[3.4.0-map-sdk] merge 6.1.0

2023-09-18 19:32:55 +08:00
parent 51f38ae919 6c0d8b58fe
commit 059b3cf777
154 changed files with 4655 additions and 1794 deletions
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -2,9 +2,10 @@ package com.mogo.eagle.core.function.hmi.ui.setting

 import android.content.Context
 import android.util.AttributeSet
+import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
-import android.widget.*
+import android.widget.Toast
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
@@ -21,18 +22,18 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
 import com.mogo.eagle.core.function.call.devatools.*
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
-import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiAction
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import kotlinx.android.synthetic.main.view_sop_setting.view.*
-import kotlinx.android.synthetic.main.view_sop_setting.view.tbRouteDynamicEffect
 import mogo.telematics.pad.MessagePad

 /**
@@ -50,6 +51,11 @@ internal class SOPSettingView @JvmOverloads constructor(
        const val TAG = "SOPSettingView"
    }

+    /**
+     * OBU连接状态
+     */
+    private var obuConnectStatus = false
+
    init {
        LayoutInflater.from(context).inflate(R.layout.view_sop_setting, this, true)
        initView()
@@ -57,103 +63,200 @@ internal class SOPSettingView @JvmOverloads constructor(

    private fun initView() {
        sopLayout.setOnClickListener {  }
-        tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
-        tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 绕障类功能开关",isChecked)
-            CallerAutoPilotControlManager.sendDetouring(isChecked)
-            FunctionBuildConfig.isDetouring = isChecked
+        //V2X消息设置
+        v2xSetting()
+        //地图效果类设置
+        mapSetting()
+        //与车相关类设置
+        vehicleSetting()
+        //其他类别开关设置
+        otherSetting()
+    }
+
+    /**
+     * V2X消息设置
+     */
+    private fun v2xSetting(){
+        //V2X总开关
+        scV2XSwitch.isChecked = FunctionBuildConfig.v2xMainSwitch
+        scV2XSwitch.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.v2xMainSwitch = isChecked
+            hmiAction("SOP V2X总开关, ",isChecked)
+            Log.i(TAG,"SOP V2X总开关,$isChecked")
+            if(isChecked){
+                //V2N总开关
+                scV2NSwitch.isChecked = FunctionBuildConfig.v2nMainSwitch
+                hmiAction("SOP V2N总开关, ",FunctionBuildConfig.v2nMainSwitch)
+                Log.i(TAG,"SOP V2N总开关, ${FunctionBuildConfig.v2nMainSwitch}")
+                //V2I总开关
+                scV2ISwitch.isChecked = HmiBuildConfig.isShowObuV2iView
+                hmiAction("SOP V2I总开关, ",HmiBuildConfig.isShowObuV2iView)
+                Log.i(TAG,"SOP V2I总开关, ${HmiBuildConfig.isShowObuV2iView}")
+                //V2V总开关
+                scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
+                hmiAction("SOP V2V总开关, ",HmiBuildConfig.isShowObuV2vView)
+                Log.i(TAG,"SOP V2V总开关, ${HmiBuildConfig.isShowObuV2vView}")
+                //obu总开关
+                scObu.isChecked = obuConnectStatus
+                hmiAction("SOP obu总开关, ",obuConnectStatus)
+                Log.i(TAG,"SOP obu总开关, $obuConnectStatus")
+                if(obuConnectStatus){
+                    CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
+                }
+            }else{
+                //V2N总开关
+                scV2NSwitch.isChecked = false
+                hmiAction("SOP V2N总开关, ",false)
+                Log.i(TAG,"SOP V2N总开关, false")
+                //V2I总开关
+                scV2ISwitch.isChecked = false
+                hmiAction("SOP V2I总开关, ",false)
+                Log.i(TAG,"SOP V2I总开关, false")
+                //V2V总开关
+                scObuV2vView.isChecked = false
+                hmiAction("SOP V2V总开关, ",false)
+                Log.i(TAG,"SOP V2V总开关, false")
+                //obu总开关
+                scObu.isChecked = false
+                hmiAction("SOP OBU控制总开关, ",false)
+                Log.i(TAG,"SOP OBU控制总开关, false")
+                //断开链接
+                CallerObuApiManager.disConnectObu()
+            }
+            scV2NSwitch.isEnabled = isChecked
+            scV2ISwitch.isEnabled = isChecked
+            scObuV2vView.isEnabled = isChecked
+            scObu.isEnabled = isChecked
        }

-        tbMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
-        tbMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 危险障碍物颜色标记开关",isChecked)
-            FunctionBuildConfig.isPNCWarning = isChecked
+        //V2N总开关
+        scV2NSwitch.isChecked = FunctionBuildConfig.v2nMainSwitch
+        //根据V2N状态设置子开关是否可以点击
+        //V2N新链路
+        scNewV2NData.isEnabled = FunctionBuildConfig.v2nMainSwitch
+        //V2N场景进PNC
+        scV2nPnc.isEnabled = FunctionBuildConfig.v2nMainSwitch
+        //绿波通行(默认关闭)
+        scGreenWaveSop.isEnabled = FunctionBuildConfig.v2nMainSwitch
+        scV2NSwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(isChecked){
+                //V2N新链路
+                scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
+                hmiAction("SOP 是否是V2N新链路(云->工控机->App)",FunctionBuildConfig.isNewV2NData)
+                Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), ${FunctionBuildConfig.isNewV2NData}")
+                //V2N场景进PNC
+                scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
+                hmiAction("SOP V2N场景进PNC, ",FunctionBuildConfig.isV2NPnc)
+                Log.i(TAG,"SOP V2N场景进PNC, ${FunctionBuildConfig.isV2NPnc}")
+                CallerAutoPilotControlManager.sendV2nToPncCmd(FunctionBuildConfig.isV2NPnc)
+                //绿波通行
+                scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
+                hmiAction("SOP obu绿波通行, ",HmiBuildConfig.isShowGreenWaveView)
+                Log.i(TAG,"SOP obu绿波通行, ${HmiBuildConfig.isShowGreenWaveView}")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
+            }else{
+                //V2N新链路
+                scNewV2NData.isChecked = false
+                hmiAction("SOP 是否是V2N新链路(云->工控机->App)",false)
+                Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), false")
+                //V2N场景进PNC
+                scV2nPnc.isChecked = false
+                hmiAction("SOP V2N场景进PNC, ",false)
+                Log.i(TAG,"SOP V2N场景进PNC, false")
+                CallerAutoPilotControlManager.sendV2nToPncCmd(false)
+                //绿波通行
+                scGreenWaveSop.isChecked = false
+                hmiAction("SOP obu绿波通行, ",false)
+                Log.i(TAG,"SOP obu绿波通行, false")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "0".toByteArray())
+            }
+            scNewV2NData.isEnabled = isChecked
+            scV2nPnc.isEnabled = isChecked
+            scGreenWaveSop.isEnabled = isChecked
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            FunctionBuildConfig.v2nMainSwitch = isChecked
        }

-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
-            tbMarkingObstacles.visibility = View.GONE
+        //V2I总开关
+        scV2ISwitch.isChecked = HmiBuildConfig.isShowObuV2iView //是否展示obu的v2i
+        //根据V2I状态设置子开关是否可以点击
+        scV2iPnc.isEnabled = HmiBuildConfig.isShowObuV2iView
+        scRunRedLightSop.isEnabled = HmiBuildConfig.isShowObuV2iView
+        scObuWeaknessTrafficSop.isEnabled = HmiBuildConfig.isShowObuV2iView
+        scV2ISwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(isChecked){
+                //V2I场景进PNC
+                scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
+                hmiAction("SOP V2I场景进PNC, ",FunctionBuildConfig.isV2IPnc)
+                Log.i(TAG,"SOP V2I场景进PNC,${FunctionBuildConfig.isV2IPnc}")
+                CallerAutoPilotControlManager.sendV2iToPncCmd(FunctionBuildConfig.isV2IPnc)
+                //闯红灯预警
+                scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
+                hmiAction("SOP obu闯红灯预警, ",HmiBuildConfig.isShowRunRedLightView)
+                Log.i(TAG,"SOP obu闯红灯预警, ${HmiBuildConfig.isShowRunRedLightView}")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
+                //路侧弱势交通参与者
+                scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
+                hmiAction("SOP obu弱势交通控制, ",HmiBuildConfig.isShowObuWeaknessTrafficView)
+                Log.i(TAG,"SOP obu弱势交通控制, ${HmiBuildConfig.isShowObuWeaknessTrafficView}")
+            }else{
+                //V2I场景进PNC
+                scV2iPnc.isChecked = false
+                CallerAutoPilotControlManager.sendV2iToPncCmd(false)
+                hmiAction("SOP V2I场景进PNC, ",false)
+                Log.i(TAG,"SOP V2I场景进PNC, false")
+                //闯红灯预警
+                scRunRedLightSop.isChecked = false
+                hmiAction("SOP obu闯红灯预警, ",false)
+                Log.i(TAG,"SOP obu闯红灯预警, false")
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
+                //路侧弱势交通参与者
+                scObuWeaknessTrafficSop.isChecked = false
+                hmiAction("SOP obu弱势交通控制, ",false)
+                Log.i(TAG,"SOP obu弱势交通控制, false")
+            }
+            scV2iPnc.isEnabled = isChecked
+            scRunRedLightSop.isEnabled = isChecked
+            scObuWeaknessTrafficSop.isEnabled = isChecked
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            HmiBuildConfig.isShowObuV2iView = isChecked
        }

-        tbRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
-        tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 引导线动态效果",isChecked)
-            HmiBuildConfig.isShowRouteStrategy = isChecked
+        //V2N新链路
+        scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
+        scNewV2NData.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
+            Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App) ${isChecked}")
+            FunctionBuildConfig.isNewV2NData = isChecked
        }

-        //默认开启
-        tbObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
-        tbObuWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obu弱势交通控制, ",isChecked)
-            HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbCloudWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowCloudWeaknessTrafficView
-        tbCloudWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 云端弱势交通控制, ",isChecked)
-            HmiBuildConfig.isShowCloudWeaknessTrafficView = isChecked
-        }
-
-        tbV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
-        tbV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        //V2N场景进PNC
+        scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
+        scV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
            if(!compoundButton.isPressed){
                return@setOnCheckedChangeListener
            }
            hmiAction("SOP V2N场景进PNC, ",isChecked)
+            Log.i(TAG,"SOP V2N场景进PNC, $isChecked")
            CallerAutoPilotControlManager.sendV2nToPncCmd(isChecked)
            FunctionBuildConfig.isV2NPnc = isChecked
        }

-        tbV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
-        tbV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        //绿波通行(默认关闭)
+        scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
+        scGreenWaveSop.setOnCheckedChangeListener { compoundButton, isChecked ->
            if(!compoundButton.isPressed){
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP V2I场景进PNC, ",isChecked)
-            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
-            FunctionBuildConfig.isV2IPnc = isChecked
-        }
-
-        /**
-         * 默认打开
-         */
-        tbObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
-        tbObuV2vView.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obuV2V开关, ",isChecked)
-            HmiBuildConfig.isShowObuV2vView = isChecked
-        }
-
-        /**
-         * 默认打开
-         */
-        tbObuV2iView.isChecked = HmiBuildConfig.isShowObuV2iView
-        tbObuV2iView.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obuV2i开关, ",isChecked)
-            HmiBuildConfig.isShowObuV2iView = isChecked
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
-        tbRunRedLightSop.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP obu闯红灯预警, ",isChecked)
-            HmiBuildConfig.isShowRunRedLightView = isChecked
-            if (HmiBuildConfig.isShowRunRedLightView) {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
-            } else {
-                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
-            }
-        }
-
-        /**
-         * 默认关闭
-         */
-        tbGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
-        tbGreenWaveSop.setOnCheckedChangeListener { _, isChecked ->
            hmiAction("SOP obu绿波通行, ",isChecked)
+            Log.i(TAG,"SOP obu绿波通行, $isChecked")
            HmiBuildConfig.isShowGreenWaveView = isChecked
            if (HmiBuildConfig.isShowGreenWaveView) {
                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
@@ -162,34 +265,141 @@ internal class SOPSettingView @JvmOverloads constructor(
            }
        }

-        tbTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
-        tbTrafficLight.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 红绿灯标识开关, ",isChecked)
-            if (isChecked) {
-                CallerHmiManager.showTrafficLightView()
+        //V2I场景进PNC
+        scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
+        scV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP V2I场景进PNC, ",isChecked)
+            Log.i(TAG,"SOP V2I场景进PNC, $isChecked")
+            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
+            FunctionBuildConfig.isV2IPnc = isChecked
+        }
+
+        //闯红灯预警(默认关闭)
+        scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
+        scRunRedLightSop.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP obu闯红灯预警, ",isChecked)
+            Log.i(TAG,"SOP obu闯红灯预警, $isChecked")
+            HmiBuildConfig.isShowRunRedLightView = isChecked
+            if (HmiBuildConfig.isShowRunRedLightView) {
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
            } else {
-                CallerHmiManager.hideTrafficLightView()
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
            }
        }

-        tbSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
-        tbSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 限速标识开关, ",isChecked)
-            if (isChecked) {
-                HmiBuildConfig.isShowLimitingVelocityView = true
-            } else {
-                HmiBuildConfig.isShowLimitingVelocityView = false
-                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
+        //路侧弱势交通参与者(默认开启)
+        scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
+        scObuWeaknessTrafficSop.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
            }
+            hmiAction("SOP obu弱势交通控制, ",isChecked)
+            Log.i(TAG,"SOP obu弱势交通控制, $isChecked")
+            HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
+        }
+
+        //V2V总开关(默认关闭)
+        scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
+        scObuV2vView.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP obuV2V开关, ",isChecked)
+            Log.i(TAG,"SOP obuV2V开关, $isChecked")
+            HmiBuildConfig.isShowObuV2vView = isChecked
+        }
+
+        //obu总开关
+        obuConnectStatus = CallerObuApiManager.isConnected()
+        scObu.isChecked = obuConnectStatus
+        scObu.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            hmiAction("SOP OBU控制总开关, ",isChecked)
+            Log.i(TAG,"SOP OBU控制总开关, $isChecked")
+            if (isChecked) {
+                CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
+            } else {
+                //断开链接
+                CallerObuApiManager.disConnectObu()
+            }
+        }
+
+    }
+
+    /**
+     * 地图效果类设置
+     */
+    private fun mapSetting(){
+        //危险障碍物颜色标记开关
+        scMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
+        scMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 危险障碍物颜色标记开关, ",isChecked)
+            Log.i(TAG,"SOP 危险障碍物颜色标记开关, $isChecked")
+            FunctionBuildConfig.isPNCWarning = isChecked
+        }
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+            scMarkingObstacles.isEnabled = false
+        }
+
+        //引导线动态效果
+        scRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
+        scRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 引导线动态效果, ",isChecked)
+            Log.i(TAG,"SOP 引导线动态效果, $isChecked")
+            HmiBuildConfig.isShowRouteStrategy = isChecked
+        }
+
+        //点云效果
+        //初始化点云数据渲染情况
+        scDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
+        //是否渲染点云数据
+        scDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
+            CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
+            FunctionBuildConfig.isDrawPointCloudData = isChecked
+            CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
+            hmiAction("SOP 是否渲染点云数据, ",isChecked)
+            Log.i(TAG,"SOP 是否渲染点云数据, $isChecked")
+        }
+
+        //自车光圈
+        scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        scCarAperture.setOnCheckedChangeListener { _, isChecked ->
+            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
+            FunctionBuildConfig.isDisplayAnimEnable = isChecked
+            hmiAction("SOP 是否展示自车光圈，",isChecked)
+            Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
+        }
+    }
+
+    /**
+     * 与车相关类设置
+     */
+    private fun vehicleSetting(){
+        //绕障类功能
+        scObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
+        scObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 绕障类功能开关, ",isChecked)
+            Log.i(TAG,"SOP 绕障类功能开关, $isChecked")
+            CallerAutoPilotControlManager.sendDetouring(isChecked)
+            FunctionBuildConfig.isDetouring = isChecked
        }

        // 演示模式,上一次勾选的数据
-        tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
-        tbDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
+        scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
+        scDemoMode.setOnCheckedChangeListener { compoundButton, _ ->
            if(!compoundButton.isPressed){
                return@setOnCheckedChangeListener
            }
            hmiAction("SOP 演示模式开关, ",!FunctionBuildConfig.isDemoMode)
+            Log.i(TAG,"SOP 演示模式开关, ${!FunctionBuildConfig.isDemoMode}")
            FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
            CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_DEMO, FunctionBuildConfig.isDemoMode)
@@ -200,87 +410,42 @@ internal class SOPSettingView @JvmOverloads constructor(
        }
        //只在司机端设置美化模式开关功能
        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            tbDemoMode.visibility = View.GONE
+            scDemoMode.isEnabled = false
        }

        // 雨天模式，上一次勾选的数据
-        tbRainMode.isChecked = FunctionBuildConfig.isRainMode
-        tbRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
+        scRainMode.isChecked = FunctionBuildConfig.isRainMode
+        scRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
            if(!compoundButton.isPressed){
                return@setOnCheckedChangeListener
            }
            hmiAction("SOP 雨天模式开关, ",isChecked)
+            Log.i(TAG,"SOP 雨天模式开关, $isChecked")
            FunctionBuildConfig.isRainMode = isChecked
            CallerAutoPilotControlManager.setRainMode(isChecked)
            CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_RAIN, isChecked)
        }
        //雨天模式按钮只在司机屏生效，乘客屏不显示
        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-            tbRainMode.visibility = View.GONE
-        }
-
-        tbObu.isChecked = CallerObuApiManager.isConnected()
-        tbObu.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP OBU控制总开关, ",isChecked)
-            if (isChecked) {
-                CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
-            } else {
-                //断开链接
-                CallerObuApiManager.disConnectObu()
-            }
-        }
-
-
-        tbIPCReport.isChecked = FunctionBuildConfig.isReportWarning
-        tbIPCReport.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 是否开启异常上报, ",isChecked)
-            FunctionBuildConfig.isReportWarning = isChecked
-        }
-
-        tbNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
-        tbNewV2NData.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
-            FunctionBuildConfig.isNewV2NData = isChecked
-        }
-
-        // M1 360度环视
-        tbNew360LookAround?.also {
-            if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
-                it.isEnabled = false
-            } else {
-                it.isEnabled = true
-                it.setOnCheckedChangeListener { _, isChecked ->
-                    if (isChecked) {
-                        CallerHmiManager.showM1360LookAround()
-                    } else {
-                        CallerHmiManager.hidM1360LookAround()
-                    }
-                }
-                it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
-            }
+            scRainMode.isEnabled = false
        }

        //弱网减速停车
-        tbWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
-        tbWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
+        scWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
            FunctionBuildConfig.isWeakNetSlowDown = isChecked
            CallerAutoPilotControlManager.sendWeakNetSlowDown(isChecked)
            hmiAction("SOP 弱网减速停车, ",isChecked)
+            Log.i(TAG,"SOP 弱网减速停车, $isChecked")
        }

        //故障减速停车
-        tbFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
-        tbFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
+        scFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
            FunctionBuildConfig.isFaultSlowDown = isChecked
            CallerAutoPilotControlManager.sendBreakdownSlowDown(isChecked)
            hmiAction("SOP 故障减速停车, ",isChecked)
-        }
-
-        //是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
-        tbShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
-        tbShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
-            FunctionBuildConfig.isShowBagRecordWindow = isChecked
-            hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
+            Log.i(TAG,"SOP 故障减速停车, $isChecked")
        }
        //融合模式
        rgFusionMode.setOnCheckedChangeListener { _, p1 ->
@@ -306,9 +471,74 @@ internal class SOPSettingView @JvmOverloads constructor(
                    FunctionBuildConfig.fusionMode = 5
                }
            }
+            hmiAction("SOP 融合模式, ",FunctionBuildConfig.fusionMode)
+            Log.i(TAG,"SOP 融合模式, ${FunctionBuildConfig.fusionMode}")
            CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
        }
+    }

+    /**
+     * 其他类别开关设置
+     */
+    private fun otherSetting(){
+        //红绿灯标识开关
+        scTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
+        scTrafficLight.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 红绿灯标识开关, ",isChecked)
+            Log.i(TAG,"SOP 红绿灯标识开关, $isChecked")
+            if (isChecked) {
+                CallerHmiManager.showTrafficLightView()
+            } else {
+                CallerHmiManager.hideTrafficLightView()
+            }
+        }
+
+        //限速标识
+        scSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
+        scSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 限速标识开关, ",isChecked)
+            Log.i(TAG,"SOP 限速标识开关, $isChecked")
+            if (isChecked) {
+                HmiBuildConfig.isShowLimitingVelocityView = true
+                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.VISIBLE)
+            } else {
+                HmiBuildConfig.isShowLimitingVelocityView = false
+                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
+            }
+        }
+
+        //异常上报提示
+        scIPCReport.isChecked = FunctionBuildConfig.isReportWarning
+        scIPCReport.setOnCheckedChangeListener { _, isChecked ->
+            hmiAction("SOP 是否开启异常上报, ",isChecked)
+            Log.i(TAG,"SOP 是否开启异常上报, $isChecked")
+            FunctionBuildConfig.isReportWarning = isChecked
+        }
+
+        // M1 360度环视
+        scNew360LookAround?.also {
+            if (!AppIdentityModeUtils.isM1(FunctionBuildConfig.appIdentityMode)) {
+                it.isEnabled = false
+            } else {
+                it.isEnabled = true
+                it.setOnCheckedChangeListener { _, isChecked ->
+                    if (isChecked) {
+                        CallerHmiManager.showM1360LookAround()
+                    } else {
+                        CallerHmiManager.hidM1360LookAround()
+                    }
+                }
+                it.isChecked = CallerHmiManager.isM1360LookAroundShowing()
+            }
+        }
+
+        //是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
+        scShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
+        scShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
+            FunctionBuildConfig.isShowBagRecordWindow = isChecked
+            hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
+            Log.i(TAG,"SOP 是否展示被动触发的录包弹窗, $isChecked")
+        }

        //变道绕障的目标障碍物速度阈值
        tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
@@ -393,8 +623,11 @@ internal class SOPSettingView @JvmOverloads constructor(
            mfStatusLayout.setClickEnabled(false)
            mfTest.isEnabled = false
        }
+
+
    }

+
    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        //添加 业务配置监听
@@ -410,10 +643,10 @@ internal class SOPSettingView @JvmOverloads constructor(
    override fun updateFuncMode(tag: String, boolean: Boolean) {
        super.updateFuncMode(tag, boolean)
        if(tag == FUNC_MODE_DEMO){
-            tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
+            scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
        }
        if(tag == FUNC_MODE_RAIN){
-            tbRainMode.isChecked = FunctionBuildConfig.isRainMode
+            scRainMode.isChecked = FunctionBuildConfig.isRainMode
        }
    }

@@ -426,40 +659,34 @@ internal class SOPSettingView @JvmOverloads constructor(
        CallerDevaToolsManager.mofang()?.unRegisterMoFangStatusListener(this)
    }

-//    private val timerTaskRefresh = object : TimerTask(){
-//        override fun run() {
-//            UiThreadHandler.post{
-//                tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
-//                tbRainMode.isChecked = FunctionBuildConfig.isRainMode
-//            }
-//        }
-//
-//    }

    override fun updateBizView(type: String, lock: Boolean) {
        when (type) {
+            //美化模式
            FuncBizConfig.BIZ_BEAUTY_MODE -> {
-                tbDemoMode.isClickable = !lock
+                scDemoMode.isClickable = !lock
                if(lock){
-                    tbDemoMode.visibility = View.INVISIBLE
+                    scDemoMode.visibility = View.INVISIBLE
                }else{
-                    tbDemoMode.visibility = View.VISIBLE
+                    scDemoMode.visibility = View.VISIBLE
                }
            }
+            //雨天模式
            FuncBizConfig.BIZ_RAIN_MODE -> {
-                tbRainMode.isClickable = !lock
+                scRainMode.isClickable = !lock
                if (lock) {
-                    tbRainMode.visibility = View.INVISIBLE
+                    scRainMode.visibility = View.INVISIBLE
                } else {
-                    tbRainMode.visibility = View.VISIBLE
+                    scRainMode.visibility = View.VISIBLE
                }
            }
+            //危险障碍物颜色标记
            FuncBizConfig.BIZ_PNC_WARNING -> {
-                tbMarkingObstacles.isClickable = !lock
+                scMarkingObstacles.isClickable = !lock
                if (lock) {
-                    tbMarkingObstacles.visibility = View.INVISIBLE
+                    scMarkingObstacles.visibility = View.INVISIBLE
                } else {
-                    tbMarkingObstacles.visibility = View.VISIBLE
+                    scMarkingObstacles.visibility = View.VISIBLE
                }
            }
        }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.hmi.ui.vehicle

 import android.content.Context
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
@@ -12,20 +11,24 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.zhjt.mogo.adas.data.bean.MogoReport
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg

 class TakeOverView @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null,
    defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener {
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
+    IMoGoParallelDrivingStatusListener {

    companion object {
        const val TAG = "TakeOverView"
@@ -41,6 +44,7 @@ class TakeOverView @JvmOverloads constructor(
    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerParallelDrivingListenerManager.addListener(TAG,this)
    }

    override fun onAutopilotStatusResponse(state: Int) {
@@ -147,5 +151,68 @@ class TakeOverView @JvmOverloads constructor(
    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerParallelDrivingListenerManager.removeListener(TAG)
    }
+
+    /**
+     * 平行驾驶状态回调，云端说有状态变化就回调
+     */
+    override fun onParallelDrivingResp(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
+        parallelTaskProcessNotice?.let {
+            if (takeOver) {
+                return@let
+            }
+            when(it.code){
+                //进入同步状态
+                "START_SYNC"->{
+
+                }
+                //同步结束
+                "EXIT_SYNC"->{
+
+                }
+                //无法接管
+                "UNABLE_TAKEOVER"->{
+                    showParallelDrivingWarning("UNABLE_TAKEOVER","远程无法介入，注意随时接管","远程无法介入，注意随时接管")
+                }
+                //同步异常结束
+                "EXCEPTION_EXIT_SYNC"->{
+                    showParallelDrivingWarning("EXCEPTION_EXIT_SYNC","远程介入失败，注意随时接管","远程介入失败，注意随时接管")
+                }
+                //任务已被拒绝
+                "TASK_REJECTED"->{
+
+                }
+                //异常请人工驾驶
+                "PARALLEL_EXCEPTION_MANUAL_DRIVING"->{
+                    showParallelDrivingWarning("PARALLEL_EXCEPTION_MANUAL_DRIVING","即将靠边停车，注意随时接管","即将靠边停车，注意随时接管")
+                }
+                //平行驾驶异常结束
+                "EXCEPTION_EXIT_PARALLEL_DRIVING"->{
+                    showParallelDrivingWarning("EXCEPTION_EXIT_PARALLEL_DRIVING","可能应急停车，注意随时接管","可能应急停车，注意随时接管")
+                }
+            }
+        }
+    }
+
+    private fun showParallelDrivingWarning(poiType: String,content: String,tts: String){
+        CallerHmiManager.warningV2X(poiType, content, tts,
+            object : IMoGoWarningStatusListener {
+                override fun onShow() {
+                    takeOver = true
+                    ThreadUtils.runOnUiThread{
+                        visibility = View.VISIBLE
+                    }
+                }
+
+                override fun onDismiss() {
+                    takeOver = false
+                    ThreadUtils.runOnUiThread{
+                        visibility = View.GONE
+                    }
+                }
+            }
+            ,isFromObu = false)
+    }
+
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/LimitingVelocityView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/LimitingVelocityView.kt
@@ -27,6 +27,9 @@ class LimitingVelocityView constructor(
        private const val TAG = "LimitingVelocityView"
    }

+    //限速控件是否展示
+    private var isShow = false
+
    init {
        LayoutInflater.from(context).inflate(R.layout.view_limiting_speed_vr, this, true)
    }
@@ -38,20 +41,22 @@ class LimitingVelocityView constructor(
    }

    override fun onLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
-        ThreadUtils.runOnUiThread {
-            if (limitingVelocity > 0) {
-                visibility = View.VISIBLE
-                tvLimitingVelocity.text = "$limitingVelocity"
-                tvLimitingSource?.text = DataSourceType.getName(sourceType)
-            } else {
-                visibility = View.GONE
-                tvLimitingSource?.text = ""
+        if(isShow){
+            ThreadUtils.runOnUiThread {
+                if (limitingVelocity > 0) {
+                    visibility = View.VISIBLE
+                    tvLimitingVelocity.text = "$limitingVelocity"
+                    tvLimitingSource?.text = DataSourceType.getName(sourceType)
+                } else {
+                    visibility = View.GONE
+                    tvLimitingSource?.text = ""
+                }
            }
        }
    }

    override fun visible(v: Int) {
-        super.visible(v)
+        isShow = v == View.VISIBLE
        this.visibility = v
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
@@ -0,0 +1,352 @@
+package com.mogo.eagle.core.function.hmi.ui.widget
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.graphics.Color
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.voice.AIAssist
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.SourceType
+import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest.ParallelRequest
+import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
+
+/**
+ * 平行驾驶状态View
+ */
+class ParallelDriveView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
+    IMoGoParallelDrivingActionsListener, IMoGoParallelDrivingStatusListener {
+    companion object {
+        private const val TAG = "ParallelDriveView"
+        private const val APP_REQUESTING = 1
+        private const val AD_REQUESTING = 2
+        private const val SYNCHRONIZING = 3
+        private const val PARALLEL_DRIVING = 4
+        private const val FAILURE = 5
+        private const val ONE_EXCEPTION = 6
+        private const val TWO_EXCEPTION = 7
+        private const val UNAVAILABLE = 8
+    }
+
+    //1:ready, 2:自动驾驶中, 7:平行驾驶中
+    @Volatile
+    private var autopilotState: Int = 1
+
+    // 初始状态为0
+    private var state: Int = 0
+
+    private lateinit var rootLayout: ConstraintLayout
+    private lateinit var statusIcon: ImageView
+    private lateinit var statusTitle: TextView
+    private var listener: ClickEventListener? = null
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_parallel_drive, this, true)
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        initView()
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+        CallerParallelDrivingListenerManager.addListener(TAG, this)
+        CallerParallelDrivingActionsListenerManager.addListener(TAG, this)
+    }
+
+    private fun initView() {
+        rootLayout = findViewById(R.id.parDriveLayout)
+        statusIcon = findViewById(R.id.ivStatusIcon)
+        statusTitle = findViewById(R.id.tvAutopilotContent)
+        rootLayout.setOnClickListener {
+            when (state) {
+                0 -> {
+                    state = APP_REQUESTING
+                    updateUI(APP_REQUESTING)
+                    reqParaDrive()
+                    listener?.onReqClick()
+                }
+                APP_REQUESTING -> {
+                    cancelParaDrive()
+                    ToastUtils.showShort("请求已取消！")
+                    checkAvailableAndUpdateUI()
+                }
+                UNAVAILABLE -> {
+                    ToastUtils.showShort("请P档驻车并松开油门刹车后请求")
+                }
+            }
+        }
+        checkAvailableAndUpdateUI()
+    }
+
+    fun setClickEventListener(listener: ClickEventListener?) {
+        this.listener = listener
+    }
+
+    override fun onAutopilotStatusResponse(state: Int) {
+        super.onAutopilotStatusResponse(state)
+        if (state != autopilotState) {
+            synchronized(this) {
+                when (state) {
+                    7 -> {
+                        if (this.autopilotState != 7) {
+                            ThreadUtils.runOnUiThread({
+                                updateUI(PARALLEL_DRIVING)
+                            }, ThreadUtils.MODE.QUEUE)
+                        }
+                    }
+                    else -> {
+                        if (this.autopilotState == 7 && this.autopilotState != state) {
+                            ThreadUtils.runOnUiThread({
+                                checkAvailableAndUpdateUI()
+                            }, ThreadUtils.MODE.QUEUE)
+                        }
+                    }
+                }
+                this.autopilotState = state
+            }
+        }
+    }
+
+    override fun onParallelDrivingAbility(
+        isParallelDrivingAbility: Boolean,
+        unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
+    ) {
+        if (!isParallelDrivingAbility) {
+            ThreadUtils.runOnUiThread({
+                updateUI(UNAVAILABLE)
+            }, ThreadUtils.MODE.QUEUE)
+        }
+    }
+
+    override fun onParallelDrivingResp(parallelTaskProcessNotice: ParallelTaskProcessNoticeOuterClass.ParallelTaskProcessNotice?) {
+        parallelTaskProcessNotice?.let {
+            ThreadUtils.runOnUiThread({
+                when (it.code) {
+                    "START_SYNC" -> {// 同步中
+                        state = SYNCHRONIZING
+                        updateUI(SYNCHRONIZING)
+                    }
+                    "EXCEPTION_EXIT_SYNC" -> {// 同步异常结束
+                        state = ONE_EXCEPTION
+                        updateUI(ONE_EXCEPTION)
+                    }
+                    "TASK_REJECTED" -> {// 任务已被拒绝
+                        state = FAILURE
+                        updateUI(FAILURE)
+                        AIAssist.getInstance(context).speakTTSVoice("请求已被拒绝")
+                    }
+                    "PARALLEL_EXCEPTION_MANUAL_DRIVING" -> {// 异常请人工驾驶
+                        state = TWO_EXCEPTION
+                        updateUI(TWO_EXCEPTION)
+                    }
+                    "EXCEPTION_EXIT_PARALLEL_DRIVING" -> {// 平行驾驶异常结束
+                        state = ONE_EXCEPTION
+                        updateUI(ONE_EXCEPTION)
+                    }
+                    "EXIT_SYNC" -> {// 同步结束
+                        checkAvailableAndUpdateUI()
+                    }
+                    "UNABLE_TAKEOVER" -> {// 无法接管
+                        state = ONE_EXCEPTION
+                        updateUI(ONE_EXCEPTION)
+                    }
+                    "VEHICLE_IN_TROUBLE_PARALLEL_REQUESTED" -> {// 车辆遇困请求平行驾驶
+                        state = AD_REQUESTING
+                        updateUI(AD_REQUESTING)
+                    }
+                }
+            }, ThreadUtils.MODE.QUEUE)
+        }
+    }
+
+    private fun isAvailable(unableAutopilotReasons: ArrayList<UnableLaunchReason>?): Boolean {
+        var unavailable = false
+        unableAutopilotReasons?.forEach {
+            if (it.source.ordinal == SourceType.CHASSIS.ordinal) {
+                unavailable = true
+            }
+        }
+        return !unavailable
+    }
+
+    @SuppressLint("UseCompatLoadingForDrawables")
+    private fun updateUI(state: Int) {
+        when (state) {
+            0 -> {
+                rootLayout.isEnabled = true
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_autopilot_status, null)
+                statusTitle.text = context.getString(R.string.parallel_drive)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            APP_REQUESTING -> {
+                rootLayout.isEnabled = true
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_para_requesting, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusTitle.text = context.getString(R.string.parallel_drive_requesting)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            AD_REQUESTING -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_para_requesting, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusTitle.text = context.getString(R.string.parallel_drive_requesting)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            SYNCHRONIZING -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_para_syn, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusTitle.text = context.getString(R.string.parallel_drive_synchronizing)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+            }
+
+            PARALLEL_DRIVING -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_autopilot_status, null)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                rootLayout.background =
+                    resources.getDrawable(R.drawable.bg_auto_pilot_running, null)
+                statusTitle.text = context.getString(R.string.parallel_drive)
+            }
+
+            FAILURE -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                rootLayout.postDelayed({
+                    checkAvailableAndUpdateUI()
+                }, 1000)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_fail_start, null)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive_failure)
+            }
+
+            ONE_EXCEPTION -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                rootLayout.postDelayed({
+                    checkAvailableAndUpdateUI()
+                }, 1000)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_fail_start, null)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive_exception)
+            }
+
+            TWO_EXCEPTION -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 1f
+                rootLayout.postDelayed({
+                    checkAvailableAndUpdateUI()
+                }, 2000)
+                statusTitle.setTextColor(Color.parseColor("#FFFFFF"))
+                statusIcon.alpha = 1f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_fail_start, null)
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive_exception)
+            }
+
+            UNAVAILABLE -> {
+                rootLayout.isEnabled = false
+                rootLayout.alpha = 0.4f
+                statusIcon.background =
+                    resources.getDrawable(R.drawable.icon_autopilot_status, null)
+                statusTitle.setTextColor(Color.parseColor("#66FFFFFF"))
+                statusIcon.alpha = 0.4f
+                rootLayout.background = resources.getDrawable(R.drawable.bg_auto_pilot, null)
+                statusTitle.text = context.getString(R.string.parallel_drive)
+            }
+
+            else -> {}
+        }
+    }
+
+    private fun reqParaDrive() {
+        val sn = MoGoAiCloudClientConfig.getInstance().sn
+        val parallelRequest = ParallelRequest.newBuilder()
+            .setSn(sn)
+            .setType(2)// 2:鹰眼请求
+            .setTakeover(1)// 1:请求平行驾驶接管
+            .setCode("PAD_ACTIVE")
+        parallelRequest.reason = "鹰眼请求"
+        CallerAutoPilotControlManager.sendParallelDrivingReq(
+            System.currentTimeMillis().toString(), parallelRequest.build()
+        )
+    }
+
+    private fun cancelParaDrive() {
+        val sn = MoGoAiCloudClientConfig.getInstance().sn
+        val parallelRequest = ParallelRequest.newBuilder()
+            .setSn(sn)
+            .setType(2)// 2:鹰眼请求
+            .setTakeover(2)// 2:取消平行驾驶接管
+            .setCode("PAD_ACTIVE")
+        parallelRequest.reason = "鹰眼请求"
+        CallerAutoPilotControlManager.sendParallelDrivingReq(
+            System.currentTimeMillis().toString(), parallelRequest.build()
+        )
+    }
+
+    private fun checkAvailableAndUpdateUI() {
+        if (CallerParallelDrivingActionsListenerManager.isParallelDrivingAbility()) {
+            state = 0
+            updateUI(0)
+        } else {
+            state = UNAVAILABLE
+            updateUI(UNAVAILABLE)
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        CallerParallelDrivingListenerManager.removeListener(TAG)
+        CallerParallelDrivingActionsListenerManager.removeListener(TAG)
+    }
+
+    interface ClickEventListener {
+        fun onReqClick()
+    }
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
@@ -5,6 +5,7 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.deva.bindingcar.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -26,6 +27,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.MogoData.Companion.mogoMapData
 import kotlinx.android.synthetic.main.view_system_version.view.*
+import system_master.SsmInfo
+import system_master.SystemStatusInfo


 /**
@@ -63,6 +66,7 @@ class SystemVersionView @JvmOverloads constructor(
    private fun initView() {
        showCurrentPadVersion()
        showCurrentAdVersion()
+        updateAdHdMapVersion()

        //鹰眼版本视图点击事件
        ivPadVersion.setOnClickListener {
@@ -366,4 +370,42 @@ class SystemVersionView @JvmOverloads constructor(
    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        location = gnssInfo
    }
+
+    /**
+     * 状态查询应答
+     * @param status 数据
+     * HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
+     */
+    override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {
+        if(status.hdMapVer!= null && status.hdMapVer.isNotEmpty()){
+            AppConfigInfo.adHdMapVersion = status.hdMapVer
+            updateAdHdMapVersion()
+        }
+
+    }
+
+    /**
+     * 定频SSM接口
+     * 1hz  hq m1 MAP350开始支持，其他车型MAP360开始支持
+     * 定频SSM接入后 onStatusQueryResp 状态查询应答接口将弃用
+     * @param statusInf 数据
+     */
+    override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
+        if(statusInf.hdMapVer!= null && statusInf.hdMapVer.isNotEmpty()){
+            AppConfigInfo.adHdMapVersion = statusInf.hdMapVer
+            updateAdHdMapVersion()
+        }
+    }
+
+    /**
+     * 更新工控机高精地图版本
+     */
+    private fun updateAdHdMapVersion(){
+        if(tvAdHdMapVersionContent.text.isNullOrEmpty() && AppConfigInfo.adHdMapVersion.isNotEmpty() || tvAdHdMapVersionContent.text != AppConfigInfo.adHdMapVersion){
+            ThreadUtils.runOnUiThread {
+                tvAdHdMapVersionContent.text = AppConfigInfo.adHdMapVersion
+            }
+        }
+    }
+
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_auto_pilot.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_auto_pilot.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_auto_pilot_running.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_auto_pilot_running.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_msg_bad_case.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_msg_bad_case.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_version_ad_hd_map.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_version_ad_hd_map.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_bad_case.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_bad_case.xml
@@ -18,7 +18,7 @@
        android:id="@+id/ivBadCaseImage"
        android:layout_width="110dp"
        android:layout_height="110dp"
-        android:src="@drawable/icon_bad_case"
+        android:src="@drawable/icon_msg_bad_case"
        app:layout_constraintTop_toTopOf="parent"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintLeft_toLeftOf="parent"
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_parallel_drive.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_parallel_drive.xml
@@ -0,0 +1,34 @@
+<?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"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/parDriveLayout"
+    android:layout_width="361dp"
+    android:layout_height="180dp"
+    android:background="@drawable/bg_auto_pilot"
+    >
+
+    <ImageView
+        android:id="@+id/ivStatusIcon"
+        android:layout_width="58dp"
+        android:layout_height="58dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginStart="72dp"
+        android:layout_marginTop="56dp"
+        />
+
+    <TextView
+        android:id="@+id/tvAutopilotContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginEnd="72dp"
+        android:layout_marginTop="60dp"
+        android:textColor="#FFFFFF"
+        android:textSize="36dp"
+        tools:text="远程代驾"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_system_version.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_system_version.xml
@@ -12,10 +12,10 @@
        android:layout_marginStart="113dp"
        android:src="@drawable/icon_version_pad"
        android:layout_marginTop="40dp"
-        android:clickable="true"
        app:layout_constraintLeft_toLeftOf="parent"
        app:layout_constraintStart_toStartOf="parent"
        app:layout_constraintTop_toTopOf="parent"
+        android:contentDescription="@string/current_system_version"
        />

    <ImageView
@@ -62,6 +62,7 @@
        app:layout_constraintStart_toStartOf="parent"
        android:layout_marginStart="405dp"
        android:src="@drawable/icon_version_ad_normal"
+        android:contentDescription="@string/current_system_version"
        />

    <com.mogo.eagle.core.function.hmi.ui.widget.CircularProgressView
@@ -108,10 +109,8 @@
        app:layout_constraintLeft_toLeftOf="@id/tvAdVersionTitle"
        app:layout_constraintRight_toRightOf="@id/tvAdVersionTitle"
        app:layout_constraintTop_toBottomOf="@id/tvAdVersionTitle"
-        app:layout_constraintBottom_toBottomOf="parent"
        android:textColor="#FFA7B6F0"
        android:layout_marginTop="2dp"
-        android:layout_marginBottom="20dp"
        android:textSize="32dp"
        />

@@ -124,6 +123,7 @@
        app:layout_constraintStart_toStartOf="parent"
        android:layout_marginStart="680dp"
        android:src="@drawable/icon_version_hd_map"
+        android:contentDescription="@string/current_system_version"
        />

    <ImageView
@@ -136,4 +136,44 @@
        app:layout_constraintCircleRadius="90dp"
        tools:ignore="MissingConstraints" />

+    <!--工控机HDMap版本-->
+    <ImageView
+        android:id="@+id/ivAdHdMapVersion"
+        android:layout_width="@dimen/dp_150"
+        android:layout_height="@dimen/dp_150"
+        app:layout_constraintLeft_toLeftOf="@id/ivPadVersion"
+        app:layout_constraintRight_toRightOf="@id/ivPadVersion"
+        app:layout_constraintTop_toBottomOf="@id/tvPadVersionContent"
+        android:layout_marginTop="60dp"
+        android:src="@drawable/icon_version_ad_hd_map"
+        android:contentDescription="@string/current_system_version"
+        />
+
+    <TextView
+        android:id="@+id/tvAdHdMapVersionTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="@id/ivAdHdMapVersion"
+        app:layout_constraintRight_toRightOf="@id/ivAdHdMapVersion"
+        app:layout_constraintTop_toBottomOf="@id/ivAdHdMapVersion"
+        android:text="@string/current_system_version"
+        android:textColor="#FFA7B6F0"
+        android:layout_marginTop="10dp"
+        android:textSize="32dp"
+        />
+
+    <TextView
+        android:id="@+id/tvAdHdMapVersionContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="@id/ivAdHdMapVersion"
+        app:layout_constraintRight_toRightOf="@id/ivAdHdMapVersion"
+        app:layout_constraintTop_toBottomOf="@id/tvAdHdMapVersionTitle"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:textColor="#FFA7B6F0"
+        android:layout_marginTop="2dp"
+        android:textSize="32dp"
+        android:layout_marginBottom="20dp"
+        />
+
 </androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -86,4 +86,9 @@
    <string name="light_source_ai_cloud">云端下发</string>
    <string name="light_source_perception">自车感知</string>
    <string name="light_source_obu">\u2000OBU\u2000</string>
+    <string name="parallel_drive">远程代驾</string>
+    <string name="parallel_drive_requesting">请求中...</string>
+    <string name="parallel_drive_synchronizing">同步中...</string>
+    <string name="parallel_drive_failure">请求失败</string>
+    <string name="parallel_drive_exception">异常</string>
 </resources>