",
@@ -235,7 +235,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
                 EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
                 speed
             )
-            if (content.isNullOrEmpty() || tts.isNullOrEmpty()) {
+            if (content.isEmpty() || tts.isEmpty()) {
                 Log.d("MsgBox-RedLightWarManaG", "alertContent或ttsContent为空!")
             }
             CallerMsgBoxManager.saveMsgBox(
@@ -263,8 +263,8 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
         CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
-        gnssInfo?.let {
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        mogoLocation?.let {
             mLocation = it
         }
     }

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

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.data.biz.trafficlight.isInRange
 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.CallerChassisLocationGCJ02ListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 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
@@ -21,7 +21,8 @@ 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_TRAFFIC_LIGHT
 import com.mogo.eagle.function.biz.v2x.trafficlight.network.TrafficLightNetWorkModel
 
-class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
+class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener,
+    CallerMapRoadListenerManager.OnRoadListener {
 
     companion object {
 
@@ -40,7 +41,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
     private var roadIDResult: RoadIDResult? = null
     @Volatile
     private var trafficLightResult: TrafficLightResult? = null
-
+    @Volatile
     private var inRange: Boolean = false
     @Volatile
     private var firstLoopCrossRoad: Boolean = true //开启循环请求路口
@@ -50,6 +51,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
     fun initServer(context: Context) {
         mContext = context
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+        CallerMapRoadListenerManager.registerRoadListener(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
@@ -119,29 +121,46 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
         mThreadHandler?.sendEmptyMessageDelayed(MSG_WHAT_LOOP_SEARCH_CROSS_ROAD, 5_000L)
     }
 
+    override fun onRoadChange(cross: Boolean) {
+        super.onRoadChange(cross)
+        if(!cross){
+            outOfCrossRange()
+        }
+    }
+
     private fun checkOutOfRange() {
         mLocation?.let { loc ->
             roadIDResult?.let {
                 // 检测是否开过路口，开过路口则停止读灯。并重置 trafficLightResult 值为 null
                 if (trafficLightResult != null && it.isInRange(loc.latitude, loc.longitude)) {
+                    if(inRange){
+                        return
+                    }
                     inRange = true
-//                    CallerLogger.d(M_V2X + TAG, "进入路口")
+                    CallerLogger.d(M_V2X + TAG, "进入路口")
                     CallerTrafficLightListenerManager.invokeEnterCrossRoad(true)
                     return
                 }
                 if (inRange) {
-//                    CallerLogger.d(M_V2X + TAG, "离开路口")
-                    CallerTrafficLightListenerManager.invokeEnterCrossRoad(false)
-                    inRange = false
-                    trafficLightResult = null
-                    firstLoopCrossRoad = true
-                    mThreadHandler?.sendEmptyMessage(MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT)
-                    CallerTrafficLightListenerManager.resetTrafficLightStatus()
+                    outOfCrossRange()
                 }
             }
         }
     }
 
+    private fun outOfCrossRange(){
+        CallerLogger.d(M_V2X + TAG, "离开路口 , inRange:$inRange")
+        if(!inRange){
+            return
+        }
+        CallerTrafficLightListenerManager.invokeEnterCrossRoad(false)
+        inRange = false
+        trafficLightResult = null
+        firstLoopCrossRoad = true
+        mThreadHandler?.sendEmptyMessage(MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT)
+        CallerTrafficLightListenerManager.resetTrafficLightStatus()
+    }
+
     fun getRoadResult(): RoadIDResult? {
         return roadIDResult
     }

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

@@ -4,12 +4,12 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.HostConst
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.data.biz.trafficlight.*
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.network.apiCall
 import com.mogo.eagle.core.network.cancel
 import com.mogo.eagle.core.network.request
 import com.mogo.eagle.core.utilcode.util.GsonUtils
+import com.mogo.map.MogoData.Companion.mogoMapData
 
 class TrafficLightNetWorkModel {
 
@@ -28,8 +28,7 @@ class TrafficLightNetWorkModel {
         request<BaseResponse<RoadIDResult>>("requestRoadID") {
             loader {
                 apiCall {
-                    val tileId = CallerMapUIServiceManager.getMapUIController()
-                        ?.getTileId(lon, lat) ?: 0
+                    val tileId = mogoMapData.get()?.getTileId(lon, lat)?:0
                     val map = hashMapOf<String, String>()
                     val roadIDRequestData = RoadIDRequestData(tileId, lat, lon, bearing)
                     map["sn"] = MoGoAiCloudClientConfig.getInstance().sn

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/impl/V2XScenarioManager.java

@@ -1,8 +1,7 @@
 package com.mogo.eagle.function.biz.v2x.v2n.scenario.impl;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
-
-import androidx.localbroadcastmanager.content.LocalBroadcastManager;
+import static com.mogo.map.MogoMap.DEFAULT;
 
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.eagle.core.data.config.HmiBuildConfig;
@@ -25,24 +24,19 @@ import com.mogo.map.uicontroller.VisualAngleMode;
  * version: 1.0
  */
 public class V2XScenarioManager implements IV2XScenarioManager {
-    private static V2XScenarioManager mV2XScenarioManager;
     private static final String TAG = "V2XScenarioManager";
     private AbsV2XScenario mV2XScenario = null;
 
     private V2XScenarioManager() {
     }
 
-    public static V2XScenarioManager getInstance() {
-        if (mV2XScenarioManager == null) {
-            synchronized (V2XScenarioManager.class) {
-                if (mV2XScenarioManager == null) {
-                    mV2XScenarioManager = new V2XScenarioManager();
-                }
-            }
-        }
-        return mV2XScenarioManager;
+    private static final class MV2XScenarioManagerHolder {
+        static final V2XScenarioManager mV2XScenarioManager = new V2XScenarioManager();
     }
 
+    public static V2XScenarioManager getInstance() {
+        return MV2XScenarioManagerHolder.mV2XScenarioManager;
+    }
 
     @Override
     public void handlerMessage(V2XMessageEntity v2XMessageEntity) {
@@ -93,7 +87,7 @@ public class V2XScenarioManager implements IV2XScenarioManager {
      * 道路事件触发后,切换到中景
      */
     private void sceneChange() {
-        IMogoMapUIController mapUiController = CallerMapUIServiceManager.INSTANCE.getMapUIController();
+        IMogoMapUIController mapUiController = CallerMapUIServiceManager.INSTANCE.getMapUIController(DEFAULT);
         if (mapUiController != null && mapUiController.getCurrentMapVisualAngle() != VisualAngleMode.MODE_MEDIUM_SIGHT) {
             mapUiController.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
         }

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt

@@ -18,11 +18,13 @@ import com.mogo.eagle.function.biz.v2x.v2n.consts.V2XConst
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road.V2XAiRoadEventMarker
-import com.mogo.map.MogoMap
+import com.mogo.map.MogoData.Companion.mogoMapData
 import com.mogo.map.overlay.core.Level.ROAD_CENTER_LINE
-import com.mogo.map.overlay.line.*
+import com.mogo.map.overlay.line.Polyline
+import com.zhidaoauto.map.data.road.CenterLine
 import java.util.*
 import java.util.concurrent.ConcurrentHashMap
+import java.util.concurrent.atomic.AtomicInteger
 import java.util.concurrent.atomic.AtomicReference
 
 /**
@@ -33,9 +35,9 @@ class AiRoadMarker {
     companion object {
         @JvmField
         val aiMakers = ConcurrentHashMap<String, AiRoadMarker>()
-    }
 
-    private val TAG = "AiRoadMarker"
+        private const val TAG = "AiRoadMarker"
+    }
 
     private val marker by lazy { AtomicReference<Marker>() }
 
@@ -49,20 +51,26 @@ class AiRoadMarker {
     private val roadMarker by lazy { V2XAiRoadEventMarker() }
 
     private val line = AtomicReference<Polyline>()
+    private val countDown = AtomicInteger(0)
 
     private val handler by lazy {
         Handler(Looper.getMainLooper())
     }
 
     private val v2nDrawHandler by lazy {
-        HandlerThread("v2n_draw_thread").let { it.start(); Handler(it.looper)}
+        HandlerThread("v2n_draw_thread").let { it.start(); Handler(it.looper) }
     }
 
     private val checkExpiredTask = Runnable {
         val poi = this.marker.get()
         val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
         if (poi != null) {
-            val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
+            val distance = CoordinateUtils.calculateLineDistance(
+                car.longitude,
+                car.latitude,
+                poi.poi_lon,
+                poi.poi_lat
+            )
             if (distance < 500) {
                 unMarker(poi)
             }
@@ -70,7 +78,8 @@ class AiRoadMarker {
     }
 
     private val builder by lazy {
-        Polyline.Options.Builder(V2XConst.V2X_MARKER_OWNER, ROAD_CENTER_LINE).setIsGradient(true).setWidth(50f).setUseGps(true)
+        Polyline.Options.Builder(V2XConst.V2X_MARKER_OWNER, ROAD_CENTER_LINE).setIsGradient(true)
+            .setWidth(50f).setUseGps(true)
     }
 
     fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false) {
@@ -83,99 +92,130 @@ class AiRoadMarker {
             }
             if (drawRoadLine) {
                 //施工中心点前方的自车行驶方向上300米距离
-                val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
+                var l1: CenterLine? = null
+                var l2: CenterLine? = null
+                mogoMapData.get()?.getCenterLineRangeInfo(
                     marker.poi_lon,
                     marker.poi_lat,
                     location.heading.toFloat(),
-                    300f
-                )
-                //施工中心点后方的自车行驶方向上300米距离
-                V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", l1)
-                val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
-                    marker.poi_lon,
-                    marker.poi_lat,
-                    location.heading.toFloat(),
-                    -300f
-                )
-                if (l1.points.isEmpty() || l2.points.isEmpty()) {
-                    V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
-                    return@post
-                }
-                V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
-                val points = LinkedList<MogoLatLng>()
-                if (l2 != null && l2.points.isNotEmpty()) {
-                    points.addAll(l2.points.reversed().map {
-                        MogoLatLng(it.second, it.first)
+                    300f, call = { result ->
+                        //施工中心点后方的自车行驶方向上300米距离
+                        result?.let {
+                            V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", it)
+                            l1 = result
+                        }
+                        countDown.incrementAndGet()
+                        realMark(marker, wrapper, l1, l2, location.heading)
                     })
-                }
-                val centerX = marker.poi_lon
-                val centerY = marker.poi_lat
-                V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
-                val farthestPoint = marker.polygon?.let {
-                    var find: Pair<Double, Double> = Pair(centerX, centerY)
-                    var min = Long.MAX_VALUE
-                    for (p in it) {
-                        val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
-                            centerX,
-                            centerY,
-                            p.first,
-                            p.second,
-                            location.heading
-                        )
-                        if (angle < min) {
-                            min = angle
-                            find = p
+                mogoMapData.get()?.getCenterLineRangeInfo(
+                    marker.poi_lon,
+                    marker.poi_lat,
+                    location.heading.toFloat(),
+                    -300f, call = { result ->
+                        result?.let {
+                            V2XBizTrace.onAck("$TAG --- marker --- 3 --- l2:", it)
+                            l2 = result
                         }
-                    }
-                    MogoLatLng(find.second, find.first)
-                } ?: MogoLatLng(centerY, centerX)
-                marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
-                V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
-                if (l1 != null && l1.points.isNotEmpty()) {
-                    for (l in l1.points) {
-                        if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
-                                farthestPoint.lon,
-                                farthestPoint.lat,
-                                l.first,
-                                l.second,
-                                (location.heading + 180)
-                            ) < 90L
-                        ) {
-                            points.add(l.let { MogoLatLng(it.second, it.first) })
-                        }
-                    }
-                }
-                if (points.size <= 1) {
-                    return@post
-                }
-                val evaluator = ArgbEvaluator()
-                val interceptor = DecelerateInterpolator(1.5f)
-                val total = points.size
-                val colors = ArrayList<Int>()
-                (0..total).forEach { i ->
-                    colors += evaluator.evaluate(
-                        interceptor.getInterpolation(i * 1f / total),
-                        START_COLOR,
-                        END_COLOR
-                    ) as Int
-                }
-                builder.points(points)
-                builder.colors(colors)
-                builder.setVisible(true)
-                V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
-                val line = overlayManager?.showOrUpdateLine(builder.build())
-                if (line != null) {
-                    this.line.set(line)
-                    wrapper.addLine(line)
-                }
+                        countDown.incrementAndGet()
+                        realMark(marker, wrapper, l1, l2, location.heading)
+                    })
             }
-            wrapper.onRemoved = { id ->
-                aiMakers.remove(id)
-            }
-            MarkerRemoveManager.addMarker(wrapper)
         }
     }
 
+    @Synchronized
+    private fun realMark(
+        marker: Marker,
+        wrapper: MarkerWrapper,
+        l1: CenterLine?,
+        l2: CenterLine?,
+        heading: Double
+    ) {
+        if (countDown.get() != 2) {
+            return
+        }
+        if (l1 == null || l2 == null) {
+            V2XBizTrace.onAck("$TAG --- marker --- 3 --- line null return ----", "")
+            return
+        }
+        if (l1.points.isEmpty() || l2.points.isEmpty()) {
+            V2XBizTrace.onAck("$TAG --- marker --- 3 --- line points null return ----", "")
+            return
+        }
+        V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
+        val points = LinkedList<MogoLatLng>()
+        if (l2.points.isNotEmpty()) {
+            points.addAll(l2.points.reversed().map {
+                MogoLatLng(it.latitude, it.longitude)
+            })
+        }
+        val centerX = marker.poi_lon
+        val centerY = marker.poi_lat
+        V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
+        val farthestPoint = marker.polygon?.let {
+            var find: Pair<Double, Double> = Pair(centerX, centerY)
+            var min = Long.MAX_VALUE
+            for (p in it) {
+                val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                    centerX,
+                    centerY,
+                    p.first,
+                    p.second,
+                    heading
+                )
+                if (angle < min) {
+                    min = angle
+                    find = p
+                }
+            }
+            MogoLatLng(find.second, find.first)
+        } ?: MogoLatLng(centerY, centerX)
+        marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
+        V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
+        if (l1.points.isNotEmpty()) {
+            for (l in l1.points) {
+                if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                        farthestPoint.lon,
+                        farthestPoint.lat,
+                        l.longitude,
+                        l.latitude,
+                        (heading + 180)
+                    ) < 90L
+                ) {
+                    points.add(l.let { MogoLatLng(it.latitude, it.longitude) })
+                }
+            }
+        }
+        if (points.size <= 1) {
+            return
+        }
+        val evaluator = ArgbEvaluator()
+        val interceptor = DecelerateInterpolator(1.5f)
+        val total = points.size
+        val colors = ArrayList<Int>()
+        (0..total).forEach { i ->
+            colors += evaluator.evaluate(
+                interceptor.getInterpolation(i * 1f / total),
+                START_COLOR,
+                END_COLOR
+            ) as Int
+        }
+        builder.points(points)
+        builder.colors(colors)
+        builder.setVisible(true)
+        V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
+        val line = overlayManager?.showOrUpdateLine(builder.build())
+        if (line != null) {
+            this.line.set(line)
+            wrapper.addLine(line)
+        }
+        wrapper.onRemoved = { id ->
+            aiMakers.remove(id)
+        }
+        MarkerRemoveManager.addMarker(wrapper)
+        countDown.set(0)
+    }
+
     private fun removeLine() {
         val old = line.get()
         V2XBizTrace.onAck("$TAG --- removeRedLine --- 1", "")
@@ -202,7 +242,12 @@ class AiRoadMarker {
         val poi = this.marker.get()
         val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
         if (poi != null) {
-            val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
+            val distance = CoordinateUtils.calculateLineDistance(
+                car.longitude,
+                car.latitude,
+                poi.poi_lon,
+                poi.poi_lat
+            )
             V2XBizTrace.onAck(
                 "$TAG --- receive --- 2 ---",
                 "car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance"

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java

@@ -1,6 +1,7 @@
 package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
+import static com.mogo.map.MogoMap.DEFAULT;
 
 import androidx.core.util.Pair;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
@@ -54,7 +55,7 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
                                         .longitude(entity.getLocation().getLon())
                                         .latitude(entity.getLocation().getLat())
                                         .set3DMode(true)
-                                        .icon3DRes(EventTypeEnumNew.getMarker3DRes(entity.getPoiType())).build());
+                                        .icon3DRes(EventTypeEnumNew.getMarker3DRes(entity.getPoiType())).build(),DEFAULT);
                         if (point != null) {
                             V2XBizTrace.Companion.onAck("V2XRoadEventMarker -> --- add Marker type: ", entity.getPoiType());
                             ArrayList<Point> markers = new ArrayList<>();

core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2XEventAnalyticsManager.kt

@@ -5,8 +5,6 @@ import com.mogo.commons.utils.MogoAnalyticUtils
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.enums.CommunicationType
 import com.mogo.eagle.core.data.enums.DataSourceType
-import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.api.biz.IFuncBizProvider
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizListenerManager
@@ -17,7 +15,7 @@ import java.util.concurrent.atomic.AtomicBoolean
 /**
  * V2X消息播报埋点统计
  */
-object V2XEventAnalyticsManager: IMoGoChassisLocationWGS84Listener,IFuncBizProvider{
+object V2XEventAnalyticsManager: IFuncBizProvider{
 
     private const val TAG = "V2XEventAnalyticsManager"
     private val hasInit by lazy { AtomicBoolean(false) }
@@ -38,10 +36,6 @@ object V2XEventAnalyticsManager: IMoGoChassisLocationWGS84Listener,IFuncBizProvi
     private const val EVENT_PARAMS_LATITUDE ="latitude" // 纬度
     private const val EVENT_PARAMS_HEADING ="heading" // 航向角
 
-    private var longitude: Double?=null //经度
-    private var latitude: Double?=null //纬度
-    private var heading: Double?=null //航向角
-
     private var oldTime = System.currentTimeMillis()
 
     fun init(){
@@ -52,13 +46,11 @@ object V2XEventAnalyticsManager: IMoGoChassisLocationWGS84Listener,IFuncBizProvi
 
     private fun registerListener(){
         // 添加 ADAS车辆状态&定位 监听
-        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
         CallerFuncBizListenerManager.addListener(TAG,this)
     }
 
     private fun unRegisterListener(){
         // 移除 ADAS车辆状态&定位 监听
-        CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
         CallerFuncBizListenerManager.removeListener(TAG)
     }
 
@@ -87,9 +79,9 @@ object V2XEventAnalyticsManager: IMoGoChassisLocationWGS84Listener,IFuncBizProvi
         msgEventParams[EVENT_PARAMS_PLATE_NUMBER] =  AppConfigInfo.plateNumber //车牌号
         msgEventParams[EVENT_PARAMS_CAR_SN] = MoGoAiCloudClientConfig.getInstance().sn //鹰眼SN
         msgEventParams[EVENT_PARAMS_EYE_VERSION] = AppUtils.getAppVersionName() //鹰眼版本
-        msgEventParams[EVENT_PARAMS_LONGITUDE] = "$longitude" //经度
-        msgEventParams[EVENT_PARAMS_LATITUDE] = "$latitude" //纬度
-        msgEventParams[EVENT_PARAMS_HEADING] = "$heading" //航向角
+        msgEventParams[EVENT_PARAMS_LONGITUDE] = "${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude}" //经度
+        msgEventParams[EVENT_PARAMS_LATITUDE] = "${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude}" //纬度
+        msgEventParams[EVENT_PARAMS_HEADING] = "${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().heading}" //航向角
         MogoAnalyticUtils.track(EVENT_KEY_RECEIVE_V2X_MSG,msgEventParams)
     }
 
@@ -109,20 +101,12 @@ object V2XEventAnalyticsManager: IMoGoChassisLocationWGS84Listener,IFuncBizProvi
         msgEventParams[EVENT_PARAMS_PLATE_NUMBER] =  AppConfigInfo.plateNumber //车牌号
         msgEventParams[EVENT_PARAMS_CAR_SN] = MoGoAiCloudClientConfig.getInstance().sn //鹰眼SN
         msgEventParams[EVENT_PARAMS_EYE_VERSION] = AppUtils.getAppVersionName() //鹰眼版本
-        msgEventParams[EVENT_PARAMS_LONGITUDE] = "$longitude" //经度
-        msgEventParams[EVENT_PARAMS_LATITUDE] = "$latitude" //纬度
-        msgEventParams[EVENT_PARAMS_HEADING] = "$heading" //航向角
+        msgEventParams[EVENT_PARAMS_LONGITUDE] = "${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude}" //经度
+        msgEventParams[EVENT_PARAMS_LATITUDE] = "${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude}" //纬度
+        msgEventParams[EVENT_PARAMS_HEADING] = "${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().heading}" //航向角
         MogoAnalyticUtils.track(EVENT_KEY_V2X_MSG_EVENT,msgEventParams)
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        gnssInfo.let {
-            longitude = it.longitude
-            latitude = it.latitude
-            heading = it.heading
-        }
-    }
-
     fun onDestroy(){
         if (hasInit.compareAndSet(true, false)){
             unRegisterListener()

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

@@ -11,6 +11,7 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.biz.trafficlight.currentRoadTrafficLight
 import com.mogo.eagle.core.data.biz.trafficlight.isGreen
+import com.mogo.eagle.core.data.biz.trafficlight.time
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_VIP
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2N
 import com.mogo.eagle.core.data.enums.CommunicationType
@@ -34,6 +35,7 @@ import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.mogo.eagle.function.biz.v2x.v2n.utils.V2XEventAnalyticsManager
 import com.mogo.eagle.function.biz.v2x.vip.network.VipNetWorkModel
 import com.zhjt.service_biz.BizConfig
+import kotlin.math.abs
 
 class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListener,
     Handler.Callback {
@@ -133,7 +135,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
         if (!turnLight) {
             // 首次判断，变灯
             turnLight = true
-            val controlTime = if (currentResult!!.isGreen()) 45 - currentResult.remain else 45
+            val controlTime = if (currentResult!!.isGreen()) 45 - abs(currentResult.time()) else 45
             turnLight(controlTime)
         }
 

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

@@ -140,7 +140,7 @@ class MoGoAutopilotControlProvider :
                             timer = Timer()
                         }
                         // 10s同步一次数据到乘客屏
-                        timer!!.schedule(object : TimerTask() {
+                        timer?.schedule(object : TimerTask() {
                             override fun run() {
                                 // 同步是否开启美化模式
                                 setDemoMode(FunctionBuildConfig.isDemoMode)
@@ -424,7 +424,7 @@ class MoGoAutopilotControlProvider :
     }
 
     override fun cancelAutoPilot() {
-        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
+        if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
             AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
         } else {
             CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶")
@@ -687,10 +687,6 @@ class MoGoAutopilotControlProvider :
 
     /**
      * 获取数据采集录制模式配置列表
-     * @param reqType           0: all,  1:获取当前所有topic列表, 2:配置需要预加载的topic组合
-     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
-     * @param topicsNeedToCache
-     * @return boolean
      */
     override fun sendBagManagerCmd(bagManagerEntity: BagManagerEntity): Boolean {
         val bagManager = BagManagerOuterClass.BagManager

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

@@ -212,7 +212,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * 底盘数据
      *
      * @param header       头
-     * @param vehicleState 数据
+     * @param chassisStates 数据
      */
     @ChainLog(
         linkChainLog = CHAIN_TYPE_SOCKET_VEHICLE,
@@ -492,7 +492,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
         header: MessagePad.Header?,
         spatWarningData: ObuScene.SpatWarningData?
     ) {
-        CallerObuWarningSpatListenerManager.invokeObuSpatWarning(spatWarningData!!)
+        spatWarningData?.let {
+            CallerObuWarningSpatListenerManager.invokeObuSpatWarning(it)
+        }
     }
 
     /**
@@ -505,7 +507,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
         header: MessagePad.Header?,
         rsiWarningData: ObuScene.RsiWarningData?
     ) {
-        CallerObuWarningRsiListenerManager.invokeObuRsiWarning(rsiWarningData!!)
+        rsiWarningData?.let {
+            CallerObuWarningRsiListenerManager.invokeObuRsiWarning(it)
+        }
     }
 
     /**
@@ -518,7 +522,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
         header: MessagePad.Header?,
         rsmWarningData: ObuScene.RsmWarningData?
     ) {
-        CallerObuWarningRsmListenerManager.invokeObuRsmWarning(rsmWarningData!!)
+        rsmWarningData?.let {
+            CallerObuWarningRsmListenerManager.invokeObuRsmWarning(it)
+        }
     }
 
     /**
@@ -528,7 +534,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param mapMatchData 数据
      */
     override fun onObuMapMath(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
-        CallerObuMapMathListenerManager.invokeObuMapMath(mapMatchData!!)
+        mapMatchData?.let {
+            CallerObuMapMathListenerManager.invokeObuMapMath(it)
+        }
     }
 
     /**
@@ -894,13 +902,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
     }
 
     override fun onParallelDrivingAbility(
-        isParallelDrivingAbility: Boolean,
-        unableParallelDrivingReasons: java.util.ArrayList<UnableLaunchReason>?
+        isParallelDrivingAbility: Boolean
     ) {
-        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(
-            isParallelDrivingAbility,
-            unableParallelDrivingReasons
-        )
+        CallerParallelDrivingActionsListenerManager.invokeParallelDrivingAbility(isParallelDrivingAbility)
     }
 
     @ChainLog(

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

@@ -332,7 +332,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             )
             // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
             if (rsmWarningData != null && rsmWarningData.participant != null) {
-                var v2xType = when (rsmWarningData.participant.ptcType) {
+                val v2xType = when (rsmWarningData.participant.ptcType) {
                     1 -> { //机动车
                         EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.poiType
                     }
@@ -434,12 +434,12 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
     fun onMogoObuDcSpatWarning(spatWarningData: ObuScene.SpatWarningData?) {
         CallerLogger.d(
             "${M_OBU}${TAG}",
-            "onMogoObuDcSpatWarning  warningType = ${spatWarningData!!.warningType} --status = ${spatWarningData?.status} --lightsList = ${spatWarningData.lightsList}"
+            "onMogoObuDcSpatWarning  warningType = ${spatWarningData!!.warningType} --status = ${spatWarningData.status} --lightsList = ${spatWarningData.lightsList}"
         )
         handlerTrafficLight(
-            spatWarningData!!.warningType,
-            spatWarningData?.status,
-            spatWarningData?.lightsList
+            spatWarningData.warningType,
+            spatWarningData.status,
+            spatWarningData.lightsList
         )
     }
 
@@ -520,7 +520,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             MogoObuShowConstants.STATUS.ADD,
             MogoObuShowConstants.STATUS.UPDATE
             -> {
-                if (lights != null && lights.isNotEmpty()) {
+                if (lights.isNotEmpty()) {
                     changeTrafficLightStatus(appId, lights)
                 }
             }

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/drawer/TrafficMarkerDrawer.kt

@@ -65,8 +65,8 @@ object TrafficMarkerDrawer {
      * 更新识别数据,V2V预警的时候需要修改车辆颜色
      */
     fun updateITrafficInfo(trafficData: TrafficData) {
-        if (trafficData.uuid != null) {
-            mTrafficMap[trafficData.uuid!!] = trafficData
+        trafficData.uuid?.let {
+            mTrafficMap[it] = trafficData
         }
     }
 
@@ -85,12 +85,12 @@ object TrafficMarkerDrawer {
             tempTraffic.lat = trafficData.lat
             tempTraffic.lon = trafficData.lon
             tempTraffic.heading = trafficData.heading
-            if (trafficData.uuid != null) {
-                mTrafficMap[trafficData.uuid!!] = tempTraffic
+            trafficData.uuid?.let {
+                mTrafficMap[it] = tempTraffic
             }
         } else {
-            if (trafficData.uuid != null) {
-                mTrafficMap[trafficData.uuid!!] = trafficData
+            trafficData.uuid?.let {
+                mTrafficMap[it] = trafficData
             }
         }
     }
@@ -111,12 +111,12 @@ object TrafficMarkerDrawer {
                 tempTraffic.lon = trafficData.lon
                 tempTraffic.heading = trafficData.heading
                 tempTraffic.threatLevel = trafficData.threatLevel
-                if (trafficData.uuid != null) {
-                    mTrafficMap[trafficData.uuid!!] = tempTraffic
+                trafficData.uuid?.let {
+                    mTrafficMap[it] = tempTraffic
                 }
             } else {
-                if (trafficData.uuid != null) {
-                    mTrafficMap[trafficData.uuid!!] = trafficData
+                trafficData.uuid?.let {
+                    mTrafficMap[it] = trafficData
                 }
             }
         }
@@ -197,8 +197,8 @@ object TrafficMarkerDrawer {
 
         // 缓存3D资源
         mMarkerCachesResMd5Values[resIdVal] = options.resName ?: "" // 缓存数据
-        if (trafficData.uuid != null) {
-            mMarkersCaches[trafficData.uuid!!] = point
+        trafficData.uuid?.let {
+            mMarkersCaches[it] = point
         }
     }
 

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt

@@ -293,10 +293,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             "updateTrafficLight ----- currentTrafficLight = $currentTrafficLight"
         )
         currentTrafficLight?.let {
-            val remain = if (it.remain > 99) {
+            val remain = if (it.time() > 99) {
                 99
             } else {
-                it.remain
+                it.time()
             }
             onTrafficLightPlusSource(it.convert(), remain, DataSourceType.AICLOUD)
         }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt

@@ -17,12 +17,10 @@ import com.mogo.eagle.core.data.deva.badcase.BagDescriptionEntity
 import com.mogo.eagle.core.data.deva.badcase.BagInfoEntity
 import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.deva.badcase.RecordCaseEntity
-import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
@@ -37,12 +35,10 @@ import com.zhidao.loglib.upload.UploadManager
 import com.zhidao.loglib.util.FileUtil
 import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.badcase.BadCaseAnalyticsManager
-import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import record_cache.RecordPanelOuterClass
 import java.io.File
 import java.lang.StringBuilder
@@ -55,7 +51,7 @@ import java.util.*
  * @since: 2022/7/13
  */
 class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchListener,
-    IMoGoAutopilotRecordListener, IMoGoChassisLocationWGS84Listener {
+    IMoGoAutopilotRecordListener {
 
     companion object {
         const val TAG = "InitiativeBadCaseWindow"
@@ -94,8 +90,6 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
     private var recordFileName: String?=null //录制文件包名
     private var receiveTime: String?= null
     private var uploadStamp: String = System.currentTimeMillis().toString()
-    private var longitude: Double?=null
-    private var latitude: Double?=null
 
     private var bagManagerEntity: BagManagerEntity = BagManagerEntity()
 
@@ -109,7 +103,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
     private var clickListener: ClickListener? = null
 
     init {
-        initFloatWindow();
+        initFloatWindow()
     }
 
     private val presenter by lazy {
@@ -147,8 +141,6 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
 
         //采集结果回调监听
         CallerAutopilotRecordListenerManager.addListener(this.hashCode().toString(),this)
-        // 添加 ADAS车辆状态&定位 监听
-        CallerChassisLocationWGS84ListenerManager.addListener(this.hashCode().toString(), this)
         viewAudioButton.setOnClickListener {
             audioStatus = !audioStatus
             setAudio(audioStatus)
@@ -309,14 +301,14 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
                 itx["audioUrl"] = downloadUrl?:"" //音频COS地址
                 itx["mapVersion"] = BadCaseConfig.dockerVersion ?:"" //工控机版本
                 itx["eyeVersion"] = AppUtils.getAppVersionName() //鹰眼版本
-                itx["coordinate"] = "latitude:${latitude};longitude:${longitude}" //坐标
+                itx["coordinate"] = "latitude:${getChassisLocationWGS84().latitude};longitude:${getChassisLocationWGS84().longitude}" //坐标
             })
             if (uploadResult == null || uploadResult.code != 200) {
                 TipToast.shortTip("上报失败")
             } else {
                 TipToast.shortTip("上报成功")
                 //将上报BI的结果同步给工控机记录保存
-                recordKey?.let {
+                recordKey.let {
                     val hasAudio = downloadUrl != null
                     val descReqEntity = BagDescriptionEntity(uploadReason.toString(),hasAudio,downloadUrl.toString(),true)
                     bagManagerEntity.reqType = 5
@@ -324,15 +316,16 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
                     bagManagerEntity.descReq = descReqEntity
                     CallerAutoPilotControlManager.sendBagManagerCmd(bagManagerEntity)
                 }
+                val loc = getChassisLocationWGS84()
                 BadCaseAnalyticsManager.bagRecordUpload(recordKey.toString(),recordFileName?:"",uploadStamp,
                     "100",AppConfigInfo.plateNumber,BadCaseConfig.totalDuration.toString(),MoGoAiCloudClientConfig.getInstance().sn,
-                    BadCaseConfig.dockerVersion ?:"",AppUtils.getAppVersionName(),latitude.toString(),longitude.toString(),
+                    BadCaseConfig.dockerVersion ?:"",AppUtils.getAppVersionName(),loc.latitude.toString(),loc.longitude.toString(),
                     BadCaseConfig.identity,downloadUrl?:"",uploadReason.toString(),System.currentTimeMillis().toString(),"1")
                 //日志
                 CallerLogger.i("$M_DEVA$TAG", "BadCase Initiative Analytics="+"key="+recordKey+" filename="+recordFileName+
                         " receiveTime="+uploadStamp+" stat="+"100"+" plateNumber="+AppConfigInfo.plateNumber+
                         " totalDuration="+ BadCaseConfig.totalDuration +" carSn="+MoGoAiCloudClientConfig.getInstance().sn+" mapVersion="+BadCaseConfig.dockerVersion+
-                        " eyeVersion="+AppUtils.getAppVersionName()+" latitude="+ latitude +" longitude="+ longitude+
+                        " eyeVersion="+AppUtils.getAppVersionName()+" latitude="+ loc.latitude +" longitude="+ loc.longitude+
                         " identity="+BadCaseConfig.identity + " downloadUrl="+downloadUrl +" uploadReason="+uploadReason+
                         " uploadTime="+System.currentTimeMillis()+" channel="+"1")
                 BadCaseConfig.windowNum--
@@ -413,8 +406,6 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
     fun hideFloatWindow() {
         //注销采集结果回调监听
         CallerAutopilotRecordListenerManager.removeListener(this.hashCode().toString())
-        // 移除 ADAS车辆状态&定位 监听
-        CallerChassisLocationWGS84ListenerManager.removeListener(this.hashCode().toString())
         if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
     }
 
@@ -440,9 +431,4 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        latitude = gnssInfo.latitude
-        longitude = gnssInfo.longitude
-    }
-
 }

core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt

@@ -6,8 +6,6 @@ import android.graphics.Color
 import android.graphics.PixelFormat
 import android.os.CountDownTimer
 import android.os.Handler
-import android.os.Parcel
-import android.os.Parcelable
 import android.util.DisplayMetrics
 import android.view.*
 import android.widget.CheckBox
@@ -19,10 +17,8 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.deva.badcase.BagDescriptionEntity
 import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
-import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.RecordBagMsg
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -38,7 +34,6 @@ import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import com.zhidao.loglib.upload.UploadManager
 import com.zhidao.loglib.util.FileUtil
 import com.zhjt.mogo_core_function_devatools.badcase.BadCaseAnalyticsManager
@@ -52,7 +47,7 @@ import java.io.File
  * @since: 2022/7/17
  */
 class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListener,
-    IMoGoChassisLocationWGS84Listener, CompoundButton.OnCheckedChangeListener {
+     CompoundButton.OnCheckedChangeListener {
 
     companion object {
         const val TAG = "PassiveBadCaseWindow"
@@ -74,8 +69,6 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
     private var receiveTime: String ?= null //接收时间
     private var stat: String = ""
     private var boxBean: MsgBoxBean ?= null
-    private var longitude: Double = 0.0
-    private var latitude: Double = 0.0
 
     private var mInViewX = 0f
     private var mInViewY = 0f
@@ -100,7 +93,7 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
     private lateinit var flReasonLayout: FlexboxLayout
 
     init {
-        initFloatWindow();
+        initFloatWindow()
     }
 
     private val presenter by lazy {
@@ -126,8 +119,6 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
         BadCaseConfig.windowNum++
         tvPassiveTime.text = "时间：${millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat())}"
         tvPassiveIdentity.text = "身份：${BadCaseConfig.identity}"
-        // 添加 ADAS车辆状态&定位 监听
-        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
         viewAudioButton.setOnClickListener {
             audioStatus = !audioStatus
             setAudio(audioStatus)
@@ -271,7 +262,7 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
                 itx["audioUrl"] = downloadUrl?:"" //音频COS地址
                 itx["mapVersion"] = BadCaseConfig.dockerVersion ?:"" //工控机版本
                 itx["eyeVersion"] = AppUtils.getAppVersionName() //鹰眼版本
-                itx["coordinate"] = "latitude:${latitude};longitude:${longitude}" //坐标
+                itx["coordinate"] = "latitude:${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().latitude};longitude:${CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().longitude}" //坐标
 
             })
             if (uploadResult == null || uploadResult.code != 200) {
@@ -288,15 +279,16 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
                     CallerAutoPilotControlManager.sendBagManagerCmd(bagManagerEntity)
                 }
                 //被动上报埋点统计
+                val loc = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
                 BadCaseAnalyticsManager.bagRecordUpload(recordKey?:"",recordFileName?:"",receiveTime?:System.currentTimeMillis().toString(),
                     stat,AppConfigInfo.plateNumber,BadCaseConfig.totalDuration.toString(),MoGoAiCloudClientConfig.getInstance().sn,
-                    BadCaseConfig.dockerVersion ?:"",AppUtils.getAppVersionName(),latitude.toString(),longitude.toString(),
+                    BadCaseConfig.dockerVersion ?:"",AppUtils.getAppVersionName(),loc.latitude.toString(),loc.longitude.toString(),
                     BadCaseConfig.identity,downloadUrl?:"",uploadReason,System.currentTimeMillis().toString(),"0")
                 //日志
                 CallerLogger.i("$M_DEVA$TAG", "BadCase Passive Analytics="+"key="+recordKey+" filename="+recordFileName+
                         " receiveTime="+receiveTime+" stat="+"100"+" plateNumber="+AppConfigInfo.plateNumber+
                         " totalDuration="+ BadCaseConfig.totalDuration +" carSn="+MoGoAiCloudClientConfig.getInstance().sn+" mapVersion="+BadCaseConfig.dockerVersion+
-                        " eyeVersion="+AppUtils.getAppVersionName()+" latitude="+ latitude +" longitude="+ longitude+
+                        " eyeVersion="+AppUtils.getAppVersionName()+" latitude="+ loc.latitude +" longitude="+ loc.longitude+
                         " identity="+BadCaseConfig.identity + " downloadUrl="+downloadUrl +" uploadReason="+uploadReason+
                         " uploadTime="+System.currentTimeMillis()+" channel="+"0")
                 BadCaseConfig.windowNum--
@@ -390,7 +382,6 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
 
     fun hideFloatWindow() {
         // 移除 ADAS车辆状态&定位 监听
-        CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
         if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
     }
 
@@ -411,9 +402,4 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
         fun closeWindow()
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        latitude = gnssInfo.latitude
-        longitude = gnssInfo.longitude
-    }
-
 }

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

@@ -18,7 +18,6 @@ import com.mogo.eagle.core.function.api.map.deva.IMoGoMapDevaProvider
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
@@ -26,6 +25,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.map.MogoData
 import com.zhidao.loglib.bean.RemoteLogPushContent
 import com.zhidao.loglib.call.LogInfoManagerFactory
 import com.zhidao.loglib.core.ILogListener
@@ -224,7 +224,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
             config.isShowDebugLog = true
             config.isShowNetDebugLog = true
         }
-        CallerMapUIServiceManager.getMapUIController()?.setDebugMode(true)
+//        MogoData.mogoMapData.get()?.setDebugMode(true)
         CallerAutoPilotControlManager.setEnableLog(true)
     }
 
@@ -238,7 +238,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
             config.isShowDebugLog = false
             config.isShowNetDebugLog = false
         }
-        CallerMapUIServiceManager.getMapUIController()?.setDebugMode(false)
+//        MogoData.mogoMapData.get()?.setDebugMode(false)
         CallerAutoPilotControlManager.setEnableLog(false)
     }
 

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/logcatch/LogItemAdapter.java

@@ -23,9 +23,6 @@ import com.mogo.eagle.core.function.hmi.R;
 import com.mogo.eagle.core.function.hmi.ui.utils.SearchCriteria;
 import com.mogo.eagle.core.function.hmi.ui.utils.TagColorUtil;
 
-import me.jessyan.autosize.AutoSizeCompat;
-
-
 public class LogItemAdapter extends AbsRecyclerAdapter<AbsViewBinder<LogLine>, LogLine> implements Filterable {
 
     public LogItemAdapter(Context context) {

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

@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.hmi.ui.map
 
 import android.annotation.SuppressLint
 import android.content.Context
+import android.os.Looper
 import android.view.View
 import android.widget.ImageView
 import android.widget.ProgressBar
@@ -10,16 +11,16 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
-import com.mogo.map.hdcache.IHdCacheListener
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.map.MogoData.Companion.mogoMapData
 import me.jessyan.autosize.utils.AutoSizeUtils
 
 /**
  * 离线地图缓存
  */
-class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
+class OfflineMapDialog(context: Context) : BaseFloatDialog(context) {
 
     private var roundRootLayout: ConstraintLayout? = null
     private var offlineTitleView: TextView? = null
@@ -86,37 +87,29 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
 
         okView?.setOnClickListener {
             if (isLoading) {
-                CallerMapUIServiceManager.cancelDownloadCacheData()
+                mogoMapData.get()?.cancelDownloadCacheData()
             }
             dismiss()
         }
     }
 
     private fun cacheHDDataByCityByLonLat() {
-        CallerMapUIServiceManager.cacheHDDataByCityByLonLat(object : IHdCacheListener {
-            override fun onMapHdCacheProgress(cityId: Int, progress: Double) {
+        mogoMapData.get()?.cacheHDDataByCityByLonLat(location!!, { _, progress ->
                 updateProgress(progress.toInt())
+        }, { _, state ->
+            if (state == 0) {// 失败
+                showNewContent(isLoading = false, false)
             }
-
-            override fun onMapHdCacheResult(cityId: Int, state: Int) {
-                if (state == 0) {// 失败
-                    showNewContent(isLoading = false, false)
-                }
-            }
-        }, location!!)
+        })
     }
 
     private fun cacheHDOfflineData() {
         if (location == null) {// 拿到了高德地图的cityCode
-            CallerMapUIServiceManager.cacheHDDataByCity(object : IHdCacheListener {
-                override fun onMapHdCacheProgress(cityId: Int, progress: Double) {
-                    updateProgress(progress.toInt())
-                }
-
-                override fun onMapHdCacheResult(cityId: Int, state: Int) {
-                    if (state == 0) {// 失败
-                        showNewContent(isLoading = false, false)
-                    }
+            mogoMapData.get()?.cacheHDDataByCity({ _, progress ->
+                updateProgress(progress.toInt())
+            }, { _, state ->
+                if (state == 0) {// 失败
+                    showNewContent(isLoading = false, false)
                 }
             })
         } else {// 只拿到了高精的经纬度
@@ -176,15 +169,18 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
                     isSuccess -> {
                         okView?.visibility = View.VISIBLE
                         okView?.text = context.resources.getString(R.string.ok_tip)
-                        offlineTitleView?.text = context.resources.getString(R.string.offline_download_success)
+                        offlineTitleView?.text =
+                            context.resources.getString(R.string.offline_download_success)
                         progressBar?.visibility = View.GONE
                         downloadPercentView?.visibility = View.GONE
-                        downloadResultImg?.background = ContextCompat.getDrawable(context, R.drawable.download_success_icon)
+                        downloadResultImg?.background =
+                            ContextCompat.getDrawable(context, R.drawable.download_success_icon)
                     }
                     else -> {
                         isRetry = true
                         isConfirm = false
-                        offlineTitleView?.text = context.resources.getString(R.string.offline_download_failure)
+                        offlineTitleView?.text =
+                            context.resources.getString(R.string.offline_download_failure)
                         okView?.visibility = View.GONE
                         progressBar?.visibility = View.GONE
                         downloadPercentView?.visibility = View.GONE
@@ -193,7 +189,8 @@ class OfflineMapDialog(context: Context): BaseFloatDialog(context) {
                         rightView?.visibility = View.VISIBLE
                         vertLineView?.visibility = View.VISIBLE
                         rightView?.text = context.resources.getString(R.string.retry)
-                        downloadResultImg?.background = ContextCompat.getDrawable(context, R.drawable.download_fail_icon)
+                        downloadResultImg?.background =
+                            ContextCompat.getDrawable(context, R.drawable.download_fail_icon)
                     }
                 }
             }

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

@@ -7,7 +7,6 @@ import android.content.ClipboardManager
 import android.content.Context
 import android.content.Intent
 import android.graphics.Color
-import android.net.*
 import android.os.Build
 import android.os.Process
 import android.text.Html
@@ -18,8 +17,8 @@ import androidx.annotation.RequiresApi
 import androidx.appcompat.widget.PopupMenu
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
-import androidx.core.content.FileProvider
-import androidx.core.view.*
+import androidx.core.view.MenuCompat
+import androidx.core.view.isVisible
 import androidx.lifecycle.lifecycleScope
 import chassis.Chassis
 import com.mogo.cloud.passport.MoGoAiCloudClient
@@ -38,19 +37,19 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_FULL_
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_RAIN_MODE
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_WARNING_UPLOAD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.deva.report.ReportEntity
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.gnss.AccelerationEntity
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
-import com.mogo.eagle.core.data.deva.report.ReportEntity
-import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.function.api.autopilot.*
-import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
-import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuConnectListener
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuInfoListener
+import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
+import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.setting.ISopSettingListener
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
@@ -66,7 +65,10 @@ import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.logcatch.ILogViewListener
 import com.mogo.eagle.core.function.hmi.ui.logcatch.LogInfoView
-import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.eagle.core.utilcode.kotlin.currentPadding
+import com.mogo.eagle.core.utilcode.kotlin.lifecycleOwner
+import com.mogo.eagle.core.utilcode.kotlin.onClick
+import com.mogo.eagle.core.utilcode.kotlin.scope
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
@@ -75,11 +77,10 @@ import com.mogo.eagle.core.utilcode.mogo.permissions.BackgrounderPermission
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
 import com.mogo.eagle.core.utilcode.util.*
-import com.mogo.map.hdcache.IHdCacheListener
+import com.mogo.map.MogoData.Companion.mogoMapData
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.*
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
-import kotlinx.android.synthetic.main.view_debug_setting.view.tbRouteDynamicEffect
 import kotlinx.coroutines.*
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -194,10 +195,10 @@ internal class DebugSettingView @JvmOverloads constructor(
      */
     private val timerTaskRefresh = object : TimerTask() {
         override fun run() {
-            if(this@DebugSettingView == null){
+            if (this@DebugSettingView == null) {
                 return
             }
-            if(!isRunCheck){
+            if (!isRunCheck) {
                 return
             }
             UiThreadHandler.post {
@@ -231,7 +232,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         //添加 底盘灯光数据 监听
         CallerChassisLamplightListenerManager.addListener(TAG, this)
         //雨天、美化、点云设置同步
-        CallerSopSettingManager.addListener(TAG,this)
+        CallerSopSettingManager.addListener(TAG, this)
 
         //添加 业务配置监听
         CallerDevaToolsFuncConfigListenerManager.registerDevaToolsFuncConfigListener(
@@ -299,11 +300,12 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    @SuppressLint("SetTextI18n")
     private fun initView() {
         post {
-            val maxHeight = ScreenUtils.getScreenHeight()-BarUtils.getStatusBarHeight()
+            val maxHeight = ScreenUtils.getScreenHeight() - BarUtils.getStatusBarHeight()
             val height = clDebugContain.height
-            if(height>maxHeight){
+            if (height > maxHeight) {
                 val layoutParamsOther = clDebugContain.layoutParams
                 layoutParamsOther.height = maxHeight
                 clDebugContain.layoutParams = layoutParamsOther
@@ -593,12 +595,9 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
 
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            ThreadUtils.getIoPool().execute {
-                val isCached = CallerMapUIServiceManager.isCityDataCached()
-                isHDCached = isCached
-                UiThreadHandler.post {
-                    btn_cache_hd_map.text = "缓存高精离线地图(${if (isCached) "已是最新版" else "待更新"}!)"
-                }
+            mogoMapData.get()?.isCityDataCached {
+                isHDCached = it
+                btn_cache_hd_map.text = "缓存高精离线地图(${if (it) "已是最新版" else "待更新"}!)"
             }
             btn_cache_hd_map.visibility = View.VISIBLE
         }
@@ -633,9 +632,15 @@ internal class DebugSettingView @JvmOverloads constructor(
          */
         tbControlPassengerDriverMonitor.setOnCheckedChangeListener { _, isChecked ->
             if (isChecked) {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR, "1".toByteArray())
+                CallerTelematicManager.sendMsgToAllClients(
+                    TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR,
+                    "1".toByteArray()
+                )
             } else {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR, "0".toByteArray())
+                CallerTelematicManager.sendMsgToAllClients(
+                    TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR,
+                    "0".toByteArray()
+                )
             }
         }
 
@@ -661,7 +666,8 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         // 初始化OBU IP信息
         val ipAddress =
-            SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, MogoObuConst.OBU_DEFAULT_IP)
+            SharedPrefsMgr.getInstance(context)
+                .getString(MoGoConfig.OBU_IP, MogoObuConst.OBU_DEFAULT_IP)
 
         etObuIP.setText(ipAddress)
         etObuIP.text?.let { etObuIP.setSelection(it.length) }
@@ -694,7 +700,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbIsDemoMode.isChecked = FunctionBuildConfig.isDemoMode
         // 演示模式
         tbIsDemoMode.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                 return@setOnCheckedChangeListener
             }
             FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
@@ -716,9 +722,11 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
 
         tbIsStrictMode?.also {
-            it.isChecked = SharedPrefs.getInstance(Utils.getApp()).getBoolean("MOGO_STRICT_MODE_ENABLED", false)
+            it.isChecked = SharedPrefs.getInstance(Utils.getApp())
+                .getBoolean("MOGO_STRICT_MODE_ENABLED", false)
             it.setOnCheckedChangeListener { _, isChecked ->
-                SharedPrefs.getInstance(Utils.getApp()).putBoolean("MOGO_STRICT_MODE_ENABLED", isChecked)
+                SharedPrefs.getInstance(Utils.getApp())
+                    .putBoolean("MOGO_STRICT_MODE_ENABLED", isChecked)
                 scope.launch {
                     ToastUtils.showShort("配置生效, 2秒后重启应用...")
                     delay(2000)
@@ -731,7 +739,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode
         //雨天模式
         tbIsRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                 return@setOnCheckedChangeListener
             }
             CallerAutoPilotControlManager.setRainMode(isChecked)
@@ -848,16 +856,37 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         //TODO
         tbIsDrawPath.setOnCheckedChangeListener { _, isChecked ->
+            ToastUtils.showShort("功能开发中")
+        }
 
+        if(FunctionBuildConfig.isDrawPointCloudData){
+            //如果点云效果是打开的，则自车光圈也跟随打开
+            tbCarAperture.isChecked = true
+        }else{
+            tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        }
+        tbCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
+            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            CallerSopSettingManager.invokeCarApertureListener(isChecked)
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            FunctionBuildConfig.isDisplayAnimEnable = isChecked
         }
 
         //初始化点云数据渲染情况
         tbDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
         //是否渲染点云数据
         tbDrawPointCloudData.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                 return@setOnCheckedChangeListener
             }
+            //打开点云效果时，如果自车光圈是关闭状态，则自动打开自车光圈（点云是跟随光圈的 默认没有光圈就不显示点云的）
+            if(isChecked && !FunctionBuildConfig.isDisplayAnimEnable){
+                tbCarAperture.isChecked = true
+            }else{
+                tbCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+            }
             CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
             FunctionBuildConfig.isDrawPointCloudData = isChecked
             CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
@@ -872,7 +901,8 @@ internal class DebugSettingView @JvmOverloads constructor(
             } else {
                 try {
                     val cloudSizeFloat = cloudSize.toFloat()
-                    CallerMapUIServiceManager.getMapUIController()?.setPointCloudSize(cloudSizeFloat)
+                    CallerMapUIServiceManager.getMapUIController()
+                        ?.setPointCloudSize(cloudSizeFloat)
                 } catch (e: Exception) {
                     ToastUtils.showShort("点云大小格式输入不正确")
                 }
@@ -918,7 +948,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbADASLog.isChecked = CallerAutoPilotControlManager.isEnableLog()
 
         //如果工控机异常上报列表窗口为展示状态，则显示上报异常布局
-        if(CallerDevaToolsManager.getReportWindowStatus()){
+        if (CallerDevaToolsManager.getReportWindowStatus()) {
             reportMsgLayout.visibility = View.VISIBLE
             tbReportMore.isChecked = true
         }
@@ -951,7 +981,7 @@ internal class DebugSettingView @JvmOverloads constructor(
             clipboardManager?.setPrimaryClip(
                 ClipData.newPlainText(
                     "DockVersion",
-                    CallerAutoPilotStatusListenerManager.getDockerVersion()?:""
+                    CallerAutoPilotStatusListenerManager.getDockerVersion() ?: ""
                 )
             )
             ToastUtils.showLong("docker版本复制成功")
@@ -1041,7 +1071,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         //设置连接司机屏IP
         btnConnectServerIp.setOnClickListener {
             val ip = etConnectServerIp.text.toString()
-            if (!ip.isNullOrEmpty()) {
+            if (!ip.isEmpty()) {
                 CallerAutoPilotControlManager.connectSpecifiedServer(ip)
             }
         }
@@ -1064,13 +1094,15 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
 
         if (!AppIdentityModeUtils.isTaxiDriver(FunctionBuildConfig.appIdentityMode)
-            && !AppIdentityModeUtils.isBusDriver(FunctionBuildConfig.appIdentityMode)){
+            && !AppIdentityModeUtils.isBusDriver(FunctionBuildConfig.appIdentityMode)
+        ) {
             tbStartAutopilotCommand.visibility = GONE
         }
 
 
         //切换环境
-        tvCurEnv.text = "当前环境:${CallerDevaToolsManager.getEnvCityName()}${CallerDevaToolsManager.getEnvNetMode()}"
+        tvCurEnv.text =
+            "当前环境:${CallerDevaToolsManager.getEnvCityName()}${CallerDevaToolsManager.getEnvNetMode()}"
         btChangeEnv.onClick {
             PopupMenu(context, btChangeEnv).also { p ->
                 p.menuInflater.inflate(R.menu.menu_env_pop, p.menu)
@@ -1086,13 +1118,22 @@ internal class DebugSettingView @JvmOverloads constructor(
                         R.id.env_reset ->
                             CallerDevaToolsManager.envConfigReset()
                         R.id.hy_product ->
-                            CallerDevaToolsManager.envConfigChange("0734", DebugConfig.NET_MODE_RELEASE)
+                            CallerDevaToolsManager.envConfigChange(
+                                "0734",
+                                DebugConfig.NET_MODE_RELEASE
+                            )
                         R.id.hy_qa ->
                             CallerDevaToolsManager.envConfigChange("0734", DebugConfig.NET_MODE_QA)
                         R.id.hy_demo ->
-                            CallerDevaToolsManager.envConfigChange("0734", DebugConfig.NET_MODE_DEMO)
+                            CallerDevaToolsManager.envConfigChange(
+                                "0734",
+                                DebugConfig.NET_MODE_DEMO
+                            )
                         R.id.bj_product ->
-                            CallerDevaToolsManager.envConfigChange("010", DebugConfig.NET_MODE_RELEASE)
+                            CallerDevaToolsManager.envConfigChange(
+                                "010",
+                                DebugConfig.NET_MODE_RELEASE
+                            )
                         R.id.bj_qa ->
                             CallerDevaToolsManager.envConfigChange("010", DebugConfig.NET_MODE_QA)
                         R.id.bj_demo ->
@@ -1293,7 +1334,7 @@ internal class DebugSettingView @JvmOverloads constructor(
          * 设置是否输出高精地图日志 true-打印日志，false-不打印日志
          */
         tbHdMapLog.setOnCheckedChangeListener { _, isChecked ->
-            CallerMapUIServiceManager.getMapUIController()?.setDebugMode(isChecked)
+            mogoMapData.get()?.setDebugMode(isChecked)
         }
 
         cbTraceLog.isChecked = CallerDevaToolsManager.getTraceLogStatus()
@@ -1575,8 +1616,10 @@ internal class DebugSettingView @JvmOverloads constructor(
         /**
          * 版本信息
          */
-        tvAppVersionName.text = "鹰眼版本：${AppUtils.getAppVersionName()}    Git Hash：${AppConfigInfo.workingBranchHash} \n渠道信息：${AppConfigInfo.flavor}"
-        tvAppVersionNameKey.text = "鹰眼版本：${AppUtils.getAppVersionName()}    Git Hash：${AppConfigInfo.workingBranchHash}\n渠道信息：${AppConfigInfo.flavor}"
+        tvAppVersionName.text =
+            "鹰眼版本：${AppUtils.getAppVersionName()}    Git Hash：${AppConfigInfo.workingBranchHash} \n渠道信息：${AppConfigInfo.flavor}"
+        tvAppVersionNameKey.text =
+            "鹰眼版本：${AppUtils.getAppVersionName()}    Git Hash：${AppConfigInfo.workingBranchHash}\n渠道信息：${AppConfigInfo.flavor}"
 
         tvAutopilotProtocolVersionInfo.text =
             "Autopilot协议版本：${CallerAutoPilotControlManager.getProtocolVersion()}"
@@ -1593,9 +1636,12 @@ internal class DebugSettingView @JvmOverloads constructor(
         tvGitBranchInfo.text = "Git分支：${AppConfigInfo.workingBranchName}"
         tvAppBuildTimeInfo.text = "版本构建时间：${AppConfigInfo.appBuildTime}"
 
-        if(tbBeautyMode.isVisible){
-            val version = ParseVersionUtils.parseVersion(true, CallerAutoPilotStatusListenerManager.getDockerVersion())
-            if(version >= 30100 && AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)){
+        if (tbBeautyMode.isVisible) {
+            val version = ParseVersionUtils.parseVersion(
+                true,
+                CallerAutoPilotStatusListenerManager.getDockerVersion()
+            )
+            if (version >= 30100 && AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
                 tbBeautyMode.visibility = View.GONE
             }
         }
@@ -1628,7 +1674,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                         "移动数据"
                     } else {
                         //WiFi
-                        CommonUtils.getWifiName(context)?:""
+                        CommonUtils.getWifiName(context) ?: ""
                     }
 
                 } else {
@@ -1703,11 +1749,14 @@ internal class DebugSettingView @JvmOverloads constructor(
             tvIpcInfo.text = it
             tvIpcInfoKey.text = it
         }
-        tvCmdbCarInfoContent.text = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.CAR_INFO)?:""
+        tvCmdbCarInfoContent.text =
+            SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.CAR_INFO) ?: ""
 
         //APP升级功能
-        tvAppHost.text =  "HOST地址：" + SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.HOST_ADDRESS)?:""
-        tvAppContent.text = "APP升级数据：" +  SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.APP_UPGRADE_CONTENT)?:""
+        tvAppHost.text = "HOST地址：" + SharedPrefsMgr.getInstance(context)
+            .getString(SharedPrefsConstants.HOST_ADDRESS) ?: ""
+        tvAppContent.text = "APP升级数据：" + SharedPrefsMgr.getInstance(context)
+            .getString(SharedPrefsConstants.APP_UPGRADE_CONTENT) ?: ""
 
         tvCarInfo.text =
             "GPS时间：${(mGnssInfo?.satelliteTime?.times(1000))?.toLong()}\n" +
@@ -1739,6 +1788,18 @@ internal class DebugSettingView @JvmOverloads constructor(
         mTrajectoryInfoSize = 0
         mRouteInfoSize = 0
 
+        if (FunctionBuildConfig.isDemoMode) {
+            tbIsDemoMode?.text = "关闭美化模式"
+        } else {
+            tbIsDemoMode?.text = "开启美化模式"
+        }
+
+        if (FunctionBuildConfig.isRainMode) {
+            tbIsRainMode?.text = "关闭雨天模式"
+        } else {
+            tbIsRainMode?.text = "开启雨天模式"
+        }
+
         obuConnectStatusTv.text = Html.fromHtml(
             "OBU连接状态：${
                 if (AppConfigInfo.isConnectObu) {
@@ -2120,56 +2181,47 @@ internal class DebugSettingView @JvmOverloads constructor(
     }
 
     private fun restartApp() {
-        Utils.getApp().startActivity(Utils.getApp().packageManager.getLaunchIntentForPackage(Utils.getApp().packageName))
+        Utils.getApp()
+            .startActivity(Utils.getApp().packageManager.getLaunchIntentForPackage(Utils.getApp().packageName))
         Process.killProcess(Process.myPid())
     }
 
     private fun cacheHDOfflineData(isGaoDe: Boolean) {
-        var progss = 0
         if (isGaoDe) {// 拿到了高德地图的cityCode
-            CallerMapUIServiceManager.cacheHDDataByCity(object : IHdCacheListener {
-                override fun onMapHdCacheProgress(cityId: Int, progress: Double) {
-                    // 更新进度
-                    progss = progress.toInt()
-                    if (progss == 100) {
-                        isHDCached = true
-                        btn_cache_hd_map.text = "缓存高精离线地图(已是最新版!)"
-                    } else {
-                        btn_cache_hd_map.text = "缓存高精离线地图(进度:${progss}%)"
-                    }
-                }
-
-                override fun onMapHdCacheResult(cityId: Int, state: Int) {
-                    if (state == 0) {// 失败
-                        btn_cache_hd_map.text = "缓存高精离线地图(下载失败!)"
-                        ToastUtils.showShort("下载失败，请重试!")
-                    }
-                }
+            mogoMapData.get()?.cacheHDDataByCity({ _, progress ->
+                cacheHDCityProgressUpdate(progress)
+            }, { _, state ->
+                cacheHDCityResult(state)
             })
         } else {// 只拿到了高精的经纬度
             mGnssInfo?.let { loc ->
-                CallerMapUIServiceManager.cacheHDDataByCityByLonLat(object : IHdCacheListener {
-                    override fun onMapHdCacheProgress(cityId: Int, progress: Double) {
-                        progss = progress.toInt()
-                        if (progss == 100) {
-                            isHDCached = true
-                            btn_cache_hd_map.text = "缓存高精离线地图(已是最新版!)"
-                        } else {
-                            btn_cache_hd_map.text = "缓存高精离线地图(进度:${progss}%)"
-                        }
-                    }
-
-                    override fun onMapHdCacheResult(cityId: Int, state: Int) {
-                        if (state == 0) {// 失败
-                            btn_cache_hd_map.text = "缓存高精离线地图(下载失败!)"
-                            ToastUtils.showShort("下载失败，请重试!")
-                        }
-                    }
-                }, loc)
+                mogoMapData.get()?.cacheHDDataByCityByLonLat(loc, { _, progress ->
+                    cacheHDCityProgressUpdate(progress)
+                }, { _, state ->
+                    cacheHDCityResult(state)
+                })
             }
         }
     }
 
+    private fun cacheHDCityProgressUpdate(progress: Double) {
+        // 更新进度
+        val progss = progress.toInt()
+        if (progss == 100) {
+            isHDCached = true
+            btn_cache_hd_map.text = "缓存高精离线地图(已是最新版!)"
+        } else {
+            btn_cache_hd_map.text = "缓存高精离线地图(进度:${progss}%)"
+        }
+    }
+
+    private fun cacheHDCityResult(state: Int) {
+        if (state == 0) {// 失败
+            btn_cache_hd_map.text = "缓存高精离线地图(下载失败!)"
+            ToastUtils.showShort("下载失败，请重试!")
+        }
+    }
+
     override fun fwThreadClose() {
         refreshTraceInfo()
     }
@@ -2209,4 +2261,11 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbDrawPointCloudData.isChecked = status
     }
 
+    /**
+     * 自车光圈
+     */
+    override fun onCarApertureClickEvent(status: Boolean) {
+        tbCarAperture.isChecked = status
+    }
+
 }

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

@@ -384,12 +384,17 @@ internal class SOPSettingView @JvmOverloads constructor(
         //自车光圈
         if(FunctionBuildConfig.isDrawPointCloudData){
             //如果点云效果是打开的，则自车光圈也跟随打开
+            FunctionBuildConfig.isDisplayAnimEnable = true
             scCarAperture.isChecked = true
+            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(true)
+            hmiAction("SOP 是否展示自车光圈，",FunctionBuildConfig.isDisplayAnimEnable)
+            Log.i(TAG,"SOP 是否展示自车光圈，${FunctionBuildConfig.isDisplayAnimEnable}")
         }else{
             scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
         }
         scCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
             CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            CallerSopSettingManager.invokeCarApertureListener(isChecked)
             hmiAction("SOP 是否展示自车光圈，",isChecked)
             Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
             if(!compoundButton.isPressed){
@@ -768,6 +773,10 @@ internal class SOPSettingView @JvmOverloads constructor(
         scDrawPointCloudData.isChecked = status
     }
 
+    override fun onCarApertureClickEvent(status: Boolean) {
+        scCarAperture.isChecked = status
+    }
+
     /**
      * 工控机配置参数获取
      */

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

@@ -10,6 +10,7 @@ import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.biz.trafficlight.currentRoadTrafficLight
 import com.mogo.eagle.core.data.biz.trafficlight.isRed
+import com.mogo.eagle.core.data.biz.trafficlight.time
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_PNC_ACTIONS
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
@@ -137,7 +138,7 @@ class PncActionsView @JvmOverloads constructor(
             && mTrafficLightResult!!.currentRoadTrafficLight() != null
             && mTrafficLightResult!!.currentRoadTrafficLight()!!.isRed()
         ) {
-            mTrafficLightResult!!.currentRoadTrafficLight()!!.remain.toString()
+            mTrafficLightResult!!.currentRoadTrafficLight()!!.time().toString()
         } else {
             ""
         }

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

@@ -46,28 +46,26 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
     }
 
     override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        if (gnssInfo != null) {
-            //设置刹车信息,小于默认认为是刹车
-            brakeLight =
-                if (gnssInfo.acceleration < SharedPrefsMgr.getInstance(Utils.getApp()).getFloat(
-                        MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5f
-                    )
-                ) {
-                    1
-                } else {
-                    0
-                }
-            CallerLogger.d(
-                "$M_HMI$TAG",
-                "---onAutopilotLightSwitchData  ---Acceleration = " + gnssInfo.acceleration + "-- brakeLight = " + brakeLight
-            )
-            ThreadUtils.runOnUiThread {
-                if (!isShowTurnLight) { //在不展示转向灯的情况下，展示车辆刹车的动效
-                    brakeView.visibility = View.VISIBLE
-                    brakeView.setBrakeLight(brakeLight)
-                } else {
-                    brakeView.visibility = View.GONE
-                }
+        //设置刹车信息,小于默认认为是刹车 //todo 优化sp获取，不要每次回调都去调用sp
+        brakeLight =
+            if (gnssInfo.acceleration < SharedPrefsMgr.getInstance(Utils.getApp()).getFloat(
+                    MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5f
+                )
+            ) {
+                1
+            } else {
+                0
+            }
+        CallerLogger.d(
+            "$M_HMI$TAG",
+            "---onAutopilotLightSwitchData  ---Acceleration = " + gnssInfo.acceleration + "-- brakeLight = " + brakeLight
+        )
+        ThreadUtils.runOnUiThread {
+            if (!isShowTurnLight) { //在不展示转向灯的情况下，展示车辆刹车的动效
+                brakeView.visibility = View.VISIBLE
+                brakeView.setBrakeLight(brakeLight)
+            } else {
+                brakeView.visibility = View.GONE
             }
         }
     }

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

@@ -152,8 +152,7 @@ class ParallelDriveView @JvmOverloads constructor(
     }
 
     override fun onParallelDrivingAbility(
-        isParallelDrivingAbility: Boolean,
-        unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
+        isParallelDrivingAbility: Boolean
     ) {
         if (!isParallelDrivingAbility) {
             Log.d(TAG, "onParallelDrivingAbility-UNAVAILABLE")

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

@@ -1,46 +0,0 @@
-package com.mogo.eagle.core.function.hmi.ui.widget
-
-import android.content.Context
-import android.util.AttributeSet
-import android.view.LayoutInflater
-import android.view.View
-import android.widget.FrameLayout
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getMapUIController
-import com.mogo.eagle.core.function.hmi.R
-import com.mogo.map.uicontroller.VisualAngleMode
-import kotlinx.android.synthetic.main.view_perspective_switch.view.*
-
-/**
- *@author        xiaoyuzhou
- *@date          2021/10/15 11:34 上午
- * 视角切换按钮
- */
-class PerspectiveSwitchView @JvmOverloads constructor(
-    context: Context,
-    attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
-) : FrameLayout(context, attrs, defStyleAttr), View.OnClickListener{
-
-    override fun onAttachedToWindow() {
-        super.onAttachedToWindow()
-        LayoutInflater.from(context).inflate(R.layout.view_perspective_switch, this, true)
-        setBackgroundResource(R.drawable.module_switch_map_bg)
-        setOnClickListener(this)
-    }
-
-    override fun onClick(v: View?) {
-        getMapUIController()?.let {
-            if (it.currentMapVisualAngle.isLongSight) {
-                it.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
-                textSwitch.setText(R.string.module_map_model_normal)
-            } else if (it.currentMapVisualAngle.isMediumSight) {
-                it.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
-                textSwitch.setText(R.string.module_map_model_faster)
-            } else {
-                it.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
-                textSwitch.setText(R.string.module_map_model_faster)
-            }
-        }
-    }
-
-}

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

@@ -10,7 +10,9 @@ import com.mogo.eagle.core.function.api.map.roma.IMoGoRomaListener
 import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager.romaTrigger
 import com.mogo.eagle.core.function.call.map.CallerMapRomaListener
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.ClickUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import kotlinx.android.synthetic.main.view_roma_taxi_bg.view.ivRomaView
 import kotlinx.android.synthetic.main.view_roma_taxi_bg.view.ll_roma_bg
 

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

@@ -9,13 +9,11 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.deva.bindingcar.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
-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.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
@@ -26,6 +24,7 @@ import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiActio
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.map.MogoData.Companion.mogoMapData
 import kotlinx.android.synthetic.main.view_system_version.view.*
 import system_master.SsmInfo
 import system_master.SystemStatusInfo
@@ -41,7 +40,7 @@ class SystemVersionView @JvmOverloads constructor(
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
-    IMoGoDevaToolsListener, IMoGoCheckAutoPilotBtnListener, IMoGoChassisLocationWGS84Listener {
+    IMoGoDevaToolsListener, IMoGoCheckAutoPilotBtnListener {
 
     companion object {
         const val TAG = "SystemVersionView"
@@ -56,7 +55,6 @@ class SystemVersionView @JvmOverloads constructor(
     private var currentProgress: Int = -1 //当前已下载包体大小
 
     private var isHDCached = false
-    private var location: MogoLocation? = null
 
     init {
         LayoutInflater.from(context).inflate(R.layout.view_system_version, this, true)
@@ -140,17 +138,17 @@ class SystemVersionView @JvmOverloads constructor(
         ivHDCache.setOnClickListener {
             hmiAction(
                 "$M_HMI$TAG",
-                "HD map view click , isHDCached:$isHDCached , lon:${location?.longitude} , lat:${location?.latitude}"
+                "HD map view click , isHDCached:$isHDCached , lon:${getChassisLocationWGS84().longitude} , lat:${getChassisLocationWGS84().latitude}"
             )
             if (isHDCached) {// 已缓存
                 ToastUtils.showShort(resources.getString(R.string.offline_had_downloaded))
             } else {// 未缓存
                 if (CallerMapUIServiceManager.getCityCode().isNullOrEmpty()) {// 未拿到高德的cityCode
-                    if (location == null || (location!!.longitude <= 0.0 && location!!.latitude <= 0.0)) {// 未拿到高精的经纬度
+                    if ((getChassisLocationWGS84().longitude <= 0.0 && getChassisLocationWGS84().latitude <= 0.0)) {// 未拿到高精的经纬度
                         ToastUtils.showShort(resources.getString(R.string.location_try_again))
                     } else {// 拿到了高精的经纬度
                         val dialog = OfflineMapDialog(context)
-                        dialog.location = location
+                        dialog.location = getChassisLocationWGS84()
                         dialog.show()
                     }
                 } else {// 拿到高德的cityCode
@@ -159,11 +157,8 @@ class SystemVersionView @JvmOverloads constructor(
             }
         }
 
-        ThreadUtils.getIoPool().execute {
-            val isCached = CallerMapUIServiceManager.isCityDataCached()
-            UiThreadHandler.post {
-                updateHDDataCacheStatus(isCached)
-            }
+        mogoMapData.get()?.isCityDataCached {
+            updateHDDataCacheStatus(it)
         }
 
         if (AdUpgradeStateHelper.isConfirmUpgrade()) {
@@ -311,7 +306,6 @@ class SystemVersionView @JvmOverloads constructor(
         CallerHmiListenerManager.addListener(TAG, this)
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerDevaToolsListenerManager.addListener(TAG, this)
-        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
         needQueryContainers = true
     }
 
@@ -323,7 +317,6 @@ class SystemVersionView @JvmOverloads constructor(
         CallerHmiListenerManager.removeListener(TAG)
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
         CallerDevaToolsListenerManager.removeListener(TAG)
-        CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
         needQueryContainers = false
     }
 
@@ -366,22 +359,18 @@ class SystemVersionView @JvmOverloads constructor(
         adCircularProgressView?.visibility = View.GONE
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        location = gnssInfo
-    }
-
     /**
      * 状态查询应答
      * @param status 数据
      * HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
      */
     override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {
-        Log.i(TAG,"hdMapVer="+status.hdMapVer)
+        Log.i(TAG, "hdMapVer=" + status.hdMapVer)
         //hdMapVer返回示例：/home/mogo/autopilot/share/hadmap_engine/data/hadmap_data/db.sqlite|bj|2.2.7|对bus路线上的junction进行修改，对原609场景修改为6091、6092、6201、 6202四种细分场景，并对通往园区路口改为619
-        if(status.hdMapVer!= null && status.hdMapVer.isNotEmpty()){
+        if (status.hdMapVer != null && status.hdMapVer.isNotEmpty()) {
             //对地图版本进行截取
             val city = status.hdMapVer.substringAfter(".sqlite|").substringBefore("|")
-            val version =status.hdMapVer.substringAfter("$city|").substringBefore("|")
+            val version = status.hdMapVer.substringAfter("$city|").substringBefore("|")
             AppConfigInfo.adHdMapVersion = "${city}_${version}"
             updateAdHdMapVersion()
         }
@@ -395,12 +384,12 @@ class SystemVersionView @JvmOverloads constructor(
      * @param statusInf 数据
      */
     override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
-        Log.i(TAG,"hdMapVer="+statusInf.hdMapVer)
+        Log.i(TAG, "hdMapVer=" + statusInf.hdMapVer)
         //hdMapVer返回示例：/home/mogo/autopilot/share/hadmap_engine/data/hadmap_data/db.sqlite|bj|2.2.7|对bus路线上的junction进行修改，对原609场景修改为6091、6092、6201、 6202四种细分场景，并对通往园区路口改为619
-        if(statusInf.hdMapVer!= null && statusInf.hdMapVer.isNotEmpty()){
+        if (statusInf.hdMapVer != null && statusInf.hdMapVer.isNotEmpty()) {
             //对地图版本进行截取
             val city = statusInf.hdMapVer.substringAfter(".sqlite|").substringBefore("|")
-            val version =statusInf.hdMapVer.substringAfter("$city|").substringBefore("|")
+            val version = statusInf.hdMapVer.substringAfter("$city|").substringBefore("|")
             AppConfigInfo.adHdMapVersion = "${city}_${version}"
             updateAdHdMapVersion()
         }
@@ -409,8 +398,8 @@ class SystemVersionView @JvmOverloads constructor(
     /**
      * 更新工控机高精地图版本
      */
-    private fun updateAdHdMapVersion(){
-        if(tvAdHdMapVersionContent.text.isNullOrEmpty() && AppConfigInfo.adHdMapVersion.isNotEmpty() || tvAdHdMapVersionContent.text != AppConfigInfo.adHdMapVersion){
+    private fun updateAdHdMapVersion() {
+        if (tvAdHdMapVersionContent.text.isNullOrEmpty() && AppConfigInfo.adHdMapVersion.isNotEmpty() || tvAdHdMapVersionContent.text != AppConfigInfo.adHdMapVersion) {
             ThreadUtils.runOnUiThread {
                 tvAdHdMapVersionContent.text = AppConfigInfo.adHdMapVersion
             }

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

@@ -1,15 +1,12 @@
 package com.mogo.eagle.core.function.main
 
-import android.Manifest
 import android.content.Intent
 import android.content.pm.PackageManager
 import android.net.Uri
-import android.os.Build
 import android.os.Bundle
 import android.provider.Settings
 import android.view.*
 import android.widget.FrameLayout
-import androidx.core.app.ActivityCompat
 import androidx.recyclerview.widget.LinearLayoutManager
 import com.kwai.koom.base.MonitorManager.addMonitorConfig
 import com.kwai.koom.javaoom.monitor.OOMHprofUploader
@@ -89,14 +86,12 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         initConnectInfoRV()
         CallerHmiManager.init(this)
 
-        //申请悬浮窗权限
-        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
-            // 检查是否有悬浮窗权限
-            if (Settings.canDrawOverlays(this)) {
-                return
-            }
-            PermissionsDialogUtils.openAppDetails(this, "显示悬浮窗", REQUEST_CODE_DIALOG)
+        // 检查是否有悬浮窗权限
+        if (Settings.canDrawOverlays(this)) {
+            return
         }
+        //申请悬浮窗权限
+        PermissionsDialogUtils.openAppDetails(this, "显示悬浮窗", REQUEST_CODE_DIALOG)
     }
 
     private fun injectStatusBar() {
@@ -121,7 +116,6 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         decorView.addView(statusBarView, statusBarLP)
     }
 
-
     // todo 优化 车聊聊
     private fun injectFloatView() {
         val decorView = this.window.decorView as? FrameLayout ?: return

core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java

@@ -14,7 +14,6 @@ import android.os.Handler;
 import android.os.Process;
 import android.text.TextUtils;
 import android.util.Log;
-import android.view.KeyEvent;
 
 import androidx.annotation.Nullable;
 
@@ -23,14 +22,11 @@ import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-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.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
 import com.mogo.eagle.core.function.main.moujie.BluetoothMonitorReceiver;
 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.ToastUtils;
 import com.rousetime.android_startup.model.CostTimesModel;
 import com.zhjt.service.chain.ChainLog;
 
@@ -40,8 +36,6 @@ import org.greenrobot.eventbus.Subscribe;
 import java.lang.reflect.Method;
 import java.util.List;
 import java.util.Set;
-import java.util.Timer;
-import java.util.TimerTask;
 
 /**
  * 针对作为Launcher的情况，做个性化操作 TODO 测试用的，可删除
@@ -54,10 +48,6 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
     private final static Handler handlerV2XEvent = new Handler();
     private static Runnable runnableV2XEvent;
 
-    private volatile double accelerated;//加速度
-    private Timer timerHorn;
-    private Timer timerAcc;
-
     private BluetoothMonitorReceiver mBluetoothReceiver = null;
     private BluetoothAdapter mBluetoothAdapter;
 

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

@@ -1775,6 +1775,22 @@
                         app:layout_constraintRight_toRightOf="@id/tbIsDrawAutopilotTrajectoryData"
                         app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData" />
 
+                    <ToggleButton
+                        android:id="@+id/tbCarAperture"
+                        android:layout_width="0dp"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
+                        android:padding="@dimen/dp_20"
+                        android:textColor="#000"
+                        android:textOff="开启自车光圈"
+                        android:textOn="关闭自车光圈"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData"
+                        />
+
+
                     <ToggleButton
                         android:id="@+id/tbDrawPointCloudData"
                         android:layout_width="0dp"
@@ -1785,9 +1801,10 @@
                         android:textOff="开启渲染点云数据"
                         android:textOn="关闭渲染点云数据"
                         android:textSize="@dimen/dp_24"
-                        app:layout_constraintLeft_toRightOf="@id/tbChangeAutoPilotStatus"
-                        app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/tbIsDrawAutopilotTrajectoryData" />
+                        app:layout_constraintLeft_toLeftOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintRight_toRightOf="@id/tbChangeAutoPilotStatus"
+                        app:layout_constraintTop_toBottomOf="@id/tbChangeAutoPilotStatus"
+                        />
 
                     <Button
                         android:id="@+id/btnPointCloudSize"

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

@@ -1,31 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:id="@+id/module_switch_model_layout"
-    android:layout_width="@dimen/module_switch_map"
-    android:layout_height="@dimen/module_switch_map_height">
-
-    <LinearLayout
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_gravity="center"
-        android:gravity="center"
-        android:orientation="horizontal">
-
-        <ImageView
-            android:id="@+id/iconSwitch"
-            android:layout_width="@dimen/module_switch_image"
-            android:layout_height="@dimen/module_switch_image"
-            android:layout_gravity="left|center_vertical"
-            android:paddingLeft="@dimen/module_switch_margin_left"
-            android:src="@drawable/module_switch_map_angle" />
-
-        <TextView
-            android:id="@+id/textSwitch"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:paddingLeft="@dimen/module_switch_margin_left"
-            android:text="@string/module_map_model_normal"
-            android:textColor="@color/color_white"
-            android:textSize="@dimen/module_switch_text_size" />
-    </LinearLayout>
-</FrameLayout>

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

@@ -61,7 +61,8 @@ dependencies {
         exclude group: 'com.zhidaoauto.machine', module: 'map'
     }
 
-    implementation rootProject.ext.dependencies.mogocustommap
+//    implementation rootProject.ext.dependencies.mogocustommap
+    implementation project(':libraries:mapmodule')
     implementation rootProject.ext.dependencies.amapnavi3dmap
 
     implementation rootProject.ext.dependencies.androidxroomruntime

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt

@@ -13,6 +13,7 @@ import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
 import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
+import com.mogo.map.MapDataWrapper
 
 @Route(path = MogoServicePaths.PATH_MAP_BIZ)
 class MapBizProvider :IMoGoFunctionServerProvider, IMogoRoma {
@@ -21,6 +22,7 @@ class MapBizProvider :IMoGoFunctionServerProvider, IMogoRoma {
         get() = "MapBizProvider"
 
     override fun init(context: Context?) {
+        MapDataWrapper.init()
         MapIdentifySubscriber.instance
         MogoRouteOverlayManager.getInstance().init()
         MapPointCloudSubscriber.instance

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt

@@ -9,13 +9,13 @@ import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.map.*
-import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
 import com.mogo.eagle.core.function.api.map.angle.*
 import com.mogo.eagle.core.function.api.map.angle.Scene
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.function.call.map.*
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
 import com.mogo.eagle.core.utilcode.kotlin.*
+import com.zhidaoauto.map.data.road.StopLine
 import com.zhidaoauto.map.sdk.open.tools.*
 import kotlinx.coroutines.*
 import kotlinx.coroutines.android.*
@@ -90,11 +90,11 @@ class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
 
 
         override fun onStopLineInfo(info: StopLine) {
-            Log.d(TAG, "-- onStopLineInfo --: ${info.distanceOfCarToStopLine}")
-            if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
+            Log.d(TAG, "-- onStopLineInfo --: ${info.distance}")
+            if (!hasCrossRoad && info.distance <= 30.0) {
                 hasCrossRoad = true
                 triggerRoadId.set(this.roadId.get())
-                distanceOfCarToStopLine.set(info.distanceOfCarToStopLine)
+                distanceOfCarToStopLine.set(info.distance)
                 triggerLocation.set(CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02())
                 changeAngle(CrossRoad(true))
             }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/MapPointCloudSubscriber.kt

@@ -5,9 +5,9 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
-import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
 import java.math.BigDecimal
 
 /**
@@ -47,26 +47,20 @@ class MapPointCloudSubscriber private constructor()
                 if (!isDrawPointCloud) {
                     CallerLogger.d(M_MAP + TAG, "====开启点云渲染====")
                     isDrawPointCloud = true
-                    PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
+                    CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(true)
                 }
-                PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
+                CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(true) //打开点云绘制
 
-                /**
-                 * 更新点云数据
-                 * @param dataStr 点云数据
-                 * @param isTrasformer 是否需要转换坐标
-                 * @param isResidual 是否需要差量更新
-                 * @param isStrong 是否加粗显示
-                 * @return 是否执行
-                 */
                 CallerLogger.d(M_MAP + TAG, "====开始传入地图点云数据====")
-                val result = PointCloudHelper.updatePointCloudDataByPb(pointCloud, true, false, false)
+                val result = CallerMapUIServiceManager.getMapUIController()?.updatePointCloud(pointCloud,
+                    isTransformer = true, isResidual = false, isReset = false
+                )
                 CallerLogger.d(M_MAP + TAG, "====结束传入地图点云数据=====$result")
             } else {
                 if (isDrawPointCloud) {
                     CallerLogger.d(M_MAP + TAG, "====停止点云绘制====")
                     isDrawPointCloud = false
-                    PointCloudHelper.setIsDrawPointCloud(false)//停止点云绘制
+                    CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(false)//停止点云绘制
                 }
             }
         } catch (e: Exception) {

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java

@@ -1,15 +1,12 @@
 package com.mogo.eagle.core.function.business;
 
-import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.enums.DataSourceType;
 import com.mogo.eagle.core.data.map.MogoLocation;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager;
+import com.mogo.map.MapDataWrapper;
 
-import java.util.Objects;
 import java.util.Timer;
 import java.util.TimerTask;
 
@@ -18,11 +15,9 @@ import java.util.TimerTask;
  *
  * @author mogoauto
  */
-public class SpeedLimitDataManager implements IMoGoChassisLocationWGS84Listener {
+public class SpeedLimitDataManager {
 
-    private final static String TAG = "SpeedLimitDataManager";
     private static volatile SpeedLimitDataManager instance;
-    private volatile MogoLocation mLocation;
 
     private SpeedLimitDataManager() {
     }
@@ -38,31 +33,26 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationWGS84Listener
         return instance;
     }
 
-    @Override
-    public void onChassisLocationWGS84(@Nullable MogoLocation gnssInfo) {
-        mLocation = gnssInfo;
-    }
-
-    private class SpeedTimerTask extends TimerTask {
+    private static class SpeedTimerTask extends TimerTask {
         @Override
         public void run() {
-            if (mLocation != null) {
-                if (CallerMapUIServiceManager.INSTANCE.getMapUIController() != null) {
-                    getSpeedLimit();
-                }
-            }
+            getSpeedLimit();
         }
 
         private void getSpeedLimit() {
-            int speedLimit = Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).getLimitSpeed(mLocation.getLongitude(), mLocation.getLatitude(), (float) mLocation.getHeading());
-            if (speedLimit > 0) {
-                CallerLimitingVelocityListenerManager.INSTANCE.invokeUnion(speedLimit, DataSourceType.MAP);
+            MogoLocation loc = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84();
+            if (loc.getLatitude() > 0 && loc.getLongitude() > 0) {
+                MapDataWrapper.INSTANCE.getLimitSpeed(loc.getLongitude(), loc.getLatitude(), (float) loc.getHeading(), integer -> {
+                    if (integer != null && integer > 0) {
+                        CallerLimitingVelocityListenerManager.INSTANCE.invokeUnion(integer, DataSourceType.MAP);
+                    }
+                    return null;
+                });
             }
         }
     }
 
     public void start() {
-        CallerChassisLocationWGS84ListenerManager.INSTANCE.addListener(TAG, this);
         Timer mTimer = new Timer();
         mTimer.schedule(new SpeedTimerTask(), 3000, 1000);
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt

@@ -38,8 +38,8 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.updateLong
 import com.mogo.eagle.core.function.utils.MapBizTrace
 import com.mogo.eagle.core.function.utils.MapBizTrace.Companion.getCurrentCNode
 import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.mogo.map.MogoMapUIController
 import com.mogo.map.uicontroller.VisualAngleMode
+import com.zhidaoauto.map.data.point.LonLatPoint
 import com.zhjt.service.chain.ChainLog
 import mogo.telematics.pad.MessagePad
 import mogo.yycp.api.proto.SocketDownData
@@ -179,8 +179,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
         MapIdentifySubscriber.instance.clearAiCloudRoma()
         // 主动关闭roma，回到中景视角
         if (manual) {
-            MogoMapUIController.getInstance()
-                .changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
+            CallerMapUIServiceManager.getMapUIController()?.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
         }
     }
 
@@ -216,7 +215,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
                 )
                 if (dataReceive) {
                     // 请求地图开始漫游
-                    MogoMapUIController.getInstance().setRomaMode(FunctionBuildConfig.romaModeStyle)
+                    CallerMapUIServiceManager.getMapUIController()?.setRomaMode(FunctionBuildConfig.romaModeStyle)
                 }else{
                     // 保底清除策略
                     MapBizTrace.log("",CHAIN_CODE_ROMA_REQUEST_DELAY,TAG,mutableMapOf("delay" to true),true)
@@ -321,28 +320,24 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
     override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
         globalPathResp?.let {
             if (it.wayPointsList != null && it.wayPointsList.size > 0) {
-                val builder = StringBuilder()
+                val roamList = ArrayList<LonLatPoint>()
                 it.wayPointsList.forEach { loc ->
-                    builder.append(loc.longitude).append(",").append(loc.latitude).append(",")
+                    roamList.add(LonLatPoint(loc.longitude,loc.latitude))
                 }
-                var romaRoute = builder.toString()
-                if (romaRoute.endsWith(",")) {
-                    romaRoute = romaRoute.substring(0, builder.toString().length - 1)
-                }
-                updateRomaStyle(false, romaRoute)
+                updateRomaStyle(false, roamList)
             }
         }
     }
 
-    private fun updateRomaStyle(auto: Boolean, route: String? = null) {
+    private fun updateRomaStyle(auto: Boolean, routeList: ArrayList<LonLatPoint>? = null) {
         MapBizTrace.log(
             "",
             CHAIN_CODE_ROMA_ROUTE_MODE,
             TAG,
-            "updateRomaStyle auto status:$auto, route:${route ?: "reset null"}"
+            "updateRomaStyle auto status:$auto, route:${routeList?.size ?: "reset null"}"
         )
-        route?.let {
-            CallerMapUIServiceManager.getMapUIController()?.setRoamTrajectory(route)
+        routeList?.let {
+            CallerMapUIServiceManager.getMapUIController()?.setRoamTrajectory(it)
         }
         if (auto) {
             FunctionBuildConfig.romaModeStyle = 0

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/cachemap/CacheHDMapManager.kt

@@ -1,58 +1,51 @@
 package com.mogo.eagle.core.function.business.cachemap
 
-import android.util.Log
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
-import com.mogo.map.hdcache.IHdCacheListener
+import com.mogo.map.MogoData.Companion.mogoMapData
 
-object CacheHDMapManager: IMoGoChassisLocationWGS84Listener {
+object CacheHDMapManager {
 
     private const val TAG = "CacheHDMapManager"
 
-    @Volatile
-    private var location: MogoLocation? = null
-
     fun scheduleGetLocation() {
         if (!AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-            ThreadUtils.getIoPool().execute {
-                if (!CallerMapUIServiceManager.isCityDataCached()) {
-                    while (true) {
-                        if (location != null) {
-                            Log.d(TAG, "开始下载")
-                            CallerMapUIServiceManager.cacheHDDataByCityByLonLat(object : IHdCacheListener {
-                                override fun onMapHdCacheProgress(cityId: Int, progress: Double) {
-                                    Log.d(TAG, "下载进度:${progress.toInt()}")
-                                }
-
-                                override fun onMapHdCacheResult(cityId: Int, state: Int) {
-                                    if (state == 0) {
-                                        Log.d(TAG, "下载失败")
-                                    }
-                                }
-                            }, location!!)
-                            Log.d(TAG, "移除监听并关闭循环")
-                            CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
-                            return@execute
+            mogoMapData.get()?.isCityDataCached {
+                if (!it) {
+                    ThreadUtils.getIoPool().execute {
+                        while (true) {
+                            val loc =
+                                CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                            if (loc.latitude != 0.0 || loc.longitude != 0.0) {
+                                CallerLogger.d(TAG, "开始下载")
+                                mogoMapData.get()?.cacheHDDataByCityByLonLat(loc,
+                                    { _, progress ->
+                                        CallerLogger.i(M_MAP + TAG, "下载进度:${progress.toInt()}")
+                                    },
+                                    { _, state ->
+                                        if (state == 0) {
+                                            CallerLogger.i(M_MAP + TAG, "下载失败")
+                                        }
+                                    })
+                                CallerLogger.i(M_MAP + TAG, "移除监听并关闭循环")
+                                break
+                            }
+                            try {
+                                CallerLogger.i(M_MAP + TAG, "开始休眠...")
+                                Thread.sleep(1500)
+                            } catch (e: Exception) {
+                            }
                         }
-                        try {
-                            Log.d(TAG, "开始休眠...")
-                            Thread.sleep(1500)
-                        } catch (e: Exception) {}
                     }
                 } else {
-                    Log.d(TAG, "高精地图缓存已下载!")
+                    CallerLogger.i(M_MAP + TAG, "高精地图缓存已下载!")
                 }
             }
         }
     }
 
-    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
-        location = gnssInfo
-    }
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify
 
 import android.annotation.SuppressLint
 import androidx.collection.ArraySet
-import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.map.identify.MogoIdentifyManager
 import mogo.yycp.api.proto.SocketDownData
@@ -10,10 +9,6 @@ import java.util.concurrent.ConcurrentHashMap
 
 class IdentifyAiCloudDataDrawer : Identify {
 
-    companion object {
-        private const val TAG = "IdentifyDataDrawer"
-    }
-
     /**
      * 上一帧数据的缓存
      */
@@ -55,14 +50,14 @@ class IdentifyAiCloudDataDrawer : Identify {
             val key = it.next() as String
             it.remove()
             mMarkersCaches.remove(key)
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                 .removeMarker(key.hashCode().toString())
         }
 
         val filterList = filterTrafficData(resultList)
         if (filterList.size > 0) {
             // 绘制新数据
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                 .updateBatchAiMarkerPosition(filterList)
         }
     }
@@ -90,7 +85,7 @@ class IdentifyAiCloudDataDrawer : Identify {
         trafficDataUuidList.clear()
         mMarkersCaches.forEach { (uuid, _) ->
             mMarkersCaches.remove(uuid)
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                 .removeMarker(uuid.hashCode().toString())
         }
         mFilterTrafficData.clear()

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyBeautifyDataDrawer.kt

@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.business.identify
 
 import android.annotation.SuppressLint
-import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.map.identify.MogoIdentifyManager
@@ -13,10 +12,6 @@ import mogo.telematics.pad.MessagePad.TrackedObject
  */
 class IdentifyBeautifyDataDrawer : Identify {
 
-    companion object {
-        private const val TAG = "IdentifyDataDrawer"
-    }
-
     override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
         TrackManager.getInstance().renderPlanningWarningObj(planningObjects)
     }
@@ -46,7 +41,7 @@ class IdentifyBeautifyDataDrawer : Identify {
         val filterList = TrackManager.getInstance().filterTrafficData(resultList)
         if (filterList.size > 0) {
             // 绘制新数据
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                 .updateBatchMarkerPosition(filterList)
         }
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify
 
 import android.annotation.SuppressLint
 import androidx.collection.ArraySet
-import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.map.identify.MogoIdentifyManager
@@ -17,10 +16,6 @@ import java.util.concurrent.ConcurrentHashMap
  */
 class IdentifyOriginDataDrawer : Identify {
 
-    companion object {
-        private const val TAG = "IdentifyDataDrawer"
-    }
-
     /**
      * 上一帧数据的缓存
      */
@@ -65,11 +60,11 @@ class IdentifyOriginDataDrawer : Identify {
 
         //清除缓存
         for (data in resultList) {
-            if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.uuid)) {
+            if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains(data.uuid.toString())) {
                 if (TrackerSourceFilterHelper.filterData(data)) {
                     continue
                 }
-                trafficDataUuidList.remove("" + data.uuid)
+                trafficDataUuidList.remove(data.uuid.toString())
             }
         }
 
@@ -79,14 +74,14 @@ class IdentifyOriginDataDrawer : Identify {
             val key = it.next() as String
             it.remove()
             mMarkersCaches.remove(key)
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                 .removeMarker(key)
         }
 
         val filterList = filterTrafficData(resultList)
         if (filterList.size > 0) {
             // 绘制新数据
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                 .updateBatchMarkerPosition(filterList)
         }
     }
@@ -105,7 +100,7 @@ class IdentifyOriginDataDrawer : Identify {
                 continue
             }
             var temp: TrackedObject = data
-            val uuid = "" + data.uuid
+            val uuid = data.uuid.toString()
             val cacheData = mMarkersCaches[uuid]
             if (cacheData != null) {
                 val color = TrackerSourceFilterHelper.getDefaultColor(data)
@@ -124,7 +119,7 @@ class IdentifyOriginDataDrawer : Identify {
     @SuppressLint("NewApi")
     override fun clearOldMarker() {
         for (uuid in trafficDataUuidList) {
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                 .removeMarker(uuid)
         }
         trafficDataUuidList.clear()

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java

@@ -1,11 +1,13 @@
 package com.mogo.eagle.core.function.business.identify;
 
 import android.annotation.SuppressLint;
+import android.os.Build;
 import android.util.ArraySet;
 
+import androidx.annotation.RequiresApi;
+
 import com.google.common.collect.BiMap;
 import com.google.common.collect.HashBiMap;
-import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
@@ -71,13 +73,13 @@ public class TrackManager {
     public HashMap<String, MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
         //清空上次返回数据，做到缓存复用
         mFilterTrafficData.clear();
-        long cost = System.currentTimeMillis();
+//        long cost = System.currentTimeMillis();
         //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
         for (MessagePad.TrackedObject data : trafficData) {
             if (TrackerSourceFilterHelper.INSTANCE.filterData(data)) {
                 continue;
             }
-            String uuid = "" + data.getUuid();
+            String uuid = Integer.toString(data.getUuid());
             TrackObj trackObj = mMarkersCaches.get(uuid);
 
             String color = TrackerSourceFilterHelper.INSTANCE.getDefaultColor(data);
@@ -93,24 +95,26 @@ public class TrackManager {
                 if (cellIdCaches.containsValue(pos)) {
                     String findSameValue = cellIdCaches.inverse().get(pos);
                     //uuid处理
-                    data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
-                    TrackObj cacheTrack = mMarkersCaches.get(findSameValue);
-                    if (cacheTrack != null) {
-                        trackObj = cacheTrack;
-                        MessagePad.TrackedObject cache = cacheTrack.getCache();
-                        if (cache != null) {
-                            //相对静止物体 感知融合同位置物体，使用缓存数据做覆盖
-                            if (cacheTrack.relativeStatic()) {
-                                if (data.getColor() != null && !data.getColor().isEmpty()) {
-                                    cache = cache.toBuilder().setColor(data.getColor()).build();
+                    if(findSameValue != null && !findSameValue.isEmpty()){
+                        data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
+                        TrackObj cacheTrack = mMarkersCaches.get(findSameValue);
+                        if (cacheTrack != null) {
+                            trackObj = cacheTrack;
+                            MessagePad.TrackedObject cache = cacheTrack.getCache();
+                            if (cache != null) {
+                                //相对静止物体 感知融合同位置物体，使用缓存数据做覆盖
+                                if (cacheTrack.relativeStatic()) {
+                                    if (data.getColor() != null && !data.getColor().isEmpty()) {
+                                        cache = cache.toBuilder().setColor(data.getColor()).build();
+                                    }
+                                    data = cache;
                                 }
-                                data = cache;
                             }
+                            uuid = findSameValue;
+                            trackObj.updateObj(data);
+                        } else {
+                            trackObj = new TrackObj(data,s2CellId,s2LatLng);
                         }
-                        uuid = findSameValue;
-                        trackObj.updateObj(data);
-                    } else {
-                        trackObj = new TrackObj(data,s2CellId,s2LatLng);
                     }
                 } else {
                     trackObj = new TrackObj(data,s2CellId,s2LatLng);
@@ -128,7 +132,7 @@ public class TrackManager {
     public void clearCache(List<MessagePad.TrackedObject> resultList) {
         //过滤现有元素
         for (MessagePad.TrackedObject data : resultList) {
-            String uuid = "" + data.getUuid();
+            String uuid = Integer.toString(data.getUuid());
             if (trafficDataUuid.size() > 0 && trafficDataUuid.contains(uuid)) {
                 if (TrackerSourceFilterHelper.INSTANCE.filterData(data)) {
                     continue;
@@ -150,17 +154,18 @@ public class TrackManager {
         cellIdCaches.remove(key);
         mMarkersCaches.remove(key);
         WarningHelper.INSTANCE.remove(key);
-        MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+        MogoIdentifyManager.getInstance()
                 .removeMarker(key);
     }
 
+    @RequiresApi(api = Build.VERSION_CODES.N)
     public void clearAll() {
         cellIdCaches.clear();
         trafficDataUuid.clear();
         WarningHelper.INSTANCE.clear();
         mMarkersCaches.forEach((uuid, trackObj) -> {
             trackObj.clear();
-            MogoIdentifyManager.getInstance(AbsMogoApplication.getApp())
+            MogoIdentifyManager.getInstance()
                     .removeMarker(uuid);
         });
         mMarkersCaches.clear();

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt

@@ -4,7 +4,6 @@ import android.annotation.SuppressLint
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import mogo.telematics.pad.MessagePad.*
 
 object TrackerSourceFilterHelper {
@@ -12,7 +11,8 @@ object TrackerSourceFilterHelper {
     @SuppressLint("NewApi")
     fun filterData(data: TrackedObject): Boolean {
         if (!FunctionBuildConfig.isDrawUnknownIdentifyData && (data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
-                    || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_501.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_502.type)) {
+                    || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_501.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_502.type)
+        ) {
             return true
         }
         var trackIPCFilter = true
@@ -32,7 +32,7 @@ object TrackerSourceFilterHelper {
                 }
             }
             4 -> {
-                if(isV2nRSM(data).second){
+                if (isV2nRSM(data).second) {
                     trackIPCFilter = false
                 }
             }
@@ -73,12 +73,10 @@ object TrackerSourceFilterHelper {
         }
 
         //僵尸车
-        if(data.addAttribute == AdditionalAttribute.ATTR_ZOMBIE){
+        if (data.addAttribute == AdditionalAttribute.ATTR_ZOMBIE) {
             color = "#7A8499FF"
-            CallerMapUIServiceManager.getMapUIController()?.let {
-                if(it.isDayMode){
-                    color = "#9BA8BCFF"
-                }
+            if (FunctionBuildConfig.skinMode == 1) {
+                color = "#9BA8BCFF"
             }
             //消息埋点
             CallerFuncBizListenerManager.invokeAttrZombieAnalyticsEvent()

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt

@@ -41,7 +41,7 @@ object WarningHelper {
                 return
             }
             planningObjects.forEach(Consumer { planningObj: PlanningObject ->
-                val trackId = "" + planningObj.uuid
+                val trackId = planningObj.uuid.toString()
                 if (mMarkersCaches.containsKey(trackId)) {
                     mMarkersCaches[trackId] ?: return@Consumer
                     if (planningObj.type == 0) {   //0是leading障碍物，障碍物车身红色提示
@@ -72,7 +72,7 @@ object WarningHelper {
                 return
             }
             planningObjects.forEach(Consumer { planningObj: PlanningObject ->
-                val trackId = "" + planningObj.uuid
+                val trackId = planningObj.uuid.toString()
                 if (mMarkersCaches.containsKey(trackId)) {
                     mMarkersCaches[trackId] ?: return@Consumer
                     if (planningObj.type == 0) {    //0是leading障碍物，障碍物车身红色提示

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java

@@ -58,7 +58,7 @@ public class MogoRouteOverlayManager implements
 
     @Override
     public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> items) {
-        Log.d(TAG, "-- onAutopilotTrajectory --: " + (items != null ? items.size() : "0"));
+//        Log.d(TAG, "-- onAutopilotTrajectory --: " + (items != null ? items.size() : "0"));
         synchronized (queue) {
             queue.clear();
             queue.offer(items);
@@ -72,18 +72,18 @@ public class MogoRouteOverlayManager implements
         }
         int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState();
         boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation();
-        Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation);
+//        Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation);
         if (isArriveAtStation && autoPilotState != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
-        Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autoPilotState + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
+//        Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autoPilotState + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
         boolean force = FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView || FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
         if (!force && autoPilotState != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
-        Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---");
+//        Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---");
         synchronized (queue) {
             if (!queue.isEmpty()) {
                 List<MessagePad.TrajectoryPoint> items = queue.pollLast();

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java

@@ -1,5 +1,7 @@
 package com.mogo.eagle.core.function.business.routeoverlay;
 
+import static com.mogo.map.MogoMap.DEFAULT;
+
 import android.annotation.SuppressLint;
 import android.graphics.Color;
 import android.os.Handler;
@@ -197,7 +199,7 @@ public class RouteOverlayDrawer {
                     if (mPolylineOptions == null) {
                         mPolylineOptions = options;
                     }
-                    overlayManager.showOrUpdateLine(options);
+                    overlayManager.showOrUpdateLine(options,DEFAULT);
                 } else {
                     isExcept = true;
                 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/MogoMapService.java

@@ -1,43 +0,0 @@
-package com.mogo.eagle.core.function.impl;
-
-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.map.IMogoMapService;
-import com.mogo.map.MoGoOverlayManager;
-import com.mogo.map.MogoMapUIController;
-import com.mogo.map.location.GDLocationClient;
-import com.mogo.map.location.IMogoGDLocationClient;
-import com.mogo.map.overlay.IMoGoOverlayManager;
-import com.mogo.map.uicontroller.IMogoMapUIController;
-
-/**
- * @author congtaowang
- * @since 2019-12-18
- * <p>
- * 地图对外地接口
- */
-@Route(path = MogoServicePaths.PATH_SERVICES_MAP)
-public class MogoMapService implements IMogoMapService {
-
-
-    @Override
-    public IMogoMapUIController getMapUIController() {
-        return MogoMapUIController.getInstance();
-    }
-
-    @Override
-    public IMoGoOverlayManager getOverlayManager() {
-        return MoGoOverlayManager.INSTANCE.overlay();
-    }
-
-    @Override
-    public IMogoGDLocationClient getGDLocationServer(Context context) {
-        return GDLocationClient.getInstance(context);
-    }
-
-    @Override
-    public void init(Context context) {
-    }
-}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/MogoMapService.kt

@@ -0,0 +1,37 @@
+package com.mogo.eagle.core.function.impl
+
+import android.content.Context
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.map.MoGoOverlayManager.overlay
+import com.mogo.map.location.GDLocationClient.Companion.gdLocationClient
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.map.IMogoMapService
+import com.mogo.map.uicontroller.IMogoMapUIController
+import com.mogo.map.overlay.IMoGoOverlayManager
+import com.mogo.map.MogoMap.Companion.mapInstance
+import com.mogo.map.location.IMogoGDLocationClient
+
+/**
+ * @author congtaowang
+ * @since 2019-12-18
+ *
+ *
+ * 地图对外地接口,多实例情况下，如果某个业务需要在多个地图上展示，需要业务提供监听接口，各个地图实例监听实现
+ */
+@Route(path = MogoServicePaths.PATH_SERVICES_MAP)
+class MogoMapService : IMogoMapService {
+
+    override fun getMapUIController(mapTag:String): IMogoMapUIController? {
+        return mapInstance.getMogoMap().uiController
+    }
+
+    override fun getOverlayManager(): IMoGoOverlayManager {
+        return overlay()
+    }
+
+    override fun getGDLocationServer(): IMogoGDLocationClient {
+        return gdLocationClient
+    }
+
+    override fun init(context: Context) {}
+}

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt

@@ -11,9 +11,13 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Liste
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.map.MogoMapView
+import com.mogo.map.overlay.line.Polyline
+import com.mogo.map.overlay.point.Point
+import com.mogo.map.overlay.proxy.line.IMapPolylineOverlay
+import com.mogo.map.overlay.proxy.point.IMapPointOverlay
+import com.mogo.map.uicontroller.IMogoMapUIController
 
 
 class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context, attrs),
@@ -28,7 +32,6 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
         super.onCreate(bundle)
         map?.uiController?.showMyLocation(true)
         initMapView()
-
         CallerSkinModeListenerManager.addListener(TAG, this)
         CallerChassisLocationWGS84ListenerManager.addListener(TAG, 20,this)
         CallerChassisLamplightListenerManager.addListener(TAG, this)
@@ -48,7 +51,7 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
             //设置旋转手势是否可用。
             it.setRotateGesturesEnabled(false)
             //设置比例尺控件是否可见
-            it.setScaleControlsEnabled(true)
+            it.setScaleControlsEnabled(false)
             //设置拖拽手势是否可用。
             it.setScrollGesturesEnabled(true)
             //设置倾斜手势是否可用。
@@ -60,7 +63,19 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
         }
     }
 
-    override fun onSaveInstanceState(outState: Bundle?) {
+    fun getUI(): IMogoMapUIController?  {
+        return map?.uiController
+    }
+
+    fun addLine(options:Polyline.Options): IMapPolylineOverlay? {
+        return map?.addLine(options)
+    }
+
+    fun addPoint(options: Point.Options): IMapPointOverlay?{
+        return map?.addPoint(options)
+    }
+
+    override fun onSaveInstanceState(outState: Bundle) {
         super.onSaveInstanceState(outState)
     }
 
@@ -74,9 +89,9 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
 
     override fun onSkinModeChange(skinMode: Int) {
         if (skinMode == 0) {
-            CallerMapUIServiceManager.getMapUIController()?.stepInVrMode(false)
+            getUI()?.stepInDayMode(false)
         } else if (skinMode == 1) {
-            CallerMapUIServiceManager.getMapUIController()?.stepInVrMode(true)
+            getUI()?.stepInDayMode(true)
         }
     }
 
@@ -107,9 +122,9 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
     private fun turn(lightNum: Int) {
         if (currentLevel != lightNum) {
             when (lightNum) {
-                0 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(0, 500)
-                1 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(1, 500)
-                2 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(2, 500)
+                0 -> getUI()?.setCarLightsType(0, 500)
+                1 -> getUI()?.setCarLightsType(1, 500)
+                2 -> getUI()?.setCarLightsType(2, 500)
             }
             currentLevel = lightNum
         }

core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt

@@ -101,7 +101,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
     }
 
     private fun initGDLoc() {
-        CallerMapUIServiceManager.getGDLocationServer(context!!)?.start()
+        CallerMapUIServiceManager.getGDLocationServer()?.start(context!!)
     }
 
     private fun preparePassportEnvironment() {
@@ -170,10 +170,10 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                     // 更新
                     httpDnsSimpleLocation = if (
                         mogoLocation.cityCode.isNullOrEmpty() &&
-                        !CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode.isNullOrEmpty()
+                        !CallerMapUIServiceManager.getGDLocationServer()?.lastCityCode.isNullOrEmpty()
                     ) {
                         SimpleLocation(
-                            CallerMapUIServiceManager.getGDLocationServer(context!!)?.lastCityCode
+                            CallerMapUIServiceManager.getGDLocationServer()?.lastCityCode
                                 ?: "010",
                             mogoLocation.latitude,
                             mogoLocation.longitude
@@ -354,13 +354,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
             })
         // 开启Socket长链服务
         val lat =
-            if (location.latitude != 0.0) location.latitude else CallerMapUIServiceManager.getGDLocationServer(
-                context!!
-            )!!.lastLat
+            if (location.latitude != 0.0) location.latitude else CallerMapUIServiceManager.getGDLocationServer()!!.lastLat
         val lon =
-            if (location.longitude != 0.0) location.longitude else CallerMapUIServiceManager.getGDLocationServer(
-                context!!
-            )!!.lastLon
+            if (location.longitude != 0.0) location.longitude else CallerMapUIServiceManager.getGDLocationServer()!!.lastLon
         MogoAiCloudSocketManager.getInstance(context)
             .init(context, sn, DebugConfig.getSocketAppId(), lat, lon)
     }
@@ -381,11 +377,11 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
         map["lat"] =
             if (CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().latitude != 0.0)
                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().latitude else
-                CallerMapUIServiceManager.getGDLocationServer(context!!)!!.lastLat
+                CallerMapUIServiceManager.getGDLocationServer()!!.lastLat
         map["lon"] =
             if (CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().longitude != 0.0)
                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().longitude else
-                CallerMapUIServiceManager.getGDLocationServer(context!!)!!.lastLon
+                CallerMapUIServiceManager.getGDLocationServer()!!.lastLon
         map["reason"] = msg
         return map
     }