[8.2.8][需求] AIP开关修改为随时开关，引导线更改为aip开启时使用不同的颜色

OCH/common/bridge/src/main/java/com/mogo/och/bridge/bridge/OchBridgeManager.kt

@@ -99,8 +99,8 @@ object OchBridgeManager: IMoGoPlanningTrajectoryListener, IMoGoAutopilotIdentify
     /**
      * 引导线轨迹
      */
-    override fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>) {
+    override fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) {
-        if(trajectoryInfos.isEmpty()){
+        if(trajectory.pointsList.isEmpty()){
             haveTrajectoryInfo = false
         }else{
             haveTrajectoryInfo = true

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

@@ -7,16 +7,15 @@ import chassis.VehicleStateOuterClass
 import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.commons.storage.SharedPrefsMgr
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ALL_ERROR
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE_QUERY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_AUTOPILOT_INFO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_CONFIG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_CAR_LOC
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_COLD_START_STATE
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ALL_ERROR
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FM_MSG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_FSM_MSG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_GUARDIAN
@@ -37,9 +36,6 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_TRAJECTORY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_STATUS
-import com.mogo.eagle.core.data.msgbox.MsgBoxBean
-import com.mogo.eagle.core.data.msgbox.MsgBoxType
-import com.mogo.eagle.core.data.msgbox.SSMMsg
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeArriveAtStation
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutoPilotInfo
@@ -92,9 +88,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerVlmManager
 import com.mogo.eagle.core.function.call.devatools.CallerCaptureImgManager
 import com.mogo.eagle.core.function.call.devatools.CallerDiskCopyManager
 import com.mogo.eagle.core.function.call.devatools.CallerNDECloudManager
-import com.mogo.eagle.core.function.call.devatools.CallerV2XManager
 import com.mogo.eagle.core.function.call.devatools.CallerOTAManager
-import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
+import com.mogo.eagle.core.function.call.devatools.CallerV2XManager
 import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
@@ -169,19 +164,27 @@ class MoGoAdasListenerImpl : OnAdasListener {
         const val TAG = "MoGoAdasListenerImpl"
     }
 
+
+    override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
+        if (trajectory!=null){
+            onTrajectory(header, trajectory.isAIPTrajectory, trajectory.pointsList)
+        }
+
+        if (HdMapBuildConfig.isMapLoaded) {
+            if (trajectory != null && trajectory.pointsList.size > 0) {
+                invokeAutopilotTrajectory(trajectory)
+            }
+        }
+    }
+
     //车前引导线
     @ChainLog(
         linkChainLog = CHAIN_TYPE_SOCKET_TRAJECTORY,
         linkCode = CHAIN_SOURCE_ADAS,
         nodeAliasCode = CHAIN_CODE_ADAS_TRAJECTORY,
-        paramIndexes = [0, 1]
+        paramIndexes = [0, 1, 2]
     )
-    override fun onTrajectory(header: MessagePad.Header, trajectory: MessagePad.Trajectory?) {
+    private fun onTrajectory(header: MessagePad.Header, isAIPTrajectory: Boolean, points: List<MessagePad.TrajectoryPoint>) {
-        if (HdMapBuildConfig.isMapLoaded) {
-            if (trajectory != null && trajectory.pointsList.size > 0) {
-                invokeAutopilotTrajectory(trajectory.pointsList)
-            }
-        }
     }
 
     override fun onTrackedObjects(

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

@@ -1851,10 +1851,10 @@ class OperatePanelLayout : LinearLayout {
                 val isEnable = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
                 CallerLogger.i(TAG, "isEnable=$isEnable   自驾状态=${CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state}")
                 //AIP功能
-                preferenceScreen.findPreferenceReal<PreferenceGrayableSwitch>(KEY_AIP_FUNCTION)?.let {
+//                preferenceScreen.findPreferenceReal<PreferenceGrayableSwitch>(KEY_AIP_FUNCTION)?.let {
-                    it.shouldDisableView = isEnable
+//                    it.shouldDisableView = isEnable
-                    it.isEnabled = isEnable
+//                    it.isEnabled = isEnable
-                }
+//                }
                 //驾驶模式 - 正常模式
                 preferenceScreen.findPreferenceReal<PreferenceGrayableCheckBox>(KEY_DRIVING_STYLE_NORMAL)?.let {
                     it.shouldDisableView = isEnable

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

@@ -402,6 +402,10 @@ internal class DebugSettingView @JvmOverloads constructor(
     @Volatile
     private var mTrajectoryInfoSize = 0
 
+    // 引导线是否是AIP数据
+    @Volatile
+    private var mTrajectoryIsAIPTrajectory = false
+
     // 全局路径规划点个数
     @Volatile
     private var mRouteInfoSize = 0
@@ -2339,9 +2343,9 @@ internal class DebugSettingView @JvmOverloads constructor(
                     "「未知类型」感知数据个数：${mUnknownIdentifyDataSize}\n"
 
         tvTrajectoryInfoSize.text =
-            "引导线点个数：${mTrajectoryInfoSize}"
+            "引导线点个数：${mTrajectoryInfoSize} 当前轨迹输出：${if (mTrajectoryIsAIPTrajectory) "AIP" else "RBP"}"
         tvTrajectoryInfoSizeCopy.text =
-            "引导线点个数：${mTrajectoryInfoSize}"
+            "引导线点个数：${mTrajectoryInfoSize} 当前轨迹输出：${if (mTrajectoryIsAIPTrajectory) "AIP" else "RBP"}"
 
         tvRouteInfoSize.text =
             "全局路径规划点个数：${mRouteInfoSize}"
@@ -2352,6 +2356,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         mIdentifyDataSize = 0
         mUnknownIdentifyDataSize = 0
         mTrajectoryInfoSize = 0
+        mTrajectoryIsAIPTrajectory = false
         mRouteInfoSize = 0
 
         if (FunctionBuildConfig.isDemoMode) {
@@ -2570,8 +2575,9 @@ internal class DebugSettingView @JvmOverloads constructor(
         }
     }
 
-    override fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>) {
+    override fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) {
-        mTrajectoryInfoSize = trajectoryInfos.size
+        mTrajectoryIsAIPTrajectory = trajectory.isAIPTrajectory
+        mTrajectoryInfoSize = trajectory.pointsList.size
     }
 
     override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {

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

@@ -93,12 +93,12 @@ class DecisionDataManager private constructor() : IMoGoPlanningTrajectoryListene
         }
     }
 
-    override fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>) {
+    override fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory) {
         ThreadUtils.getCpuPool().execute {
             val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT)
             mogoMap?.let { map ->
                 val lonLatList = ArrayList<android.graphics.Point>()
-                trajectoryInfos.forEach {
+                trajectory.pointsList.forEach {
                     map.toScreenLocation(it.longitude, it.latitude)?.let { point ->
                         lonLatList.add(point)
                         Log.d(TAG, "转换后的屏幕坐标为:(${point.x},${point.y})")

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

@@ -28,7 +28,7 @@ public class MogoRouteOverlayManager implements
     private static volatile MogoRouteOverlayManager sInstance;
     private static final String TAG = "Route";
 
-    private final LinkedList<List<MessagePad.TrajectoryPoint>> queue = new LinkedList<>();
+    private final LinkedList<MessagePad.Trajectory> queue = new LinkedList<>();
 
     private final AtomicBoolean hasGreenWave = new AtomicBoolean(false);
 
@@ -118,11 +118,11 @@ public class MogoRouteOverlayManager implements
     }
 
     @Override
-    public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> items) {
+    public void onAutopilotTrajectory(@NonNull MessagePad.Trajectory trajectory) {
 //        Log.d(TAG, "-- onAutopilotTrajectory --: " + (items != null ? items.size() : "0"));
         synchronized (queue) {
             queue.clear();
-            queue.offer(items);
+            queue.offer(trajectory);
         }
     }
 
@@ -147,8 +147,8 @@ public class MogoRouteOverlayManager implements
 //        Log.d(TAG, "-- onChassisLocationGCJ02 -- 3 ---");
         synchronized (queue) {
             if (!queue.isEmpty()) {
-                List<MessagePad.TrajectoryPoint> items = queue.pollLast();
+                MessagePad.Trajectory items = queue.pollLast();
-                if (items != null && !items.isEmpty()) {
+                if (items != null && !items.getPointsList().isEmpty()) {
                     RouteOverlayDrawer.getInstance().drawTrajectoryList(items, gnssInfo.getHeading(), hasGreenWave.get());
                 }
             }

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

@@ -101,6 +101,7 @@ public class RouteOverlayDrawer {
 
     private class RenderTask implements Runnable {
         private volatile List<MessagePad.TrajectoryPoint> routeList;
+        private volatile boolean isAIPTrajectory;
 
         private final Pools.Pool<MogoLatLng> pools;
         private final LinkedList<MogoLatLng> points;
@@ -113,8 +114,9 @@ public class RouteOverlayDrawer {
             this.points = new LinkedList<>();
         }
 
-        public void setData(List<MessagePad.TrajectoryPoint> routeList, double bearing, boolean hasGreenWave) {
+        public void setData(MessagePad.Trajectory trajectory, double bearing, boolean hasGreenWave) {
-            this.routeList = routeList;
+            this.routeList = trajectory.getPointsList();
+            this.isAIPTrajectory = trajectory.getIsAIPTrajectory();
             this.bearing = bearing;
             this.hasGreenWave = hasGreenWave;
         }
@@ -139,7 +141,8 @@ public class RouteOverlayDrawer {
                 }
                 boolean isColorfulStrategy = !hasGreenWave && !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
                 if (isColorfulStrategy) {
-                    RouteStrategy.INSTANCE.start();
+                    RouteStrategy.INSTANCE.start(isAIPTrajectory);
+//                    RouteStrategy.INSTANCE.start(FunctionBuildConfig.isActivateAip);
                 } else {
                     if (colors == null || colors.isEmpty()) {
                         ArrayList<Pair<Integer, Integer>> temps = new ArrayList<>();
@@ -294,12 +297,12 @@ public class RouteOverlayDrawer {
 
     private volatile RenderTask mRenderTask;
 
-    public void drawTrajectoryList(List<MessagePad.TrajectoryPoint> routeList, double bearing, boolean hasGreenWave) {
+    public void drawTrajectoryList(MessagePad.Trajectory trajectory, double bearing, boolean hasGreenWave) {
         if (mogoOverlayManager != null) {
             if (mRenderTask == null) {
                 mRenderTask = new RenderTask();
             }
-            mRenderTask.setData(routeList, bearing, hasGreenWave);
+            mRenderTask.setData(trajectory, bearing, hasGreenWave);
             if (mRenderHandler != null) {
                 mRenderHandler.removeCallbacks(mRenderTask);
                 mRenderHandler.post(mRenderTask);

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

@@ -23,6 +23,12 @@ class Colors {
         val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF")
         val COLOR_RED_DARK = Color.parseColor("#FFFF5F00")
         val COLOR_TRANSPARENT = Color.parseColor("#0030A3FF")
+
+        // 新增：AIP 模式颜色定义
+        val COLOR_AIP_GREEN = Color.parseColor("#FFA428E1")
+        val COLOR_AIP_GREEN_DARK = Color.parseColor("#FFB948F8")
+        val COLOR_AIP_ORANGE = Color.parseColor("#FFFFF938")
+        val COLOR_AIP_TRANSPARENT = Color.parseColor("#00EA49FF")
     }
 }
 
@@ -53,7 +59,10 @@ object RouteStrategy {
 
     private var index = 0
 
+    // 默认颜色映射表
     private val sorted: NavigableMap<Double, Int> by lazy { TreeMap() }
+    // 新增：AIP 颜色映射表
+    private val aipSorted: NavigableMap<Double, Int> by lazy { TreeMap() }
 
     private var endEvaluator: ArgbEvaluator? = null
 
@@ -61,10 +70,18 @@ object RouteStrategy {
 
     private var hasLessThan0 = false
 
+    // 新增：当前是否为 AIP 模式
+    private var isAipMode = false
+
+    // 修改：增加 isAip 参数，默认为 false
     fun start() {
-        if (sorted.isEmpty()) {
+        start(false)
+    }
+    fun start(isAip: Boolean = false) {
+        if (sorted.isEmpty() || aipSorted.isEmpty()) {
             fill()
         }
+        isAipMode = isAip // 记录当前模式
         strategy = null
         index = 0
         startColor = Int.MAX_VALUE
@@ -88,7 +105,9 @@ object RouteStrategy {
         if (!isEnable) {
             return
         }
-        if (sorted.isEmpty()) {
+        // 根据模式选择对应的 Map
+        val currentMap = if (isAipMode) aipSorted else sorted
+        if (currentMap.isEmpty()) {
             return
         }
         if (acc < 0) {
@@ -96,7 +115,8 @@ object RouteStrategy {
         }
         val delta = (total * 0.35).toInt()
         val last = total - delta
-        val entry = sorted.floorEntry(acc)
+
+        val entry = currentMap.floorEntry(acc)
         if (entry != null) {
             if (index >= last - 1) {
                 if (startColor == Int.MAX_VALUE) {
@@ -108,10 +128,12 @@ object RouteStrategy {
                 } else {
                     if (endEvaluator != null) {
                         val fraction = (index - last) * 1.0f / delta
+                        // 根据模式选择对应的透明尾色
+                        val targetTransparent = if (isAipMode) Colors.COLOR_AIP_TRANSPARENT else COLOR_TRANSPARENT
                         colors += endEvaluator!!.evaluate(
                             fraction,
                             startColor,
-                            COLOR_TRANSPARENT
+                            targetTransparent
                         ) as Int
                     }
                 }
@@ -126,10 +148,12 @@ object RouteStrategy {
         if (!isEnable) {
             return emptyList()
         }
-        if (sorted.isEmpty()) {
+        // 根据模式选择对应的 Map 进行移除操作
+        val currentMap = if (isAipMode) aipSorted else sorted
+        if (currentMap.isEmpty()) {
             throw AssertionError("sorted map must not be null.")
         }
-        val entry = sorted.floorEntry(acc)
+        val entry = currentMap.floorEntry(acc)
         if (entry != null) {
             colors.remove(entry.value)
         }
@@ -137,12 +161,15 @@ object RouteStrategy {
     }
 
     private fun fill() {
-        var startValue = -4.0
-        var endValue = 0.0
-        val step = 0.01
-        var current = startValue
         val evaluator = ArgbEvaluator()
         val interceptor = AccelerateInterpolator()
+        val step = 0.01
+
+        // 1. 填充默认颜色 (sorted)
+        // 减速段 (-4.0 ~ 0.0): 红 -> 蓝
+        var startValue = -4.0
+        var endValue = 0.0
+        var current = startValue
         var total = endValue - startValue
         while (current <= endValue) {
             val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat())
@@ -150,17 +177,44 @@ object RouteStrategy {
             sorted[current] = colorValue
             current += step
         }
+        // 加速段 (0.01 ~ 3.0): 蓝 -> 深蓝
         startValue = 0.01
         endValue = 3.0
         current = startValue
         total = endValue - startValue
         while (current <= endValue) {
             val fraction = (current - startValue) / total
-            val colorValue =
+            val colorValue = evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int
-                evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int
             sorted[current] = colorValue
             current += step
         }
+
+        // 2. 填充 AIP 颜色 (aipSorted)
+        // 逻辑仿照上方：减速用 橙->绿，加速用 绿->深绿
+
+        // AIP 减速段 (-4.0 ~ 0.0): 橙色 -> 绿色
+        startValue = -4.0
+        endValue = 0.0
+        current = startValue
+        total = endValue - startValue
+        while (current <= endValue) {
+            val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat())
+            val colorValue = evaluator.evaluate(fraction, Colors.COLOR_AIP_ORANGE, Colors.COLOR_AIP_GREEN) as Int
+            aipSorted[current] = colorValue
+            current += step
+        }
+
+        // AIP 加速段 (0.01 ~ 3.0): 绿色 -> 深绿色
+        startValue = 0.01
+        endValue = 3.0
+        current = startValue
+        total = endValue - startValue
+        while (current <= endValue) {
+            val fraction = (current - startValue) / total
+            val colorValue = evaluator.evaluate(fraction.toFloat(), Colors.COLOR_AIP_GREEN, Colors.COLOR_AIP_GREEN_DARK) as Int
+            aipSorted[current] = colorValue
+            current += step
+        }
     }
 
     fun getStrategy(): Strategy = if (isEnable) {

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

@@ -10,8 +10,8 @@ interface IMoGoPlanningTrajectoryListener {
     /**
      * 工控机引导线数据
      *
-     * @param trajectoryInfos 引导线数据经纬度
+     * @param trajectory.points 引导线数据经纬度
      */
-    fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>)
+    fun onAutopilotTrajectory(trajectory: MessagePad.Trajectory)
 
 }

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

@@ -13,13 +13,13 @@ object CallerPlanningTrajectoryListenerManager : CallerBase<IMoGoPlanningTraject
 
     /**
      * 车前引导线 回调
-     * @param trajectoryInfo 自动驾驶状态信息
+     * @param trajectory
      */
     @Synchronized
-    fun invokeAutopilotTrajectory(trajectoryInfo: MutableList<MessagePad.TrajectoryPoint>) {
+    fun invokeAutopilotTrajectory(trajectory: MessagePad.Trajectory) {
         M_LISTENERS.forEach {
             val listener = it.value
-            listener.onAutopilotTrajectory(trajectoryInfo)
+            listener.onAutopilotTrajectory(trajectory)
         }
     }
 

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

@@ -283,6 +283,7 @@ message CloudRegulatoryWarningInner
 message Trajectory
 {
     repeated TrajectoryPoint points = 1;
+    bool is_AIP_trajectory = 2; //true：当前轨迹为AIP输出；false：当前轨迹为RBP输出
 }
 
 enum AdditionalAttribute