Merge branch 'dev_robotaxi-d-app-module_290_220715_2.9.0_interface_subscribe' into dev_robotaxi-d-app-module_2100_220816_2.10.0

2022-08-16 17:49:24 +08:00
parent f1654f357f 52c0c9c520
commit 136ca5f2ee
52 changed files with 1907 additions and 133 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.autopilot.adapter

-import android.util.*
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
@@ -14,6 +13,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_CONFIG
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP
@@ -22,6 +22,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_GNSSINFO
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY
@@ -39,13 +40,13 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyPlanningObj
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager.invokePNCActions
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.network.utils.*
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.common.ProtocolStatus
@@ -57,7 +58,6 @@ import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import prediction.Prediction
 import record_cache.RecordPanelOuterClass
-import rule_segement.MogoPointCloudOuterClass
 import system_master.SystemStatusInfo

 /**
@@ -401,6 +401,26 @@ class MoGoAdasListenerImpl : OnAdasListener {

    }

+    /**
+     * planning决策状态, 透传
+     */
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onPlanningActionMsg(
+        header: MessagePad.Header?,
+        planningActionMsg: MessagePad.PlanningActionMsg?
+    ) {
+        planningActionMsg?.let {
+            invokePNCActions(it)
+        }
+    }
+

    override fun onError(status: ProtocolStatus, bytes: ByteArray) {

--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.autopilot.adapter

 import android.annotation.SuppressLint
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.debug.DebugConfig
+import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -18,6 +19,9 @@ import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener
 import com.zhidao.support.adas.high.bean.VersionCompatibility
 import com.zhidao.support.adas.high.common.Constants
+import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.*
+import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
+import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
 import io.reactivex.Flowable
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.schedulers.Schedulers
@@ -133,7 +137,29 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
        CallerLogger.d("$M_ADAS_IMPL$TAG", "同步PAD的SN给工控机……")
        // 设置PAD-SN给工控,网络环境
        AdasManager.getInstance()
-            .sendBasicInfoResp(MoGoAiCloudClientConfig.getInstance().sn, DebugConfig.getNetMode())
+            .sendBasicInfoResp(
+                MoGoAiCloudClientConfig.getInstance().sn,
+                getEnvironment(),
+                getTerminalRole()
+            )
+    }
+
+    private fun getEnvironment(): Int {
+        return when (getNetMode()) {
+            NET_MODE_DEV -> DEVELOP
+            NET_MODE_QA -> TEST
+            NET_MODE_RELEASE -> PRODUCTION
+            NET_MODE_DEMO -> DEMO
+            else -> PRODUCTION
+        }
+    }
+
+    private fun getTerminalRole(): Int {
+        return when {
+            AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) -> DRIVER
+            AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) -> PASSENGER
+            else -> DRIVER
+        }
    }

    /**
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -3,7 +3,7 @@ package com.mogo.eagle.core.function.autopilot.server
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager

 /**
 * @author xiaoyuzhou
@@ -22,7 +22,7 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
    }

    fun initServer() {
-        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
    }

    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
--- 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
@@ -57,6 +57,8 @@ class TraceManager : IMoGoCloudListener {
            FwBuild(false, 30, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAFFIC_LIGHT)
        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
            FwBuild(false, 30, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_PLANNING_OBJECTS)
+        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS] =
+            FwBuild(true, -1, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_PLANNING_ACTIONS)

        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
            ChainLogParam(true, "ADAS连接状态")
@@ -70,8 +72,12 @@ class TraceManager : IMoGoCloudListener {
            ChainLogParam(false, "ADAS车前引导线")
        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE] =
            ChainLogParam(false, "ADAS车辆底盘数据")
+        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT] =
+            ChainLogParam(false, "ADAS红绿灯数据")
        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_OBJECTS] =
            ChainLogParam(false, "ADAS PLANNING 感知障碍物")
+        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_PLANNING_ACTIONS] =
+            ChainLogParam(true, "ADAS PLANNING 决策行为")

        FileWriteManager.getInstance()
            .init(context, MoGoAiCloudClientConfig.getInstance().sn, pkgName, fwBuildMap)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/pnc/PncActionsView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/pnc/PncActionsView.kt
@@ -0,0 +1,91 @@
+package com.mogo.eagle.core.function.hmi.ui.pnc
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
+import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.trafficlight.currentRoadTrafficLight
+import com.mogo.eagle.core.data.trafficlight.isRed
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
+import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningActionsListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import kotlinx.android.synthetic.main.view_pnc_actions.view.*
+import mogo.telematics.pad.MessagePad
+
+class PncActionsView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotPlanningActionsListener,
+    IMoGoTrafficLightListener {
+
+    companion object {
+        const val TAG = "PncActionsView"
+    }
+
+    @Volatile
+    private var mTrafficLightResult: TrafficLightResult? = null
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_pnc_actions, this, true)
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerAutopilotPlanningActionsListenerManager.addListener(TAG, this)
+        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerAutopilotPlanningActionsListenerManager.removeListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
+    }
+
+    override fun pncActions(planningActionMsg: MessagePad.PlanningActionMsg) {
+        UiThreadHandler.post {
+            var actions: String? = null
+            planningActionMsg.actionMsg?.let {
+
+                actions = PncActionsHelper.getAction(it.drivingState.number, it.drivingAction.number)
+
+                //如果是存在云端红绿灯数据条件下，设置云端数据
+                if (PncActionsHelper.isWaitingTrafficlight(
+                        it.drivingState.number,
+                        it.drivingAction.number
+                    )
+                    && mTrafficLightResult != null
+                    && getWaitTrafficlightTime().isNotBlank()
+                ) {
+                    actions += ",预计${getWaitTrafficlightTime()}秒后通过"
+                } else {
+                    mTrafficLightResult = null
+                }
+            }
+            // update view
+            actions?.let {
+                tvHmiPncActions.text = actions
+            }
+        }
+    }
+
+    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
+        mTrafficLightResult = trafficLightResult
+    }
+
+    private fun getWaitTrafficlightTime(): String {
+        return if (mTrafficLightResult != null
+            && mTrafficLightResult!!.currentRoadTrafficLight() != null
+            && mTrafficLightResult!!.currentRoadTrafficLight()!!.isRed()
+        ) {
+            mTrafficLightResult!!.currentRoadTrafficLight()!!.remain.toString()
+        } else {
+            ""
+        }
+    }
+}
--- 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
@@ -565,6 +565,15 @@ class DebugSettingView @JvmOverloads constructor(
            tbIsRainMode.visibility = View.GONE
        }

+        tbBeautyMode.isChecked = FunctionBuildConfig.isBeautyMode
+        //感知优化模式
+        tbBeautyMode.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isBeautyMode = isChecked
+            if (!FunctionBuildConfig.isBeautyMode) {
+                tbBeautyMode.isChecked = false
+            }
+        }
+
        //重启工控机所有节点
        btnIpcReboot.onClick {
            CallerAutoPilotManager.sendIpcReboot()
@@ -1379,6 +1388,19 @@ class DebugSettingView @JvmOverloads constructor(
            }
        }

+        /**
+         * ADAS红绿灯数据
+         */
+        cbAdasTrafficlight.setOnCheckedChangeListener { _, isChecked ->
+            val map = CallerDevaToolsManager.getTraceInfo()
+            val param = map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT]
+            param?.let {
+                it.record = isChecked
+                map[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT] = param
+                CallerDevaToolsManager.refreshTraceInfo(map)
+            }
+        }
+
        /**
         * ADAS PLANNING OBJ 感知障碍物
         */
@@ -1412,6 +1434,10 @@ class DebugSettingView @JvmOverloads constructor(
        vehicle?.let {
            cbAdasVehicle.isChecked = it.record
        }
+        val trafficlight = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAFFIC_LIGHT]
+        trafficlight?.let {
+            cbAdasTrafficlight.isChecked = it.record
+        }
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
@@ -181,6 +181,14 @@
            app:layout_constraintStart_toStartOf="parent"
            app:layout_constraintTop_toTopOf="parent" />

+        <com.mogo.eagle.core.function.hmi.ui.pnc.PncActionsView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginBottom="@dimen/dp_200"
+            app:layout_constraintBottom_toBottomOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"/>
+
        <!--APP、MAP版本-->
        <com.mogo.eagle.core.function.hmi.ui.widget.VersionNameView
            android:layout_width="wrap_content"
--- 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
@@ -232,6 +232,17 @@
                android:textSize="@dimen/dp_24"
                android:background="@drawable/radio_button_normal_background_right"/>

+            <ToggleButton
+                android:id="@+id/tbBeautyMode"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:textColor="#000"
+                android:textOff="开启感知优化模式"
+                android:textOn="关闭感知优化模式"
+                android:textSize="@dimen/dp_24"
+                android:background="@drawable/radio_button_normal_background_right"/>
+
            <Button
                android:id="@+id/btnIpcReboot"
                android:layout_width="match_parent"
@@ -2030,6 +2041,16 @@
                        android:textColor="#000"
                        android:textSize="@dimen/dp_24" />

+                    <CheckBox
+                        android:id="@+id/cbAdasTrafficlight"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:checked="false"
+                        android:padding="@dimen/dp_10"
+                        android:text="ADAS红绿灯数据"
+                        android:textColor="#000"
+                        android:textSize="@dimen/dp_24" />
+
                    <CheckBox
                        android:id="@+id/cbAdasPlanningObj"
                        android:layout_width="wrap_content"
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
@@ -0,0 +1,16 @@
+<?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="wrap_content"
+    android:layout_height="wrap_content">
+
+    <TextView
+        android:id="@+id/tvHmiPncActions"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.map.identify

 import android.os.Handler
 import android.os.Message
+import android.util.Log
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
@@ -20,7 +21,7 @@ object IdentifyFactory : Identify {
    private var identify: Identify? = null

    init {
-        identify = if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+        identify = if (FunctionBuildConfig.isBeautyMode) {
            UserIdentify.beautifyDataDrawer
        } else {
            DriverIdentify.originDataDrawer
@@ -36,6 +37,17 @@ object IdentifyFactory : Identify {
        object : Handler(WorkThreadHandler.newInstance("IdentifyFactoryDrawer").looper) {
            override fun handleMessage(msg: Message) {
                super.handleMessage(msg)
+                if(!FunctionBuildConfig.isBeautyMode){
+                    if(identify is IdentifyBeautifyDataDrawer){
+                        identify!!.clearOldMarker()
+                        identify = DriverIdentify.originDataDrawer
+                    }
+                }else{
+                    if(identify is IdentifyOriginDataDrawer){
+                        identify!!.clearOldMarker()
+                        identify =  UserIdentify.beautifyDataDrawer
+                    }
+                }
                when(msg.what){
                    MSG_DATA_TRACK -> {
                        if(msg.obj is List<*>){
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
@@ -154,11 +154,11 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
            //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
            val cacheData = mMarkersCaches[uuid]
            if (cacheData != null) {
-                if (data.speed < 0.5) {
-                    temp = data.toBuilder().setHeading(cacheData.heading)
-                        .setLongitude(cacheData.longitude)
-                        .setLatitude(cacheData.latitude).build()
-                }
+//                if (data.speed < 0.5) {
+//                    temp = data.toBuilder().setHeading(cacheData.heading)
+//                        .setLongitude(cacheData.longitude)
+//                        .setLatitude(cacheData.latitude).build()
+//                }
                if (colorTrafficData.containsKey(uuid)) {
                    val planningTrack = colorTrafficData[uuid]
                    if (!timeOut(planningTrack!!.time)) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt
@@ -5,9 +5,8 @@ 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_V2X_MODULE
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightManager
 import com.mogo.eagle.core.function.v2x.events.V2XEventManager
-import com.mogo.eagle.core.function.v2x.redlightwarning.RedLightWarningManager
 import com.mogo.eagle.core.function.v2x.speedlimit.SpeedLimitDataManager
 import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightDispatcher
 import com.mogo.eagle.core.function.v2x.vip.VipCarManager
@@ -20,7 +19,7 @@ class V2XProvider : IMoGoFunctionServerProvider {
        get() = "V2XProvider"

    override fun init(context: Context) {
-        CallTrafficLightManager.getTrafficLightProvider().initTrafficLightServer(context)
+        CallerTrafficLightManager.getTrafficLightProvider().initTrafficLightServer(context)
        VipCarManager.INSTANCE.initServer(context)
        SpeedLimitDataManager.getInstance().start()
        TrafficLightDispatcher.INSTANCE.initServer(context)
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/redlightwarning/RedLightWarningManager.kt
@@ -10,9 +10,8 @@ import com.mogo.eagle.core.function.api.vip.IMoGoVipSetListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
-import com.mogo.eagle.core.function.v2x.vip.VipCarManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.map.navi.IMogoCarLocationChangedListener2
 import com.mogo.module.common.MogoApisHandler
@@ -72,12 +71,9 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
    }

    fun listenTrafficLight() {
-        CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
-        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
-        MogoApisHandler.getInstance().apis.registerCenterApi.registerCarLocationChangedListener(
-            VipCarManager.TAG,
-            this
-        )
+        CallerTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
+        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        MogoApisHandler.getInstance().apis.registerCenterApi.registerCarLocationChangedListener(TAG, this)
        CallVipSetListenerManager.registerVipSetListener(TAG, this)
    }

@@ -196,9 +192,9 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
    }

    fun onDestroy() {
-        CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
        CallVipSetListenerManager.unRegisterVipSetListener(TAG)
-        CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
        MogoApisHandler.getInstance().apis.registerCenterApi.unregisterCarLocationChangedListener(
            TAG, this
        )
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/MogoTrafficLightManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/MogoTrafficLightManager.kt
@@ -11,7 +11,7 @@ import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.isInRange
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
 import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_LOOP_SEARCH_CROSS_ROAD
 import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_LOOP_SEARCH_TRAFFIC_LIGHT
@@ -52,7 +52,7 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
                //第一次查询路口时，如果红绿灯显示，则隐藏掉
                if(firstLoopCrossRoad && TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()){
                    TrafficLightHMIManager.INSTANCE.hideTrafficLight()
-                    CallTrafficLightListenerManager.resetTrafficLightData()
+                    CallerTrafficLightListenerManager.resetTrafficLightData()
                }
                firstLoopCrossRoad = false
                mLocation?.let { it ->
@@ -81,7 +81,7 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
                        it.latitude, it.longitude, it.bearing.toDouble(), road, { result ->
                            trafficLightResult = result
 //                            TrafficLightHMIManager.INSTANCE.updateTrafficLight(result)
-                            CallTrafficLightListenerManager.invokeTrafficLightStatus(result)
+                            CallerTrafficLightListenerManager.invokeTrafficLightStatus(result)
                        },
                        { errorMsg ->
                            //如果没有获取到正确的红绿灯数据，则取消读灯，继续读路口，防止出现一直读灯的情况
@@ -103,9 +103,9 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
                            }
                            if (TrafficLightHMIManager.INSTANCE.isWarningTrafficLightShow()) {
                                TrafficLightHMIManager.INSTANCE.hideTrafficLight()
-                                CallTrafficLightListenerManager.resetTrafficLightData()
+                                CallerTrafficLightListenerManager.resetTrafficLightData()
                            }
-                            CallTrafficLightListenerManager.invokeTrafficRequestError()
+                            CallerTrafficLightListenerManager.invokeTrafficRequestError()

                        })
                }
@@ -130,18 +130,18 @@ class MogoTrafficLightManager : IMogoCarLocationChangedListener2 {
                if (trafficLightResult != null && it.isInRange(loc.latitude, loc.longitude)) {
                    inRange = true
 //                    CallerLogger.d(M_V2X + TAG, "进入路口")
-                    CallTrafficLightListenerManager.invokeEnterCrossRoad(true)
+                    CallerTrafficLightListenerManager.invokeEnterCrossRoad(true)
                    return
                }
                if (inRange) {
 //                    CallerLogger.d(M_V2X + TAG, "离开路口")
-                    CallTrafficLightListenerManager.invokeEnterCrossRoad(false)
+                    CallerTrafficLightListenerManager.invokeEnterCrossRoad(false)
                    inRange = false
                    trafficLightResult = null
                    firstLoopCrossRoad = true
                    mThreadHandler?.sendEmptyMessage(MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT)
                    TrafficLightHMIManager.INSTANCE.hideTrafficLight()
-                    CallTrafficLightListenerManager.resetTrafficLightData()
+                    CallerTrafficLightListenerManager.resetTrafficLightData()
                }
            }
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
@@ -7,7 +7,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
 import perception.TrafficLightOuterClass
 import perception.TrafficLightOuterClass.TrafficLight
@@ -34,11 +34,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh
    fun initServer(context: Context){
        mContext = context
        //注册监听AI云获取红绿灯状态
-        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
        //注册监听AI云进入路口
-        CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
+        CallerTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
        //注册监听红绿灯请求失败
-        CallTrafficLightListenerManager.registerTrafficRequestErrorListener(TAG,this)
+        CallerTrafficLightListenerManager.registerTrafficRequestErrorListener(TAG,this)
        //注册监听工控机感知红绿灯
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
    }
@@ -119,13 +119,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLigh

    fun destroy(){
        //取消注册监听AI云获取红绿灯状态
-        CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
        //取消注册监听工控机感知红绿灯
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
        //取消注册监听红绿灯请求失败
-        CallTrafficLightListenerManager.unRegisterTrafficRequestErrorListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterTrafficRequestErrorListener(TAG)
        //取消注册监听AI云进入路口
-        CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
    }

 }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/vip/VipCarManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/vip/VipCarManager.kt
@@ -15,7 +15,7 @@ import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.vip.CallVipSetListenerManager
 import com.mogo.eagle.core.function.v2x.trafficlight.core.MogoTrafficLightManager
 import com.mogo.eagle.core.function.v2x.vip.network.VipNetWorkModel
@@ -183,8 +183,8 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
        )
        CallerHmiManager.vipIdentification(true)
        CallVipSetListenerManager.invokeVipSetStatus(true)
-        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
-        CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
+        CallerTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        CallerTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
    }

    private fun cancelVip() {
@@ -194,8 +194,8 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
        }
        CallerHmiManager.vipIdentification(false)
        CallVipSetListenerManager.invokeVipSetStatus(false)
-        CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
-        CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
+        CallerTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
    }

    private fun canGetThroughCross(