Merge branch 'dev_arch_opt_3.0' into dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0

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

@@ -12,12 +12,8 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsList
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
-import com.zhidao.support.adas.high.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 
-import chassis.Chassis;
-import system_master.SystemStatusInfo;
-
 /**
  * Created on 2022/10/9
  * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
@@ -78,36 +74,9 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
     }
 
     @Override
-    public void onAutopilotAbility(@Nullable AutopilotAbility ability) {
-        isAutopilotAbility = true;
-        autopilotAbilityReason = null;
-        if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P ||
-                ability.gear == Chassis.GearPosition.GEAR_R) {
-            isAutopilotAbility = false;
-            autopilotAbilityReason = "挡位不正常";
-        }
-
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) &&
-                ability.gear == Chassis.GearPosition.GEAR_N){ //bus档位不正常
-            isAutopilotAbility = false;
-            autopilotAbilityReason = "挡位不正常";
-        }
-
-        if (isAutopilotAbility)
-            if (ability.brake > 0) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "制动踏板被踩下";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在启动";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在关闭";
-            }
+    public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
+        this.isAutopilotAbility = isAutopilotAbility;
+        this.autopilotAbilityReason = unableAutopilotReason;
         Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
     }
 

app/build.gradle

@@ -61,6 +61,9 @@ if (!isAndroidTestBuild()) {
             crash_fix {
                 enable true
             }
+            memory_leak {
+                enable true
+            }
         }
     }
 }

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

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

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

@@ -181,7 +181,7 @@ public class DataDistribution {
 
     public String cutDown(String str) {
         if (isCutDown && str.length() > 650) {
-            str = str.substring(0, 650) + "\n（已缩短。如需查看完整数据，请勾选日志存储复选框）";
+            str = str.substring(0, 650) + "\n（已缩短。如需查看完整数据，请勾选日志缩短复选框）";
         }
         return str;
     }

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

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

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

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

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

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

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

@@ -98,7 +98,6 @@ import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.OnMultiDeviceListener;
-import com.zhidao.support.adas.high.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.ByteUtil;
@@ -121,7 +120,6 @@ import java.util.Locale;
 import java.util.concurrent.ScheduledExecutorService;
 
 import bag_manager.BagManagerOuterClass;
-import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
@@ -184,8 +182,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private ListPopupWindow listPopupWindow;
     private FloatWindow floatWindow;
     private View include_title;
-    private boolean isAutopilotAbility = true;
-    private String autopilotAbilityReason;
     private List<SpecialVehicleBean> specialVehicleBeanList;//特种车辆
     private long errorDataUpdateTime = 0;
 //    @Override
@@ -860,47 +856,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     }
 
     @Override
-    public void onAutopilotAbility(AutopilotAbility ability) {
-        isAutopilotAbility = true;
-        autopilotAbilityReason = null;
-        if (ability.gear == null || ability.gear == Chassis.GearPosition.GEAR_P || ability.gear == Chassis.GearPosition.GEAR_R) {
-            isAutopilotAbility = false;
-            autopilotAbilityReason = "挡位不正常";
+    public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
+        if (fromFragment instanceof VersionFragment) {
+            VersionFragment fragment = (VersionFragment) fromFragment;
+            fragment.autopilotAbility(isAutopilotAbility, unableAutopilotReason);
         }
-        if (isAutopilotAbility)
-            if (ability.brake > 0) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "制动踏板被踩下";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo == null) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统Topic不正常";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_STARTING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在启动";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_EXITING) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统正在关闭";
-            }
-        if (isAutopilotAbility)
-            if (ability.statusInfo.getSysState() == SystemStatusInfo.SystemState.SYS_FAULT) {
-                isAutopilotAbility = false;
-                autopilotAbilityReason = "系统异常";
-            }
-        if (isAutopilotAbility)
-            for (SystemStatusInfo.HealthInfo healthInfo : ability.statusInfo.getHealthInfoList()) {
-                if (healthInfo.getState() == SystemStatusInfo.HealthState.FAULT) {
-                    isAutopilotAbility = false;
-                    autopilotAbilityReason = healthInfo.getName() + " 节点异常";
-                    break;
-                }
-            }
-        Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
+        Log.i(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + unableAutopilotReason);
     }
 
     @Override
@@ -1012,7 +973,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf);
         DataDistribution.getInstance().addData(info);
         AdasManager.getInstance().sendBasicInfoResp("", 0, com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DEBUG);
-        showToastCenter("收到车机基础信息请求:" + info.toString());
+        runOnUiThread(new Runnable() {
+            @Override
+            public void run() {
+                showToastCenter("收到车机基础信息请求:" + info.toString());
+            }
+        });
     }
 
     @Override

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

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

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

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

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

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

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

@@ -45,7 +45,6 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
@@ -587,6 +586,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     }
 
+    @Override
+    public void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason) {
+
+    }
+
 
     private void initAdas() {
         CupidLogUtils.e(TAG, "--->初始化");
@@ -855,10 +859,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         }
     }
 
-    @Override
-    public void onAutopilotAbility(AutopilotAbility ability) {
-
-    }
 
     @Override
     public void onStartAutopilotFailed(MogoReportMsg.MogoReportMessage message) {

build.gradle

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

config.gradle

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

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

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

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

@@ -2,6 +2,7 @@ package com.mogo.eagle.function.biz
 
 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.camera.CameraEntity
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.biz.IMoGoFuncBizProvider
@@ -10,6 +11,8 @@ import com.mogo.eagle.function.biz.dispatch.DispatchAutoPilotManager.Companion.d
 import com.mogo.eagle.function.biz.monitoring.CronTaskManager.Companion.cronTaskManager
 import com.mogo.eagle.function.biz.notice.NoticeSocketManager.Companion.noticeSocketManager
 import com.mogo.eagle.function.biz.notice.network.NoticeNetWorkManager
+import com.mogo.eagle.function.biz.v2x.overview.OverViewDataManager
+import com.mogo.eagle.function.biz.v2x.overview.db.OverviewDb
 import com.mogo.eagle.function.biz.v2x.speedlimit.SpeedLimitDispatcher
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightDispatcher
@@ -68,6 +71,18 @@ class FuncBizProvider : IMoGoFuncBizProvider {
         cronTaskManager.clear()
     }
 
+    override fun fetchInfStructures() {
+        OverViewDataManager.fetchInfStructures()
+    }
+
+    override fun getAllV2XEvents() {
+        OverViewDataManager.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().sn)
+    }
+
+    override fun initOverViewDb(context: Context) {
+        OverviewDb.getDb(context)
+    }
+
     override fun onDestroy() {
         noticeSocketManager.release()
         dispatchAutoPilotManager.release()

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

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

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

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

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

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

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

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

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

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

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

@@ -105,6 +105,7 @@ class MoGoAutopilotControlProvider :
                 .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
                 .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
                 .setClient(false)
+                .setIdentityMode(FunctionBuildConfig.appIdentityMode)
 //                    .setSubscribeInterfaceOptions(subscribeInterfaceOptions)//
                 .build()
 
@@ -195,6 +196,7 @@ class MoGoAutopilotControlProvider :
                                 val options = AdasOptions
                                     .Builder()
                                     .setClient(true)
+                                    .setIdentityMode(FunctionBuildConfig.appIdentityMode)
                                     .build()
                                 AdasManager.getInstance()
                                     .create(options, MoGoAdasMsgConnectStatusListenerImpl())
@@ -222,6 +224,7 @@ class MoGoAutopilotControlProvider :
             .setIpcConnectionMode(AdasOptions.IPC_CONNECTION_MODE.FIXATION)
             .setIpcFixationIP(AdasManager.getInstance().getIPCFixationIPList(mContext))
             .setClient(false)// 乘客端直连工控机改为false
+            .setIdentityMode(FunctionBuildConfig.appIdentityMode)
             .build()
         AdasManager.getInstance().create(options, MoGoAdasMsgConnectStatusListenerImpl())
         //////////////////////////////////注意先后顺序，AdasManager.getInstance().create后才可以设置监听/////////////////////////////////////////////

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

@@ -59,7 +59,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
-import com.zhidao.support.adas.high.bean.AutopilotAbility
 import com.zhidao.support.adas.high.bean.AutopilotStatistics
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.service.chain.ChainLog
@@ -608,8 +607,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
      */
-    override fun onAutopilotAbility(ability: AutopilotAbility?) {
-        invokeAutopilotAbility(ability)
+    override fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
+        invokeAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
     }
 
     /**

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

@@ -538,8 +538,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
         }
     }
 
-    private var isRedLight = false
-    private var isGreenLight = false
     private var isShowGreenWave = false
     private var isShowRunRedLight = false
 
@@ -662,11 +660,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
             }
 
             // 红灯
-            2, 3 -> {  //todo 小鹏
-                if (!isRedLight) {
-                    isRedLight = true
-                }
-                isGreenLight = false
+            2, 3 -> {
                 CallerTrafficLightListenerManager.showTrafficLight(
                     TrafficLightEnum.RED,
                     DataSourceType.TELEMATIC
@@ -676,11 +670,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuDcCombineListener
             }
 
             // 绿灯
-            4, 5, 6 -> {  //todo 小鹏
-                if (!isGreenLight) {
-                    isGreenLight = true
-                }
-                isRedLight = false
+            4, 5, 6 -> {
                 CallerTrafficLightListenerManager.showTrafficLight(
                     TrafficLightEnum.GREEN,
                     DataSourceType.TELEMATIC

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

@@ -635,382 +635,322 @@ class MogoPrivateObuNewManager private constructor() {
         }
     }
 
-}
+  }
 
-/**
- * 获取消息的方位 车辆相关
- */
-private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
-    //        CallerLogger.d("$M_OBU${TAG_MOGO_NEW_OBU}", "预警红边：预警方向->$targetClassification")
-    return when (targetClassification) {
-        MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
-        MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方
+    /**
+     * 获取消息的方位 车辆相关
+     */
+    private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
+        //        CallerLogger.d("$M_OBU${TAG_MOGO_NEW_OBU}", "预警红边：预警方向->$targetClassification")
+        return when (targetClassification) {
+            MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
+            MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方
 
-        MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_BOTTOM //正后方
+            MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_BOTTOM //正后方
 
-        MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_RIGHT -> WarningDirectionEnum.ALERT_WARNING_RIGHT //正右方
+            MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_RIGHT -> WarningDirectionEnum.ALERT_WARNING_RIGHT //正右方
 
-        MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_LEFT -> WarningDirectionEnum.ALERT_WARNING_LEFT //正左方
+            MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_LEFT -> WarningDirectionEnum.ALERT_WARNING_LEFT //正左方
 
-        MogoObuConstants.VEH_TARGET_POSITION.AHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_LEFT,
-        MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_LEFT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAR_LEFT
-        -> WarningDirectionEnum.ALERT_WARNING_TOP_LEFT //左前方
+            MogoObuConstants.VEH_TARGET_POSITION.AHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_LEFT,
+            MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_LEFT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAR_LEFT
+            -> WarningDirectionEnum.ALERT_WARNING_TOP_LEFT //左前方
 
-        MogoObuConstants.VEH_TARGET_POSITION.AHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_RIGHT,
-        MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAT_RIGHT
-        -> WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT //右前方
+            MogoObuConstants.VEH_TARGET_POSITION.AHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_RIGHT,
+            MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAT_RIGHT
+            -> WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT //右前方
 
-        MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_LEFT,
-        -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT //左后方
+            MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_LEFT,
+            -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT //左后方
 
-        MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_RIGHT,
-        -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT  //右后方
+            MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_RIGHT,
+            -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT  //右后方
 
-        MogoObuConstants.VEH_TARGET_POSITION.UNCLASSIFIED -> WarningDirectionEnum.ALERT_WARNING_NON //未知
-        else -> WarningDirectionEnum.ALERT_WARNING_ALL
-    }
-}
-
-/**
- * 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
- *
- * @param appId    使用WarningTypeEnum获取icon、提示内容、tts内容  TODO 添加事件频繁播报拦截
- *
- * @see com.mogo.module.common.enums.EventTypeEnum
- */
-private fun handleSdkObu(
-    appId: String,
-    direction: WarningDirectionEnum,
-    status: Int,
-    level: Int,
-    info: MogoObuRvWarningData
-) {
-    //  这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
-    var alertContent: String = ""
-    var ttsContent: String = ""
-    var changeVisualAngle = false
-    when (appId) {
-        //交叉路口碰撞预警
-        MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
-        }
-
-        //交叉路口碰撞预警
-        MogoObuConstants.V2X_WARNING_TYPE.ICW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
-        }
-
-        //左转辅助预警
-        MogoObuConstants.V2X_WARNING_TYPE.LTA.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
-        }
-
-        //盲区预警
-        MogoObuConstants.V2X_WARNING_TYPE.BSW.toString() -> {
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
-            if (
-                direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
-            ) { //左后
-                changeVisualAngle = true
-                ttsContent = String.format(ttsContent, "左")
-                alertContent = String.format(alertContent, "左")
-            } else if (
-                direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
-            ) { //右后
-                changeVisualAngle = true
-                ttsContent = String.format(ttsContent, "右")
-                alertContent = String.format(alertContent, "右")
-            }
-        }
-
-        // 变道预警,注意左后车辆/注意右后车辆
-        MogoObuConstants.V2X_WARNING_TYPE.LCW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
-            if (
-                direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
-            ) {
-                ttsContent = String.format(ttsContent, "左")
-                alertContent = String.format(alertContent, "左")
-            } else if (
-                direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
-                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
-            ) {
-                ttsContent = String.format(ttsContent, "右")
-                alertContent = String.format(alertContent, "右")
-            }
-        }
-
-        //逆向超车预警
-        MogoObuConstants.V2X_WARNING_TYPE.DNPW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
-        }
-
-        //紧急制动预警
-        MogoObuConstants.V2X_WARNING_TYPE.EBW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
-        }
-
-        //异常车辆提醒
-        MogoObuConstants.V2X_WARNING_TYPE.AVW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
-            alertContent = String.format(alertContent, direction.desc)
-            ttsContent = String.format(ttsContent, direction.desc)
-        }
-
-        //车辆失控预警
-        MogoObuConstants.V2X_WARNING_TYPE.CLW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
-            alertContent = String.format(alertContent, direction.desc)
-            ttsContent = String.format(ttsContent, direction.desc)
-        }
-        //车辆失控预警
-        MogoObuConstants.V2X_WARNING_TYPE.EVW.toString() -> {
-            alertContent =
-                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
-            ttsContent =
-                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
-        }
-
-        // 这里处理固定的提示信息,包括了<紧急车辆提醒>
-        else -> { //TODO
-//                ttsContent = EventTypeEnumNew.getWarningTts(appId.toString())
-//                alertContent = EventTypeEnumNew.getWarningContent(appId.toString())
+            MogoObuConstants.VEH_TARGET_POSITION.UNCLASSIFIED -> WarningDirectionEnum.ALERT_WARNING_NON //未知
+            else -> WarningDirectionEnum.ALERT_WARNING_ALL
         }
     }
 
-    when (status) {
-        // 添加,更新 add的时候，可能级别是2，
-        MogoObuConstants.STATUS.ADD,
-        MogoObuConstants.STATUS.UPDATE -> {
-            CallerLogger.d(
-                "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                "new handleSdkObu appId2 = $appId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
-            )
-            if (level == 2 || level == 3) {
-                //不显示弹框，其它保留
-                CallerMsgBoxManager.saveMsgBox(
-                    MsgBoxBean(
-                        MsgBoxType.V2X,
-                        V2XMsg(
-                            appId,
-                            alertContent,
-                            ttsContent
-                        )
-                    ).apply {
-                        sourceType = DataSourceType.OBU
-                    }
-                )
-                CallerHmiManager.warningV2X(
-                    appId,
-                    alertContent,
-                    ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
-                    object : IMoGoWarningStatusListener {
-                        override fun onShow() {
-                            super.onShow()
-                            if (changeVisualAngle) {
-                                CallerVisualAngleManager.changeVisualAngle(TooClose)
-                            }
-                        }
-
-                        override fun onDismiss() {
-                            // 关闭警告红边
-                            CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
-                            if (changeVisualAngle) {
-                                CallerVisualAngleManager.changeVisualAngle(Default())
-                            }
-                        }
-                    }
-                )
-                //显示警告红边
-                CallerHmiManager.showWarning(direction)
+    /**
+     * 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
+     *
+     * @param appId    使用WarningTypeEnum获取icon、提示内容、tts内容  TODO 添加事件频繁播报拦截
+     *
+     * @see com.mogo.module.common.enums.EventTypeEnum
+     */
+    private fun handleSdkObu(
+        appId: String,
+        direction: WarningDirectionEnum,
+        status: Int,
+        level: Int,
+        info: MogoObuRvWarningData
+    ) {
+        //  这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
+        var alertContent: String = ""
+        var ttsContent: String = ""
+        var changeVisualAngle = false
+        when (appId) {
+            //交叉路口碰撞预警
+            MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
             }
-            //更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
-            TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
-                CallerMapUIServiceManager.getMarkerService()
-                    ?.updateITrafficThreatLevelInfo(it)
+
+            //交叉路口碰撞预警
+            MogoObuConstants.V2X_WARNING_TYPE.ICW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
+            }
+
+            //左转辅助预警
+            MogoObuConstants.V2X_WARNING_TYPE.LTA.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
+            }
+
+            //盲区预警
+            MogoObuConstants.V2X_WARNING_TYPE.BSW.toString() -> {
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
+                if (
+                    direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
+                ) { //左后
+                    changeVisualAngle = true
+                    ttsContent = String.format(ttsContent, "左")
+                    alertContent = String.format(alertContent, "左")
+                } else if (
+                    direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
+                ) { //右后
+                    changeVisualAngle = true
+                    ttsContent = String.format(ttsContent, "右")
+                    alertContent = String.format(alertContent, "右")
+                }
+            }
+
+            // 变道预警,注意左后车辆/注意右后车辆
+            MogoObuConstants.V2X_WARNING_TYPE.LCW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
+                if (
+                    direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
+                ) {
+                    ttsContent = String.format(ttsContent, "左")
+                    alertContent = String.format(alertContent, "左")
+                } else if (
+                    direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
+                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
+                ) {
+                    ttsContent = String.format(ttsContent, "右")
+                    alertContent = String.format(alertContent, "右")
+                }
+            }
+
+            //逆向超车预警
+            MogoObuConstants.V2X_WARNING_TYPE.DNPW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
+            }
+
+            //紧急制动预警
+            MogoObuConstants.V2X_WARNING_TYPE.EBW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
+            }
+
+            //异常车辆提醒
+            MogoObuConstants.V2X_WARNING_TYPE.AVW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
+                alertContent = String.format(alertContent, direction.desc)
+                ttsContent = String.format(ttsContent, direction.desc)
+            }
+
+            //车辆失控预警
+            MogoObuConstants.V2X_WARNING_TYPE.CLW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
+                alertContent = String.format(alertContent, direction.desc)
+                ttsContent = String.format(ttsContent, direction.desc)
+            }
+            //车辆失控预警
+            MogoObuConstants.V2X_WARNING_TYPE.EVW.toString() -> {
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
+            }
+
+            // 这里处理固定的提示信息,包括了<紧急车辆提醒>
+            else -> { //TODO
+    //                ttsContent = EventTypeEnumNew.getWarningTts(appId.toString())
+    //                alertContent = EventTypeEnumNew.getWarningContent(appId.toString())
             }
         }
-        // 删除
-        MogoObuConstants.STATUS.DELETE -> {
-            // 关闭警告红边
-            CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
-            // 移除顶部弹窗
-            //                CallerHmiManager.disableWarningV2X((appId + direction.direction))
-            //更新周边车辆进行预警颜色变换，车辆实时移动和变色
-            TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
-                it.threatLevel = 0x01
-                CallerMapUIServiceManager.getMarkerService()
-                    ?.updateITrafficThreatLevelInfo(it)
-            }
-        }
-    }
-}
 
-/**
- * 处理红绿灯
- */
-private fun handlerTrafficLight(appId: Int, status: Int, lights: List<SpatLight>) {
-    CallerLogger.d(
-        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-        "handlerTrafficLight --- status = $status ---lights.size = ${lights.size} ---lights = $lights ---appId = $appId"
-    )
-    when (status) {
-        // 添加
-        MogoObuConstants.STATUS.ADD,
-        MogoObuConstants.STATUS.UPDATE
-        -> {
-            if (lights != null && lights.isNotEmpty()) {
-                changeTrafficLightStatus(appId, lights)
-            }
-        }
-        // 删除
-        MogoObuConstants.STATUS.DELETE -> {
-            // 移除顶部弹窗
-            CallerTrafficLightListenerManager.disableTrafficLight()
-            isShowGreenWave = false
-            isShowRunRedLight = false
-            isYellowLight = false
-//                lightCountDownRed = 1
-//                lightCountDownGreen = 1
-//                lightCountDownYellow = 1
-        }
-    }
-}
-
-private var isRedLight = false
-private var isGreenLight = false
-private var isYellowLight = false
-private var isShowGreenWave = false
-private var isShowRunRedLight = false
-
-//    private var lightCountDownRed : Int = 1
-//    private var lightCountDownGreen : Int = 1
-//    private var lightCountDownYellow : Int = 1
-
-
-/**
- * 修改红绿灯
- */
-@Synchronized
-private fun changeTrafficLightStatus(
-    appId: Int,
-    lights: List<SpatLight>
-) {
-    var ttsContent = ""
-    var alertContent = ""
-    //这里需要根据真实数据确定 index 取值方式
-    val currentLight = lights[0]
-    CallerLogger.d(
-        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-        "changeTrafficLightStatus currentLight = $currentLight ----currentLight.light = ${currentLight.light} ---currentLight.phase = ${currentLight.phaseId} ---appId = $appId --countDown =  ${currentLight.countDown.toInt()}"
-    )
-    // 闯红灯预警，绿波通行和闯红灯是互斥的
-    when (appId) {
-        0 -> {//不可用 V2I_RLVW_VIOLATION_TYPE_UNAVAILABLE 无效
-
-        }
-        1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-            if (!isShowRunRedLight) {
-                isShowRunRedLight = true
+        when (status) {
+            // 添加,更新 add的时候，可能级别是2，
+            MogoObuConstants.STATUS.ADD,
+            MogoObuConstants.STATUS.UPDATE -> {
                 CallerLogger.d(
                     "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                    "changeTrafficLightStatus 闯红灯 --------> "
+                    "new handleSdkObu appId2 = $appId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
                 )
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                CallerMsgBoxManager.saveMsgBox(
-                    MsgBoxBean(
-                        MsgBoxType.V2X,
-                        V2XMsg(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                            alertContent,
-                            ttsContent
-                        )
-                    ).apply {
-                        sourceType = DataSourceType.OBU
-                    }
-                )
-
-                CallerHmiManager.warningV2X(
-                    EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                    alertContent,
-                    ttsContent// 只有第一次才tts，防止更新的时候不断的提醒
-                )
-            }
-        }
-
-        2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次 100m的时候
-            if (!isShowGreenWave) {
-                isShowGreenWave = true
-
-                var minSpeedTemp = Math.round(currentLight.suggestMinSpeed * 3.6)
-                var maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
-                if (minSpeedTemp == maxSpeedTemp) {
-                    minSpeedTemp -= 5
-                }
-
-                val adviceSpeed = "$minSpeedTemp - $maxSpeedTemp"
-                val adviceSpeedTts = "$minSpeedTemp 到 $maxSpeedTemp"
-
-//                    val adviceSpeed =
-//                        "${Math.round(currentLight.suggestMinSpeed*3.6)} - ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
-//                    val adviceSpeedTts =
-//                        "${Math.round(currentLight.suggestMinSpeed*3.6)} 到 ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
-
-                ttsContent =
-                    String.format(
-                        EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
-                        adviceSpeedTts
-                    )
-                alertContent =
-                    String.format(
-                        EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
-                        adviceSpeed
-                    )
-
-                val maxSpeed = currentLight.suggestMaxSpeed
-                if (maxSpeed > 0) {
+                if (level == 2 || level == 3) {
+                    //不显示弹框，其它保留
                     CallerMsgBoxManager.saveMsgBox(
                         MsgBoxBean(
                             MsgBoxType.V2X,
                             V2XMsg(
-                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
+                                appId,
+                                alertContent,
+                                ttsContent
+                            )
+                        ).apply {
+                            sourceType = DataSourceType.OBU
+                        }
+                    )
+                    CallerHmiManager.warningV2X(
+                        appId,
+                        alertContent,
+                        ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
+                        object : IMoGoWarningStatusListener {
+                            override fun onShow() {
+                                super.onShow()
+                                if (changeVisualAngle) {
+                                    CallerVisualAngleManager.changeVisualAngle(TooClose)
+                                }
+                            }
+
+                            override fun onDismiss() {
+                                // 关闭警告红边
+                                CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
+                                if (changeVisualAngle) {
+                                    CallerVisualAngleManager.changeVisualAngle(Default())
+                                }
+                            }
+                        }
+                    )
+                    //显示警告红边
+                    CallerHmiManager.showWarning(direction)
+                }
+                //更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
+                TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
+                    CallerMapUIServiceManager.getMarkerService()
+                        ?.updateITrafficThreatLevelInfo(it)
+                }
+            }
+            // 删除
+            MogoObuConstants.STATUS.DELETE -> {
+                // 关闭警告红边
+                CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
+                // 移除顶部弹窗
+                //                CallerHmiManager.disableWarningV2X((appId + direction.direction))
+                //更新周边车辆进行预警颜色变换，车辆实时移动和变色
+                TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
+                    it.threatLevel = 0x01
+                    CallerMapUIServiceManager.getMarkerService()
+                        ?.updateITrafficThreatLevelInfo(it)
+                }
+            }
+        }
+    }
+
+    /**
+     * 处理红绿灯
+     */
+    private fun handlerTrafficLight(appId: Int, status: Int, lights: List<SpatLight>) {
+        CallerLogger.d(
+            "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
+            "handlerTrafficLight --- status = $status ---lights.size = ${lights.size} ---lights = $lights ---appId = $appId"
+        )
+        when (status) {
+            // 添加
+            MogoObuConstants.STATUS.ADD,
+            MogoObuConstants.STATUS.UPDATE
+            -> {
+                if (lights != null && lights.isNotEmpty()) {
+                    changeTrafficLightStatus(appId, lights)
+                }
+            }
+            // 删除
+            MogoObuConstants.STATUS.DELETE -> {
+                // 移除顶部弹窗
+                CallerTrafficLightListenerManager.disableTrafficLight()
+                isShowGreenWave = false
+                isShowRunRedLight = false
+            }
+        }
+    }
+
+
+    private var isYellowLight = false
+    private var isShowGreenWave = false
+    private var isShowRunRedLight = false
+
+
+
+    /**
+     * 修改红绿灯
+     */
+    @Synchronized
+    private fun changeTrafficLightStatus(
+        appId: Int,
+        lights: List<SpatLight>
+    ) {
+        var ttsContent = ""
+        var alertContent = ""
+        //这里需要根据真实数据确定 index 取值方式
+        val currentLight = lights[0]
+        CallerLogger.d(
+            "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
+            "changeTrafficLightStatus currentLight = $currentLight ----currentLight.light = ${currentLight.light} ---currentLight.phase = ${currentLight.phaseId} ---appId = $appId --countDown =  ${currentLight.countDown.toInt()}"
+        )
+        // 闯红灯预警，绿波通行和闯红灯是互斥的
+        when (appId) {
+            0 -> {//不可用 V2I_RLVW_VIOLATION_TYPE_UNAVAILABLE 无效
+
+            }
+            1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
+                if (!isShowRunRedLight) {
+                    isShowRunRedLight = true
+                    CallerLogger.d(
+                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
+                        "changeTrafficLightStatus 闯红灯 --------> "
+                    )
+                    ttsContent =
+                        EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                    alertContent =
+                        EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                    CallerMsgBoxManager.saveMsgBox(
+                        MsgBoxBean(
+                            MsgBoxType.V2X,
+                            V2XMsg(
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
                                 alertContent,
                                 ttsContent
                             )
@@ -1020,51 +960,80 @@ private fun changeTrafficLightStatus(
                     )
 
                     CallerHmiManager.warningV2X(
-                        EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
+                        EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
                         alertContent,
                         ttsContent// 只有第一次才tts，防止更新的时候不断的提醒
                     )
                 }
             }
+
+            2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次 100m的时候
+                if (!isShowGreenWave) {
+                    isShowGreenWave = true
+
+                    var minSpeedTemp = Math.round(currentLight.suggestMinSpeed * 3.6)
+                    var maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
+                    if (minSpeedTemp == maxSpeedTemp) {
+                        minSpeedTemp -= 5
+                    }
+
+                    val adviceSpeed = "$minSpeedTemp - $maxSpeedTemp"
+                    val adviceSpeedTts = "$minSpeedTemp 到 $maxSpeedTemp"
+
+                    ttsContent =
+                        String.format(
+                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
+                            adviceSpeedTts
+                        )
+                    alertContent =
+                        String.format(
+                            EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
+                            adviceSpeed
+                        )
+
+                    val maxSpeed = currentLight.suggestMaxSpeed
+                    if (maxSpeed > 0) {
+                        CallerMsgBoxManager.saveMsgBox(
+                            MsgBoxBean(
+                                MsgBoxType.V2X,
+                                V2XMsg(
+                                    EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
+                                    alertContent,
+                                    ttsContent
+                                )
+                            ).apply {
+                                sourceType = DataSourceType.OBU
+                            }
+                        )
+
+                        CallerHmiManager.warningV2X(
+                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
+                            alertContent,
+                            ttsContent// 只有第一次才tts，防止更新的时候不断的提醒
+                        )
+                    }
+                }
+            }
+        }
+
+        when (currentLight.light) {
+            // 灯光不可用
+            0 -> {
+                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.BLACK)
+            }
+            // 红灯
+            2, 3 -> {
+                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.RED)
+            }
+
+            // 绿灯
+            4, 5, 6 -> {
+                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.GREEN)
+            }
+
+            // 黄灯
+            7, 8 -> {
+                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.YELLOW)
+            }
         }
     }
-
-    when (currentLight.light) {
-        // 灯光不可用
-        0 -> {
-            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.BLACK)
-        }
-        // 红灯
-        2, 3 -> {
-            if (!isRedLight) {  //todo 小鹏
-                isRedLight = true
-            }
-            isGreenLight = false
-            isYellowLight = false
-            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.RED)
-            val red = currentLight.countDown.toInt()
-        }
-
-        // 绿灯
-        4, 5, 6 -> {   //todo 小鹏
-            if (!isGreenLight) {
-                isGreenLight = true
-            }
-            isRedLight = false
-            isYellowLight = false
-            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.GREEN)
-            val green = currentLight.countDown.toInt()
-        }
-
-        // 黄灯
-        7, 8 -> {
-            if (!isYellowLight) {
-                isYellowLight = true
-            }
-            isRedLight = false
-            isGreenLight = false
-            CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.YELLOW)
-            val yellow = currentLight.countDown.toInt()
-        }
-    }
-}

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

@@ -343,34 +343,34 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
     }
 
     override fun showSmallFragment() {
-        // 加载全览模式图层
-        val fragmentOverview = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
-            .navigation() as BaseFragment
-        activity?.supportFragmentManager?.beginTransaction()
-            ?.setCustomAnimations(R.anim.slide_in, R.anim.fade_out)?.apply {
-                if (!fragmentOverview.isAdded) {
-                    add(
-                        R.id.module_main_id_smp_fragment,
-                        fragmentOverview,
-                        fragmentOverview.tagName
-                    )
-                } else {
-                    show(fragmentOverview)
-                }.commitAllowingStateLoss()
-            }
-        CallerDevaToolsManager.hideStatusBar()
+//        // 加载全览模式图层
+//        val fragmentOverview = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
+//            .navigation() as BaseFragment
+//        activity?.supportFragmentManager?.beginTransaction()
+//            ?.setCustomAnimations(R.anim.slide_in, R.anim.fade_out)?.apply {
+//                if (!fragmentOverview.isAdded) {
+//                    add(
+//                        R.id.module_main_id_smp_fragment,
+//                        fragmentOverview,
+//                        fragmentOverview.tagName
+//                    )
+//                } else {
+//                    show(fragmentOverview)
+//                }.commitAllowingStateLoss()
+//            }
+//        CallerDevaToolsManager.hideStatusBar()
     }
 
     override fun hideSmallFragment() {
-        val fragmentOverview = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
-            .navigation() as BaseFragment
-        activity?.supportFragmentManager?.beginTransaction()
-            ?.setCustomAnimations(R.anim.slide_in, R.anim.fade_out)?.apply {
-                if (fragmentOverview.isVisible) {
-                    hide(fragmentOverview)
-                }
-            }
-            ?.commitAllowingStateLoss()
+//        val fragmentOverview = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
+//            .navigation() as BaseFragment
+//        activity?.supportFragmentManager?.beginTransaction()
+//            ?.setCustomAnimations(R.anim.slide_in, R.anim.fade_out)?.apply {
+//                if (fragmentOverview.isVisible) {
+//                    hide(fragmentOverview)
+//                }
+//            }
+//            ?.commitAllowingStateLoss()
     }
 
 }

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

@@ -22,12 +22,12 @@ import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.chat.biz.ChatConsts;
 import com.mogo.eagle.core.function.api.devatools.IMogoDevaToolsUpgradeListener;
+import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsUpgradeListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
 import com.mogo.eagle.core.function.msgbox.db.MsgBoxDb;
-import com.mogo.eagle.core.function.overview.db.OverviewDb;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.AppLaunchTimeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
@@ -194,7 +194,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
     }
 
     private void initOverviewDb() {
-        OverviewDb.Companion.getDb(this);
+        CallerFuncBizManager.getBizProvider().initOverViewDb(this);
     }
 
     /**

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

@@ -11,7 +11,6 @@ import com.mogo.eagle.core.data.map.CenterLine
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.business.MapPointCloudSubscriber
@@ -20,20 +19,11 @@ 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.autopilot.CallerChassisLamplightListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.map.CallerHDMapManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
-import com.mogo.eagle.core.function.overview.InfStructureManager
-import com.mogo.eagle.core.function.overview.InfStructureManager.savePlanningData
-import com.mogo.eagle.core.function.overview.obtainViewModel
-import com.mogo.eagle.core.function.overview.vm.OverViewModel
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
-import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.map.IMogoMap
 import com.mogo.map.MogoMapView
 import com.mogo.map.uicontroller.IMogoMapUIController

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

@@ -1,51 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import com.mogo.eagle.core.data.map.Infrastructure
-import mogo.telematics.pad.MessagePad
-
-/**
- * 本地数据库查询出来的红绿灯、摄像头等数据
- */
-object InfStructureManager {
-
-    // 每个GeoHash网格对应的新基建Bean
-    private val _infMap by lazy {
-        HashMap<String, ArrayList<Infrastructure>>()
-    }
-
-    // 全局路径规划中所有点的GeoHash网格对应的新基建数据集合
-    private val _pathMap by lazy {
-        HashMap<String, ArrayList<Infrastructure>>()
-    }
-
-    private val _planningList by lazy {
-        ArrayList<MessagePad.Location>()
-    }
-
-    fun saveData(map: HashMap<String, java.util.ArrayList<Infrastructure>>) {
-        if (_infMap.isNotEmpty()) {
-            _infMap.clear()
-        }
-        _infMap.putAll(map)
-    }
-
-    fun getData(): Map<String, ArrayList<Infrastructure>> = _infMap
-
-    fun savePathData(map: HashMap<String, java.util.ArrayList<Infrastructure>>) {
-        if (_pathMap.isNotEmpty()) {
-            _pathMap.clear()
-        }
-        _pathMap.putAll(map)
-    }
-
-    fun getPathData(): Map<String, ArrayList<Infrastructure>> = _pathMap
-
-    fun savePlanningData(planningList: List<MessagePad.Location>) {
-        if (_planningList.isNotEmpty()) {
-            _planningList.clear()
-        }
-        _planningList.addAll(planningList)
-    }
-
-    fun getPlanningData() = _planningList
-}

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

@@ -1,13 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import androidx.appcompat.app.AppCompatActivity
-import androidx.fragment.app.Fragment
-import androidx.lifecycle.ViewModel
-import androidx.lifecycle.ViewModelProviders
-import com.mogo.commons.AbsMogoApplication
-
-fun <T : ViewModel> AppCompatActivity.obtainViewModel(viewModelClass: Class<T>) =
-    ViewModelProviders.of(this, ViewModelFactory.getInstance(application)).get(viewModelClass)
-
-fun <T : ViewModel> Fragment.obtainViewModel(viewModelClass: Class<T>) =
-    ViewModelProviders.of(this, ViewModelFactory.getInstance(AbsMogoApplication.getApp())).get(viewModelClass)

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

@@ -1,41 +0,0 @@
-package com.mogo.eagle.core.function.overview
-
-import android.annotation.SuppressLint
-import android.app.Application
-import androidx.annotation.VisibleForTesting
-import androidx.lifecycle.ViewModel
-import androidx.lifecycle.ViewModelProvider
-import com.mogo.eagle.core.function.overview.db.OverviewDao
-import com.mogo.eagle.core.function.overview.db.OverviewDb
-import com.mogo.eagle.core.function.overview.vm.OverViewModel
-
-class ViewModelFactory private constructor(
-        private val overviewDao: OverviewDao
-) : ViewModelProvider.NewInstanceFactory() {
-
-    override fun <T : ViewModel> create(modelClass: Class<T>) =
-            with(modelClass) {
-                when {
-                    isAssignableFrom(OverViewModel::class.java) ->
-                        OverViewModel(overviewDao)
-                    else ->
-                        throw IllegalArgumentException("Unknown ViewModel class: ${modelClass.name}")
-                }
-            } as T
-
-    companion object {
-        @SuppressLint("StaticFieldLeak")
-        @Volatile private var INSTANCE: ViewModelFactory? = null
-
-        fun getInstance(application: Application) =
-                INSTANCE ?: synchronized(ViewModelFactory::class.java) {
-                    INSTANCE ?: ViewModelFactory(
-                            OverviewDb.getDb(application).overviewDao())
-                            .also { INSTANCE = it }
-                }
-
-        @VisibleForTesting fun destroyInstance() {
-            INSTANCE = null
-        }
-    }
-}

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

@@ -20,17 +20,16 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.data.v2x.V2XEvent
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
+import com.mogo.eagle.core.function.api.v2x.IFuncBizProvider
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.function.call.biz.CallerFuncBizListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showVideoDialog
 import com.mogo.eagle.core.function.map.R
-import com.mogo.eagle.core.function.overview.InfStructureManager
-import com.mogo.eagle.core.function.overview.InfStructureManager.getData
-import com.mogo.eagle.core.function.overview.OverViewDataManager
-import com.mogo.eagle.core.function.overview.remote.V2XEvent
 import com.mogo.eagle.core.function.smp.MakerWithCount
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.callback
@@ -40,7 +39,6 @@ import com.mogo.eagle.core.function.smp.MarkerDrawerManager.planningPoints
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.startLoopCalCarLocation
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateRoutePoints
 import com.mogo.eagle.core.function.smp.V2XMarkerView
-import com.mogo.eagle.core.utilcode.kotlin.lifecycleOwner
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isTaxi
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
@@ -69,6 +67,8 @@ class OverMapView @JvmOverloads constructor(
     private val pathMap: MutableMap<String?, ArrayList<Infrastructure>?> = HashMap()
     private val posInfMap: MutableMap<LatLng?, ArrayList<Infrastructure>?> = HashMap()
 
+    private var geoHashInfMap: HashMap<String, java.util.ArrayList<Infrastructure>>? = null
+
     // =============绘制轨迹线相关=============
     private var mCarMarker: Marker? = null
     private var mCompassMarker: Marker? = null
@@ -189,18 +189,17 @@ class OverMapView @JvmOverloads constructor(
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        OverViewDataManager.infStructuresMap.observe(lifecycleOwner) { list ->
-            InfStructureManager.saveData(list)
-        }
-        // 查询本地数据库中的摄像头数据
-        OverViewDataManager.fetchInfStructures()
+        CallerFuncBizListenerManager.addListener(TAG, object : IFuncBizProvider {
+            override fun onInfStructures(map: HashMap<String, ArrayList<Infrastructure>>?) {
+                geoHashInfMap = map
+            }
+
+            override fun onV2XEvents(v2xEvents: List<V2XEvent>?) {
+                showV2XEventMarkers(v2xEvents)
+            }
+        })
         // 主动查一次全局路径规划的数据
         getGlobalPath()
-        // 定时查询V2X事件
-        OverViewDataManager.getV2XEventLiveData().observe(lifecycleOwner) {
-            showV2XEventMarkers(it)
-        }
-        OverViewDataManager.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().sn)
     }
 
     private fun setUpMap() {
@@ -297,32 +296,45 @@ class OverMapView @JvmOverloads constructor(
             }
         }
         startLoopCalCarLocation()
-        UiThreadHandler.post { drawInfrastructureMarkers(locationList) }
+        UiThreadHandler.post {
+            if (geoHashInfMap.isNullOrEmpty()) {
+                UiThreadHandler.postDelayed({
+                    drawInfrastructureMarkers(locationList)
+                }, 1000)
+            } else {
+                drawInfrastructureMarkers(locationList)
+            }
+        }
     }
 
     /**
      * 显示V2X事件的Marker
      */
-    fun showV2XEventMarkers(v2XEvents: List<V2XEvent>?) {
+    private fun showV2XEventMarkers(v2XEvents: List<V2XEvent>?) {
         if (v2XEvents == null || v2XEvents.isEmpty()) return
         clearV2XMarkers()
         val markerOptionsList = ArrayList<MarkerOptions>()
-        for ((_, _, _, center, _, _, poiType, coordinateType) in v2XEvents) {
+        for (v2xEvent in v2XEvents) {
+            val center = v2xEvent.center
             if (center != null) {
-                center.lon
                 val markerOption = MarkerOptions()
-                var latLng: LatLng = if (coordinateType == null || coordinateType == 0) {
-                    LatLng(center.lat, center.lon)
-                } else {
-                    // wgs84坐标系需转成高德坐标系
-                    coordinateConverterWgsToGcj(mContext!!, center.lat, center.lon)
-                }
+                var latLng: LatLng =
+                    if (v2xEvent.coordinateType == null || v2xEvent.coordinateType == 0) {
+                        LatLng(center.lat, center.lon)
+                    } else {
+                        // wgs84坐标系需转成高德坐标系
+                        coordinateConverterWgsToGcj(
+                            mContext!!,
+                            center.lat,
+                            center.lon
+                        )
+                    }
                 markerOption.position(latLng)
                 markerOption.anchor(0.13f, 1f)
                 markerOption.icon(
                     BitmapDescriptorFactory.fromBitmap(
                         getV2XBitmap(
-                            poiType
+                            v2xEvent.poiType
                         )
                     )
                 )
@@ -364,7 +376,6 @@ class OverMapView @JvmOverloads constructor(
         // 注册定位监听
         CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
         CallerPlanningRottingListenerManager.removeListener(TAG)
-        OverViewDataManager.stopQueryV2XEvents()
     }
 
     override fun onInterceptTouchEvent(ev: MotionEvent): Boolean {
@@ -386,7 +397,8 @@ class OverMapView @JvmOverloads constructor(
      * @param locationList
      */
     private fun drawInfrastructureMarkers(locationList: List<MessagePad.Location>?) {
-        if (locationList == null) return
+        val infMap = geoHashInfMap
+        if (locationList == null || infMap.isNullOrEmpty()) return
         if (pathMap.isNotEmpty()) {
             pathMap.clear()
         }
@@ -399,7 +411,7 @@ class OverMapView @JvmOverloads constructor(
             // 网格内的轨迹点只取一次s
             if (!pathMap.containsKey(geoHash)) {
                 // 从缓存的新基建数据中去取对应geoHash的新基建数据集合
-                infList = getData()[geoHash]
+                infList = infMap[geoHash]
                 if (infList != null) {
                     pathMap[geoHash] = infList
                 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/vm/OverViewModel.kt

@@ -1,141 +0,0 @@
-package com.mogo.eagle.core.function.overview.vm
-
-import androidx.lifecycle.*
-import com.mogo.commons.constants.HostConst
-import com.mogo.eagle.core.data.map.Infrastructure
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
-import com.mogo.eagle.core.function.overview.db.OverviewDao
-import com.mogo.eagle.core.function.overview.remote.OverViewServiceApi
-import com.mogo.eagle.core.function.overview.remote.V2XEvent
-import com.mogo.eagle.core.network.MoGoRetrofitFactory
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import io.reactivex.Observable
-import io.reactivex.android.schedulers.AndroidSchedulers
-import io.reactivex.disposables.Disposable
-import io.reactivex.schedulers.Schedulers
-import kotlinx.coroutines.launch
-import java.util.concurrent.TimeUnit
-
-class OverViewModel(
-    private val overviewDao: OverviewDao
-) : ViewModel() {
-    private val _infStructures = MutableLiveData<List<Infrastructure>>()
-    private val _V2XEvents = MutableLiveData<List<V2XEvent>>()
-    private var disposable: Disposable? = null
-
-    companion object {
-        const val TAG = "OverViewModel"
-    }
-
-    val infStructures
-        get() = _infStructures
-
-    private val _infStructuresMap = _infStructures
-        .switchMap { infStructures ->
-            liveData {
-                val map = HashMap<String, ArrayList<Infrastructure>>()
-                infStructures.forEach {
-                    val geoHash = it.geoHash
-                    if (geoHash == null) {
-                        return@forEach
-                    } else {
-                        if (!map.containsKey(geoHash)) {
-                            val list = ArrayList<Infrastructure>()
-                            list.add(it)
-                            map[geoHash] = list
-                        } else {
-                            map[geoHash]?.add(it)
-                        }
-                    }
-                }
-                emit(map)
-            }
-        }
-    val infStructuresMap
-        get() = _infStructuresMap
-
-    fun fetchInfStructures() {
-        viewModelScope.launch {
-            val data = try {
-                // 只查找摄像头
-                overviewDao.listInfStructures(0)
-//                overviewDao.listAllInfStructures()
-            } catch (e: Exception) {
-                e.printStackTrace()
-                null
-            }
-            data?.let {
-                _infStructures.value = it
-            }
-        }
-    }
-
-    fun updateGeoHash(id: Int, geoHash: String) {
-        viewModelScope.launch {
-            try {
-                overviewDao.updateGeoHash(id, geoHash)
-            } catch (e: Exception) {
-                e.printStackTrace()
-            }
-        }
-    }
-
-    fun getAllV2XEventsByLineId(sn: String) {
-        if (disposable != null && !disposable!!.isDisposed) {
-            disposable!!.dispose()
-        }
-
-        // 1分钟查询一次
-        disposable = Observable.interval(2000, 60000, TimeUnit.MILLISECONDS)
-            .flatMap {
-                val lineId = getLineId()
-                if (lineId > 0) {
-                    MoGoRetrofitFactory.getInstance(HostConst.getHost())
-                        .create(OverViewServiceApi::class.java)
-                        .queryAllV2XEventsByLineId(lineId.toString(), sn)
-                        .map {
-                            if (it.code == 200 || it.code == 0) {
-                                CallerLogger.d(SceneConstant.M_MAP + TAG, "请求成功，size为：${it.result?.v2XEventList?.size}")
-                                return@map it.result?.v2XEventList
-                            } else {
-                                CallerLogger.d(SceneConstant.M_MAP + TAG, "请求失败，code为：${it.code}")
-                                return@map ArrayList()
-                            }
-                        }
-                } else {
-                    Observable.just(ArrayList())
-                }
-            }
-            .subscribeOn(Schedulers.io())
-            .observeOn(AndroidSchedulers.mainThread())
-            .subscribe {
-                it?.apply {
-                    _V2XEvents.value = this
-                }
-            }
-    }
-
-    fun getV2XEventLiveData() = _V2XEvents
-
-    fun stopQueryV2XEvents() {
-        disposable?.dispose()
-    }
-
-    private fun getLineId(): Long {
-        var lineId: Long = -1
-        val parameter = getAutoPilotStatusInfo()
-            .autopilotControlParameters
-        if (parameter != null) {
-            if (parameter.autoPilotLine != null) {
-                lineId = parameter.autoPilotLine!!.lineId
-                CallerLogger.d(SceneConstant.M_MAP + TAG, "lineId为:$lineId")
-            } else {
-                CallerLogger.d(SceneConstant.M_MAP + TAG, "parameter.autoPilotLine为null")
-            }
-        } else {
-            CallerLogger.d(SceneConstant.M_MAP + TAG, "parameter为null")
-        }
-        return lineId
-    }
-}

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

@@ -1,550 +0,0 @@
-package com.mogo.eagle.core.function.smp;
-
-import android.content.Context;
-import android.graphics.Bitmap;
-import android.graphics.Canvas;
-import android.os.Bundle;
-import android.util.AttributeSet;
-import android.util.Log;
-import android.view.LayoutInflater;
-import android.view.MotionEvent;
-import android.view.View;
-import android.widget.RelativeLayout;
-import android.widget.TextView;
-
-import androidx.annotation.Nullable;
-
-import com.amap.api.maps.AMap;
-import com.amap.api.maps.CameraUpdate;
-import com.amap.api.maps.CameraUpdateFactory;
-import com.amap.api.maps.TextureMapView;
-import com.amap.api.maps.UiSettings;
-import com.amap.api.maps.model.BitmapDescriptor;
-import com.amap.api.maps.model.BitmapDescriptorFactory;
-import com.amap.api.maps.model.CameraPosition;
-import com.amap.api.maps.model.CustomMapStyleOptions;
-import com.amap.api.maps.model.LatLng;
-import com.amap.api.maps.model.LatLngBounds;
-import com.amap.api.maps.model.Marker;
-import com.amap.api.maps.model.MarkerOptions;
-import com.amap.api.maps.model.Polyline;
-import com.amap.api.maps.model.PolylineOptions;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.map.Infrastructure;
-import com.mogo.eagle.core.data.map.MogoLocation;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.function.map.R;
-import com.mogo.eagle.core.function.overview.InfStructureManager;
-import com.mogo.eagle.core.function.overview.remote.Center;
-import com.mogo.eagle.core.function.overview.remote.V2XEvent;
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
-import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils;
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-
-import ch.hsr.geohash.GeoHash;
-import kotlin.Pair;
-import me.jessyan.autosize.utils.AutoSizeUtils;
-import mogo.telematics.pad.MessagePad;
-
-/**
- * 小地图的方向View
- * 监听自动驾驶路径结束,结束高德地图导航
- *
- * @author donghongyu
- * @date 12/14/20 4:40 PM
- */
-public class AMapCustomView
-        extends RelativeLayout
-        implements IMoGoChassisLocationGCJ02Listener {
-    public static final String TAG = "AMapCustomView";
-    private TextureMapView mAMapView;
-    private AMap mAMap;
-    private int zoomLevel = 15;
-    private CameraUpdate mCameraUpdate;
-    private Context mContext;
-    private float mTilt = 60f;
-    private TextView overLayerView;
-    private boolean calculate = false;
-
-    // 全局路径规划中的GeoHash网格
-    private Map<String, ArrayList<Infrastructure>> pathMap = new HashMap();
-    private Map<LatLng, ArrayList<Infrastructure>> posInfMap = new HashMap();
-
-    // =============绘制轨迹线相关=============
-    private Marker mCarMarker;
-    private Marker mCompassMarker;
-    private Marker mStartMarker;
-    private Marker mEndMarker;
-    private Polyline mBottomPolyline;
-    private Polyline mCoveredPolyline;
-    // 计算索引并设置对应的Bitmap
-    BitmapDescriptor arrivedBitmap;
-    BitmapDescriptor unArrivedBitmap;
-    // 绘制轨迹线的集合
-    private List<BitmapDescriptor> textureList = new ArrayList<>();
-    private List<Integer> texIndexList = new ArrayList<>();
-
-    private MogoLocation mLocation;
-    private boolean isFirstLocation = true;
-    CustomMapStyleOptions mCustomMapStyleOptions;
-
-    ArrayList<Marker> currMarkerList;
-
-    public AMapCustomView(Context context) {
-        this(context, null);
-    }
-
-    public AMapCustomView(Context context, @Nullable AttributeSet attrs) {
-        this(context, attrs, 0);
-    }
-
-    public AMapCustomView(Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
-        super(context, attrs, defStyleAttr);
-        try {
-            initView(context);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    private void initView(Context context) {
-        mContext = context;
-        View smpView = LayoutInflater.from(context).inflate(R.layout.module_overview_map_view, this);
-        mAMapView = smpView.findViewById(R.id.aMapView);
-        overLayerView = findViewById(R.id.overLayer);
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-            overLayerView.setBackground(getResources().getDrawable(R.drawable.amap_reset));
-            arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.taxi_map_arrow_arrived);
-            unArrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.taxi_map_arrow_un_arrive);
-        } else {
-            overLayerView.setBackground(getResources().getDrawable(R.drawable.amap_reset_bus));
-            arrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.arrow_arrived_img);
-            unArrivedBitmap = BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_smooth_route);
-        }
-        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
-        initAMapView(context);
-        // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.addListener(TAG, this);
-        //设置全览模式
-        overLayerView.setOnClickListener(v -> {
-            displayCustomOverView();
-        });
-    }
-
-    private void initAMapView(Context context) {
-        Log.d(TAG, "initAMapView");
-        mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
-        mAMap = mAMapView.getMap();
-        mCustomMapStyleOptions = new CustomMapStyleOptions();
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-            mCustomMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style.data"));
-            mCustomMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra.data"));
-        } else {
-            mCustomMapStyleOptions.setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext(), "over_view_style_bus.data"));
-            mCustomMapStyleOptions.setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext(), "over_view_style_extra_bus.data"));
-        }
-        mAMap.setOnMapLoadedListener(() -> {
-            Log.d(TAG, "---onMapLoaded---");
-            if (mCustomMapStyleOptions != null) {
-                // 加载自定义样式
-                mCustomMapStyleOptions.setEnable(true);
-                // 设置自定义样式
-                mAMap.setCustomMapStyle(mCustomMapStyleOptions);
-            }
-            // 实时路况图层关闭，必须添加在loaded结束之后,其他位置不生效
-            mAMap.setTrafficEnabled(false);
-        });
-        setUpMap();
-        customOptions();
-    }
-
-    private void setUpMap() {
-        // 地图文字标注
-        mAMap.showMapText(true);
-        //设置希望展示的地图缩放级别
-        mAMap.moveCamera(mCameraUpdate);
-        //设置地图的样式
-        UiSettings uiSettings = mAMap.getUiSettings();
-        //地图缩放级别的交换按钮
-        uiSettings.setZoomControlsEnabled(false);
-        //所有手势
-        uiSettings.setAllGesturesEnabled(true);
-        //隐藏指南针
-        uiSettings.setCompassEnabled(false);
-        //设置倾斜手势是否可用。
-        uiSettings.setTiltGesturesEnabled(true);
-        //隐藏默认的定位按钮
-        uiSettings.setMyLocationButtonEnabled(false);
-        //设置Logo下边界距离屏幕底部的边距,设置为负值即可
-        uiSettings.setLogoBottomMargin(-150);
-        Log.d(TAG, "before  onMapLoaded");
-    }
-
-    /**
-     * 自定义导航View和路况状态
-     */
-    private void customOptions() {
-        if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-            mCarMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
-                    .anchor(0.5f, 0.5f));
-            mCompassMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_custom_corner))
-                    .anchor(0.5f, 0.5f));
-        } else {
-            mCarMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
-                    .anchor(0.5f, 0.5f));
-            mCompassMarker = mAMap.addMarker(new MarkerOptions()
-                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.amap_bus_corner))
-                    .anchor(0.5f, 0.5f));
-        }
-
-        mStartMarker = mAMap.addMarker(new MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start)));
-        mEndMarker = mAMap.addMarker(new MarkerOptions()
-                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end)));
-    }
-
-    private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener() {
-
-        /**
-         * 根据全路径获取起始点和经停点进行导航路线绘制
-         * 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
-         * 室内某个bag包自动驾驶启动8s后返回
-         */
-        @Override
-        public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) {
-            Log.d(TAG, "onAutopilotRotting");
-            if (globalPathResp != null) {
-                handlePlanningData(globalPathResp.getWayPointsList());
-            }
-        }
-    };
-
-    public void handlePlanningData(List<MessagePad.Location> locationList) {
-        if (locationList == null || locationList.size() == 0) return;
-        List list = locationList;
-        // 转成高德坐标系并存储
-        MarkerDrawerManager.INSTANCE.updateRoutePoints(list, mContext);
-        List<LatLng> planningPointList = MarkerDrawerManager.INSTANCE.getPlanningPoints();
-        UiThreadHandler.post(() -> {
-            displayCustomOverView();
-            drawStartAndEndMarker(planningPointList);
-        });
-        MarkerDrawerManager.INSTANCE.setCallback((points, locIndex) -> {
-            // 每1s刷新一下轨迹线
-            UiThreadHandler.post(() -> {
-                if (points.size() > 0) {
-                    drawPolyline(points, locIndex);
-                }
-            });
-        });
-        MarkerDrawerManager.INSTANCE.startLoopCalCarLocation();
-        UiThreadHandler.post(() -> {
-            drawInfrastructureMarkers(locationList);
-        });
-    }
-
-    public void showV2XEventMarkers(List<V2XEvent> v2XEvents) {
-        if (v2XEvents == null || v2XEvents.size() <= 0) return;
-        clearV2XMarkers();
-        ArrayList<MarkerOptions> markerOptionsList = new ArrayList<>();
-        for (V2XEvent event : v2XEvents) {
-            Center center = event.getCenter();
-            if (center != null) {
-                center.getLon();
-                MarkerOptions markerOption = new MarkerOptions();
-                LatLng latLng;
-                if (event.getCoordinateType() == null || event.getCoordinateType() == 0) {
-                    latLng = new LatLng(center.getLat(), center.getLon());
-                } else {
-                    // wgs84坐标系需转成高德坐标系
-                    latLng = MarkerDrawerManager.INSTANCE.coordinateConverterWgsToGcj(mContext, center.getLat(), center.getLon());
-                }
-                markerOption.position(latLng);
-                markerOption.anchor(0.13f, 1f);
-                markerOption.icon(BitmapDescriptorFactory.fromBitmap(getV2XBitmap(event.getPoiType())));
-                markerOptionsList.add(markerOption);
-            }
-        }
-        if (markerOptionsList.size() > 0) {
-            drawV2XMarkers(markerOptionsList);
-        }
-    }
-
-    public void drawV2XMarkers(ArrayList<MarkerOptions> markerOptionsList) {
-        currMarkerList = mAMap.addMarkers(markerOptionsList, false);
-    }
-
-    private Bitmap getV2XBitmap(String poiType) {
-        V2XMarkerView marker = new V2XMarkerView(getContext(), null, 0, poiType);
-        marker.measure(View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 229), View.MeasureSpec.EXACTLY),
-                View.MeasureSpec.makeMeasureSpec(AutoSizeUtils.dp2px(mContext, 96), View.MeasureSpec.EXACTLY));
-        marker.layout(0, 0, marker.getMeasuredWidth(), marker.getMeasuredHeight());
-        Bitmap bitmap = Bitmap.createBitmap(marker.getWidth(), marker.getHeight(), Bitmap.Config.ARGB_8888);
-        marker.draw(new Canvas(bitmap));
-        return bitmap;
-    }
-
-    public void clearV2XMarkers() {
-        if (currMarkerList != null) {
-            for (Marker marker : currMarkerList) {
-                marker.destroy();
-            }
-            currMarkerList = null;
-        }
-    }
-
-    @Override
-    protected void onDetachedFromWindow() {
-        super.onDetachedFromWindow();
-        // 注册定位监听
-        CallerChassisLocationGCJ20ListenerManager.INSTANCE.removeListener(TAG);
-        CallerPlanningRottingListenerManager.INSTANCE.removeListener(TAG);
-    }
-
-    @Override
-    public boolean onInterceptTouchEvent(MotionEvent ev) {
-        return false;
-    }
-
-    public void onCreateView(Bundle savedInstanceState) {
-        if (mAMapView != null) {
-            mAMapView.onCreate(savedInstanceState);
-        }
-    }
-
-    public void onResume() {
-        if (mAMapView != null) {
-            mAMapView.onResume();
-        }
-    }
-
-    public void onPause() {
-        if (mAMapView != null) {
-            mAMapView.onPause();
-        }
-    }
-
-    public void onDestroy() {
-        if (mAMapView != null) {
-            mAMapView.onDestroy();
-        }
-
-        if (mAMapView != null) {
-            mAMapView.onDestroy();
-        }
-    }
-
-    public void clearCustomPolyline() {
-        if (mBottomPolyline != null) {
-            mBottomPolyline.remove();
-        }
-        if (mCoveredPolyline != null) {
-            mCoveredPolyline.remove();
-        }
-    }
-
-    /**
-     * 绘制新基建Markers(比如：摄像头)
-     *
-     * @param locationList
-     */
-    private void drawInfrastructureMarkers(List<MessagePad.Location> locationList) {
-        if (locationList == null) return;
-        if (!pathMap.isEmpty()) {
-            pathMap.clear();
-        }
-        String geoHash;
-        ArrayList<Infrastructure> infList;
-        for (int i = 0; i < locationList.size(); i++) {
-            LatLng latLng = MarkerDrawerManager.INSTANCE.coordinateConverterWgsToGcj(mContext, locationList.get(i));
-            geoHash = GeoHash.withCharacterPrecision(latLng.latitude, latLng.longitude, 7).toBase32();
-            // 网格内的轨迹点只取一次s
-            if (!pathMap.containsKey(geoHash)) {
-                // 从缓存的新基建数据中去取对应geoHash的新基建数据集合
-                infList = InfStructureManager.INSTANCE.getData().get(geoHash);
-                if (infList != null) {
-                    pathMap.put(geoHash, infList);
-                }
-            }
-        }
-        drawInfMarkers(pathMap);
-    }
-
-    //todo 扶风 需重构此处，封装至 全览
-    public void drawInfMarkers(Map<String, ArrayList<Infrastructure>> infStruMap) {
-        // 绘制新基建数据
-        if (!posInfMap.isEmpty()) {
-            posInfMap.clear();
-        }
-        ArrayList<MarkerOptions> markerOptionsList = new ArrayList();
-        for (ArrayList<Infrastructure> structureList : infStruMap.values()) {
-            // 每个GeoHash内根据坐标系象限分散开摄像头icon显示
-
-            MarkerOptions markerOption = new MarkerOptions();
-            LatLng latLng = new LatLng(Double.valueOf(structureList.get(0).getLat()),
-                    Double.valueOf(structureList.get(0).getLon()));
-            markerOption.position(latLng);
-            Bitmap bitmap = getBitmap(structureList.size());
-            markerOption.icon(BitmapDescriptorFactory.fromBitmap(
-                    bitmap
-            ));
-            markerOption.zIndex(2f);
-            posInfMap.put(latLng, structureList);
-            markerOptionsList.add(markerOption);
-        }
-        mAMap.addMarkers(markerOptionsList, false);
-        mAMap.setOnMarkerClickListener(marker -> {
-            List<Infrastructure> infList = posInfMap.get(marker.getPosition());
-            // 如果是摄像头
-            if (infList != null) {
-                CallerHmiManager.INSTANCE.showVideoDialog(infList);
-                return true;
-            }
-            return false;
-        });
-    }
-
-    private Bitmap getBitmap(int count) {
-        MakerWithCount marker = new MakerWithCount(getContext());
-        marker.setCount(count);
-
-        marker.measure(View.MeasureSpec.makeMeasureSpec(116, View.MeasureSpec.EXACTLY),
-                View.MeasureSpec.makeMeasureSpec(116, View.MeasureSpec.EXACTLY));
-        marker.layout(0, 0, marker.getMeasuredWidth(), marker.getMeasuredHeight());
-        Bitmap bitmap = Bitmap.createBitmap(marker.getWidth(), marker.getHeight(), Bitmap.Config.ARGB_8888);
-        marker.draw(new Canvas(bitmap));
-        return bitmap;
-    }
-
-    /**
-     * 进入自定义全览模式
-     */
-    private void displayCustomOverView() {
-        ArrayList<LatLng> linePointsLatLng = MarkerDrawerManager.INSTANCE.getPlanningPoints();
-        if (linePointsLatLng.size() > 1) {
-            //圈定地图显示范围
-            //存放经纬度
-            LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
-            for (int i = 0; i < linePointsLatLng.size(); i++) {
-                boundsBuilder.include(linePointsLatLng.get(i));
-            }
-            LatLng currentLatLng = new LatLng(mLocation.getLatitude(), mLocation.getLongitude());
-            boundsBuilder.include(currentLatLng);
-
-            CameraPosition cameraPosition = new CameraPosition.Builder().tilt(mTilt).build();
-            //第二个参数为四周留空宽度
-            mAMap.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100));
-            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
-        } else {
-            //设置希望展示的地图缩放级别
-            CameraPosition cameraPosition = new CameraPosition.Builder()
-                    .target(mCarMarker.getPosition()).tilt(0).zoom(zoomLevel).build();
-            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
-        }
-    }
-
-    /**
-     * 绘制自车
-     *
-     * @param location
-     */
-    private void drawCarMarker(MogoLocation location) {
-        if (location == null) return;
-        if (mCarMarker != null) {
-            LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
-            mCarMarker.setRotateAngle((float) (360 - location.getHeading()));
-            mCarMarker.setPosition(currentLatLng);
-            mCarMarker.setToTop();
-            if (mCompassMarker != null) {
-                mCompassMarker.setRotateAngle((float) (360 - location.getHeading()));
-                mCompassMarker.setPosition(currentLatLng);
-            }
-        }
-    }
-
-    /**
-     * 绘制起始点、终点
-     */
-    private void drawStartAndEndMarker(List<LatLng> coordinates) {
-        if (mStartMarker != null) {
-            mStartMarker.setVisible(false);
-        }
-        if (mEndMarker != null) {
-            mEndMarker.setVisible(false);
-        }
-        if (coordinates.size() > 2) {
-            // 设置开始结束Marker位置
-
-            LatLng startLatLng = coordinates.get(0);
-            LatLng endLatLng = coordinates.get(coordinates.size() - 1);
-
-            mStartMarker.setPosition(startLatLng);
-            mEndMarker.setPosition(endLatLng);
-            mStartMarker.setVisible(true);
-            mEndMarker.setVisible(true);
-        }
-    }
-
-    /**
-     * 绘制轨迹线
-     *
-     * @param coordinates
-     * @param locIndex
-     */
-    private void drawPolyline(List<LatLng> coordinates, int locIndex) {
-        if (textureList.size() > 0) {
-            textureList.clear();
-        }
-        if (texIndexList.size() > 0) {
-            texIndexList.clear();
-        }
-        for (int i = 0; i < coordinates.size(); i++) {
-            if (i <= locIndex) {
-                // 已走过的置灰
-                textureList.add(arrivedBitmap);
-            } else {
-                // 未走过的纹理
-                textureList.add(unArrivedBitmap);
-            }
-            texIndexList.add(i);
-        }
-        if (mAMap != null && coordinates.size() > 2) {
-            //设置线段纹理
-            PolylineOptions polylineOptions = new PolylineOptions();
-            polylineOptions.addAll(coordinates);
-            polylineOptions.width(14); //线段宽度
-            polylineOptions.lineCapType(PolylineOptions.LineCapType.LineCapRound);
-            polylineOptions.setCustomTextureList(textureList);
-            polylineOptions.setCustomTextureIndex(texIndexList);
-            // 绘制线
-            mBottomPolyline = mCoveredPolyline;
-            mCoveredPolyline = mAMap.addPolyline(polylineOptions);
-            if (mBottomPolyline != null) {
-                mBottomPolyline.remove();
-            }
-        }
-    }
-
-    @Override
-    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
-        mLocation = gnssInfo;
-        MarkerDrawerManager.INSTANCE.setLonLat(new Pair(gnssInfo.getLongitude(), gnssInfo.getLatitude()));
-        drawCarMarker(gnssInfo);
-        if (isFirstLocation) {
-            displayCustomOverView();
-            isFirstLocation = false;
-        }
-    }
-}

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

@@ -1,163 +0,0 @@
-package com.mogo.eagle.core.function.smp;
-
-import android.content.Context;
-import android.os.Bundle;
-import android.view.View;
-
-import androidx.annotation.Nullable;
-
-import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
-import com.mogo.commons.mvp.BaseFragment;
-import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
-import com.mogo.eagle.core.data.map.MogoLatLng;
-import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.map.R;
-import com.mogo.eagle.core.function.overview.InfStructureManager;
-import com.mogo.eagle.core.function.overview.ViewModelExtKt;
-import com.mogo.eagle.core.function.overview.vm.OverViewModel;
-
-import java.util.List;
-
-/**
- * @author donghongyu
- * @date 2021/5/19 10:50 上午
- * 全览模式Fragment
- */
-@Route(path = MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
-public class OverviewMapFragment extends BaseFragment
-        implements IMogoSmallMapProvider {
-    private final String TAG = "OverviewMapFragment";
-    protected AMapCustomView mAMapCustomView;
-    private OverViewModel mViewModel;
-
-    @Override
-    public void onAttach(Context context) {
-        super.onAttach(context);
-    }
-
-    @Override
-    protected int getLayoutId() {
-        return R.layout.module_overview_map_fragment;
-    }
-
-    @Override
-    public String getTagName() {
-        return TAG;
-    }
-
-    @Override
-    protected void initViews() {
-
-    }
-
-    @Override
-    protected void initViews(Bundle savedInstanceState) {
-        super.initViews(savedInstanceState);
-        mAMapCustomView = mRootView.findViewById(R.id.smallMapDirectionView);
-        mAMapCustomView.onCreateView(savedInstanceState);
-    }
-
-    @Override
-    public void showPanel() {
-        if (mAMapCustomView != null) {
-            mAMapCustomView.setVisibility(View.VISIBLE);
-        }
-    }
-
-    @Override
-    public void hidePanel() {
-        if (mAMapCustomView != null) {
-            mAMapCustomView.setVisibility(View.GONE);
-        }
-    }
-
-    @Override
-    public void startQueryV2XEvents() {
-        if (isAdded()) {
-            if (mViewModel != null) {
-                mViewModel.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().getSn());
-            }
-        }
-    }
-
-    @Override
-    public void clearV2XMarkers() {
-        if (isAdded()) {
-            if (mAMapCustomView != null) {
-                mAMapCustomView.clearV2XMarkers();
-            }
-            if (mViewModel != null) {
-                mViewModel.stopQueryV2XEvents();
-            }
-        }
-    }
-
-    @Override
-    public void drawablePolyline(List<MogoLatLng> coordinates) {
-    }
-
-    @Override
-    public void clearPolyline() {
-    }
-
-    @Override
-    public void onResume() {
-        super.onResume();
-        if (mAMapCustomView != null) {
-            mAMapCustomView.onResume();
-        }
-        mAMapCustomView.handlePlanningData(InfStructureManager.INSTANCE.getPlanningData());
-    }
-
-    @Override
-    public void onActivityCreated(@Nullable Bundle savedInstanceState) {
-        super.onActivityCreated(savedInstanceState);
-        // 主动查一次全局路径规划的数据
-        CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
-        queryV2XEvents();
-    }
-
-    private void queryV2XEvents() {
-        mViewModel = ViewModelExtKt.obtainViewModel(this, OverViewModel.class);
-        mViewModel.getV2XEventLiveData().observe(this.getViewLifecycleOwner(), v2XEvents -> {
-            mAMapCustomView.showV2XEventMarkers(v2XEvents);
-        });
-        mViewModel.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().getSn());
-    }
-
-    /**
-     * @return Taxi的下发的轨迹id
-     */
-    private long getLineId() {
-        long lineId = -1;
-        AutopilotControlParameters parameter = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo()
-                .getAutopilotControlParameters();
-        if (parameter != null) {
-            if (parameter.autoPilotLine != null) {
-                lineId = parameter.autoPilotLine.getLineId();
-            }
-        }
-        return lineId;
-    }
-
-    @Override
-    public void onPause() {
-        super.onPause();
-        if (mAMapCustomView != null) {
-            mAMapCustomView.onPause();
-        }
-
-    }
-
-    @Override
-    public void onDestroy() {
-        super.onDestroy();
-        if (mAMapCustomView != null) {
-            mAMapCustomView.onDestroy();
-        }
-    }
-}

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

@@ -0,0 +1,350 @@
+package com.mogo.eagle.core.function.smp.view
+
+import android.content.Context
+import android.graphics.Color
+import android.os.Bundle
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.RelativeLayout
+import androidx.annotation.UiThread
+import com.amap.api.maps.*
+import com.amap.api.maps.model.*
+import com.mogo.cloud.commons.utils.CoordinateUtils
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.map.MogoLatLng
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.function.map.R
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import mogo.telematics.pad.MessagePad
+import java.util.*
+import kotlin.math.floor
+
+class SmallMapView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : RelativeLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener,
+    IMoGoPlanningRottingListener,
+    IMoGoAutopilotStatusListener {
+
+    private var mAMapNaviView: TextureMapView? = null
+    private var mAMap: AMap? = null
+    private var mCarMarker: Marker? = null
+    private var mStartMarker: Marker? = null
+    private var mEndMarker: Marker? = null
+    private val zoomLevel = 15
+    private val mCoordinatesLatLng: MutableList<LatLng> = ArrayList()
+    private var mPolyline: Polyline? = null
+    private var mCameraUpdate: CameraUpdate? = null
+    private var mContext: Context? = null
+    private var mLocation: MogoLocation? = null
+
+    private var autoPilotStatus = 0
+
+    companion object {
+        const val TAG = "SmallMapView"
+    }
+
+    init {
+        try {
+            initView(context)
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    // =================必须通知高德地图生命周期的变化=================
+    fun onCreateView(savedInstanceState: Bundle?) {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onCreate(savedInstanceState)
+        }
+    }
+
+    fun onResume() {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onResume()
+        }
+    }
+
+    fun onPause() {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onPause()
+        }
+    }
+
+    fun onDestroy() {
+        if (mAMapNaviView != null) {
+            mAMapNaviView!!.onDestroy()
+        }
+    }
+    // =================必须通知高德地图生命周期的变化=================
+
+    fun convert(coordinates: List<MogoLatLng>) {
+        mCoordinatesLatLng.clear()
+        val latLngs = coordinateConverterFrom84ForList(mContext, coordinates)
+        mCoordinatesLatLng.addAll(latLngs)
+    }
+
+    @UiThread
+    fun drawablePolyline() {
+        clearPolyline()
+        if (mAMap != null) {
+            if (mCoordinatesLatLng.size > 2) {
+                // 设置开始结束Marker位置
+                mStartMarker!!.position = mCoordinatesLatLng[0]
+                mEndMarker!!.position = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
+                mStartMarker!!.setToTop()
+                mStartMarker!!.isVisible = true
+                mEndMarker!!.isVisible = true
+                mEndMarker!!.setToTop()
+
+
+                //存放所有点的经纬度
+                val boundsBuilder = LatLngBounds.Builder()
+                for (i in mCoordinatesLatLng.indices) {
+                    //把所有点都include进去（LatLng类型）
+                    boundsBuilder.include(mCoordinatesLatLng[i])
+                }
+                //第二个参数为四周留空宽度
+                mAMap!!.animateCamera(
+                    CameraUpdateFactory.newLatLngBounds(
+                        boundsBuilder.build(),
+                        30
+                    )
+                )
+                // 绘制线
+                mPolyline = mAMap!!.addPolyline(
+                    PolylineOptions()
+                        .addAll(mCoordinatesLatLng)
+                        .color(Color.argb(255, 31, 127, 255))
+                        .width(12f)
+                )
+            }
+        }
+    }
+
+    @UiThread
+    fun clearPolyline() {
+        if (mPolyline != null) {
+            mPolyline!!.remove()
+        }
+        if (mStartMarker != null) {
+            mStartMarker!!.isVisible = false
+        }
+        if (mEndMarker != null) {
+            mEndMarker!!.isVisible = false
+        }
+    }
+
+    private fun initView(context: Context) {
+        mContext = context
+        val smpView = LayoutInflater.from(context).inflate(R.layout.module_small_map_view, this)
+        mAMapNaviView = smpView.findViewById(R.id.aMapNaviView)
+        initAMapView()
+
+        // 注册定位监听
+        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
+        CallerPlanningRottingListenerManager.addListener(TAG, this)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        startTask()
+    }
+
+    private fun initAMapView() {
+        mCameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel.toFloat())
+        mAMap = mAMapNaviView!!.map
+        // 关闭地图文字标注
+        mAMap?.showMapText(false)
+        // 设置导航地图模式，aMap是地图控制器对象。
+        mAMap?.mapType = AMap.MAP_TYPE_NIGHT
+        // 关闭显示实时路况图层，aMap是地图控制器对象。
+        mAMap?.isTrafficEnabled = false
+        // 设置 锚点 图标
+        mCarMarker = if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+            mAMap?.addMarker(
+                MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_bus_icon))
+                    .anchor(0.5f, 0.5f)
+            )
+        } else {
+            mAMap?.addMarker(
+                MarkerOptions()
+                    .icon(BitmapDescriptorFactory.fromResource(R.drawable.map_car_icon))
+                    .anchor(0.5f, 0.5f)
+            )
+        }
+        mStartMarker = mAMap?.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_start))
+        )
+        mEndMarker = mAMap?.addMarker(
+            MarkerOptions()
+                .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_dir_end))
+        )
+        // 加载自定义样式
+        val customMapStyleOptions = CustomMapStyleOptions()
+            .setEnable(true)
+            .setStyleData(MapAssetStyleUtils.getAssetsStyle(context, "over_view_style.data"))
+            .setStyleExtraData(
+                MapAssetStyleUtils.getAssetsExtraStyle(
+                    context,
+                    "over_view_style_extra.data"
+                )
+            )
+        // 设置自定义样式
+        mAMap?.setCustomMapStyle(customMapStyleOptions)
+        //设置希望展示的地图缩放级别
+        mAMap?.moveCamera(mCameraUpdate)
+        // 设置地图的样式
+        val uiSettings = mAMap?.uiSettings
+        uiSettings?.isZoomControlsEnabled = false // 地图缩放级别的交换按钮
+        uiSettings?.setAllGesturesEnabled(false) // 所有手势
+        uiSettings?.isMyLocationButtonEnabled = false // 显示默认的定位按钮
+        uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
+        mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
+            CallerLogger.d(
+                SceneConstant.M_MAP + TAG,
+                "smp---onMapLoaded"
+            )
+            // 加载自定义样式
+            val customMapStyleOptions1 = CustomMapStyleOptions()
+                .setEnable(true)
+                .setStyleData(MapAssetStyleUtils.getAssetsStyle(context, "over_view_style.data"))
+                .setStyleExtraData(
+                    MapAssetStyleUtils.getAssetsExtraStyle(
+                        context,
+                        "over_view_style_extra.data"
+                    )
+                )
+            // 设置自定义样式
+            mAMap?.setCustomMapStyle(customMapStyleOptions1)
+            mAMapNaviView!!.map.setPointToCenter(
+                mAMapNaviView!!.width / 2,
+                mAMapNaviView!!.height / 2
+            )
+        })
+    }
+
+    private fun startTask() {
+        val mTimer = Timer()
+        mTimer.schedule(UpdateLocationTask(), 1000, 200)
+    }
+
+    private inner class UpdateLocationTask : TimerTask() {
+        override fun run() {
+            if (mLocation != null) {
+                if (mCarMarker == null) {
+                    mCarMarker = mAMap!!.addMarker(
+                        MarkerOptions()
+                            .icon(BitmapDescriptorFactory.fromResource(R.drawable.module_small_map_view_my_location_logo))
+                            .anchor(0.5f, 0.5f)
+                    )
+                }
+                if (mCarMarker == null) {
+                    return
+                }
+                val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
+                val bearing = floor(mLocation!!.heading).toFloat()
+                //更新车辆位置
+                mCarMarker!!.position = currentLatLng
+                if (mCoordinatesLatLng.size > 1) {
+                    // 结束位置
+                    val endLatLng = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
+                    val calculateDistance = CoordinateUtils.calculateLineDistance(
+                        endLatLng.latitude, endLatLng.longitude,
+                        currentLatLng.latitude, currentLatLng.longitude
+                    )
+                    CallerLogger.d(
+                        SceneConstant.M_MAP + TAG,
+                        "calculateDistance=$calculateDistance"
+                    )
+                    if (calculateDistance <= 5) {
+                        clearPolyline()
+                        mCoordinatesLatLng.clear()
+                    }
+                }
+                val cameraPosition: CameraPosition =
+                    CameraPosition.Builder().target(mCarMarker!!.position).tilt(0f).bearing(bearing)
+                        .zoom(zoomLevel.toFloat()).build()
+                mAMap?.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+            }
+        }
+    }
+
+    private fun coordinateConverterFrom84(mContext: Context?, mogoLatLng: MogoLatLng): LatLng {
+        val mCoordinateConverter = CoordinateConverter(mContext)
+        mCoordinateConverter.from(CoordinateConverter.CoordType.GPS)
+        mCoordinateConverter.coord(LatLng(mogoLatLng.lat, mogoLatLng.lon))
+        return mCoordinateConverter.convert()
+    }
+
+    private fun coordinateConverterFrom84ForList(
+        mContext: Context?,
+        mogoLatLngList: List<MogoLatLng>
+    ): List<LatLng> {
+        val list: MutableList<LatLng> = ArrayList()
+        for (m in mogoLatLngList) {
+            val mogoLatLng = coordinateConverterFrom84(mContext, m)
+            list.add(mogoLatLng)
+        }
+        return list
+    }
+
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        if (mogoLocation == null) {
+            return
+        }
+        mLocation = mogoLocation
+    }
+
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        val tempStatus = autoPilotStatusInfo.pilotmode
+        if (tempStatus != 1) {
+            UiThreadHandler.post {
+                clearPolyline()
+            }
+        } else if (tempStatus == 1 && autoPilotStatus == 0) {
+            getGlobalPath()
+        }
+        autoPilotStatus = tempStatus
+    }
+
+    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
+        if (globalPathResp == null || globalPathResp.wayPointsList.size == 0) {
+            return
+        }
+        val latLngList: MutableList<MogoLatLng> = ArrayList()
+        for (routeModel in globalPathResp.wayPointsList) {
+            latLngList.add(MogoLatLng(routeModel.latitude, routeModel.longitude))
+        }
+        if (latLngList.size > 0) {
+            UiThreadHandler.post {
+                convert(latLngList)
+                drawablePolyline()
+            }
+        } else {
+            UiThreadHandler.post {
+                clearPolyline()
+            }
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        // 注册定位监听
+        CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
+        CallerPlanningRottingListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+}

core/function-impl/mogo-core-function-map/src/main/res/layout/module_overview_map_fragment.xml

@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent">
-
-    <com.mogo.eagle.core.function.smp.AMapCustomView
-        android:id="@+id/smallMapDirectionView"
-        android:layout_width="match_parent"
-        android:layout_height="match_parent"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent" />
-
-</androidx.constraintlayout.widget.ConstraintLayout>

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt

@@ -94,7 +94,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
                 V2XManager.init(V2XConfig.Builder().also {
                     it.aiCloudConfig(MoGoAiCloudClientConfig.getInstance())
                     it.context(context)
-                    it.loggable(true)
+                    it.loggable(false)
                     it.distanceForTriggerRefresh(200f) //行驶超过200（包含）米，刷新道路周边信息（短链请求）
                     it.durationForTriggerRefresh(
                         60,

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/consts/V2XConst.java

@@ -16,17 +16,6 @@ public class V2XConst {
     public static final String BROADCAST_SCENE_HANDLER_ACTION = "com.v2x.scene_handler_broadcast";
     public static final String BROADCAST_SCENE_EXTRA_KEY = "V2XMessageEntity";
 
-    /**
-     * V2X 测试控制面板广播Action
-     */
-    public static final String BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY = "sceneType";
-
-    public static final String BROADCAST_SCENE_ACTION = "com.v2x.scene_local_broadcast";
-
-
-    public static final String V2X_ROAD_PRODUCE = "v2x_road_produce";
-
-    public static final String LAUNCHER_ICON_CLICK = "Launcher_Icon_Click";
 
     /**
      * V2X预警日志tag

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

@@ -57,10 +57,6 @@ public class V2XScenarioManager implements IV2XScenarioManager {
                 ThreadUtils.runOnUiThread(() -> {
                     // 提取之前存储的场景
                     if (v2XMessageEntity != null) {
-                        // 广播给应用内部其它模块
-                        Intent intent = new Intent(V2XConst.BROADCAST_SCENE_ACTION);
-                        intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
-                        LocalBroadcastManager.getInstance(Utils.getApp()).sendBroadcast(intent);
                         // 如果没有拿到之前的，根据类型分发
                         switch (v2XMessageEntity.getType()) {
                             case V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING:

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

@@ -38,8 +38,6 @@ class AiRoadMarker {
 
     private val marker by lazy { AtomicReference<Marker>() }
 
-    private val carLocation by lazy { AtomicReference<Triple<Double, Double, Double>>() }
-
     private val overlayManager by lazy {
         CallerMapUIServiceManager.getOverlayManager(
             AbsMogoApplication.getApp()

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/test/TestConsts.kt

@@ -0,0 +1,14 @@
+package com.mogo.eagle.core.function.v2x.events.test
+
+class TestConsts {
+
+
+    companion object {
+
+        /**
+         * V2X 测试控制面板广播Action
+         */
+        @JvmField
+        val BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY = "sceneType"
+    }
+}

core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/test/TestV2XReceiver.java

@@ -29,7 +29,7 @@ public class TestV2XReceiver extends BroadcastReceiver {
     public void onReceive(Context context, Intent intent) {
         try {
             this.mContext = context;
-            int sceneType = intent.getIntExtra(V2XConst.BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY, 0);
+            int sceneType = intent.getIntExtra(TestConsts.BROADCAST_TEST_PANEL_CONTROL_TYPE_EXTRA_KEY, 0);
 
             // 分发场景
             dispatchSceneTest(sceneType);

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/v2x/V2XEvent.kt

@@ -1,22 +1,8 @@
-package com.mogo.eagle.core.function.overview.remote
+package com.mogo.eagle.core.data.v2x
 
 import androidx.annotation.Keep
 
 import com.google.gson.annotations.SerializedName
-import com.mogo.eagle.core.data.BaseData
-
-
-@Keep
-data class V2XEventResult (
-    @SerializedName("result")
-    var result: Result?
-): BaseData()
-
-@Keep
-data class Result(
-    @SerializedName("eventList")
-    var v2XEventList: List<V2XEvent>?
-)
 
 @Keep
 data class V2XEvent(

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

@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.api.autopilot
 
-import com.zhidao.support.adas.high.bean.AutopilotAbility
-
 
 /**
  * pnc actions 决策 驾驶的意图
@@ -11,5 +9,5 @@ interface IMoGoAutopilotActionsListener {
     /**
      * pnc actions 决策 驾驶的意图
      */
-    fun onAutopilotAbility(ability: AutopilotAbility?)
+    fun onAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?)
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IMoGoFuncBizProvider.kt

@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.api.biz
 
+import android.content.Context
 import com.mogo.eagle.core.data.camera.CameraEntity
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
 
@@ -51,4 +52,10 @@ interface IMoGoFuncBizProvider : IMoGoFunctionServerProvider {
      */
     fun closeCameraLive()
 
+    /*----------------------------------------全览模式----------------------------------------*/
+    fun fetchInfStructures()
+
+    fun getAllV2XEvents()
+
+    fun initOverViewDb(context: Context)
 }

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/v2x/IFuncBizProvider.kt

@@ -0,0 +1,16 @@
+package com.mogo.eagle.core.function.api.v2x
+
+import com.mogo.eagle.core.data.map.Infrastructure
+import com.mogo.eagle.core.data.v2x.V2XEvent
+
+interface IFuncBizProvider {
+    /**
+     * 查询衡阳所有的摄像头数据
+     */
+    fun onInfStructures(map: HashMap<String, ArrayList<Infrastructure>>?) {}
+
+    /**
+     * 根据lineId获取整条道路的V2X事件
+     */
+    fun onV2XEvents(v2xEvents: List<V2XEvent>?) {}
+}

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

@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.zhidao.support.adas.high.bean.AutopilotAbility
 
 
 /**
@@ -11,10 +10,10 @@ import com.zhidao.support.adas.high.bean.AutopilotAbility
 object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsListener>() {
 
     @Synchronized
-    fun invokeAutopilotAbility(ability: AutopilotAbility?) {
+    fun invokeAutopilotAbility(isAutopilotAbility: Boolean, unableAutopilotReason: String?) {
         M_LISTENERS.forEach {
             val listener = it.value
-            listener.onAutopilotAbility(ability)
+            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason)
         }
     }
 }

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerRoboBusJinlvM1StatesListenerManager.kt

@@ -11,7 +11,7 @@ import com.mogo.eagle.core.function.call.base.CallerBase
 object CallerRoboBusJinlvM1StatesListenerManager : CallerBase<IMoGoRoboBusJinlvM1StatesListener>() {
 
     /**
-     * 电池管理系统
+     * 金旅M1
      */
     fun invokeRoboBusJinlvM1States(states: VehicleStateOuterClass.RoboBusJinlvM1State) {
         M_LISTENERS.forEach {

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/biz/CallerFuncBizListenerManager.kt

@@ -0,0 +1,33 @@
+package com.mogo.eagle.core.function.call.biz
+
+import androidx.annotation.MainThread
+import com.mogo.eagle.core.data.map.Infrastructure
+import com.mogo.eagle.core.data.v2x.V2XEvent
+import com.mogo.eagle.core.function.api.v2x.IFuncBizProvider
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+object CallerFuncBizListenerManager: CallerBase<IFuncBizProvider>() {
+
+    private var map: HashMap<String, java.util.ArrayList<Infrastructure>>? = null
+
+    override fun doSomeAfterAddListener(tag: String, listener: IFuncBizProvider) {
+        listener.onInfStructures(map)
+    }
+
+    @MainThread
+    fun invokeInfStructures(map: HashMap<String, java.util.ArrayList<Infrastructure>>) {
+        this.map = map
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onInfStructures(map)
+        }
+    }
+
+    @MainThread
+    fun invokeV2XEvents(v2xEvents: List<V2XEvent>?) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onV2XEvents(v2xEvents)
+        }
+    }
+}

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerSmpManager.kt

@@ -20,9 +20,9 @@ object CallerSmpManager : CallerBase<Any>() {
         get() = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_SMP)
                 .navigation() as IMogoSmallMapProvider
 
-    private val mogoOverViewMapProvider: IMogoSmallMapProvider
-        get() = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
-            .navigation() as IMogoSmallMapProvider
+//    private val mogoOverViewMapProvider: IMogoSmallMapProvider
+//        get() = ARouter.getInstance().build(MoGoFragmentPaths.PATH_FRAGMENT_OVERVIEW)
+//            .navigation() as IMogoSmallMapProvider
 
     private val v2xProvider: IV2XEventProvider
         get() = ARouter.getInstance().build(MogoServicePaths.PATH_V2X_MODULE)
@@ -65,22 +65,22 @@ object CallerSmpManager : CallerBase<Any>() {
         if (Thread.currentThread() !== Looper.getMainLooper().thread) {
             UiThreadHandler.post {
                 v2xProvider.queryWholeRoadEvents()
-                mogoOverViewMapProvider.startQueryV2XEvents()
+//                mogoOverViewMapProvider.startQueryV2XEvents()
             }
         } else {
             v2xProvider.queryWholeRoadEvents()
-            mogoOverViewMapProvider.startQueryV2XEvents()
+//            mogoOverViewMapProvider.startQueryV2XEvents()
         }
     }
 
     @JvmStatic
     fun clearV2XMarkers() {
-        if (Thread.currentThread() !== Looper.getMainLooper().thread) {
-            UiThreadHandler.post {
-                mogoOverViewMapProvider.clearV2XMarkers()
-            }
-        } else {
-            mogoOverViewMapProvider.clearV2XMarkers()
-        }
+//        if (Thread.currentThread() !== Looper.getMainLooper().thread) {
+//            UiThreadHandler.post {
+//                mogoOverViewMapProvider.clearV2XMarkers()
+//            }
+//        } else {
+//            mogoOverViewMapProvider.clearV2XMarkers()
+//        }
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java

@@ -12,6 +12,8 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_ADAS;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT;
 
+import android.os.Handler;
+import android.os.Message;
 import android.os.SystemClock;
 import android.text.TextUtils;
 
@@ -79,6 +81,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     private RawUnpack rawUnpack;//业务数据拆包
     private RawPack rawPack;//数据打包
     private DispatchHandler defaultDispatchHandler;//默认分发线程分发
+    private DispatchHandler statusQueryRespDispatchHandler;//状态查询应答分发线程分发
     private final Map<MessagePad.MessageType, DispatchHandler> dispatchHandlers = new HashMap<>();//其他分发线程
     private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
     private int seqSpecialVehicle = 0;//特种车辆命令发送次数
@@ -181,6 +184,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         //启用线程分发
         defaultDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeDefault, this);//默认分发线程 不要添加到Map中
         initOtherDispatchHandler();
+        AutopilotAbilityManager.getInstance().setOnAutopilotAbilityListener(new AutopilotAbilityManager.OnAutopilotAbilityListener() {
+            @Override
+            public void onStatusQuery() {
+                statusQueryRespDispatchHandler.start();
+            }
+        });
     }
 
     /**
@@ -234,8 +243,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypeWarn, new DispatchHandler(MessagePad.MessageType.MsgTypeWarn, this));
         //到站提醒
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypeArrivalNotification, new DispatchHandler(MessagePad.MessageType.MsgTypeArrivalNotification, this));
-        //状态查询应答
-//        dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this));
+        //状态查询应答 TODO 此线程更新频率目前为3秒，但是由于会在此接口中做一些其他数据处理，所以单独开启线程
+        statusQueryRespDispatchHandler = new DispatchHandler(MessagePad.MessageType.MsgTypeStatusQueryResp, this);
+        dispatchHandlers.put(MessagePad.MessageType.MsgTypeStatusQueryResp, statusQueryRespDispatchHandler);
         //数据采集配置
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this));
         //Planning决策状态
@@ -412,6 +422,20 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         }
     }
 
+    @Override
+    public void onHandler(MessagePad.MessageType type, Handler handler) {
+        if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) {
+            AutopilotAbilityManager.getInstance().setHandler(handler);
+        }
+    }
+
+    @Override
+    public void onHandleMessage(MessagePad.MessageType type, Message msg) {
+        if (type == MessagePad.MessageType.MsgTypeStatusQueryResp) {
+            AutopilotAbilityManager.getInstance().onHandleMessage(msg);
+        }
+    }
+
     /**
      * 分发和解析
      *

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java

@@ -1,5 +1,6 @@
 package com.zhidao.support.adas.high;
 
+import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 
 import java.util.HashSet;
@@ -124,6 +125,17 @@ public class AdasOptions {
             return this;
         }
 
+        /**
+         * 身份/车型
+         *
+         * @param identityMode 车型
+         * @return
+         */
+        public Builder setIdentityMode(String identityMode) {
+            options.setIdentityMode(identityMode);
+            return this;
+        }
+
         public AdasOptions build() {
             return options;
         }
@@ -141,6 +153,7 @@ public class AdasOptions {
         options.ipcAssignIP = null;
         options.ipcFixationIP = null;
         options.subscribeInterfaceOptions = null;
+        options.setIdentityMode("");
         return options;
     }
 
@@ -183,4 +196,8 @@ public class AdasOptions {
     public void setSubscribeInterfaceOptions(SubscribeInterfaceOptions subscribeInterfaceOptions) {
         this.subscribeInterfaceOptions = subscribeInterfaceOptions;
     }
+
+    public void setIdentityMode(String identityMode) {
+        AutopilotAbilityManager.getInstance().setIdentityMode(identityMode);
+    }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java

@@ -1,7 +1,6 @@
 package com.zhidao.support.adas.high;
 
 import com.mogo.support.obu.ObuScene;
-import com.zhidao.support.adas.high.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 
@@ -263,9 +262,10 @@ public interface OnAdasListener {
     /**
      * 是否有能力启动自动驾驶
      *
-     * @param ability 是否可以启动自动驾驶
+     * @param isAutopilotAbility    是否能启动自动驾驶
+     * @param unableAutopilotReason 不能启动自动驾驶原因
      */
-    void onAutopilotAbility(AutopilotAbility ability);
+    void onAutopilotAbility(boolean isAutopilotAbility, String unableAutopilotReason);
 
     /**
      * 启动自动驾驶失败回调

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotAbility.java

@@ -1,41 +0,0 @@
-package com.zhidao.support.adas.high.bean;
-
-import chassis.Chassis;
-import system_master.SystemStatusInfo;
-
-/**
- * 自动驾驶能力 能否启动自动驾驶
- * 未赋值表示接口通讯异常或者工控机相关节点异常 如果回调持续都是未赋值的状态表示此问题是持久性的
- */
-public class AutopilotAbility {
-    /**
-     * 刹车踏板开度 0~100
-     * -1表示未赋值
-     * 值为0时表示 制动踏板未踩下
-     */
-    public final float brake;
-    /**
-     * 挡位
-     * null表示未赋值
-     * 挡位处于P挡和R挡时不能启动自动驾驶
-     */
-    public final Chassis.GearPosition gear;
-    /**
-     * 状态查询结果
-     * null表示未赋值
-     * 不能启动自动驾驶的判断
-     * statusInfo.getHealthInfoList().get().getState()== SystemStatusInfo.HealthState.FAULT
-     * statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_STARTING
-     * statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_EXITING
-     * statusInfo.getSysState()== SystemStatusInfo.SystemState.SYS_FAULT
-     */
-    public final SystemStatusInfo.StatusInfo statusInfo;
-
-    public AutopilotAbility(float brake, Chassis.GearPosition gear, SystemStatusInfo.StatusInfo statusInfo) {
-        this.brake = brake;
-        this.gear = gear;
-        this.statusInfo = statusInfo;
-
-
-    }
-}

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/bean/AutopilotStatistics.java

@@ -15,7 +15,6 @@ public class AutopilotStatistics {
      * 0 成功
      * 1 失败
      * 2 取消
-     * 3 超时
      * {@link com.zhidao.support.adas.high.common.Constants.AUTOPILOT_START_STATUS}
      */
     @Define.AutopilotStartStatus
@@ -37,10 +36,7 @@ public class AutopilotStatistics {
      */
     public final MogoReportMsg.MogoReportMessage failedMessage;
 
-    public AutopilotStatistics(@Define.AutopilotStartStatus int status,
-                               long usedTime,
-                               MessagePad.SetAutopilotModeReq req,
-                               MogoReportMsg.MogoReportMessage failedMessage) {
+    public AutopilotStatistics(@Define.AutopilotStartStatus int status, long usedTime, MessagePad.SetAutopilotModeReq req, MogoReportMsg.MogoReportMessage failedMessage) {
         this.status = status;
         this.usedTime = usedTime;
         this.req = req;

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java

@@ -1,37 +1,88 @@
 package com.zhidao.support.adas.high.common;
 
+import android.os.Handler;
+import android.os.Message;
+import android.text.TextUtils;
+
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.bean.AutopilotAbility;
 
+import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
 
 import chassis.Chassis;
-import chassis.VehicleStateOuterClass;
+import chassis.ChassisStatesOuterClass;
 import system_master.SystemStatusInfo;
 
 /**
  * 是否可以启动自动驾驶能力检测
  * 目前监控了底盘的一些状态和查询节点状态应答的数据
  * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
- *
+ * <p>
  * 此定时器不能停止 鹰眼中存在UI更新依赖循环查询系统状态
  */
 public class AutopilotAbilityManager {
     private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
+    private static final int WHAT_TIMEOUT = 0;
+    private static final int DEFAULT_TIMEOUT = 1500;
     private static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测时间
+    private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
     private static volatile AutopilotAbilityManager INSTANCE;
-
     private OnAdasListener listener;
     private volatile Timer timer;
+    private final Pattern pattern = Pattern.compile("\\d+.\\d+.\\d+");
+    private ChassisStatesOuterClass.ChassisStates chassisStates;
+    private Handler handler;
+    private OnAutopilotAbilityListener onAutopilotAbilityListener;
+    /**
+     * 身份/车型
+     */
+    private String identityMode;
 
-    private VehicleStateOuterClass.VehicleState vehicleState;
+    public interface OnAutopilotAbilityListener {
+        void onStatusQuery();//查询是被调用
+    }
+
+    /**
+     * 身份规则定义根据app/productFlavors/README.md
+     * *    taxi司机屏  Taxi_Driver_Base      （东风、红旗司机端）
+     * *    taxi乘客屏  Taxi_Passenger_Base   （东风、红旗乘客端）
+     * *    bus司机屏   Bus_Driver_Base       （金旅小巴司机端）
+     * *               Bus_Driver_Van        （开沃小巴司机端）
+     * *    bus乘客屏   Bus_Passenger_Base    （金旅、开沃小巴乘客端）
+     * *               Bus_Passenger_M1      （M1小巴乘客端）
+     * *               Bus_Passenger_M2      （M2小巴乘客端）
+     * *    清扫车      Sweeper_Driver_FT     （福田清扫车司机端）
+     * <p>
+     * 此定义不区分角色，只区分业务线和车型
+     */
+    private interface IDENTITY_MODE {
+        String TAXI_DRIVER_BASE = "Taxi_Driver_Base";//（东风、红旗司机端）
+        String TAXI_PASSENGER_BASE = "Taxi_Passenger_Base";//（东风、红旗乘客端）
+        String BUS_DRIVER_BASE = "Bus_Driver_Base";//（金旅小巴司机端）
+        String BUS_DRIVER_VAN = "Bus_Driver_Van";//（开沃小巴司机端）
+        String BUS_PASSENGER_BASE = "Bus_Passenger_Base";//（金旅、开沃小巴乘客端）
+        String BUS_PASSENGER_M1 = "Bus_Passenger_M1";//（M1小巴乘客端）
+        String BUS_PASSENGER_M2 = "Bus_Passenger_M2";//（M2小巴乘客端）
+        String SWEEPER_DRIVER_FT = "Sweeper_Driver_FT";//（福田清扫车司机端）
+    }
+
+
+    public void setIdentityMode(String identityMode) {
+        this.identityMode = identityMode;
+    }
 
     public void setOnAdasListener(OnAdasListener listener) {
         this.listener = listener;
     }
 
+    public void setOnAutopilotAbilityListener(OnAutopilotAbilityListener onAutopilotAbilityListener) {
+        this.onAutopilotAbilityListener = onAutopilotAbilityListener;
+    }
+
     private AutopilotAbilityManager() {
     }
 
@@ -47,19 +98,147 @@ public class AutopilotAbilityManager {
     }
 
     public void setStatusInfo(SystemStatusInfo.StatusInfo statusInfo) {
-        if (listener != null) {
-            float brake = -1;
-            Chassis.GearPosition gear = null;
-            if (vehicleState != null) {
-                brake = vehicleState.getBrake();
-                gear = vehicleState.getGear();
-            }
-            listener.onAutopilotAbility(new AutopilotAbility(brake, gear, statusInfo));
+        if (handler != null) {
+            if (handler.hasMessages(WHAT_TIMEOUT))
+                handler.removeMessages(WHAT_TIMEOUT);
         }
+        onCallback(statusInfo);
     }
 
-    public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
-        this.vehicleState = vehicleState;
+    public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
+        this.chassisStates = chassisStates;
+    }
+
+    private void onCallback(SystemStatusInfo.StatusInfo statusInfo) {
+        //金旅、开沃小巴乘客端 不能启动自动驾驶
+        if (IDENTITY_MODE.BUS_PASSENGER_BASE.equalsIgnoreCase(identityMode)) {
+            return;
+        }
+        boolean isAutopilotAbility = true;//是否能启动自动驾驶
+        String unableAutopilotReason = null;//不能启动自动驾驶原因
+        //检测节点状态相关
+        if (statusInfo != null) {
+            int version = -1;
+            if (statusInfo.hasMasterVersion()) {
+                //截取Master Version
+                String masterVersion = statusInfo.getMasterVersion();
+                if (!TextUtils.isEmpty(masterVersion)) {
+                    try {
+                        Matcher matcher = pattern.matcher(masterVersion);
+                        if (matcher.find()) {
+                            String group = matcher.group();
+                            if (!TextUtils.isEmpty(group)) {
+                                String v = group.split("\\.")[0];
+                                version = Integer.parseInt(v);
+                            }
+                        }
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+            if (version > 1) {
+                isAutopilotAbility = statusInfo.getAutoPilotReady();
+                if (!isAutopilotAbility) {
+                    SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
+                    if (nodeFaultList.getSum() > 0) {
+                        List<SystemStatusInfo.NodeInfo> list = nodeFaultList.getNodeList();
+                        StringBuilder builder = new StringBuilder();
+                        for (SystemStatusInfo.NodeInfo info : list) {
+                            builder.append(info.getNodeName());
+                            int state = info.getState();
+                            if (state < NODE_INFO_STATE.length) {
+                                builder.append(NODE_INFO_STATE[state]);
+                            } else {
+                                builder.append("未知 ");
+                            }
+                        }
+                        unableAutopilotReason = builder.toString();
+                    } else {
+                        unableAutopilotReason = "未知";
+                    }
+                }
+            } else {
+                SystemStatusInfo.SystemState systemState = statusInfo.getSysState();
+                if (systemState != SystemStatusInfo.SystemState.SYS_RUNNING && systemState != SystemStatusInfo.SystemState.PILOT_READY) {
+                    isAutopilotAbility = false;
+                    if (systemState == SystemStatusInfo.SystemState.SYS_STARTING) {
+                        unableAutopilotReason = "系统正在启动";
+                    } else if (systemState == SystemStatusInfo.SystemState.SYS_EXITING) {
+                        unableAutopilotReason = "系统正在关闭";
+                    } else if (systemState == SystemStatusInfo.SystemState.SYS_FAULT) {
+                        unableAutopilotReason = "系统异常";
+                    } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_STARTING) {
+                        unableAutopilotReason = "正在开始自动驾驶";
+                    } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_RUNNING) {
+                        unableAutopilotReason = "自动驾驶运行中";
+                    } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_STARTING) {
+                        unableAutopilotReason = "平行驾驶启动中";
+                    } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_RUNNING) {
+                        unableAutopilotReason = "平行驾驶运行中";
+                    } else {
+                        unableAutopilotReason = "未知";
+                    }
+                }
+            }
+        } else {
+            isAutopilotAbility = false;//是否能启动自动驾驶
+            unableAutopilotReason = "SSM状态查询超时无响应";//不能启动自动驾驶原因
+        }
+        //检测底盘相关
+        if (chassisStates != null) {
+            if (isAutopilotAbility) {
+                if (chassisStates.hasBrakeSystemStates()) {
+                    float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+                    if (brake > 0) {
+                        isAutopilotAbility = false;
+                        unableAutopilotReason = "制动踏板被踩下";
+                    }
+                }
+            }
+            if (isAutopilotAbility) {
+                /**
+                 * 档位状态判断 目前判断的车型包括 东风Taxi 红旗Taxi 金旅Bus 金旅M1 金旅M1 福田清扫车 开沃
+                 * TODO 如果 identityMode 未赋值以及目前已知其他车型判断逻辑跟东风Taxi和红旗 走
+                 */
+                if (chassisStates.hasGearSystemStates()) {
+                    Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
+                    if (TextUtils.isEmpty(identityMode)) {
+                        identityMode = "";
+                    }
+                    //开沃任何档位都能启动自驾
+                    if (!IDENTITY_MODE.BUS_DRIVER_VAN.equalsIgnoreCase(identityMode)) {
+                        //金旅Bus和清扫车 档位不正常
+                        if (IDENTITY_MODE.BUS_DRIVER_BASE.equalsIgnoreCase(identityMode) || IDENTITY_MODE.SWEEPER_DRIVER_FT.equalsIgnoreCase(identityMode)) {
+                            if (gear == Chassis.GearPosition.GEAR_N) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "挡位不正常";
+                            }
+                        } else {
+                            //东风Taxi和红旗 司机端和乘客端 档位不正常
+                            if (gear == Chassis.GearPosition.GEAR_P || gear == Chassis.GearPosition.GEAR_R) {
+                                isAutopilotAbility = false;
+                                unableAutopilotReason = "挡位不正常";
+                            }
+                        }
+                    }
+                }
+            }
+
+            //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
+//            if (isAutopilotAbility) {
+//                //电子驻车制动系统
+//                if (chassisStates.hasEpbSystemStates()) {
+//                    ChassisStatesOuterClass.EPBSystemStates epb = chassisStates.getEpbSystemStates();
+//                    if (epb.hasEpbEnableState()){
+//                        epb.getEpbWorkState();
+//                    }
+//                }
+//            }
+        }
+        if (listener != null) {
+            listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReason);
+        }
     }
 
     public synchronized void start() {
@@ -68,7 +247,15 @@ public class AutopilotAbilityManager {
             timer.schedule(new TimerTask() {
                 @Override
                 public void run() {
+                    if (onAutopilotAbilityListener != null) {
+                        onAutopilotAbilityListener.onStatusQuery();
+                    }
                     AdasManager.getInstance().sendStatusQueryReq();
+                    if (handler != null) {
+                        if (handler.hasMessages(WHAT_TIMEOUT))
+                            handler.removeMessages(WHAT_TIMEOUT);
+                        handler.sendEmptyMessageDelayed(WHAT_TIMEOUT, DEFAULT_TIMEOUT);
+                    }
                 }
             }, 2000L, DEFAULT_DETECTION_TIME);//延迟执行，避免刚连接成功后底盘信息无法及时同步
         }
@@ -79,8 +266,18 @@ public class AutopilotAbilityManager {
             timer.cancel();
             timer = null;
         }
-        this.vehicleState = null;
+        handler = null;
+        this.chassisStates = null;
+    }
+
+    public void setHandler(Handler handler) {
+        this.handler = handler;
     }
 
 
+    public void onHandleMessage(Message msg) {
+        if (msg.what == WHAT_TIMEOUT) {
+            onCallback(null);
+        }
+    }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotReview.java

@@ -16,13 +16,6 @@ import mogo_msg.MogoReportMsg;
  * 自动驾驶状态检查/统计
  */
 public class AutopilotReview {
-    /**
-     * 默认启动自驾超时时间
-     */
-    private static final long DEFAULT_TIMEOUT = 15 * 1000L;
-
-
-    private Timer timer;
     /**
      * 下发的启动自动驾驶命令
      */
@@ -45,7 +38,6 @@ public class AutopilotReview {
     }
 
     private void onCallback(@Define.AutopilotStartStatus int status) {
-        stopTimer();
         long usedTime = SystemClock.elapsedRealtime() - startTime;
         if (listener != null) {
             listener.onReview(new AutopilotStatistics(status, usedTime, startReq, failedMessage));
@@ -56,25 +48,6 @@ public class AutopilotReview {
     }
 
 
-    private void startTimer() {
-        if (timer == null) {
-            timer = new Timer();
-            timer.schedule(new TimerTask() {
-                @Override
-                public void run() {
-                    //超时
-                    onCallback(Constants.AUTOPILOT_START_STATUS.TIMEOUT);
-                }
-            }, DEFAULT_TIMEOUT);
-        }
-    }
-
-    private void stopTimer() {
-        if (timer != null) {
-            timer.cancel();
-            timer = null;
-        }
-    }
 
     /**
      * 自动驾命令
@@ -86,7 +59,6 @@ public class AutopilotReview {
             //启动自动驾驶
             startReq = req;
             startTime = SystemClock.elapsedRealtime();
-            startTimer();
         } else {
             onCallback(Constants.AUTOPILOT_START_STATUS.CANCEL);
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java

@@ -126,10 +126,6 @@ public class Constants {
          * 取消
          */
         int CANCEL = 2;
-        /**
-         * 超时
-         */
-        int TIMEOUT = 3;
     }
 
     /**

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Define.java

@@ -49,8 +49,7 @@ public final class Define {
 
     @IntDef(flag = true, value = {Constants.AUTOPILOT_START_STATUS.SUCCESSFUL,
             Constants.AUTOPILOT_START_STATUS.FAILED,
-            Constants.AUTOPILOT_START_STATUS.CANCEL,
-            Constants.AUTOPILOT_START_STATUS.TIMEOUT})
+            Constants.AUTOPILOT_START_STATUS.CANCEL})
     @Retention(RetentionPolicy.SOURCE)
     public @interface AutopilotStartStatus {
     }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java

@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common;
 
 /**
  * 监控事件报告中定义的事件以及解释
- * 根据MAP2.10.0消息定义编写
+ * 根据MAP2.11.0消息定义编写
  */
 public class MogoReport {
     public static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";
@@ -12,33 +12,15 @@ public class MogoReport {
     public static final String RESULT_REMOTEPILOT_INFERIOR = "RESULT_REMOTEPILOT_INFERIOR";
     public static final String RESULT_SHOW_WARNING = "RESULT_SHOW_WARNING";
 
-//    private static final String RESULT_DISCONNECTED_WITH_PAD = "RESULT_DISCONNECTED_WITH_PAD";
-//    private static final String RESULT_PAD_CANNOT_CONNECT_TELEMATICS = "RESULT_PAD_CANNOT_CONNECT_TELEMATICS";
-//    private static final String RESULT_PAD_INFO_LOST = "RESULT_PAD_INFO_LOST";
-//    private static final String RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS = "RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS";
-//    private static final String RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS = "RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS";
-//    private static final String RESULT_PAD_CANNOT_GET_OBSTACLE_INFO = "RESULT_PAD_CANNOT_GET_OBSTACLE_INFO";
-//    private static final String RESULT_NO_CONNECTION_TO_AICLOUD = "RESULT_NO_CONNECTION_TO_AICLOUD";
-//    private static final String RESULT_AICLOUD_INFO_LOST = "RESULT_AICLOUD_INFO_LOST";
-//    private static final String RESULT_CANNOT_CHANGE_LIGHT = "RESULT_CANNOT_CHANGE_LIGHT";
 
     public enum Result {
         AUTOPILOT_SYSTEM_UNSTARTED(RESULT_AUTOPILOT_SYSTEM_UNSTARTED, "自动驾驶系统启动过程中出错，pad可能无法连接，云端监控可能无法上报"),
         AUTOPILOT_DISABLE(RESULT_AUTOPILOT_DISABLE, "无法启动自动驾驶"),
-        AUTOPILOT_INFERIOR(RESULT_AUTOPILOT_INFERIOR, "自动驾驶部分功能受影响，演示模式可以考虑强行启动，需联系人员排查问题。\n例如定位偏移，camera无数据，算法严重丢帧，属于自动驾驶可以启动，但是效果受影响。"),
+        AUTOPILOT_INFERIOR(RESULT_AUTOPILOT_INFERIOR, "自动驾驶部分功能受严重影响，演示模式可以考虑强行启动，非演示模式下建议停止自动驾驶，联系人员排查问题。\n例如定位偏移，camera无数据，算法非常严重的丢帧，属于自动驾驶可以启动，但是效果受影响。"),
         REMOTEPILOT_DISABLE(RESULT_REMOTEPILOT_DISABLE, "无法启动远程驾驶"),
         REMOTEPILOT_INFERIOR(RESULT_REMOTEPILOT_INFERIOR, "远程驾驶部分功能受影响。例如网络高延迟"),
         SHOW_WARNING(RESULT_SHOW_WARNING, "一般为过渡状态，存在不确定因素，有可能对自动驾驶有微弱影响，需要在pad端显示为黄色告警。\n如果偶尔上报该result可忽略，如果频繁上报需联系人员进行排查。 目前仅有RTK无法确认状态事件。");
 
-//        DISCONNECTED_WITH_PAD(RESULT_DISCONNECTED_WITH_PAD, "未检测到来自pad的链接，如果只报了这个result，可以通过后台/远程驾驶启动自动驾驶"),
-//        PAD_CANNOT_CONNECT_TELEMATICS(RESULT_PAD_INFO_LOST, "Pad无法连接到工控机"),
-//        PAD_INFO_LOST(RESULT_PAD_CANNOT_CONNECT_TELEMATICS, "Pad工控机之间指令信息丢失"),
-//        PAD_CANNOT_GET_AUTOPILOT_STATUS(RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS, "Pad端无法拿到自动驾驶状态信息"),
-//        PAD_CANNOT_GET_GNS_CHASSIS_STATUS(RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS, "Pad端无法拿到自车状态和底盘状态信息"),
-//        PAD_CANNOT_GET_OBSTACLE_INFO(RESULT_PAD_CANNOT_GET_OBSTACLE_INFO, "Pad端无法拿到障碍物信息"),
-//        NO_CONNECTION_TO_AICLOUD(RESULT_NO_CONNECTION_TO_AICLOUD, "无法和云端通信"),
-//        AICLOUD_INFO_LOST(RESULT_AICLOUD_INFO_LOST, "云端工控机之间信息丢失"),
-//        CANNOT_CHANGE_LIGHT(RESULT_CANNOT_CHANGE_LIGHT, "变灯失败");
 
         /**
          * 消息result code
@@ -69,25 +51,6 @@ public class MogoReport {
                     return REMOTEPILOT_INFERIOR.desc;
                 case RESULT_SHOW_WARNING:
                     return SHOW_WARNING.desc;
-
-//                case RESULT_DISCONNECTED_WITH_PAD:
-//                    return DISCONNECTED_WITH_PAD.desc;
-//                case RESULT_PAD_CANNOT_CONNECT_TELEMATICS:
-//                    return PAD_CANNOT_CONNECT_TELEMATICS.desc;
-//                case RESULT_PAD_INFO_LOST:
-//                    return PAD_INFO_LOST.desc;
-//                case RESULT_PAD_CANNOT_GET_AUTOPILOT_STATUS:
-//                    return PAD_CANNOT_GET_AUTOPILOT_STATUS.desc;
-//                case RESULT_PAD_CANNOT_GET_GNS_CHASSIS_STATUS:
-//                    return PAD_CANNOT_GET_GNS_CHASSIS_STATUS.desc;
-//                case RESULT_PAD_CANNOT_GET_OBSTACLE_INFO:
-//                    return PAD_CANNOT_GET_OBSTACLE_INFO.desc;
-//                case RESULT_NO_CONNECTION_TO_AICLOUD:
-//                    return NO_CONNECTION_TO_AICLOUD.desc;
-//                case RESULT_AICLOUD_INFO_LOST:
-//                    return AICLOUD_INFO_LOST.desc;
-//                case RESULT_CANNOT_CHANGE_LIGHT:
-//                    return CANNOT_CHANGE_LIGHT.desc;
                 default:
                     return resultCode;
 
@@ -104,6 +67,7 @@ public class MogoReport {
     public static final String ACTION_CHECK_GEAR = "ACTION_CHECK_GEAR";
     public static final String ACTION_CHECK_NETWORK = "ACTION_CHECK_NETWORK";
     public static final String ACTION_TRY_AGAIN_LATER = "ACTION_TRY_AGAIN_LATER";
+    public static final String ACTION_REMOTEPILOT_REQUEST = "ACTION_REMOTEPILOT_REQUEST";
 
     public enum Action {
 
@@ -114,7 +78,8 @@ public class MogoReport {
         REBOOT_VEHICLE(ACTION_REBOOT_VEHICLE, "重启车辆"),
         CHECK_GEAR(ACTION_CHECK_GEAR, "检查车辆档位等影响自动驾驶的因素"),
         CHECK_NETWORK(ACTION_CHECK_NETWORK, "检查网络连接和路由器等影响通信的因素"),
-        TRY_AGAIN_LATER(ACTION_TRY_AGAIN_LATER, "请稍后重试");
+        TRY_AGAIN_LATER(ACTION_TRY_AGAIN_LATER, "请稍后重试"),
+        REMOTEPILOT_REQUEST(ACTION_REMOTEPILOT_REQUEST, "请求远程驾驶");
 
         /**
          * 消息Action code
@@ -303,6 +268,20 @@ public class MogoReport {
                 String TASK_CONFIG_EMPTY = "ERECORD_TASK_CONFIG_EMPTY";//配置为空
                 String TASK_QUEUE_EMPTY = "ERECORD_TASK_QUEUE_EMPTY";//数据队列为空
             }
+
+            /**
+             * 平行驾驶相关异常
+             */
+            interface EPARALLEL {
+                String AICLOUD_CONNECTION_ERROR = "EPARALLEL_AICLOUD_CONNECTION_ERROR";//平行驾驶长连接异常
+            }
+
+            /**
+             * 车辆处于困境，等待平行驾驶接管
+             */
+            interface EVEHICLE {
+                String IN_TROUBLE = "EVEHICLE_IN_TROUBLE";//planning 检测到车处于困境，把困境状态汇报给 SSM，ssm 发出该事件，等待驾舱端开始平行驾驶
+            }
         }
 
         /**
@@ -344,9 +323,10 @@ public class MogoReport {
             }
 
             /**
-             * 系统状态 常规信息
+             * 系统状态
              */
             interface ISYS {
+                /*******常规信息*******/
                 String STARTING = "ISYS_STARTING";//系统启动中
                 String RUNNING = "ISYS_RUNNING";//所有Xavier启动完成
                 String EXITING = "ISYS_EXITING";//系统退出中
@@ -362,19 +342,14 @@ public class MogoReport {
                 String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态
                 String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态
 
-                String FUNC_YY_START = "ISYS_FUNC_YY_START";//产品状态检查开始
-                String FUNC_YY_FINISH = "ISYS_FUNC_YY_FINISH";//产品状态达成（第一次ready）
-                String FUNC_YY_TIMEOUT = "ISYS_FUNC_YY_TIMEOUT";//产品状态检查超时
-                String FUNC_YY_ABORT = "ISYS_FUNC_YY_ABORT";//产品状态检查中止
-                String FUNC_YY_UNREADY = "ISYS_FUNC_YY_UNREADY";//产品状态未就绪
-                String FUNC_YY_READY = "ISYS_FUNC_YY_READY";//产品状态就绪
-
+                /*******轨迹下载相关*******/
                 String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载
                 String INIT_TRAJECTORY_SUCCESS = "ISYS_INIT_TRAJECTORY_SUCCESS";//轨迹管理_轨迹下载成功
                 String INIT_TRAJECTORY_FAILURE = "ISYS_INIT_TRAJECTORY_FAILURE";//轨迹管理_轨迹下载失败，本地无对应轨迹
                 String INIT_TRAJECTORY_WARNING = "ISYS_INIT_TRAJECTORY_WARNING";//轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
                 String INIT_TRAJECTORY_TIMEOUT = "ISYS_INIT_TRAJECTORY_TIMEOUT";//轨迹管理_轨迹下载超时
 
+                /*******配置更新相关*******/
                 String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//需要重启升级高精地图
                 String CONFIG_UPDATE_AI_MODEL = "ISYS_CONFIG_UPDATE_AI_MODEL";//需要重启升级AI模型
                 String CONFIG_UPDATE_SLAM_MAP = "ISYS_CONFIG_UPDATE_SLAM_MAP";//需要重启升级SLAM地图
@@ -390,13 +365,65 @@ public class MogoReport {
             interface ISSM {
                 String INIT = "ISSM_INIT";//SSM系统上电初始化
                 String RESTARTED = "ISSM_RESTARTED";//SSM系统发生重启
-                String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始
-                String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready
-                String MODE_XX_ABORT = "ISSM_MODE_XX_ABORT";//SSM变更模式中止
-                String MODE_XX_TIMEOUT = "ISSM_MODE_XX_TIMEOUT";//SSM变更模式超时
-                String MODE_XX_READY = "ISSM_MODE_XX_READY";//SSM模式就绪
-                String MODE_XX_UNREADY = "ISSM_MODE_XX_UNREADY";//SSM未就绪
 
+//                String MODE_XX_START = "ISSM_MODE_XX_START";//SSM变更模式开始
+//                String MODE_XX_FINISH = "ISSM_MODE_XX_FINISH";//SSM变更模式完成（第一次ready
+//                String MODE_XX_ABORT = "ISSM_MODE_XX_ABORT";//SSM变更模式中止
+//                String MODE_XX_TIMEOUT = "ISSM_MODE_XX_TIMEOUT";//SSM变更模式超时
+//                String MODE_XX_READY = "ISSM_MODE_XX_READY";//SSM模式就绪
+//                String MODE_XX_UNREADY = "ISSM_MODE_XX_UNREADY";//SSM未就绪
+
+                //以上6组被注释掉的字段 中的MODE_XX分别替换成MODE_RUN、MODE_IDLE、MODE_STOP
+
+                String MODE_RUN_START = "ISSM_MODE_RUN_START";//SSM变更模式开始
+                String MODE_RUN_FINISH = "ISSM_MODE_RUN_FINISH";//SSM变更模式完成（第一次ready
+                String MODE_RUN_ABORT = "ISSM_MODE_RUN_ABORT";//SSM变更模式中止
+                String MODE_RUN_TIMEOUT = "ISSM_MODE_RUN_TIMEOUT";//SSM变更模式超时
+                String MODE_RUN_READY = "ISSM_MODE_RUN_READY";//SSM模式就绪
+                String MODE_RUN_UNREADY = "ISSM_MODE_RUN_UNREADY";//SSM未就绪
+
+                String MODE_IDLE_START = "ISSM_MODE_IDLE_START";//SSM变更模式开始
+                String MODE_IDLE_FINISH = "ISSM_MODE_IDLE_FINISH";//SSM变更模式完成（第一次ready
+                String MODE_IDLE_ABORT = "ISSM_MODE_IDLE_ABORT";//SSM变更模式中止
+                String MODE_IDLE_TIMEOUT = "ISSM_MODE_IDLE_TIMEOUT";//SSM变更模式超时
+                String MODE_IDLE_READY = "ISSM_MODE_IDLE_READY";//SSM模式就绪
+                String MODE_IDLE_UNREADY = "ISSM_MODE_IDLE_UNREADY";//SSM未就绪
+
+                String MODE_STOP_START = "ISSM_MODE_STOP_START";//SSM变更模式开始
+                String MODE_STOP_FINISH = "ISSM_MODE_STOP_FINISH";//SSM变更模式完成（第一次ready
+                String MODE_STOP_ABORT = "ISSM_MODE_STOP_ABORT";//SSM变更模式中止
+                String MODE_STOP_TIMEOUT = "ISSM_MODE_STOP_TIMEOUT";//SSM变更模式超时
+                String MODE_STOP_READY = "ISSM_MODE_STOP_READY";//SSM模式就绪
+                String MODE_STOP_UNREADY = "ISSM_MODE_STOP_UNREADY";//SSM未就绪
+
+//                String FUNC_YY_START = "ISSM_FUNC_YY_START";//产品状态检查开始
+//                String FUNC_YY_FINISH = "ISSM_FUNC_YY_FINISH";//产品状态达成（第一次ready）
+//                String FUNC_YY_TIMEOUT = "ISSM_FUNC_YY_TIMEOUT";//产品状态检查超时
+//                String FUNC_YY_ABORT = "ISSM_FUNC_YY_ABORT";//产品状态检查中止
+//                String FUNC_YY_UNREADY = "ISSM_FUNC_YY_UNREADY";//产品状态未就绪
+//                String FUNC_YY_READY = "ISSM_FUNC_YY_READY";//产品状态就绪
+
+                //以上6组被注释掉的字段 中的FUNC_YY分别替换成FUNC_COLD_START、FUNC_AUTO_PILOT、FUNC_REMOTE_PILOT
+                String FUNC_COLD_START_START = "ISSM_FUNC_COLD_START_START";//产品状态检查开始
+                String FUNC_COLD_START_FINISH = "ISSM_FUNC_COLD_START_FINISH";//产品状态达成（第一次ready）
+                String FUNC_COLD_START_TIMEOUT = "ISSM_FUNC_COLD_START_TIMEOUT";//产品状态检查超时
+                String FUNC_COLD_START_ABORT = "ISSM_FUNC_COLD_START_ABORT";//产品状态检查中止
+                String FUNC_COLD_START_UNREADY = "ISSM_FUNC_COLD_START_UNREADY";//产品状态未就绪
+                String FUNC_COLD_START_READY = "ISSM_FUNC_COLD_START_READY";//产品状态就绪
+
+                String FUNC_AUTO_PILOT_START = "ISSM_FUNC_AUTO_PILOT_START";//产品状态检查开始
+                String FUNC_AUTO_PILOT_FINISH = "ISSM_FUNC_AUTO_PILOT_FINISH";//产品状态达成（第一次ready）
+                String FUNC_AUTO_PILOT_TIMEOUT = "ISSM_FUNC_AUTO_PILOT_TIMEOUT";//产品状态检查超时
+                String FUNC_AUTO_PILOT_ABORT = "ISSM_FUNC_AUTO_PILOT_ABORT";//产品状态检查中止
+                String FUNC_AUTO_PILOT_UNREADY = "ISSM_FUNC_AUTO_PILOT_UNREADY";//产品状态未就绪
+                String FUNC_AUTO_PILOT_READY = "ISSM_FUNC_AUTO_PILOT_READY";//产品状态就绪
+
+                String FUNC_REMOTE_PILOT_START = "ISSM_FUNC_REMOTE_PILOT_START";//产品状态检查开始
+                String FUNC_REMOTE_PILOT_FINISH = "ISSM_FUNC_REMOTE_PILOT_FINISH";//产品状态达成（第一次ready）
+                String FUNC_REMOTE_PILOT_TIMEOUT = "ISSM_FUNC_REMOTE_PILOT_TIMEOUT";//产品状态检查超时
+                String FUNC_REMOTE_PILOT_ABORT = "ISSM_FUNC_REMOTE_PILOT_ABORT";//产品状态检查中止
+                String FUNC_REMOTE_PILOT_UNREADY = "ISSM_FUNC_REMOTE_PILOT_UNREADY";//产品状态未就绪
+                String FUNC_REMOTE_PILOT_READY = "ISSM_FUNC_REMOTE_PILOT_READY";//产品状态就绪
             }
 
             interface IAGENT {
@@ -427,6 +454,20 @@ public class MogoReport {
                 String TASK_AUTO = "IRECORDER_TASK_AUTO";//自动录包任务创建
                 String TASK_CMD = "IRECORDER_TASK_CMD";//指令录包任务创建
             }
+
+            /**
+             * 平行驾驶相关
+             */
+            interface IPARALLEL {
+                String AICLOUD_CONNECTION_OK = "IPARALLEL_AICLOUD_CONNECTION_OK";//长连接连接恢复后， 5s 内如果长连状态一直 ok 的话，会触发该事件 建议鹰眼展示该事件
+            }
+
+            /**
+             * 车辆处于困境相关
+             */
+            interface IVEHICLE {
+                String NOT_IN_TROUBLE = "IVEHICLE_NOT_IN_TROUBLE";//车辆脱离困境，恢复正常，可继续开始自动驾驶了 触发频率：处于困境中，触发一次； 脱困后，触发一次 云端驾舱会接入该事件 建议鹰眼也接入，展示困境状态/脱困状态
+            }
         }
     }
 }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java

@@ -2,6 +2,7 @@ package com.zhidao.support.adas.high.msg;
 
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.protocol.RawData;
 
 import chassis.ChassisStatesOuterClass;
@@ -14,6 +15,7 @@ public class ChassisStatesMessage extends MyAbstractMessageHandler {
     @Override
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
         if (adasListener != null) {
             adasListener.onChassisStates(raw.getHeader(), chassisStates);
         }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java

@@ -10,7 +10,8 @@ import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.MogoReport;
 import com.zhidao.support.adas.high.protocol.RawData;
 
-import java.util.List;
+import java.util.HashSet;
+import java.util.Set;
 
 import mogo_msg.MogoReportMsg;
 
@@ -19,9 +20,28 @@ import mogo_msg.MogoReportMsg;
  */
 public class ReportMessage extends MyAbstractMessageHandler {
     private final AutopilotReview autopilotReview;
+    private final Set<String> startAutopilotFailCode = new HashSet<String>();//启动自驾失败Code
 
     public ReportMessage(AutopilotReview autopilotReview) {
         this.autopilotReview = autopilotReview;
+        initStartAutopilotFailCode();
+    }
+
+    private void initStartAutopilotFailCode() {
+        //ssm_master的失败事件
+        startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.AUTOPILOT_FAILED);//在尝试启动自动驾驶，但是超过指定时间后底盘未进入，会发送此事件
+        startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.ROUTING_REQ_TIMEOUT);//算路请求响应超时或轨迹加载超时
+        startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.PLANNING_CHANGE_FAILIED);//planning切换失败（仅df hq有此事件）
+        startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.CHECK_TRAJECTORY_FAILURE);//轨迹下载检查不可用
+        //controller的失败事件   EMAP_ENTRY_AUTOPILOT_XXX 底盘启动失败
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT);//can_adapter消息超时未进入自驾
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT);//PLANNING消息超时未进自驾
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT);//定位消息超时未进自驾
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_BRAKE);//制动踏板干预未进自驾
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_ACCEL);//加速踏板干预未进自驾
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_STEER);//方向盘干预未进自驾
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_GEAR_SWITCH);//档位切换干预未进自驾
+        startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_OTHER_CTL);//其他干预未进自驾，请检查仪表盘和开关项（如双闪，制动灯灯等 可在msg中补充原因信息）
     }
 
     @Override
@@ -36,8 +56,8 @@ public class ReportMessage extends MyAbstractMessageHandler {
         }
         AdasChannel.calculateTimeConsumingBusiness("监控事件报告", nowTime);
         //分发自动驾驶启动失败相关回调
-        List<String> results = mogoReportMessage.getResultList();
-        if (!results.isEmpty() && results.contains(MogoReport.RESULT_AUTOPILOT_DISABLE)) {
+        String code = mogoReportMessage.getCode();
+        if (startAutopilotFailCode.contains(code)) {
             if (adasListener != null) {
                 adasListener.onStartAutopilotFailed(mogoReportMessage);//启动自动驾驶失败回调
             }

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java

@@ -23,13 +23,13 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
         VehicleStateOuterClass.VehicleState vehicleState = VehicleStateOuterClass.VehicleState.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
         AdasChannel.calculateTimeConsumingOnDispatchRaw("底盘信息", raw.receiveTime);
-        AutopilotAbilityManager.getInstance().setVehicleState(vehicleState);
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
+        ChassisStatesOuterClass.ChassisStates chassisStates = compatibility(adasListener, raw, vehicleState);
         if (adasListener != null) {
-            //TODO 暂时关闭新老兼容
-            //compatibility(adasListener, raw, vehicleState);
+            //TODO 暂时关闭老底盘转发 后期 会删除 onVehicleState
+            //adasListener.onChassisStates(raw.getHeader(), chassisStates);
             adasListener.onVehicleState(raw.getHeader(), vehicleState);
         }
         AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
@@ -46,15 +46,12 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
      * fuel_value   robo_taxi_state     robo_bus_state
      * robo_bus_jinlv_m1_state
      */
-    private void compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
+    private ChassisStatesOuterClass.ChassisStates compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
         /**************老地盘转换成新地盘PB***************/
         ChassisStatesOuterClass.ChassisStates.Builder builder = ChassisStatesOuterClass.ChassisStates.newBuilder();
         //工控机所用Header
         if (vehicleState.hasHeader()) {
-            HeaderOuterClass.Header outHeader = vehicleState.getHeader();
-            if (outHeader != null) {
-                builder.setHeader(HeaderOuterClass.Header.parseFrom(vehicleState.getHeader().toByteArray()));
-            }
+            builder.setHeader(HeaderOuterClass.Header.parseFrom(vehicleState.getHeader().toByteArray()));
         }
         setBCMSystemStates(builder, vehicleState);
         setSteerSystemStates(builder, vehicleState);
@@ -66,45 +63,41 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         //电子驻车制动系统
         if (vehicleState.hasEpb()) {
             Chassis.EPBWorkStatus old = vehicleState.getEpb();
-            if (old != null) {
-                ChassisStatesOuterClass.EPBWorkStates epb = null;
-                if (old == Chassis.EPBWorkStatus.EPBSTATUS_NONE) {
-                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_NONE;
-                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED) {
-                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED;
-                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASED) {
-                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASED;
-                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED_FAIL) {
-                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED_FAIL;
-                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASE_FAIL) {
-                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASE_FAIL;
-                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_FAULT) {
-                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_FAULT;
-                }
-                if (epb != null) {
-                    builder.setEpbSystemStates(ChassisStatesOuterClass.EPBSystemStates.newBuilder()
-                            .setEpbWorkState(epb));
-                }
+            ChassisStatesOuterClass.EPBWorkStates epb = null;
+            if (old == Chassis.EPBWorkStatus.EPBSTATUS_NONE) {
+                epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_NONE;
+            } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED) {
+                epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED;
+            } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASED) {
+                epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASED;
+            } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED_FAIL) {
+                epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED_FAIL;
+            } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASE_FAIL) {
+                epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASE_FAIL;
+            } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_FAULT) {
+                epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_FAULT;
+            }
+            if (epb != null) {
+                builder.setEpbSystemStates(ChassisStatesOuterClass.EPBSystemStates.newBuilder()
+                        .setEpbWorkState(epb));
             }
         }
         // 整车故障状态
         if (vehicleState.hasVehiclefaultlevel()) {
             Chassis.VehicleFaultLevel vehicleFaultLevel = vehicleState.getVehiclefaultlevel();
-            if (vehicleFaultLevel != null) {
-                ChassisStatesOuterClass.VehicleFaultLevels vehicleFaultLevels = null;
-                if (vehicleFaultLevel == Chassis.VehicleFaultLevel.None_Fault) {
-                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.NONE_FAULT;
-                } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.General_Fault) {
-                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.GENERAL_FAULT;
-                } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Serious_Fault) {
-                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.SERIOUS_FAULT;
-                } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Critical_Fault) {
-                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.CRITICAL_FAULT;
-                }
-                if (vehicleFaultLevels != null) {
-                    builder.setVehicleChassisFaultInformation(ChassisStatesOuterClass.VehicleChassisFaultInformation.newBuilder()
-                            .setVehiclefaultlevel(vehicleFaultLevels));
-                }
+            ChassisStatesOuterClass.VehicleFaultLevels vehicleFaultLevels = null;
+            if (vehicleFaultLevel == Chassis.VehicleFaultLevel.None_Fault) {
+                vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.NONE_FAULT;
+            } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.General_Fault) {
+                vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.GENERAL_FAULT;
+            } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Serious_Fault) {
+                vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.SERIOUS_FAULT;
+            } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Critical_Fault) {
+                vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.CRITICAL_FAULT;
+            }
+            if (vehicleFaultLevels != null) {
+                builder.setVehicleChassisFaultInformation(ChassisStatesOuterClass.VehicleChassisFaultInformation.newBuilder()
+                        .setVehiclefaultlevel(vehicleFaultLevels));
             }
         }
         //电量
@@ -113,25 +106,21 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         }
         //清扫车（福田）清扫控制系统状态
         if (vehicleState.hasSweeperFutianCleanSystemState()) {
-            VehicleStateOuterClass.SweeperFuTianCleanSystemState sweeperFuTianCleanSystemState = vehicleState.getSweeperFutianCleanSystemState();
-            if (sweeperFuTianCleanSystemState != null) {
-                byte[] bytes = sweeperFuTianCleanSystemState.toByteArray();
-                builder.setTaskSystemStates(ChassisStatesOuterClass.TaskSystemStates.newBuilder()
-                        .setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
-            }
+            byte[] bytes = vehicleState.getSweeperFutianCleanSystemState().toByteArray();
+            builder.setTaskSystemStates(ChassisStatesOuterClass.TaskSystemStates.newBuilder()
+                    .setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
         }
-        adasListener.onChassisStates(raw.getHeader(), builder.build());
+        ChassisStatesOuterClass.ChassisStates chassisStates = builder.build();
+        AutopilotAbilityManager.getInstance().setChassisStates(chassisStates);
+        return chassisStates;
     }
 
 
     private void setChassisAutopilotAssistanceInformation(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
         ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.Builder chassisAutopilotAssistanceInformation = null;
         if (vehicleState.hasPilotMode()) {
-            Chassis.PilotMode pilotMode = vehicleState.getPilotMode();
-            if (pilotMode != null) {
-                chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
-                chassisAutopilotAssistanceInformation.setChassisPilotModeState(pilotMode);
-            }
+            chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
+            chassisAutopilotAssistanceInformation.setChassisPilotModeState(vehicleState.getPilotMode());
         }
         if (vehicleState.hasEmergencyStopSwitch()) {
             if (chassisAutopilotAssistanceInformation == null) {
@@ -151,12 +140,9 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
     private void setGearSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
         ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null;
         if (vehicleState.hasGear()) {
-            Chassis.GearPosition gear = vehicleState.getGear();
-            if (gear != null) {
-                gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
-                //挂挡档位数据
-                gearSystemStates.setGearPosition(gear);//鹰眼已用
-            }
+            gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
+            //挂挡档位数据
+            gearSystemStates.setGearPosition(vehicleState.getGear());//鹰眼已用
         }
         if (vehicleState.hasGearSwitchInference()) {
             if (gearSystemStates == null) {
@@ -278,12 +264,9 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
     private void setBCMSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
         ChassisStatesOuterClass.BCMSystemStates.Builder bcmSystemStates = null;
         if (vehicleState.hasLight()) {
-            Chassis.LightSwitch light = vehicleState.getLight();
-            if (light != null) {
-                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
-                //转向灯数据
-                bcmSystemStates.setTurnLightState(light);//鹰眼已用
-            }
+            bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            //转向灯数据
+            bcmSystemStates.setTurnLightState(vehicleState.getLight());//鹰眼已用
         }
         if (vehicleState.hasBrakeLightStatus()) {
             if (bcmSystemStates == null) {

libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java

@@ -22,11 +22,16 @@ import mogo.telematics.pad.MessagePad;
 public class DispatchHandler {
     private final MessagePad.MessageType messageType;
     private final OnDispatchHandlerListener listener;
+    private static final int WHAT_DISPATCH = 999999;
     private HandlerThread mThread;
     private BaseHandler mBaseHandler;
 
     public interface OnDispatchHandlerListener {
-        void onDispatchRaw(MessagePad.MessageType name, RawData raw);
+        void onHandler(MessagePad.MessageType type, Handler handler);
+
+        void onHandleMessage(MessagePad.MessageType type, Message msg);
+
+        void onDispatchRaw(MessagePad.MessageType type, RawData raw);
     }
 
 
@@ -35,6 +40,16 @@ public class DispatchHandler {
         this.messageType = messageType;
     }
 
+    public void start() {
+        if (mThread == null) {
+            String name = "Dispatch-" + messageType.name().replace("MsgType", "");
+            mThread = new HandlerThread(name);
+            mThread.start();
+            initHandler(mThread.getLooper());
+            listener.onHandler(messageType, mBaseHandler);
+        }
+    }
+
     public void stop() {
         if (mBaseHandler != null) {
             mBaseHandler.removeCallbacksAndMessages(null);
@@ -47,14 +62,10 @@ public class DispatchHandler {
     }
 
     public void sendRawMessage(RawData raw) {
-        if (mThread == null) {
-            String name = "Dispatch-" + messageType.name().replace("MsgType", "");
-            mThread = new HandlerThread(name);
-            mThread.start();
-            initHandler(mThread.getLooper());
-        }
+        start();
         Message msg = Message.obtain();
         msg.obj = raw;
+        msg.what = WHAT_DISPATCH;
         mBaseHandler.sendMessage(msg);
     }
 
@@ -67,16 +78,19 @@ public class DispatchHandler {
      * @param msg
      */
     protected void handleMessage(Message msg) {
-        //TODO 计算耗时 临时测试
-        if (CupidLogUtils.isEnableLog())
-            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
-                if (mThread != null) {
-                    MessageQueue queue = mThread.getLooper().getQueue();
-                    CupidLogUtils.i("TimeConsuming", mThread.getName() + " 当前消息队列是否处于空闲状态=" + queue.isIdle());
+        if (msg.what == WHAT_DISPATCH) {
+            //TODO 计算耗时 临时测试
+            if (CupidLogUtils.isEnableLog())
+                if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) {
+                    if (mThread != null) {
+                        MessageQueue queue = mThread.getLooper().getQueue();
+                        CupidLogUtils.i("TimeConsuming", mThread.getName() + " 当前消息队列是否处于空闲状态=" + queue.isIdle());
+                    }
                 }
-
-            }
-        listener.onDispatchRaw(messageType, (RawData) msg.obj);
+            listener.onDispatchRaw(messageType, (RawData) msg.obj);
+        } else {
+            listener.onHandleMessage(messageType, msg);
+        }
     }
 
     /**