diff --git a/OCH/mogo-och-bus-passenger/src/main/res/drawable/iv_roma_bus_passenger_bg.png b/OCH/mogo-och-bus-passenger/src/main/res/drawable/iv_roma_bus_passenger_bg.png
new file mode 100644
index 0000000000..405d2cddaa
Binary files /dev/null and b/OCH/mogo-och-bus-passenger/src/main/res/drawable/iv_roma_bus_passenger_bg.png differ
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
index 608ac59429..2d3747ce41 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
@@ -56,6 +56,15 @@
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <com.mogo.eagle.core.function.hmi.ui.widget.RomaPassengerView
+        android:layout_width="@dimen/dp_121"
+        android:layout_height="@dimen/dp_121"
+        android:layout_marginRight="@dimen/dp_751"
+        android:layout_marginBottom="@dimen/dp_59"
+        android:background="@drawable/iv_roma_bus_passenger_bg"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintRight_toRightOf="parent" />
+
     <com.mogo.och.common.module.wigets.OCHBorderShadowLayout
         android:id="@+id/arrive_station_shadow"
         android:layout_width="wrap_content"
@@ -152,13 +161,4 @@
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
-    <ImageView
-        android:layout_width="@dimen/dp_299"
-        android:layout_height="@dimen/dp_75"
-        android:layout_marginRight="@dimen/dp_40"
-        android:layout_marginBottom="@dimen/dp_48"
-        android:src="@drawable/bus_p_mogo_nor"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintRight_toLeftOf="@+id/bus_p_route_panel" />
-
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
index 8567a7a783..64bce3038e 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
@@ -58,7 +58,7 @@
             app:layout_constraintBottom_toBottomOf="@+id/bus_p_speed_tv"
             app:layout_constraintLeft_toRightOf="@+id/bus_p_speed_tv" />
 
-        <com.mogo.och.bus.passenger.ui.BusPassengerTrafficLightView
+        <com.mogo.eagle.core.function.hmi.ui.widget.SingleTrafficLightView
             android:id="@+id/bus_p_traffic_light_view"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/view_roma_busp_bg.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/view_roma_busp_bg.xml
new file mode 100644
index 0000000000..cc7e2f5c9c
--- /dev/null
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/view_roma_busp_bg.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="@dimen/dp_121"
+    android:layout_height="@dimen/dp_121"
+    android:background="@drawable/iv_roma_bus_passenger_bg"
+    tools:ignore="MissingDefaultResource">
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index 25e7216333..2b596c4b6e 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -1,6 +1,5 @@
 package com.mogo.och.bus.fragment;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
 import static com.mogo.och.bus.constant.BusConst.TIMER_START_AUTOPILOT_INTERVAL;
 
 import android.animation.ObjectAnimator;
@@ -22,7 +21,6 @@ import androidx.constraintlayout.widget.Group;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -30,17 +28,14 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
 import com.mogo.eagle.core.function.hmi.ui.widget.TrafficDataView;
 import com.mogo.eagle.core.function.smp.view.SmallMapView;
 import com.mogo.eagle.core.function.view.MapBizView;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-import com.mogo.map.MogoMapUIController;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
 import com.mogo.map.uicontroller.IMogoMapUIController;
@@ -78,7 +73,6 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     protected TextView tvArrived;
     protected RelativeLayout mSettingBtn;
     protected RelativeLayout mBadcaseBtn;
-    protected RelativeLayout mAICollectBtn;
     private FrameLayout flStationPanelContainer;
     private MapBizView mapBizView;
     private Group groupTestPanel;
@@ -147,18 +141,12 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
                         Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
                     } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
-                        if (FunctionBuildConfig.isRomaMode) {
-                            controller.setRomaMode(1);
-                        } else {
-                            Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
-                            controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                        }
+                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
                     } else {
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
@@ -218,21 +206,17 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
             CallerAutopilotRecordListenerManager.INSTANCE.addListener(TAG, this);
         }
 
-        mAICollectBtn = findViewById(R.id.module_mogo_och_ai_collet_rl);
-        if (mAICollectBtn != null) {
-            CallerDevaToolsManager.INSTANCE.initAiCollect(mAICollectBtn);
-        }
         //消息盒子
         viewDriverMsgBoxButton = findViewById(R.id.viewDriverMsgBoxButton);
         viewDriverMsgBoxList = findViewById(R.id.viewDriverMsgBoxList);
         viewDriverMsgBoxBubble = findViewById(R.id.viewDriverMsgBoxBubble);
         viewDriverMsgBoxButton.setClickListener(show -> {
-            if(show){
+            if (show) {
                 viewDriverMsgBoxList.setVisibility(View.VISIBLE);
                 viewDriverMsgBoxList.notifyData();
                 viewDriverMsgBoxBubble.setVisibility(View.GONE);
                 viewDriverMsgBoxBubble.isShowData(false);
-            }else{
+            } else {
                 viewDriverMsgBoxList.setVisibility(View.GONE);
                 viewDriverMsgBoxBubble.setVisibility(View.VISIBLE);
                 viewDriverMsgBoxBubble.isShowData(true);
diff --git a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
index 63d4c81b3e..5ff5a55ce8 100644
--- a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
+++ b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
@@ -9,7 +9,7 @@
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
         android:layout_width="match_parent"
-        android:layout_height="match_parent"/>
+        android:layout_height="match_parent" />
 
     <com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugViewTrigger
         android:layout_width="@dimen/dp_400"
@@ -39,7 +39,7 @@
     <!--浓雾预警动画-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XFogEventView
         android:layout_width="match_parent"
-        android:layout_height="match_parent"/>
+        android:layout_height="match_parent" />
 
     <!--V2X预警红色边框-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
@@ -309,24 +309,11 @@
             android:src="@drawable/bad_case_selector" />
     </RelativeLayout>
 
-    <RelativeLayout
-        android:id="@+id/module_mogo_och_ai_collet_rl"
-        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
-        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
-        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
-        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
-        android:background="@drawable/bus_operation_status_bg_selector"
-        android:elevation="@dimen/dp_10"
+    <com.mogo.eagle.core.function.hmi.ui.widget.RomaView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_badcase_rl">
-
-        <ImageView
-            android:layout_width="@dimen/dp_80"
-            android:layout_height="@dimen/dp_80"
-            android:layout_centerInParent="true"
-            android:layout_gravity="center"
-            android:src="@drawable/ai_collect_selector" />
-    </RelativeLayout>
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_badcase_rl"/>
 
     <com.mogo.och.bus.view.SlidePanelView
         android:id="@+id/module_mogo_och_slide_panel"
@@ -414,7 +401,6 @@
         android:layout_marginBottom="30dp"
         android:visibility="visible"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        />
+        app:layout_constraintEnd_toEndOf="parent" />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
index 2a95fd785d..c7ce8bb793 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
@@ -14,11 +14,9 @@ import androidx.fragment.app.FragmentTransaction;
 
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.mvp.MvpFragment;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxListView;
@@ -52,7 +50,7 @@ import java.util.Objects;
  * @author tongchenfei
  */
 public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFragment, BaseTaxiPassengerPresenter>
-        implements IMogoMapListener, TaxiPassengerTaxiView, ITPClickStartAutopilotCallback{
+        implements IMogoMapListener, TaxiPassengerTaxiView, ITPClickStartAutopilotCallback {
 
     static final String TAG = "TaxiPassengerBaseFragment";
 
@@ -109,11 +107,11 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         viewPassengerMsgBoxBubble = findViewById(R.id.viewPassengerMsgBoxBubble);
         viewPassengerMsgBoxList = findViewById(R.id.viewPassengerMsgBoxList);
         viewPassengerMsgBoxButton.setClickListener(show -> {
-            if(show){
+            if (show) {
                 viewPassengerMsgBoxList.setVisibility(View.VISIBLE);
                 viewPassengerMsgBoxBubble.setVisibility(View.GONE);
                 viewPassengerMsgBoxBubble.isShowData(false);
-            }else{
+            } else {
                 viewPassengerMsgBoxList.setVisibility(View.GONE);
                 viewPassengerMsgBoxBubble.setVisibility(View.VISIBLE);
                 viewPassengerMsgBoxBubble.isShowData(true);
@@ -146,18 +144,12 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             if (controller != null) {
                 //切换地图的远近视图
                 if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
                     Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                     controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                     mMapswitchBtn.setImageResource(R.drawable.taxi_p_switch_map_medium);
                 } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
-                    if (FunctionBuildConfig.isRomaMode) {
-                        controller.setRomaMode(1);
-                    } else {
-                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                    }
+                    Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                    controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
                     mMapswitchBtn.setImageResource(R.drawable.taxi_p_switch_map_long);
                 } else {
                     controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
@@ -167,7 +159,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             //OverlayLeftViewUtils.INSTANCE.dismissOverlayView();
         });
         findViewById(R.id.iv_temp).setOnClickListener(view -> {
-            OverlayLeftViewUtils.INSTANCE.showOverlayView(getActivity(),0,true,-1,true);
+            OverlayLeftViewUtils.INSTANCE.showOverlayView(getActivity(), 0, true, -1, true);
             //showOrHideArrivedEndLayout(true, "北京北京北京", "1527481606997577728");
             //showOrHidePressengerCheckPager(true, "开始站点开", "开始站点开始站点开始", "2", "京A888888", "18811539480");
             //OCHFloatWindowManager.getInstance().ShowFloatWindow(getContext());
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/iv_roma_passenger_bg.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/iv_roma_passenger_bg.png
new file mode 100644
index 0000000000..41378d1b41
Binary files /dev/null and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/iv_roma_passenger_bg.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
index 4c54205202..2fb2529505 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
@@ -54,6 +54,15 @@
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <com.mogo.eagle.core.function.hmi.ui.widget.RomaPassengerView
+        android:layout_width="100dp"
+        android:layout_height="100dp"
+        android:layout_marginStart="@dimen/dp_557"
+        android:layout_marginBottom="50dp"
+        android:background="@drawable/iv_roma_passenger_bg"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent" />
+
     <ImageView
         android:id="@+id/module_och_taxi_swich_map_iv"
         android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
@@ -177,7 +186,7 @@
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
-    <com.mogo.och.taxi.passenger.ui.TaxiPassengerTrafficLightView
+    <com.mogo.eagle.core.function.hmi.ui.widget.SingleTrafficLightView
         android:id="@+id/traffic_light_view"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/layout/view_roma_taxip_bg.xml b/OCH/mogo-och-taxi-passenger/src/main/res/layout/view_roma_taxip_bg.xml
new file mode 100644
index 0000000000..56182dd6d9
--- /dev/null
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/view_roma_taxip_bg.xml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="100dp"
+    android:layout_height="100dp"
+    android:background="@drawable/iv_roma_passenger_bg"
+    tools:ignore="MissingDefaultResource">
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 8b408dc38d..2bd1fc7c0d 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -25,7 +25,6 @@ import androidx.fragment.app.FragmentTransaction;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
-import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -33,7 +32,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
@@ -43,7 +41,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
-import com.mogo.map.MogoMapUIController;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
@@ -84,7 +81,6 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     private ImageView mCloseNaviIcon;
     protected RelativeLayout mSettingBtn;
     protected LinearLayout mBadcaseBtn;
-    protected LinearLayout mAICollectBtn;
     //消息盒子
     protected DriverMsgBoxButtonView driverMsgBoxButtonView;
     protected DriverMsgBoxListView viewDriverMsgBoxList;
@@ -197,18 +193,12 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
                         Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
                     } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
-                        if (FunctionBuildConfig.isRomaMode) {
-                            controller.setRomaMode(1);
-                        } else {
-                            Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
-                            controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                        }
+                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_long);
                     } else {
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
@@ -233,11 +223,6 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             CallerAutopilotRecordListenerManager.INSTANCE.addListener(TAG, this);
         }
 
-        mAICollectBtn = findViewById(R.id.module_och_taxi_ai_collect_ll);
-        if (mAICollectBtn != null) {
-            CallerDevaToolsManager.INSTANCE.initAiCollect(mAICollectBtn);
-        }
-
         panelView = LayoutInflater.from(getContext()).inflate(getStationPanelViewId(), flStationPanelContainer);
         ctvAutopilotStatusRL.setOnClickListener(new OnPreventFastClickListener() {
             @Override
@@ -298,12 +283,12 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         });
 
         driverMsgBoxButtonView.setClickListener(show -> {
-            if(show){
+            if (show) {
                 viewDriverMsgBoxList.setVisibility(View.VISIBLE);
                 viewDriverMsgBoxList.notifyData();
                 viewDriverMsgBoxBubble.setVisibility(View.GONE);
                 viewDriverMsgBoxBubble.isShowData(false);
-            }else{
+            } else {
                 viewDriverMsgBoxList.setVisibility(View.GONE);
                 viewDriverMsgBoxBubble.setVisibility(View.VISIBLE);
                 viewDriverMsgBoxBubble.isShowData(true);
diff --git a/OCH/mogo-och-taxi/src/main/res/layout/taxi_base_fragment.xml b/OCH/mogo-och-taxi/src/main/res/layout/taxi_base_fragment.xml
index bdc8f211c2..c8e273ad91 100644
--- a/OCH/mogo-och-taxi/src/main/res/layout/taxi_base_fragment.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/taxi_base_fragment.xml
@@ -9,7 +9,7 @@
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
         android:layout_width="match_parent"
-        android:layout_height="match_parent"/>
+        android:layout_height="match_parent" />
 
     <com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugViewTrigger
         android:layout_width="@dimen/dp_400"
@@ -21,36 +21,34 @@
 
     <LinearLayout
         android:id="@+id/module_mogo_och_speed_layout"
-        android:layout_height="@dimen/taxi_tab_speed_width_height"
         android:layout_width="@dimen/taxi_tab_speed_width_height"
+        android:layout_height="@dimen/taxi_tab_speed_width_height"
         android:layout_marginLeft="20dp"
         android:layout_marginTop="20dp"
-        android:elevation="@dimen/dp_10"
-        android:orientation="vertical"
-        android:gravity="center_horizontal"
         android:background="@drawable/taxi_speed_bg"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center_horizontal"
+        android:orientation="vertical"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent">
 
         <TextView
+            android:id="@+id/module_mogo_och_speed_tv"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_marginTop="32dp"
             android:paddingTop="6dp"
-            android:textColor="#FFFFFF"
-            android:id="@+id/module_mogo_och_speed_tv"
             android:text="0"
-            android:textSize="74dp"
-            />
+            android:textColor="#FFFFFF"
+            android:textSize="74dp" />
 
         <TextView
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
+            android:layout_marginTop="-10dp"
             android:text="KM/H"
             android:textColor="#FFFFFF"
-            android:layout_marginTop="-10dp"
-            android:textSize="32dp"
-            />
+            android:textSize="32dp" />
 
     </LinearLayout>
 
@@ -58,8 +56,8 @@
         android:id="@+id/module_mogo_och_autopilot_status"
         android:layout_width="@dimen/taxi_tab_autoaploit_width"
         android:layout_height="@dimen/taxi_tab_autoaploit_height"
-        android:layout_marginTop="20dp"
         android:layout_marginLeft="220dp"
+        android:layout_marginTop="20dp"
         android:background="@drawable/taxi_autopilot_bg_selector"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent">
@@ -71,24 +69,24 @@
 
         <ImageView
             android:id="@+id/module_och_autopilot_iv"
-            android:layout_marginTop="@dimen/dp_56"
             android:layout_width="@dimen/dp_65"
             android:layout_height="@dimen/dp_65"
-            android:layout_gravity="center_horizontal"
             android:layout_centerHorizontal="true"
-            android:src="@drawable/taxi_ic_autopilot"
-            />
+            android:layout_gravity="center_horizontal"
+            android:layout_marginTop="@dimen/dp_56"
+            android:src="@drawable/taxi_ic_autopilot" />
+
         <TextView
             android:id="@+id/module_och_autopilot_tv"
             android:layout_width="match_parent"
             android:layout_height="180dp"
-            android:elevation="@dimen/dp_12"
+            android:layout_below="@+id/module_och_autopilot_iv"
             android:layout_marginTop="@dimen/dp_10"
+            android:elevation="@dimen/dp_12"
             android:gravity="center_horizontal"
             android:text="开启自动驾驶"
             android:textColor="@color/taxi_autopilot_text_color_normal"
             android:textSize="32dp"
-            android:layout_below="@+id/module_och_autopilot_iv"
             tools:visibility="visible" />
 
     </RelativeLayout>
@@ -96,7 +94,7 @@
     <!--浓雾预警动画-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XFogEventView
         android:layout_width="match_parent"
-        android:layout_height="match_parent"/>
+        android:layout_height="match_parent" />
 
     <!--V2X预警红色边框-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
@@ -111,11 +109,11 @@
     <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
         android:layout_width="@dimen/module_vip_width"
         android:layout_height="@dimen/module_vip_height"
-        android:visibility="gone"
         android:layout_marginStart="@dimen/dp_640"
         android:layout_marginTop="@dimen/dp_80"
+        android:visibility="gone"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"/>
+        app:layout_constraintTop_toTopOf="parent" />
 
     <!--pnc行为决策-->
     <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
@@ -161,7 +159,7 @@
         android:visibility="gone"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon"
-        tools:visibility="visible"/>
+        tools:visibility="visible" />
 
     <!--消息盒子选择入口-->
     <com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
@@ -171,8 +169,7 @@
         android:layout_marginTop="15dp"
         android:layout_marginEnd="25dp"
         app:layout_constraintRight_toLeftOf="@id/viewLimitingVelocity"
-        app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon"
-        />
+        app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon" />
     <!--消息盒子打开视图-->
     <com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView
         android:id="@+id/viewDriverMsgBoxList"
@@ -226,10 +223,10 @@
         android:id="@+id/module_mogo_och_station_panel_container"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginTop="244dp"
         android:background="@android:color/transparent"
         app:layout_constraintLeft_toLeftOf="@+id/module_mogo_och_speed_layout"
         app:layout_constraintTop_toTopOf="parent"
-        android:layout_marginTop="244dp"
         app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call"
         tools:visibility="visible" />
 
@@ -254,16 +251,17 @@
 
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent" />
+
     <TextView
         android:id="@+id/taxi_driver_role_tv"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:textSize="@dimen/taxi_diver_role_size"
-        android:textColor="@color/taxi_role_text_color"
         android:layout_marginLeft="@dimen/dp_20"
         android:layout_marginBottom="@dimen/dp_20"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"/>
+        android:textColor="@color/taxi_role_text_color"
+        android:textSize="@dimen/taxi_diver_role_size"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent" />
 
     <RelativeLayout
         android:id="@+id/module_och_taxi_setting_layout"
@@ -309,35 +307,24 @@
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
         android:layout_marginLeft="40dp"
         android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
-        android:elevation="@dimen/dp_10"
         android:background="@drawable/taxi_operation_status_bg_selector"
+        android:elevation="@dimen/dp_10"
         android:gravity="center"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/module_och_taxi_swich_map_layout">
+
         <ImageView
             android:layout_width="@dimen/dp_80"
             android:layout_height="@dimen/dp_80"
             android:layout_gravity="center"
-            android:background="@drawable/bad_case_selector"/>
+            android:background="@drawable/bad_case_selector" />
     </LinearLayout>
 
-    <LinearLayout
-        android:id="@+id/module_och_taxi_ai_collect_ll"
-        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
-        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
-        android:layout_marginLeft="40dp"
-        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
-        android:elevation="@dimen/dp_10"
-        android:gravity="center"
-        android:background="@drawable/taxi_operation_status_bg_selector"
+    <com.mogo.eagle.core.function.hmi.ui.widget.RomaView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toRightOf="@id/module_och_taxi_badcase_ll">
-        <ImageView
-            android:layout_width="@dimen/dp_80"
-            android:layout_height="@dimen/dp_80"
-            android:layout_gravity="center"
-            android:background="@drawable/ai_collect_selector"/>
-    </LinearLayout>
+        app:layout_constraintLeft_toRightOf="@id/module_och_taxi_badcase_ll"/>
 
     <Button
         android:id="@+id/btnAutopilotDisable"
@@ -368,6 +355,7 @@
         android:visibility="gone"
         app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
         app:layout_constraintTop_toBottomOf="@id/btnAutopilotEnable" />
+
     <Button
         android:id="@+id/btnAutopilotmanco"
         android:layout_width="wrap_content"
@@ -385,24 +373,26 @@
         android:visibility="gone"
         app:constraint_referenced_ids="btnAutopilotDisable,btnAutopilotEnable,btnAutopilotRunning,btnAutopilotmanco"
         tools:visibility="gone" />
+
     <FrameLayout
         android:id="@+id/module_mogo_och_navi_panel_container"
         android:layout_width="600dp"
         android:layout_height="600dp"
         android:layout_marginRight="38dp"
         android:layout_marginBottom="38dp"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent" />
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintRight_toRightOf="parent" />
+
     <ImageView
         android:id="@+id/taxi_close_navi_icon"
         android:layout_width="@dimen/dp_80"
         android:layout_height="@dimen/dp_80"
-        android:layout_marginBottom="534dp"
         android:layout_marginRight="532dp"
+        android:layout_marginBottom="534dp"
+        android:src="@drawable/taxi_close_navi_icon"
         android:visibility="gone"
-        app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"
-        android:src="@drawable/taxi_close_navi_icon"/>
+        app:layout_constraintRight_toRightOf="parent" />
 
     <com.mogo.eagle.core.function.smp.view.SmallMapView
         android:id="@+id/smallMapView"
@@ -412,7 +402,6 @@
         android:layout_marginBottom="30dp"
         android:visibility="visible"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        />
+        app:layout_constraintEnd_toEndOf="parent" />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/V2XBizTrace.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/V2XBizTrace.kt
new file mode 100644
index 0000000000..eb23eb9a94
--- /dev/null
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/V2XBizTrace.kt
@@ -0,0 +1,28 @@
+package com.mogo.eagle.function.biz.v2x
+
+import com.mogo.commons.debug.DebugConfig
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
+
+class V2XBizTrace {
+
+    companion object {
+
+        @ChainLog(
+            linkChainLog = ChainConstant.CHAIN_LINK_LOG_CLOUD_V2N,
+            linkCode = ChainConstant.CHAIN_LINK_CLOUD,
+            endpoint = TracingConstants.Endpoint.PAD,
+            nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_CLOUD_V2N,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
+        )
+        fun onAck(data: Any, data1: Any) {
+            if (DebugConfig.isDebug()) {
+                CallerLogger.d("$M_V2X${data.toString()}", data1)
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
index a68860ee45..2e79e74c2b 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
@@ -2,9 +2,11 @@ package com.mogo.eagle.function.biz.v2x.v2n
 
 import android.content.Context
 import android.content.Intent
+import android.os.Build
 import android.os.Handler
 import android.os.Looper
 import android.util.Log
+import androidx.annotation.RequiresApi
 import androidx.localbroadcastmanager.content.LocalBroadcastManager
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_V2N
@@ -54,6 +56,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.core.utilcode.util.Utils
+import com.mogo.eagle.function.biz.v2x.V2XBizTrace
 import com.mogo.eagle.function.biz.v2x.v2n.network.callback.IV2XCallback
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
@@ -138,6 +141,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                 v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
                 v2XMessageEntity.content = v2XRoadEventEntity
                 V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
+                V2XBizTrace.onAck("巡航处理 handlerMessage v2XMessageEntity", " $v2XMessageEntity")
             }
         }
     }
@@ -182,6 +186,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
         }
     }
 
+    @RequiresApi(Build.VERSION_CODES.N)
     @ChainLog(
         linkChainLog = CHAIN_LINK_LOG_CLOUD_V2N,
         linkCode = CHAIN_LINK_CLOUD,
@@ -212,7 +217,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                             return
                         }
                     }
-                    Logger.d("$M_V2X$TAG", "poiType : $poiType , 触发道路事件")
+                    CallerLogger.d("$M_V2X$TAG", "poiType : $poiType , 触发道路事件")
                     CallerHmiManager.warningV2X(poiType, tts, tts, null, ALERT_WARNING_TOP, isFromObu = false)
                 }
             }
@@ -327,13 +332,17 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                             )
                         )
                     )
-                    CallerHmiManager.warningV2X(tempAppId.toString(), tempContent, tempTts, object : IMoGoWarningStatusListener {
-                        val change = changeVisualAngle
-                        override fun onShow() {
-                            if (change) {
-                                CallerVisualAngleManager.changeAngle(TooClose)
+                    CallerHmiManager.warningV2X(
+                        tempAppId.toString(),
+                        tempContent,
+                        tempTts,
+                        object : IMoGoWarningStatusListener {
+                            val change = changeVisualAngle
+                            override fun onShow() {
+                                if (change) {
+                                    CallerVisualAngleManager.changeAngle(TooClose)
+                                }
                             }
-                        }
 
                         override fun onDismiss() {
                             if (change) {
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
index 9450162a65..8ccd111468 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -8,20 +8,20 @@ import android.view.animation.DecelerateInterpolator
 import androidx.core.util.Pair
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.function.call.map.*
-import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road.V2XAiRoadEventMarker
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
+import com.mogo.eagle.function.biz.v2x.V2XBizTrace
+import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
+import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
+import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road.V2XAiRoadEventMarker
 import com.mogo.map.MogoMap
 import com.mogo.map.overlay.IMogoPolyline
 import com.mogo.map.overlay.MogoPolylineOptions
 import java.util.*
-import java.util.concurrent.atomic.AtomicReference
 import java.util.concurrent.ConcurrentHashMap
-import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerRemoveManager
-import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper
-import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import java.util.concurrent.atomic.AtomicReference
 
 /**
  * Ai云道路施工事件，道路颜色标记类
@@ -81,29 +81,45 @@ class AiRoadMarker {
         }
         if (drawRoadLine) {
             //施工中心点前方的自车行驶方向上300米距离
-            val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.heading.toFloat(), 300f)
+            val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
+                marker.poi_lon,
+                marker.poi_lat,
+                location.heading.toFloat(),
+                300f
+            )
             //施工中心点后方的自车行驶方向上300米距离
-            Logger.d(TAG, "--- marker --- 3 --- l1: $l1")
-            val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.heading.toFloat(), -300f)
+            V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", l1)
+            val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
+                marker.poi_lon,
+                marker.poi_lat,
+                location.heading.toFloat(),
+                -300f
+            )
             if (l1.points.isEmpty() || l2.points.isEmpty()) {
-                Logger.d(TAG, "--- marker --- 3 --- return ----")
+                V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
                 return
             }
-            Logger.d(TAG, "--- marker --- 4 --- l2: $l2")
+            V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
             val points = LinkedList<MogoLatLng>()
             if (l2 != null && l2.points.isNotEmpty()) {
                 points.addAll(l2.points.reversed().map {
                     MogoLatLng(it.second, it.first)
                 })
             }
-            val centerX= marker.poi_lon
+            val centerX = marker.poi_lon
             val centerY = marker.poi_lat
-            Logger.d(TAG, "--- marker --- 5 --- marker: $marker")
+            V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
             val farthestPoint = marker.polygon?.let {
                 var find: Pair<Double, Double> = Pair(centerX, centerY)
                 var min = Long.MAX_VALUE
                 for (p in it) {
-                    val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(centerX, centerY, p.first, p.second, location.heading)
+                    val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                        centerX,
+                        centerY,
+                        p.first,
+                        p.second,
+                        location.heading
+                    )
                     if (angle < min) {
                         min = angle
                         find = p
@@ -112,10 +128,17 @@ class AiRoadMarker {
                 MogoLatLng(find.second, find.first)
             } ?: MogoLatLng(centerY, centerX)
             marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
-            Logger.d(TAG, "--- marker --- 6 --- marker: $marker")
+            V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
             if (l1 != null && l1.points.isNotEmpty()) {
                 for (l in l1.points) {
-                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(farthestPoint.lon, farthestPoint.lat, l.first, l.second, (location.heading + 180)) < 90L) {
+                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                            farthestPoint.lon,
+                            farthestPoint.lat,
+                            l.first,
+                            l.second,
+                            (location.heading + 180)
+                        ) < 90L
+                    ) {
                         points.add(l.let { MogoLatLng(it.second, it.first) })
                     }
                 }
@@ -128,12 +151,16 @@ class AiRoadMarker {
             val total = points.size
             val colors = ArrayList<Int>()
             (0..total).forEach { i ->
-                colors += evaluator.evaluate(interceptor.getInterpolation(i * 1f / total), START_COLOR, END_COLOR) as Int
+                colors += evaluator.evaluate(
+                    interceptor.getInterpolation(i * 1f / total),
+                    START_COLOR,
+                    END_COLOR
+                ) as Int
             }
             var line = line.get()
             options.points(points)
             options.colorValues(colors)
-            Logger.d(TAG, "--- marker --- 7 --- points: ${points.size}")
+            V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
             if (line == null || line.isDestroyed) {
                 val l = overlayManager?.addPolyline(options)
                 this.line.set(l)
@@ -156,9 +183,9 @@ class AiRoadMarker {
 
     private fun removeLine() {
         val old = line.get()
-        Logger.d(TAG, "--- removeRedLine --- 1 ---")
+        V2XBizTrace.onAck("$TAG --- removeRedLine --- 1", "")
         if (old != null) {
-            Logger.d(TAG, "--- removeRedLine --- 2 ---")
+            V2XBizTrace.onAck("$TAG --- removeRedLine --- 2", "")
             line.set(null)
             old.isVisible = false
             old.remove()
@@ -166,7 +193,7 @@ class AiRoadMarker {
     }
 
     private fun unMarker(marker: Marker) {
-        Logger.d(TAG, "--- unMarker ---")
+        V2XBizTrace.onAck("$TAG --- unMarker ---", "")
         this.marker.set(null)
         removeLine()
         roadMarker.removeMarkers()
@@ -175,12 +202,15 @@ class AiRoadMarker {
     }
 
     fun receive() {
-        Logger.d(TAG, "receive --- 1 ---")
+        V2XBizTrace.onAck("$TAG --- receive --- 1 ---", "")
         val poi = this.marker.get()
         val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
         if (poi != null) {
             val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
-            Logger.d(TAG, "receive --- 2 ---:car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance")
+            V2XBizTrace.onAck(
+                "$TAG --- receive --- 2 ---",
+                "car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance"
+            )
             if (distance < 500) {
                 checkExpired()
             } else {
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java
index f40db9ded5..96746a0322 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventMarker.java
@@ -1,11 +1,14 @@
 package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road;
 
-import android.util.Log;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
+
 import androidx.core.util.Pair;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay;
 import com.mogo.eagle.core.data.map.entity.MarkerLocation;
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.function.biz.v2x.V2XBizTrace;
 import com.mogo.eagle.function.biz.v2x.v2n.bridge.BridgeApi;
 import com.mogo.eagle.function.biz.v2x.v2n.manager.IMoGoV2XMarkerManager;
 import com.mogo.eagle.function.biz.v2x.v2n.remove.MarkerWrapper;
@@ -33,10 +36,10 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
             IMoGoV2XMarkerManager marker = BridgeApi.INSTANCE.v2xMarker();
             if (marker != null) {
                 if (entity != null) {
-                    Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType());
+                    V2XBizTrace.Companion.onAck("V2XRoadEventMarker -> poiType : ", entity.getPoiType());
                     if (isAiRoadEvent(entity.getPoiType())) {
                         MarkerExploreWay noveltyInfo = entity.getNoveltyInfo();
-                        Log.d("RWJ", "V2XRoadEventMarker -> noveltyInfo:" + noveltyInfo);
+                        V2XBizTrace.Companion.onAck("V2XRoadEventMarker -> noveltyInfo : ",noveltyInfo.toString());
                         if (noveltyInfo != null) {
                             Pair<Double, Double> gpsLocation = noveltyInfo.getGpsLocation();
                             List<Pair<Double, Double>> polygons = noveltyInfo.getPolygon();
@@ -51,13 +54,13 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
                     } else {
                         IMogoMarker iMarker = marker.drawableAlarmPOI(BridgeApi.INSTANCE.context(), entity, null);
                         if (iMarker != null) {
-                            Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType() + "--- add Marker");
+                            V2XBizTrace.Companion.onAck("V2XRoadEventMarker -> --- add Marker type: ", entity.getPoiType());
                             ArrayList<IMogoMarker> markers = new ArrayList<>();
                             markers.add(iMarker);
                             String id = entity.getLocation().getLon() + "_" + entity.getLocation().getLat();
                             MarkerRemoveManager.INSTANCE.addMarker(new MarkerWrapper(id, entity.getLocation().getLon(), entity.getLocation().getLat(), 0, markers, null, null));
                         } else  {
-                            Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType() + "--- return empty marker");
+                            CallerLogger.INSTANCE.d(M_V2X + "RWJ", "V2XRoadEventMarker:" + entity.getPoiType() + "--- return empty marker");
                         }
                     }
                 }
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/VipCarManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/VipCarManager.kt
index ea924fd6af..22c130c403 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/VipCarManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/VipCarManager.kt
@@ -29,6 +29,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.eagle.function.biz.v2x.V2XBizTrace
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.mogo.eagle.function.biz.v2x.vip.network.VipNetWorkModel
 import com.zhjt.service_biz.BizConfig
@@ -110,6 +111,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
 
         if (exit) {
             CallerLogger.d("$M_V2X$TAG", "驶离路口，返回 , then  resetConditions")
+            V2XBizTrace.onAck("驶离路口","resetConditions")
             resetConditions()
             exit = false
             return
@@ -120,7 +122,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
                 "$M_V2X$TAG",
                 "vip 获取到灯态，但没找到对应车道数据 trafficLightResult : $trafficLightResult , then resetConditions"
             )
-            resetConditions()
+            result = null
             return
         }
 
@@ -155,6 +157,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
             MSG_WHAT_VIP_CANCEL,
             cancelDelayTime - System.currentTimeMillis()
         )
+        V2XBizTrace.onAck("setVip","time:$cancelDelayTime")
         CallVipSetListenerManager.invokeVipSetStatus(true)
         CallerTrafficLightListenerManager.addListener(TAG, this)
     }
@@ -164,6 +167,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
         if (handler.hasMessages(MSG_WHAT_VIP_CANCEL)) {
             handler.removeMessages(MSG_WHAT_VIP_CANCEL)
         }
+        V2XBizTrace.onAck("cancelVip","resetConditions")
         resetConditions()
         CallVipSetListenerManager.invokeVipSetStatus(false)
         CallerTrafficLightListenerManager.removeListener(TAG)
@@ -192,7 +196,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
         }
     }
 
-    fun turnLight(controlTime: Int) {
+    private fun turnLight(controlTime: Int) {
         if (result == null || mContext == null) return
         val mogoLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
         if (mogoLocation != null) {
@@ -202,6 +206,14 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
                 result!!.lightId, result!!.crossId, bearing, controlTime,
 //            100445, "10037", 90.0, controlTime, //衡阳25号路口测试数据
                 {
+                    V2XBizTrace.onAck(
+                        TAG + "turnLight", "code:${it.code}" +
+                                ",light:${this.result ?: ""}" +
+                                ",lightId:${result?.lightId}" +
+                                ",crossId:${result?.crossId}" +
+                                ",bearing:$bearing" +
+                                ",controlTime:$controlTime"
+                    )
                     // 请求变灯成功，直接提示
                     if (it.sn == MoGoAiCloudClientConfig.getInstance().sn && it.code == 0) {
                         CallerLogger.d("$M_V2X$TAG", "变灯请求成功")
@@ -222,42 +234,39 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
                         return@turnLightToGreen
                     }
 
-                    // 请求变灯失败，根据灯态来提示。 此处灯态未获取到
-                    if (this.result == null || this.result?.currentRoadTrafficLight() == null) {
-                        showWarning(
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.poiType,
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.content + ", 稍后重试",
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.tts
-                        )
-                        return@turnLightToGreen
-                    }
-
-                    // 如果当前为红灯，则提示
-                    if (this.result!!.currentRoadTrafficLight()!!.isRed()) {
-                        val time = if (it.countDown / 60 >= 1) {
-                            "${it.countDown / 60}分${it.countDown % 60}秒后重试"
-                        } else {
-                            val temp = if (it.countDown == 0) {
-                                1
-                            } else {
-                                it.countDown
-                            }
-                            "${temp}秒后重试"
-                        }
-                        showWarning(
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.poiType,
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.content + time,
-                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.tts
-                        )
-                    } else {
-                        CallerLogger.d(
-                            "$M_V2X$TAG",
-                            "变灯请求失败，当前为非红灯不做展示 , light : ${result.toString()} , trafficLightControl : $it"
-                        )
-                    }
+//                    // 如果当前为红灯，则提示
+//                    if (this.result!!.currentRoadTrafficLight()!!.isRed()) {
+//                        val time = if (it.countDown / 60 >= 1) {
+//                            "${it.countDown / 60}分${it.countDown % 60}秒后重试"
+//                        } else {
+//                            val temp = if (it.countDown == 0) {
+//                                1
+//                            } else {
+//                                it.countDown
+//                            }
+//                            "${temp}秒后重试"
+//                        }
+//                        showWarning(
+//                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.poiType,
+//                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.content + time,
+//                            EventTypeEnumNew.TYPE_VIP_ERROR_IDENTIFICATION.tts
+//                        )
+//                    } else {
+//                        CallerLogger.d(
+//                            "$M_V2X$TAG",
+//                            "变灯请求失败，当前为非红灯不做展示 , light : ${result.toString()} , trafficLightControl : $it"
+//                        )
+//                    }
                 },
                 { errorMsg ->
                     CallerLogger.e("$M_V2X$TAG", "变灯请求失败 msg : $errorMsg")
+                    V2XBizTrace.onAck(
+                        TAG + "turnLight", "变灯请求失败 msg:$errorMsg" +
+                                ",lightId:${result?.lightId}" +
+                                ",crossId:${result?.crossId}" +
+                                ",bearing:$bearing" +
+                                ",controlTime:$controlTime"
+                    )
                     ToastUtils.showLong("服务异常，请稍后重试")
                 })
         }
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
index 02f71d7c18..df08836e8e 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
@@ -5,16 +5,21 @@ import androidx.lifecycle.lifecycleScope
 import com.google.protobuf.TextFormat
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.GsonUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.telematic.MogoProtocolMsg
 import com.mogo.telematic.NSDNettyManager
@@ -31,7 +36,6 @@ import mogo.telematics.pad.MessagePad
 class TeleMsgHandler : IMsgHandler {
 
     companion object{
-        private const val BUSINESS_STRING = 100
         private const val TAG = "TeleMsgHandler"
     }
 
@@ -126,8 +130,22 @@ class TeleMsgHandler : IMsgHandler {
                         }
                     }
                 }
-                BUSINESS_STRING -> {
-                    CallerTelematicListenerManager.invokeReceivedMsg(BUSINESS_STRING, it.body)
+                TelematicConstant.BUSINESS_STRING -> {
+                    CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.BUSINESS_STRING, it.body)
+                }
+                TelematicConstant.SHOW_TRAFFIC_LIGHT -> {
+                    val trafficLightJson = String(it.body)
+                    CallerTrafficLightListenerManager.invokeTrafficLightStatus(GsonUtils.fromJson(trafficLightJson, TrafficLightResult::class.java))
+                }
+                TelematicConstant.HIDE_TRAFFIC_LIGHT -> {
+                    ThreadUtils.runOnUiThread {
+                        CallerTrafficLightListenerManager.invokeEnterCrossRoad(false)
+                    }
+                }
+                TelematicConstant.OPEN_ROMA_STATUS -> {
+                    ThreadUtils.runOnUiThread {
+                        CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.OPEN_ROMA_STATUS,it.body)
+                    }
                 }
                 else -> {
                 }
@@ -173,8 +191,13 @@ class TeleMsgHandler : IMsgHandler {
                         invokeNettyConnResult("司机屏SN未获取到，不发送给乘客屏")
                     }
                 }
-                BUSINESS_STRING -> {
-                    CallerTelematicListenerManager.invokeReceivedMsg(BUSINESS_STRING, it.body)
+                TelematicConstant.BUSINESS_STRING -> {
+                    CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.BUSINESS_STRING, it.body)
+                }
+                TelematicConstant.OPEN_ROMA_STATUS -> {
+                    ThreadUtils.runOnUiThread {
+                        CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.OPEN_ROMA_STATUS,it.body)
+                    }
                 }
                 else -> {
                 }
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
index 4112baf491..535a1605e6 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -3,12 +3,17 @@ package com.mogo.eagle.core.function.datacenter.v2x
 import android.content.Context
 import android.os.Handler
 import com.mogo.eagle.core.data.biz.trafficlight.*
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.util.GsonUtils
 import perception.TrafficLightOuterClass
 import perception.TrafficLightOuterClass.TrafficLight
 
@@ -85,7 +90,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                     }
                     if (light == null) {
                         //隐藏红绿灯显示
-                        CallerTrafficLightListenerManager.disableTrafficLight()
+                        hide()
                     } else {
                         onTrafficLightPlusSource(light.convert(), 0, DataSourceType.TELEMATIC)
                     }
@@ -101,6 +106,9 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         if (!hasObuLightStatus) {
             hasAiLightStatus = true
             updateTrafficLight(trafficLightResult)
+            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.SHOW_TRAFFIC_LIGHT, GsonUtils.toJson(trafficLightResult).toByteArray())
+            }
         }
     }
 
@@ -116,6 +124,9 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             }, 5000)
             //如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理
             CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
+            if(!hasObuLightStatus){
+                hide()
+            }
         }
     }
 
@@ -125,6 +136,9 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     override fun onTrafficRequestError() {
         hasAiLightStatus = false
         CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
+        if(!hasObuLightStatus){
+            hide()
+        }
     }
 
     /**
@@ -132,6 +146,14 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
      */
     override fun onObuTrafficLightDisapper() {
         hasObuLightStatus = false
+        hide()
+    }
+
+    private fun hide(){
+        CallerTrafficLightListenerManager.disableTrafficLight()
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            CallerTelematicManager.sendMsgToAllClients(TelematicConstant.HIDE_TRAFFIC_LIGHT, "0".toByteArray())
+        }
     }
 
     /**
@@ -167,6 +189,9 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             TrafficLightEnum.BLACK -> {
                 CallerTrafficLightListenerManager.disableTrafficLightCountDown()
             }
+            else -> {
+                hide()
+            }
         }
 
     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
index ccbb9080a5..98bc9c0ee3 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
@@ -69,6 +69,8 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener {
             FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_RECORD_NATIVE_LEAK)
         fwBuildMap[ChainConstant.CHAIN_LINK_LOG_CLOUD_V2N] =
             FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_CLOUD_WEB_SOCKET_V2N)
+        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_HD_MAP] =
+            FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_HD_MAP_BIZ)
 
 
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
@@ -93,6 +95,8 @@ class TraceManager : IMoGoCloudListener, IMoGoAutopilotCarConfigListener {
             ChainLogParam(true, "Native Leak Record")
         traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CLOUD_V2N] =
             ChainLogParam(true, "Cloud WebSocket V2N")
+        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_HD_MAP] =
+            ChainLogParam(true, "HD Map Caller")
 
         FileWriteManager.getInstance()
             .init(context, MoGoAiCloudClientConfig.getInstance().sn, pkgName, fwBuildMap)
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 579eac44f8..e66129655d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -671,18 +671,6 @@ internal class DebugSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isBeautyMode = isChecked
         }
 
-        tbDrawAiCloudFusion.isChecked = FunctionBuildConfig.isDrawAiCloudFusion
-        //云端感知绘制
-        tbDrawAiCloudFusion.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isDrawAiCloudFusion = isChecked
-        }
-
-        tbDrawRomaMode.isChecked = FunctionBuildConfig.isRomaMode
-        //roma
-        tbDrawRomaMode.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isRomaMode = isChecked
-        }
-
         tbObuWarningFusionUnion.isChecked = FunctionBuildConfig.isObuWarningFusionUnion
         //ObuWarningFusionUnion
         tbObuWarningFusionUnion.setOnCheckedChangeListener { _, isChecked ->
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/BrakeViewStatus.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/BrakeViewStatus.kt
index 3c9fe2419f..a840814b4a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/BrakeViewStatus.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/BrakeViewStatus.kt
@@ -48,7 +48,7 @@ class BrakeViewStatus @JvmOverloads constructor(
         if (brakeLight == 1) { //刹车灯亮
             if (!isBrake) {
                 isBrake = true
-                CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(0, 500)
+                CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(4, 500)
                 GlobalScope.launch(Dispatchers.Main) {
                     var appearAnimation = AlphaAnimation(0f, 1f)
                     appearAnimation.duration = 300
@@ -63,7 +63,7 @@ class BrakeViewStatus @JvmOverloads constructor(
         } else { //不踩刹车，就消失
             if (isBrake) {
                 isBrake = false
-                CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(3, 500)
+                CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(0, 500)
                 GlobalScope.launch(Dispatchers.Main) {
 //                    scaleImageAndTv()
                     var disappearAnimation = AlphaAnimation(1f, 0f)
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
new file mode 100644
index 0000000000..d60d8ad38e
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
@@ -0,0 +1,59 @@
+package com.mogo.eagle.core.function.hmi.ui.widget
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant
+import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener
+import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager.romaTrigger
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager
+import com.mogo.eagle.core.function.hmi.R
+
+class RomaPassengerView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), IReceivedMsgListener {
+
+    companion object {
+        private const val TAG = "RomaPassengerView"
+    }
+
+    @Volatile
+    private var romaMode = false
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_roma_passenger_bg, this, true)
+        setOnClickListener {
+            romaMode = !romaMode
+            romaTrigger(romaMode)
+        }
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerTelematicListenerManager.addListener(TAG, this)
+    }
+
+    override fun onReceivedMsg(type: Int, byteArray: ByteArray) {
+        when (type) {
+            TelematicConstant.OPEN_ROMA_STATUS -> {
+                when (String(byteArray)) {
+                    "0" -> {
+                        romaMode = true
+                    }
+                    "1" -> {
+                        romaMode = false
+                    }
+                }
+            }
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerTelematicListenerManager.removeListener(TAG)
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaView.kt
new file mode 100644
index 0000000000..22ea5ed7e3
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaView.kt
@@ -0,0 +1,66 @@
+package com.mogo.eagle.core.function.hmi.ui.widget
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant
+import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener
+import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager.romaTrigger
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import kotlinx.android.synthetic.main.view_roma_bg.view.*
+
+class RomaView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), IReceivedMsgListener {
+
+    companion object{
+        private const val TAG = "RomaView"
+    }
+
+    @Volatile
+    private var romaMode = false
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_roma_bg, this, true)
+        setOnClickListener {
+            romaMode = !romaMode
+            romaTrigger(romaMode)
+        }
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerTelematicListenerManager.addListener(TAG,this)
+    }
+
+    override fun onReceivedMsg(type: Int, byteArray: ByteArray) {
+        when(type){
+            TelematicConstant.OPEN_ROMA_STATUS -> {
+                when (String(byteArray)) {
+                    // 乘客端开启漫游
+                    "3" -> {
+                        romaMode = true
+                        ll_roma_bg.setBackgroundResource(R.drawable.romabg_press_select_bg)
+                        ivRomaView.setBackgroundResource(R.drawable.roma_press_select_bg)
+                    }
+                    // 乘客端关闭漫游
+                    "4" -> {
+                        romaMode = false
+                        ll_roma_bg.setBackgroundResource(R.drawable.roma_bg_selector)
+                        ivRomaView.setBackgroundResource(R.drawable.romafront_select_bg)
+                    }
+                }
+            }
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerTelematicListenerManager.removeListener(TAG)
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
index f770db1fbe..fd5a0ebbf1 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
@@ -93,29 +93,25 @@ class SingleTrafficLightView @JvmOverloads constructor(
         super.disableTrafficLightCountDown()
         UiThreadHandler.post {
             // 小巴车的司机端需要展示红绿灯信号来源
-            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
-                && AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
-            ) {
+//            if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
+//                && AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
                 val lp = this.layoutParams as MarginLayoutParams
                 lp.width = context.resources.getDimension(R.dimen.dp_325).toInt()
                 this.layoutParams = lp
                 mLightSourceTV!!.visibility = VISIBLE
                 mLightSourceDivider!!.visibility = VISIBLE
                 mLightTimeTV!!.visibility = GONE
-                mLightSourceTV!!.setPadding(0, 0, 75, 0)
-                mLightIconBG!!.layoutParams.width =
-                    context.resources.getDimension(R.dimen.dp_310).toInt()
-            } else {
-                val lp = this.layoutParams as MarginLayoutParams
-                lp.width =
-                    context.resources.getDimension(R.dimen.hmi_traffic_light_icon_size).toInt()
-                this.layoutParams = lp
-                mLightTimeTV!!.visibility = GONE
-                mLightSourceDivider!!.visibility = View.GONE
-                mLightSourceTV!!.visibility = View.GONE
-                mLightIconBG!!.layoutParams.width =
-                    context.resources.getDimension(R.dimen.dp_124).toInt()
-            }
+                mLightSourceTV!!.setPadding(0,0,75,0)
+                mLightIconBG!!.layoutParams.width = context.resources.getDimension(R.dimen.dp_310).toInt()
+//            }else{
+//                val lp = this.layoutParams as MarginLayoutParams
+//                lp.width = context.resources.getDimension(R.dimen.hmi_traffic_light_icon_size).toInt()
+//                this.layoutParams = lp
+//                mLightTimeTV!!.visibility = GONE
+//                mLightSourceDivider!!.visibility = View.GONE
+//                mLightSourceTV!!.visibility = View.GONE
+//                mLightIconBG!!.layoutParams.width = context.resources.getDimension(R.dimen.dp_124).toInt()
+//            }
         }
     }
 
@@ -201,7 +197,7 @@ class SingleTrafficLightView @JvmOverloads constructor(
      * 更新红绿灯icon
      *
      * @param lightId 0-都是默认，1-红，2-黄，3-绿
-     * @param lightSource 1:云端下发；2:自车感知
+     * @param lightSource 1:云端下发；2:自车感知; 3:OBU
      */
     private fun updateTrafficLightIcon(lightId: TrafficLightEnum, lightSource: DataSourceType) {
         UiThreadHandler.post {
@@ -237,32 +233,27 @@ class SingleTrafficLightView @JvmOverloads constructor(
         }
     }
 
-    private fun resetView() {
-        // 小巴车的司机端需要展示红绿灯信号来源
-        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
-            && AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
-        ) {
+    private fun resetView(){
+        // 小巴车的司机端需要展示红绿灯信号来源 ，由于需要知道来源，这里不在限制
+//        if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
+//            && AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
             val lp = this.layoutParams as MarginLayoutParams
-            lp.width =
-                context.resources.getDimension(R.dimen.hmi_traffic_light_bus_layout_width).toInt()
+            lp.width = context.resources.getDimension(R.dimen.hmi_traffic_light_bus_layout_width).toInt()
             this.layoutParams = lp
             mLightTimeTV!!.visibility = View.VISIBLE
             mLightSourceDivider!!.visibility = View.VISIBLE
             mLightSourceTV!!.visibility = View.VISIBLE
-            mLightSourceTV!!.setPadding(0, 0, 0, 0)
-            mLightIconBG!!.layoutParams.width =
-                context.resources.getDimension(R.dimen.hmi_traffic_light_bus_bg_width).toInt()
-        } else {
-            val lp = this.layoutParams as MarginLayoutParams
-            lp.width =
-                context.resources.getDimension(R.dimen.hmi_traffic_light_layout_width).toInt()
-            this.layoutParams = lp
-            mLightTimeTV!!.visibility = View.VISIBLE
-            mLightSourceDivider!!.visibility = View.GONE
-            mLightSourceTV!!.visibility = View.GONE
-            mLightIconBG!!.layoutParams.width =
-                context.resources.getDimension(R.dimen.hmi_traffic_light_bg_width).toInt()
-        }
+            mLightSourceTV!!.setPadding(0,0,0,0)
+            mLightIconBG!!.layoutParams.width = context.resources.getDimension(R.dimen.hmi_traffic_light_bus_bg_width).toInt()
+//        }else{
+//            val lp = this.layoutParams as MarginLayoutParams
+//            lp.width = context.resources.getDimension(R.dimen.hmi_traffic_light_layout_width).toInt()
+//            this.layoutParams = lp
+//            mLightTimeTV!!.visibility = View.VISIBLE
+//            mLightSourceDivider!!.visibility = View.GONE
+//            mLightSourceTV!!.visibility = View.GONE
+//            mLightIconBG!!.layoutParams.width = context.resources.getDimension(R.dimen.hmi_traffic_light_bg_width).toInt()
+//        }
     }
 
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
index d206c9a477..e41e77e4d7 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -207,9 +207,6 @@ public class TrafficDataView extends ConstraintLayout implements
         if (speedTextView != null) {
             speedTextView.setText(String.valueOf(newSpeed));
         }
-        if (speedImage != null) {
-            speedImage.setBackgroundResource(newSpeed > 60 ? R.drawable.traffic_data_speed_warning : R.drawable.traffic_data_speed);
-        }
     }
 
 }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_bg_selector.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_bg_selector.xml
new file mode 100644
index 0000000000..5799505ca4
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_bg_selector.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/romabg_press_select_bg" android:state_focused="true" android:state_pressed="true" />
+    <item android:drawable="@drawable/romabg_press_select_bg" android:state_focused="false" android:state_pressed="true" />
+    <item android:drawable="@drawable/romabg_press_select_bg" android:state_selected="true" />
+    <item android:drawable="@drawable/romabg_press_select_bg" android:state_focused="true" />
+    <item android:drawable="@drawable/romabg_normal_select" />
+</selector>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_normal_select_bg.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_normal_select_bg.png
new file mode 100644
index 0000000000..90bb9d6cde
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_normal_select_bg.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_press_select_bg.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_press_select_bg.png
new file mode 100644
index 0000000000..423a982e79
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/roma_press_select_bg.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romabg_normal_select.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romabg_normal_select.xml
new file mode 100644
index 0000000000..24631db693
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romabg_normal_select.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="oval">
+    <gradient
+        android:startColor="#323C6F"
+        android:endColor="#323C6F"
+        android:angle="315"
+        />
+    <size
+        android:width="120dp"
+        android:height="120dp"
+        />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romabg_press_select_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romabg_press_select_bg.xml
new file mode 100644
index 0000000000..d7d5e6849d
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romabg_press_select_bg.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="oval">
+    <gradient
+        android:startColor="#029DFF"
+        android:endColor="#0056FF"
+        android:angle="225"
+        />
+    <size
+        android:width="120dp"
+        android:height="120dp"
+        />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romafront_select_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romafront_select_bg.xml
new file mode 100644
index 0000000000..c0c8b28c33
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/romafront_select_bg.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/roma_press_select_bg" android:state_focused="true" android:state_pressed="true" />
+    <item android:drawable="@drawable/roma_press_select_bg" android:state_focused="false" android:state_pressed="true" />
+    <item android:drawable="@drawable/roma_press_select_bg" android:state_selected="true" />
+    <item android:drawable="@drawable/roma_press_select_bg" android:state_focused="true" />
+    <item android:drawable="@drawable/roma_normal_select_bg" />
+</selector>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index 6fbfba7dcb..eb5a459ae3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -277,30 +277,6 @@
                 android:textOn="关闭感知优化模式"
                 android:textSize="@dimen/dp_24" />
 
-            <ToggleButton
-                android:id="@+id/tbDrawAiCloudFusion"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="@dimen/dp_10"
-                android:padding="@dimen/dp_20"
-                android:background="@drawable/radio_button_normal_background_right"
-                android:textColor="#000"
-                android:textOff="开启云端感知绘制"
-                android:textOn="关闭云端感知绘制"
-                android:textSize="@dimen/dp_24" />
-
-            <ToggleButton
-                android:id="@+id/tbDrawRomaMode"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="@dimen/dp_10"
-                android:padding="@dimen/dp_20"
-                android:background="@drawable/radio_button_normal_background_right"
-                android:textColor="#000"
-                android:textOff="开启漫游模式"
-                android:textOn="关闭漫游模式"
-                android:textSize="@dimen/dp_24" />
-
             <ToggleButton
                 android:id="@+id/tbObuWarningFusionUnion"
                 android:layout_width="match_parent"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_roma_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_roma_bg.xml
new file mode 100644
index 0000000000..30bd940a0f
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_roma_bg.xml
@@ -0,0 +1,28 @@
+<?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">
+
+    <LinearLayout
+        android:id="@+id/ll_roma_bg"
+        android:layout_width="@dimen/dp_102"
+        android:layout_height="@dimen/dp_102"
+        android:layout_marginStart="40dp"
+        android:layout_marginBottom="@dimen/dp_46"
+        android:background="@drawable/roma_bg_selector"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center"
+        android:orientation="vertical"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent">
+
+        <ImageView
+            android:id="@+id/ivRomaView"
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_gravity="center"
+            android:background="@drawable/romafront_select_bg" />
+    </LinearLayout>
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_roma_passenger_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_roma_passenger_bg.xml
new file mode 100644
index 0000000000..c4f45c01ee
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_roma_passenger_bg.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="@dimen/dp_121"
+    android:layout_height="@dimen/dp_121"
+    tools:ignore="MissingDefaultResource">
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
index eefc61d621..9fc530da22 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
@@ -22,7 +22,7 @@ class MapBizProvider :IMoGoFunctionServerProvider{
         MogoRouteOverlayManager.getInstance().init()
         MapPointCloudSubscriber.instance
         SpeedLimitDataManager.getInstance().start()
-        aiCloudIdentifyDataManager.init(AbsMogoApplication.getApp())
+        aiCloudIdentifyDataManager.initServer(AbsMogoApplication.getApp())
     }
 
     override fun onDestroy() {
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
index 0393e027bb..a2ac34c741 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -1,23 +1,46 @@
 package com.mogo.eagle.core.function.business.ai
 
 import android.content.Context
+import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
+import com.mogo.eagle.core.function.api.map.roma.IMogoRoma
+import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener
+import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel.Companion.aiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.updateLongSightLevel
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager.sendMsgToAllClients
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager.sendMsgToServer
+import com.mogo.eagle.core.function.utils.MapBizTrace
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.map.MogoMapUIController
 import com.mogo.map.listener.IMogoMapListener
+import com.mogo.map.listener.MogoMapListenerHandler
 import com.mogo.map.uicontroller.VisualAngleMode
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
+import mogo.telematics.pad.MessagePad
 import mogo.yycp.api.proto.SocketDownData
 
-class AiCloudIdentifyDataManager : IMogoMapListener {
+@Route(path = MogoServicePaths.PATH_ROMA)
+class AiCloudIdentifyDataManager : IMogoMapListener, IReceivedMsgListener, IMogoRoma,
+    IMoGoPlanningRottingListener, IMoGoAutopilotStatusListener {
 
     companion object {
         private const val TAG = "AiCloudIdentifyData"
 
-        var START_METRE = 200
+        var START_METRE = 1
         var END_METRE = 2000
 
         @JvmStatic
@@ -26,66 +49,193 @@ class AiCloudIdentifyDataManager : IMogoMapListener {
         }
     }
 
-    private val aiCloudIdentifyNetWorkModel = AiCloudIdentifyNetWorkModel()
     private var showAiCloud = false
+    private var serverSn = ""
 
-    fun init(mContext: Context) {
-        MogoAiCloudSocketManager.getInstance(mContext)
-            .registerOnMessageListener(
-                0x040003, //低频数据
-                object : IMogoOnMessageListener<SocketDownData.SocketDownDataProto> {
-                    override fun target(): Class<SocketDownData.SocketDownDataProto> {
-                        return SocketDownData.SocketDownDataProto::class.java
-                    }
+    override fun init(context: Context?) {
 
-                    override fun onMsgReceived(obj: SocketDownData.SocketDownDataProto?) {
-                        if (!FunctionBuildConfig.isDrawAiCloudFusion) {
-                            MapIdentifySubscriber.instance.clearAiCloudRoma()
-                            return
+    }
+
+    fun initServer(mContext: Context) {
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            MogoMapListenerHandler.mogoMapListenerHandler.registerHostMapListener(TAG, this)
+            CallerTelematicListenerManager.addListener(TAG, this)
+            CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+            MogoAiCloudSocketManager.getInstance(mContext)
+                .registerOnMessageListener(
+                    0x040003, //低频数据
+                    object : IMogoOnMessageListener<SocketDownData.SocketDownDataProto> {
+                        override fun target(): Class<SocketDownData.SocketDownDataProto> {
+                            return SocketDownData.SocketDownDataProto::class.java
                         }
-                        obj?.let {
-                            obj.data?.let {
-                                if (showAiCloud) {
-                                    if (it.allListList == null || it.allListList.size == 0) {
-                                        MapIdentifySubscriber.instance.clearAiCloudRoma()
-                                        return
+
+                        @ChainLog(
+                            linkChainLog = ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED,
+                            linkCode = ChainConstant.CHAIN_LINK_ADAS,
+                            endpoint = TracingConstants.Endpoint.PAD,
+                            nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA,
+                            paramIndexes = [0],
+                            clientPkFileName = "sn"
+                        )
+                        override fun onMsgReceived(obj: SocketDownData.SocketDownDataProto?) {
+                            obj?.let {
+                                obj.data?.let {
+                                    if (showAiCloud) {
+                                        if (it.allListList == null || it.allListList.size == 0) {
+                                            MapIdentifySubscriber.instance.clearAiCloudRoma()
+                                            return
+                                        }
+                                        MapIdentifySubscriber.instance.renderAiCloudResult(it.allListList)
                                     }
-                                    MapIdentifySubscriber.instance.renderAiCloudResult(it.allListList)
                                 }
                             }
                         }
-                    }
-                })
-        requestRangeOfIdentify()
+                    })
+        }
     }
 
-    fun requestRangeOfIdentify() {
-        aiCloudIdentifyNetWorkModel.requestIdentifyRange({
-            CallerLogger.d(
-                M_MAP + TAG,
-                "requestIdentifyRange ok startRange:$START_METRE, endRange:$END_METRE"
+    override fun trigger(romaStatus: Boolean) {
+        MapBizTrace.log(TAG, "trigger")
+        // 司机屏发送事件给乘客屏
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            if (romaStatus) {
+                sendMsgToAllClients(TelematicConstant.OPEN_ROMA_STATUS, "0".toByteArray())
+            } else {
+                sendMsgToAllClients(TelematicConstant.OPEN_ROMA_STATUS, "1".toByteArray())
+            }
+        }
+        // 乘客屏单独控制漫游
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            if (romaStatus) {
+                // 开启roma，当前非漫游，开启
+                openRoma()
+            } else {
+                closeRoma()
+            }
+        }
+    }
+
+    // 乘客屏接收开启/关闭 roma
+    override fun onReceivedMsg(type: Int, byteArray: ByteArray) {
+        MapBizTrace.log(TAG, "onReceivedMsg type : $type")
+        when (type) {
+            TelematicConstant.OPEN_ROMA_STATUS -> {
+                when (String(byteArray)) {
+                    "0" -> {
+                        openRoma()
+                    }
+                    "1" -> {
+                        closeRoma()
+                    }
+                }
+            }
+        }
+    }
+
+    private fun openRoma() {
+        if (serverSn.isEmpty()) {
+            serverSn = CallerTelematicManager.getServerToken()
+            if (serverSn.isEmpty()) {
+                ToastUtils.showLong("未获取到司机屏设备信息")
+                return
+            }
+        }
+        if (!MogoMapUIController.getInstance().currentMapVisualAngle.isRoma) {
+            requestRangeOfIdentify(true)
+            updateLongSightLevel(true)
+        }
+    }
+
+    private fun closeRoma(manual: Boolean = true) {
+        if (serverSn.isEmpty()) {
+            serverSn = CallerTelematicManager.getServerToken()
+            if (serverSn.isEmpty()) {
+                ToastUtils.showLong("未获取到司机屏设备信息")
+                return
+            }
+        }
+        requestRangeOfIdentify(false)
+        updateLongSightLevel(false)
+        MapIdentifySubscriber.instance.clearAiCloudRoma()
+        // 主动关闭roma，回到中景视角
+        if (manual) {
+            MogoMapUIController.getInstance()
+                .changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
+        }
+    }
+
+    fun requestRangeOfIdentify(dataReceive: Boolean) {
+        aiCloudIdentifyNetWorkModel.requestIdentifyRange(dataReceive, serverSn, {
+            MapBizTrace.log(
+                TAG,
+                "requestIdentifyRange ok startRange:$START_METRE, endRange:$END_METRE , dataReceive:$dataReceive"
             )
+            if (dataReceive) {
+                // 请求地图开始漫游
+                MogoMapUIController.getInstance().setRomaMode(FunctionBuildConfig.romaModeStyle)
+                sendMsgToServer(TelematicConstant.OPEN_ROMA_STATUS, "3".toByteArray())
+            } else {
+                sendMsgToServer(TelematicConstant.OPEN_ROMA_STATUS, "4".toByteArray())
+            }
         }, {
-            CallerLogger.d(
-                M_MAP + TAG,
-                "requestIdentifyRange error : $it , startRange:$START_METRE, endRange:$END_METRE"
+            MapBizTrace.log(
+                TAG,
+                "requestIdentifyRange error : $it , startRange:$START_METRE, endRange:$END_METRE, dataReceive:$dataReceive"
             )
+            updateLongSightLevel(false)
         })
     }
 
     override fun onMapVisualAngleChanged(visualAngleMode: VisualAngleMode) {
         super.onMapVisualAngleChanged(visualAngleMode)
         when {
+            // 解除漫游限制
             visualAngleMode.isRoma -> {
                 showAiCloud = true
                 FunctionBuildConfig.isDrawIdentifyData = false
             }
             else -> {
-                showAiCloud = false
-                FunctionBuildConfig.isDrawIdentifyData = true
-                MapIdentifySubscriber.instance.clearAiCloudRoma()
+                if (showAiCloud) {
+                    showAiCloud = false
+                    FunctionBuildConfig.isDrawIdentifyData = true
+                    closeRoma(false)
+                }
             }
         }
     }
 
+    override fun onAutopilotRouteLineId(lineId: Long) {
+        super.onAutopilotRouteLineId(lineId)
+        if (lineId == 0L) {
+            updateRomaStyle(true)
+        }
+    }
+
+    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
+        globalPathResp?.let {
+            if (it.wayPointsList != null && it.wayPointsList.size > 0) {
+                val builder = StringBuilder()
+                it.wayPointsList.forEach { loc ->
+                    builder.append(loc.longitude).append(",").append(loc.latitude).append(",")
+                }
+                val route = builder.toString()
+                if (route.endsWith(",")) {
+                    route.substring(0, builder.toString().length - 1)
+                }
+                updateRomaStyle(false, route)
+            }
+        }
+    }
+
+    private fun updateRomaStyle(auto: Boolean, route: String? = null) {
+        CallerMapUIServiceManager.getMapUIController()?.setRoamTrajectory(route)
+        if (auto) {
+            FunctionBuildConfig.romaModeStyle = 0
+            MogoMapUIController.getInstance().setRomaMode(FunctionBuildConfig.romaModeStyle)
+        } else {
+            FunctionBuildConfig.romaModeStyle = 1
+            MogoMapUIController.getInstance().setRomaMode(FunctionBuildConfig.romaModeStyle)
+        }
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt
index a45ec2a068..84bb37c721 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt
@@ -25,6 +25,6 @@ class AiCloudRangeBroadcastReceiver : BroadcastReceiver() {
         START_METRE = startRange
         END_METRE = endRange
         CallerLogger.d("$M_MAP$TAG", "startRange:$startRange, endRange:$endRange")
-        aiCloudIdentifyDataManager.requestRangeOfIdentify()
+        aiCloudIdentifyDataManager.requestRangeOfIdentify(true)
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
index bde91cf45c..d9e5680311 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.business.ai.net
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.constants.HostConst
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.END_METRE
@@ -9,9 +8,8 @@ import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Compa
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.network.apiCall
 import com.mogo.eagle.core.network.request
-import com.zhjt.service_biz.FuncConfig
 
-class AiCloudIdentifyNetWorkModel {
+class AiCloudIdentifyNetWorkModel private constructor(){
 
     companion object {
         val aiCloudIdentifyNetWorkModel by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -24,16 +22,20 @@ class AiCloudIdentifyNetWorkModel {
         when (DebugConfig.getNetMode()) {
             DebugConfig.NET_MODE_DEV,
             DebugConfig.NET_MODE_QA -> host = "http://dzt-qa-city.zhidaozhixing.com"
+//            DebugConfig.NET_MODE_QA -> host = "http://dzt-test.zhidaozhixing.com"
         }
         return host
     }
 
-    private fun getNetWorkApi(baseUrl: String = HostConst.getEagleHost()): IAiCloudIdentifyApiService {
-        return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
+    //todo test emArrow
+    private fun getNetWorkApi(baseUrl: String = getHost()): IAiCloudIdentifyApiService {
+        return MoGoRetrofitFactory.getInstanceNoCallAdapter("http://dzt-qa-city.zhidaozhixing.com")
             .create(IAiCloudIdentifyApiService::class.java)
     }
 
     fun requestIdentifyRange(
+        dataReceive: Boolean,
+        serverSn:String,
         onSuccess: (() -> Unit),
         onError: ((String) -> Unit)
     ) {
@@ -41,10 +43,11 @@ class AiCloudIdentifyNetWorkModel {
             val map = mutableMapOf<String, Any>()
             start {
                 map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
-                map["status"] = true
+                map["status"] = dataReceive
                 map["startMetre"] = START_METRE
                 map["endMetre"] = END_METRE
                 map["type"] = 1
+                map["relationSn"] = serverSn
             }
             loader {
                 apiCall {
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
index 2e8ec4357f..2a88126598 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
@@ -9,5 +9,6 @@ interface IAiCloudIdentifyApiService {
 
     @Headers("Content-type:application/json;charset=UTF-8")
     @POST("eagle-eye-dns/yycp-c-v2x-service/dataFusion/remoteDrivingSet")
+//    @POST("yycp-data-center-service1/remoteDrivingSet")
     suspend fun identifyRange(@Body map: MutableMap<String, Any>): BaseResponse<Any>
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
index 24c70b58b3..6e2581073e 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
@@ -30,8 +30,4 @@ interface Identify {
     fun clearAiMarker() {
 
     }
-
-    fun getIdentifyObj(uuid: String): TrackedObject? {
-        return null
-    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
index 6a220c4990..87a4667eab 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
@@ -135,10 +135,6 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
         mDrawerHandler.sendMessage(message)
     }
 
-    override fun getIdentifyObj(uuid: String): TrackedObject? {
-        return identify?.getIdentifyObj(uuid)
-    }
-
     override fun updateTrackerWarningInfo(trafficData: TrafficData) {
         super.updateTrackerWarningInfo(trafficData)
         val message = Message.obtain()
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
index ebc699ddcb..fb3d511096 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -1,13 +1,9 @@
 package com.mogo.eagle.core.function.business.identify
 
-import android.content.Context
-import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
-import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
@@ -22,8 +18,7 @@ import mogo.yycp.api.proto.SocketDownData
  *
  * @author donghongyu
  */
-@Route(path = PATH_IDENTIFY)
-class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGoSubscriber,
+class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
     IMoGoAutopilotIdentifyListener, IMoGoObuStatusListener {
 
     private val TAG = "MapIdentifySubscriber"
@@ -64,12 +59,8 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
 
     fun renderAiCloudResult(cloudData: List<SocketDownData.CloudRoadDataProto>) {
         try {
-            if (FunctionBuildConfig.isDrawAiCloudFusion) {
-                ThreadUtils.getSinglePool().execute {
-                    IdentifyFactory.renderAiCloudResult(cloudData)
-                }
-            } else {
-                clearAiCloudRoma()
+            ThreadUtils.getSinglePool().execute {
+                IdentifyFactory.renderAiCloudResult(cloudData)
             }
         } catch (e: Exception) {
             e.printStackTrace()
@@ -120,12 +111,4 @@ class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGo
         }
     }
 
-    override fun getIdentifyObj(uuid: String): TrackedObject? {
-        return IdentifyFactory.getIdentifyObj(uuid)
-    }
-
-    override fun init(context: Context?) {
-
-    }
-
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt
index 81f546cb3d..ec12f3c319 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/WarningHelper.kt
@@ -46,7 +46,7 @@ object WarningHelper {
                     mMarkersCaches[trackId] ?: return@Consumer
                     if (planningObj.type == 0) {   //0是leading障碍物，障碍物车身红色提示
                         pncWarningBeautyTrafficData[trackId] = PlanningTrack(
-                            "#D65D5AFF",
+                            "#FF0000FF",
                             getCurWgs84SatelliteTime()
                         )
                     } else if (planningObj.type == 1) {   //1是避障和择机的障碍物，障碍物车身黄色提示
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
index aca9bd6ecd..17f926422e 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
@@ -144,6 +144,7 @@ class SmallMapView @JvmOverloads constructor(
             SceneConstant.M_MAP + TAG, "SmallMapView  clearPolyline mPolyline -----> ")
         if (mPolyline != null) {
             mPolyline!!.remove()
+            mPolyline = null
         }
         if (mStartMarker != null) {
             mStartMarker!!.isVisible = false
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/MapBizTrace.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/MapBizTrace.kt
new file mode 100644
index 0000000000..5f444de54b
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/utils/MapBizTrace.kt
@@ -0,0 +1,28 @@
+package com.mogo.eagle.core.function.utils
+
+import com.mogo.commons.debug.DebugConfig
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
+
+class MapBizTrace {
+
+    companion object {
+
+        @ChainLog(
+            linkChainLog = ChainConstant.CHAIN_LINK_LOG_HD_MAP,
+            linkCode = ChainConstant.CHAIN_LINK_MAP,
+            endpoint = TracingConstants.Endpoint.PAD,
+            nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_HD_MAP_BIZ,
+            paramIndexes = [0, 1],
+            clientPkFileName = "sn"
+        )
+        fun log(data: Any, data1: Any) {
+            if (DebugConfig.isDebug()) {
+                CallerLogger.d("$M_MAP${data.toString()}", data1)
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
index 8f0933ac44..7195f230e5 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
@@ -112,8 +112,8 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
     private fun turn(lightNum: Int) {
         if (currentLevel != lightNum) {
             when (lightNum) {
-                0 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(3, 500)
-                1 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(4, 500)
+                0 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(0, 500)
+                1 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(1, 500)
                 2 -> CallerMapUIServiceManager.getMapUIController()?.setCarLightsType(2, 500)
             }
             currentLevel = lightNum
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index 6faee4048f..a0a68b54c3 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -61,18 +61,13 @@ object FunctionBuildConfig {
     var isBeautyMode = true
 
     /**
-     * 是否绘制云端感知物
+     * 开启roma自由/循迹路线
+     * 0:自由模式
+     * 1:循迹模式
      */
     @Volatile
     @JvmField
-    var isDrawAiCloudFusion = true
-
-    /**
-     * 是否开启roma
-     */
-    @Volatile
-    @JvmField
-    var isRomaMode = false
+    var romaModeStyle = 0
 
     /**
      * 是否开启感知物替换颜色功能
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
index 2eb6a3e1bc..0099bd471a 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
@@ -93,15 +93,15 @@ public class MogoServicePaths {
     @Keep
     public static final String PATH_DATA_CENTER_MODULE = "/data_center/api";
 
-    @Keep
-    public static final String PATH_IDENTIFY = "/map/identify";
-
     @Keep
     public static final String PATH_VISUAL_ANGLE = "/map/angle_change";
 
     @Keep
     public static final String PATH_PATCH_UPGRADE = "/patch/api";
 
-
+    @Keep
     public static final String PATH_UPGRADE_TYPE_API = "/upgrade/type/api";
+
+    @Keep
+    public static final String PATH_ROMA = "/map/roma";
 }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
index 0d44eb84ee..326f78c716 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
@@ -10,6 +10,8 @@ class ChainConstant {
         const val CHAIN_LINK_ADAS = 1
         // 鹰眼初始化流程顺序相关
         const val CHAIN_LINK_INIT = 2
+        // Map交互
+        const val CHAIN_LINK_MAP = 3
         // Native内存泄漏
         const val CHAIN_LINK_LEAK = 10
 
@@ -24,6 +26,7 @@ class ChainConstant {
         const val CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS = 8
         const val CHAIN_LINK_LOG_NATIVE_LEAK = 100
         const val CHAIN_LINK_LOG_CLOUD_V2N = 200
+        const val CHAIN_LINK_LOG_HD_MAP = 300
 
         const val CHAIN_LINK_LOG_ADAS_INIT = "-eagleInitStatus"
         const val CHAIN_LINK_LOG_ADAS_GNSS = "-adasWsGnssInfo"
@@ -36,6 +39,7 @@ class ChainConstant {
         const val CHAIN_LINK_LOG_ADAS_PLANNING_ACTIONS = "-adasWsPlanningActions"
         const val CHAIN_LINK_LOG_RECORD_NATIVE_LEAK = "-eagleRecordNativeLeak"
         const val CHAIN_LINK_LOG_CLOUD_WEB_SOCKET_V2N = "-eagleCloudWSV2N"
+        const val CHAIN_LINK_LOG_HD_MAP_BIZ = "-eagleHDMapBiz"
 
         const val CHAIN_ALIAS_CODE_MULTI_CONNECT = "CHAIN_ALIAS_CODE_MULTI_CONNECT"
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG = "CHAIN_ALIAS_CODE_CAR_CONFIG"
@@ -56,6 +60,9 @@ class ChainConstant {
 
         const val CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK = "CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK"
 
+        const val CHAIN_ALIAS_CODE_HD_MAP_CALL = "CHAIN_ALIAS_CODE_HD_MAP_CALL"
+        const val CHAIN_ALIAS_CODE_HD_MAP_BIZ = "CHAIN_ALIAS_CODE_HD_MAP_BIZ"
+
         const val CHAIN_ALIAS_CODE_INIT_ENV_RESTART = "CHAIN_ALIAS_CODE_INIT_ENV_RESTART"
         const val CHAIN_ALIAS_CODE_APP_INFO_CONFIG_UPDATE = "CHAIN_ALIAS_CODE_APP_INFO_CONFIG_UPDATE"
         const val CHAIN_ALIAS_CODE_FUNC_CONFIG_CHANGED = "CHAIN_ALIAS_CODE_FUNC_CONFIG_CHANGED"
@@ -64,6 +71,7 @@ class ChainConstant {
         const val CHAIN_ALIAS_CODE_CLOUD_PASSPORT_ERROR = "CHAIN_ALIAS_CODE_CLOUD_PASSPORT_ERROR"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_FAIL"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_SUCCESS"
+        const val CHAIN_ALIAS_CODE_HTTP_DNS_CITY_CODE = "CHAIN_ALIAS_CODE_HTTP_DNS_CITY_CODE"
         const val CHAIN_ALIAS_CODE_CLOUD_RECONNECT = "CHAIN_ALIAS_CODE_CLOUD_RECONNECT"
         const val CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST = "CHAIN_ALIAS_CODE_CLOUD_CONNECT_LOST"
         const val CHAIN_ALIAS_CODE_CLOUD_V2N = "CHAIN_ALIAS_CODE_CLOUD_V2N"
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt
new file mode 100644
index 0000000000..b6f7e195bf
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt
@@ -0,0 +1,16 @@
+package com.mogo.eagle.core.data.multidisplay
+
+/**
+ * @author: wangmingjun
+ * @date: 2023/3/3
+ * 供网约车司乘屏通信使用
+ */
+class TelematicConstant {
+    companion object {
+        const val BUSINESS_STRING = 100
+        const val SHOW_TRAFFIC_LIGHT = 101
+        const val HIDE_TRAFFIC_LIGHT = 102
+        const val OPEN_ROMA_STATUS = 103
+        const val ROMA_UPDATE = 104
+    }
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/marker/IMoGoIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/marker/IMoGoIdentifyListener.kt
deleted file mode 100644
index ad40f975f0..0000000000
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/marker/IMoGoIdentifyListener.kt
+++ /dev/null
@@ -1,10 +0,0 @@
-package com.mogo.eagle.core.function.api.map.marker
-
-import com.alibaba.android.arouter.facade.template.IProvider
-import mogo.telematics.pad.MessagePad
-
-interface IMoGoIdentifyListener :IProvider{
-
-    fun getIdentifyObj(uuid: String): MessagePad.TrackedObject?
-
-}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMogoRoma.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMogoRoma.kt
new file mode 100644
index 0000000000..5d402c9656
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMogoRoma.kt
@@ -0,0 +1,13 @@
+package com.mogo.eagle.core.function.api.map.roma
+
+import com.alibaba.android.arouter.facade.template.IProvider
+
+interface IMogoRoma  : IProvider {
+
+    /**
+     * 触发开启/关闭漫游
+     * @param romaStatus 漫游状态
+     */
+    fun trigger(romaStatus:Boolean)
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index a8e8131ab8..34facf277a 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -184,7 +184,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
      */
     fun updateAutopilotControlParameters(autopilotControlParameters: AutopilotControlParameters? = null) {
         mAutopilotStatusInfo.autopilotControlParameters = autopilotControlParameters
-        lineId = autopilotControlParameters?.autoPilotLine?.lineId
+        lineId = autopilotControlParameters?.autoPilotLine?.lineId?:0
         invokeAutoPilotStatus(mAutopilotStatusInfo)
     }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt
index d980170cbc..198ce950d2 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt
@@ -1,19 +1,17 @@
 package com.mogo.eagle.core.function.call.map
 
 import com.alibaba.android.arouter.launcher.ARouter
-import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
-import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-import mogo.telematics.pad.MessagePad
+import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_ROMA
+import com.mogo.eagle.core.function.api.map.roma.IMogoRoma
 
-object CallerMapIdentifyManager : CallerBase<IMoGoIdentifyListener>() {
+object CallerMapIdentifyManager {
 
-    private val identifyApi: IMoGoIdentifyListener
-        get() = ARouter.getInstance().build(PATH_IDENTIFY)
-            .navigation() as IMoGoIdentifyListener
+    private val romaApi:IMogoRoma
+        get() = ARouter.getInstance().build(PATH_ROMA)
+            .navigation() as IMogoRoma
 
-    fun getIdentifyObj(uuid: String): MessagePad.TrackedObject? {
-        return identifyApi.getIdentifyObj(uuid)
+    fun romaTrigger(romaStatus:Boolean){
+        romaApi.trigger(romaStatus)
     }
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-res/src/main/res/raw/chuzuche.nt3d b/core/mogo-core-res/src/main/res/raw/chuzuche.nt3d
index 0b1ace476a..5f8f451694 100644
Binary files a/core/mogo-core-res/src/main/res/raw/chuzuche.nt3d and b/core/mogo-core-res/src/main/res/raw/chuzuche.nt3d differ
diff --git a/core/mogo-core-res/src/main/res/raw/hq_h9.nt3d b/core/mogo-core-res/src/main/res/raw/hq_h9.nt3d
index 47a6be55af..cc5f7896fb 100644
Binary files a/core/mogo-core-res/src/main/res/raw/hq_h9.nt3d and b/core/mogo-core-res/src/main/res/raw/hq_h9.nt3d differ
diff --git a/core/mogo-core-res/src/main/res/raw/huanwei.nt3d b/core/mogo-core-res/src/main/res/raw/huanwei.nt3d
index 9a177e5fdb..77856bf3bc 100644
Binary files a/core/mogo-core-res/src/main/res/raw/huanwei.nt3d and b/core/mogo-core-res/src/main/res/raw/huanwei.nt3d differ
diff --git a/core/mogo-core-res/src/main/res/raw/xiaobache.nt3d b/core/mogo-core-res/src/main/res/raw/xiaobache.nt3d
index 909f474514..423630e21f 100644
Binary files a/core/mogo-core-res/src/main/res/raw/xiaobache.nt3d and b/core/mogo-core-res/src/main/res/raw/xiaobache.nt3d differ
diff --git a/gradle.properties b/gradle.properties
index 22f2ef588d..438d6fe01d 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -85,7 +85,7 @@ MOGO_LOCATION_VERSION=1.4.6.4
 MOGO_TELEMATIC_VERSION=1.4.6.4
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.10.0.9
+MAP_SDK_VERSION=2.11.0.12
 MAP_SDK_OPERATION_VERSION=1.1.4.1
 # websocket
 WEBSOCKET_VERSION=1.1.7
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
index a691df9e5a..50190778f2 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
@@ -194,7 +194,8 @@ public interface IMogoMapUIController {
     void setCarCursorOption(@Nullable CarCursorOption option);
 
     /**
-     * @param type :车尾灯类型 time: 闪烁时间 最小500ms 小于500ms 默认为500ms
+     * @param type :车尾灯类型  0=默认 1=左黄 2=右黄 3=双黄 4=双红
+     * @param time: 闪烁时间 最小500ms 小于500ms 默认为500ms
      */
     void setCarLightsType(int type, int time);
 
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
index 4f25818596..2a3de828ab 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -1,10 +1,12 @@
 package com.mogo.map;
 
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_HD_MAP_CALL;
 import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_INIT_ON_MAP_INIT;
 import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_INIT_ON_MAP_LOADED;
 import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_INIT;
 import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS;
-import static com.mogo.eagle.core.utilcode.mogo.logger.Logger.d;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_HD_MAP;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_MAP;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP;
 import static com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_300;
 import static com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS;
@@ -40,7 +42,6 @@ import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapStyleListenerManager;
 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.mogo.toast.TipToast;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -360,9 +361,17 @@ public class AMapViewWrapper implements IMogoMapView,
         }
     }
 
+    @ChainLog(
+            linkChainLog = CHAIN_LINK_LOG_HD_MAP,
+            linkCode = CHAIN_LINK_MAP,
+            endpoint = TracingConstants.Endpoint.PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_HD_MAP_CALL,
+            paramIndexes = {0},
+            clientPkFileName = "sn"
+    )
     @Override
     public void setRoamTrajectory(String trajectory) {
-        mMapView.getMapAutoViewHelper().setRoamTrajectory(ROMA_ROAD);
+        mMapView.getMapAutoViewHelper().setRoamTrajectory(trajectory);
     }
 
     @Override
@@ -734,18 +743,12 @@ public class AMapViewWrapper implements IMogoMapView,
             initMapView();
             initMyLocation();
             loadPreVehicleModel();
-            loadRomaRoad(); //todo for show of hengyang
         }
     }
 
-    private static final String ROMA_ROAD = 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-    private static final String ROMA_ROAD_1 = 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+//    private static final String ROMA_ROAD = 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+//    private static final String ROMA_ROAD_1 = 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
-    private void loadRomaRoad() {
-        StringBuffer buffer = new StringBuffer();
-        buffer.append(ROMA_ROAD).append(ROMA_ROAD_1);
-        setRoamTrajectory(buffer.toString());
-    }
 
     @Override
     public boolean onTouch(@Nullable MotionEvent motionEvent) {
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/location/GDLocationClient.kt b/libraries/mogo-map/src/main/java/com/mogo/map/location/GDLocationClient.kt
index a9f26b224c..aedfd8a5b6 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/location/GDLocationClient.kt
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/location/GDLocationClient.kt
@@ -9,11 +9,15 @@ import com.amap.api.location.AMapLocationClientOption
 import com.amap.api.location.AMapLocationListener
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_HTTP_DNS_CITY_CODE
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.call.map.CallerGaoDeMapLocationListenerManager
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.CoordinateTransform
 import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
 
 /**
  * 封装高德地图通过设备GPS获取到的位置信息，频率1s一次，坐标系为CJC20
@@ -117,9 +121,11 @@ class GDLocationClient private constructor(context: Context) : AMapLocationListe
                 // 本地SP缓存城市Code
                 val cityCode = aMapLocation.cityCode
                 if (cityCode != null && cityCode.isNotEmpty()) {
-                    mCityCode = aMapLocation.cityCode
-                    SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
-                        .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
+                    if (mCityCode.isEmpty() || mCityCode != cityCode) {
+                        setCityCode(cityCode)
+                        SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                            .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
+                    }
                 }
 
                 // 缓存经纬度
@@ -141,6 +147,18 @@ class GDLocationClient private constructor(context: Context) : AMapLocationListe
         }
     }
 
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = ChainConstant.CHAIN_LINK_CLOUD,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_HTTP_DNS_CITY_CODE,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
+    private fun setCityCode(code: String) {
+        mCityCode = code
+    }
+
     override fun getLastCityCode(): String {
         return mCityCode
     }