Merge branch 'dev_robotaxi-d-app-module_2120_221017_2.12.0' into dev_robotaxi-d-app-module_2120_yyk_2.12.0

# Conflicts: # OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
2022-10-26 15:19:28 +08:00
parent 79de6f731f f33a63cb64
commit 1b1ad39fe7
48 changed files with 1223 additions and 854 deletions
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -482,6 +482,7 @@ public class BusOrderModel {
            BusSendTripInfoManager.INSTANCE.sendBusTripInfo(BusSendTripInfoManager.END_TRIP
                    , busRoutesResult.getName()
                    ,""
+                    ,""
                    ,false);
        }
    }
@@ -491,16 +492,27 @@ public class BusOrderModel {
     * 服务端返回的OchBusRoutesResult逻辑， 离开站为当前站， 到达下一站后才会将下一站置为当前站，
     * 车机端展示是离开当前站，下一站设置为当前站， 所以服务端数据回来要做处理，不能直接渲染
     */
-    private void leaveStationSuccess(int leaveIndex) {
+    private void leaveStationSuccess(int leaveIndex,String leaveStation,String nextStation) {
+
+        onStartAutopilot(leaveIndex);
+
+        leaveTTSTips(nextStation);

        if (busRoutesResult != null){
+            boolean isLastStop = false;
+            if (leaveIndex + 1 == stationList.size() -1){
+                isLastStop = true;
+            }
            //给bus外屏发送
            BusSendTripInfoManager.INSTANCE.sendBusTripInfo(BusSendTripInfoManager.LEAVE_STATION
                    , busRoutesResult.getName()
-                    ,busRoutesResult.getSites().get(leaveIndex).getName()
-                    ,false);
+                    ,leaveStation
+                    ,nextStation
+                    ,isLastStop);
        }
+    }

+    private void onStartAutopilot(int leaveIndex) {
        //开启自动驾驶 2.10.0: 如果自动驾驶状态下开启， 非自动驾驶状态下不开启，需手动点击自动驾驶按钮开启
        isGoingToNextStation = true;
        if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
@@ -606,6 +618,7 @@ public class BusOrderModel {
        }
        int arrivedStationIndex = backgroundCurrentStationIndex + 1;
        String arriveStation = stationList.get(arrivedStationIndex).getName();
+        String departureStopName = stationList.get(backgroundCurrentStationIndex).getName();
        CallerLogger.INSTANCE.d(M_BUS + TAG,"arriveSiteStation-currentStationIndex = "+ arrivedStationIndex);

        BusServiceManager.arriveSiteStation(mContext ,
@@ -618,10 +631,7 @@ public class BusOrderModel {
                        CallerLogger.INSTANCE.d(M_BUS + TAG,"行程日志-arriveSiteStation success");
                        queryBusRoutes();

-                        arriveStationSuccess(arrivedStationIndex);
-                        VoiceNotice.showNotice(String.format(mContext
-                                        .getString(R.string.bus_arrived_station_tip),
-                                arriveStation));
+                        arriveStationSuccess(arrivedStationIndex,departureStopName,arriveStation);

                        //5s轮询核销乘客
                        startOrStopQueryPassengerWriteOff(true);
@@ -642,20 +652,23 @@ public class BusOrderModel {
                });
    }

-    private void arriveStationSuccess(int arrivedStationIndex) {
+    private void arriveStationSuccess(int arrivedStationIndex,String departureStopName,String arriveStation) {
        if (busRoutesResult != null){
-            boolean isLastStop;
+            boolean isLastStop = false;
            if (arrivedStationIndex == busRoutesResult.getSites().size() - 1 ){
                isLastStop = true;
-            }else {
-                isLastStop = false;
            }
            //给bus外屏发送
            BusSendTripInfoManager.INSTANCE.sendBusTripInfo(BusSendTripInfoManager.ARRIVE_STATION
                    , busRoutesResult.getName()
-                    ,busRoutesResult.getSites().get(arrivedStationIndex).getName()
+                    ,departureStopName
+                    ,arriveStation
                    ,isLastStop);
        }
+
+        VoiceNotice.showNotice(String.format(mContext
+                        .getString(R.string.bus_arrived_station_tip),
+                arriveStation));
    }

    /**
@@ -681,8 +694,7 @@ public class BusOrderModel {
                        //需要更改当前站和下一站的状态 然后渲染
                         startOrStopQueryPassengerWriteOff(false);
                         queryBusRoutes();
-                         leaveStationSuccess(backgroundCurrentStationIndex);
-                         leaveTTSTips(finalNextStationName);
+                         leaveStationSuccess(backgroundCurrentStationIndex,currentStationName,finalNextStationName);
                    }
                    @Override
                    public void onFail(int code, String failMsg) {
@@ -763,7 +775,7 @@ public class BusOrderModel {
                && !stationList.get(0).isLeaving()){ //默认是第一站到站查询
            if (busRoutesResult != null){ // 第一站到站也是行程开始的时候
                BusSendTripInfoManager.INSTANCE.sendBusTripInfo(BusSendTripInfoManager.START_TRIP
-                        ,busRoutesResult.getName(),"",false);
+                        ,busRoutesResult.getName(),"","",false);
            }
            startOrStopQueryPassengerWriteOff(true);
        }
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusSendTripInfoManager.kt
@@ -19,13 +19,17 @@ object BusSendTripInfoManager{
     * 行程信息
     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
     * @param lineName 路线名, for type 1, 2
-     * @param stopName 站点名, for type 3, 4
-     * @param isLastStop 是否终点站
+     * @param departureStopName 出站站点名, for type 3, 4
+     * @param arrivalStopName 下一站到达站点名, for type 3, 4
+     * @param isLastStop 是否终点站(下一站或者要到达站)
     * @return
     */
-    fun sendBusTripInfo(type: Int, lineName: String, stationName: String, isLastStop: Boolean) {
+    fun sendBusTripInfo(type: Int, lineName: String,
+                        departureStopName: String,
+                        arrivalStopName: String,
+                        isLastStop: Boolean) {
        d(SceneConstant.M_BUS + "BusSendTripInfoManager", "type: "+ type
-                +", lineName: "+ lineName + ", stationName: "+stationName+", isLastStop: "+isLastStop)
-        CallerAutoPilotManager.sendTripInfo(type,lineName,stationName,isLastStop)
+                +", lineName: "+ lineName + ", stationName: "+arrivalStopName+", isLastStop: "+isLastStop)
+        CallerAutoPilotManager.sendTripInfo(type,lineName,departureStopName, arrivalStopName, isLastStop)
    }
 }
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.java
@@ -1,6 +1,7 @@
 package com.mogo.och.common.module.utils;

 import android.content.Context;
+import android.location.Location;

 import com.amap.api.maps.CoordinateConverter;
 import com.amap.api.maps.model.LatLng;
@@ -8,7 +9,9 @@ import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;

 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;

 import mogo.telematics.pad.MessagePad;

@@ -161,7 +164,7 @@ public class CoordinateCalculateRouteUtil {
 //            Logger.d(M_TAXI + "calculateRouteSumLength", "点："+currentIndex+"-------是最近的点------ ");
                if (currentIndex == mRoutePoints.size()-1){
                    latePoints.add(mRoutePoints.get(currentIndex));
-                }else {
+                }else if(currentIndex < mRoutePoints.size()-1){
                    latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
                }
                return latePoints;
@@ -202,4 +205,108 @@ public class CoordinateCalculateRouteUtil {
        }
        return currentIndex;
    }
+
+    public static float calculateRouteSumLengthByLocation(List<Location> points){
+        if (null == points || points.size() == 0) return 0;
+
+        float sumLength = 0;
+
+        //计算全路径总距离
+        for (int i = 0;i + 1< points.size();i++){
+            double preLat = points.get(i).getLatitude();
+            double preLon = points.get(i).getLongitude();
+            double laLat  = points.get(i+1).getLatitude();
+            double laLon = points.get(i+1).getLongitude();
+
+            float length = CoordinateUtils.calculateLineDistance(laLon,laLat,preLon,preLat);
+            sumLength += length;
+        }
+        return sumLength;
+    }
+
+
+    public static List<Location> coordinateConverterWgsToGcjLocations(Context mContext, List<MessagePad.Location> models) {
+        //转成MogoLatLng集合
+        List<Location> list = new ArrayList<>();
+        for (MessagePad.Location m : models) {
+            LatLng mogoLatLng = coordinateConverterWgsToGcj(mContext, m);
+            Location location = new Location("gcj_provider");
+            location.setBearing((float) m.getHeading());
+            location.setLatitude(mogoLatLng.latitude);
+            location.setLongitude(mogoLatLng.longitude);
+            list.add(location);
+        }
+        return list;
+    }
+
+    public static Map<Integer,List<LatLng>> getRemainPointListByCompareNew(int preIndex,
+                                                                           List<Location> mRoutePoints,
+                                                                           Location realLocation) {
+        Map<Integer,List<LatLng>> routePonits = new HashMap<>();
+        List<LatLng> latePoints = new ArrayList<>(); // 剩余轨迹集合
+        int currentIndex = 0; //记录疑似点
+        if (mRoutePoints.size() > preIndex){
+            //基础点
+            Location baseLatLng = mRoutePoints.get(preIndex);
+            float baseDiffDis = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
+                    realLocation.getLatitude()
+                    ,baseLatLng.getLongitude(),baseLatLng.getLongitude());// lon,lat, prelon, prelat
+
+            for (int i= preIndex; i < mRoutePoints.size(); i++){
+                Location latLng = mRoutePoints.get(i);
+                //todo 先看index对应点的方向和realLocation方向是否一致， 方向角度不能过90度
+                if (Math.abs(realLocation.getBearing() - latLng.getBearing()) <= 90){
+                    float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
+                            realLocation.getLatitude(),
+                            latLng.getLongitude(),latLng.getLatitude());
+                    if (baseDiffDis > diff ){
+//                    Logger.d(M_TAXI + "calculateRouteSumLength", "点："+i+"-------先记录点----- ");
+                        baseDiffDis = diff;
+                        currentIndex = i;
+                    }
+                }
+            }
+            Logger.d( "calculateRouteSumLength", "点："+currentIndex+"-------是最近的点------ ");
+            if (currentIndex == mRoutePoints.size()-1){
+                Location location = mRoutePoints.get(currentIndex);
+                LatLng latLng = new LatLng(location.getLatitude(), location.getLongitude());
+                latePoints.add(latLng);
+            }else {
+                List<Location> locations = mRoutePoints.subList(currentIndex,mRoutePoints.size()-1);
+                for (Location location: locations) {
+                    LatLng latLng = new LatLng(location.getLatitude(), location.getLongitude());
+                    latePoints.add(latLng);
+                }
+            }
+            routePonits.put(currentIndex,latePoints);
+            return routePonits;
+        }
+        return routePonits;
+    }
+
+    public static int getArrivedPointIndexNew(List<Location> mRoutePoints,
+                                              Location realLocation) {
+        int currentIndex = 0; //记录疑似点         //基础点
+        Location baseLatLng = mRoutePoints.get(0);
+        float baseDiffDis = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
+                realLocation.getLatitude()
+                , baseLatLng.getLongitude(), baseLatLng.getLongitude());// lon,lat, prelon, prelat
+
+        for (int i = 0; i < mRoutePoints.size(); i++) {
+            Location latLng = mRoutePoints.get(i);
+            //todo 先看index对应点的方向和realLocation方向是否一致， 方向角度不能过90度
+            if (Math.abs(realLocation.getBearing() - latLng.getBearing()) <= 90) {
+                float diff = CoordinateUtils.calculateLineDistance(realLocation.getLongitude(),
+                        realLocation.getLatitude(),
+                        latLng.getLongitude(), latLng.getLatitude());
+                if (baseDiffDis > diff) {
+//                    Logger.d(M_TAXI + "calculateRouteSumLength", "点："+i+"-------先记录点----- ");
+                    baseDiffDis = diff;
+                    currentIndex = i;
+                }
+            }
+        }
+        Logger.d("calculateRouteSumLength", "点：" + currentIndex + "-------是最近的点------ ");
+        return currentIndex;
+    }
 }
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -1368,7 +1368,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                break;
            case Constants.TITLE.SEND_TRIP_INFO:
                //行程信息
-                AdasManager.getInstance().sendTripInfoReq(1, "", "", false);
+                AdasManager.getInstance().sendTripInfoReq(1, "x10", "x11", "x12", false);
+                AdasManager.getInstance().sendTripInfoReq(2, "x13", "x14", "x15", true);
+                AdasManager.getInstance().sendTripInfoReq(3, "x16", "x17", "x18", false);
+                AdasManager.getInstance().sendTripInfoReq(4, "x19", "x20", "x21", true);
+                AdasManager.getInstance().sendTripInfoReq(5, "x22", "x23", "x24", false);
                break;
        }
    }
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -571,15 +571,20 @@ class MoGoAutopilotProvider :
    }

    /**
-     * 行程信息
-     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
-     * @param lineName 路线名, for type 1, 2
-     * @param stopName 站点名, for type 3, 4
-     * @param isLastStop
-     * @return
+     * 发生行程相关
+     * type=1或2的时 需要参数 lineName
+     * type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
+     * type=5时 不需要任何参数
+     *
+     * @param type              事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName          路线名
+     * @param departureStopName 出站站点名
+     * @param arrivalStopName   下一站到达站点名
+     * @param isLastStop        是否最终站
+     * @return boolean
     */
-    override fun sendTripInfo(type: Int, lineName: String, stopName: String, isLastStop: Boolean) {
-        AdasManager.getInstance().sendTripInfoReq(type, lineName, stopName, isLastStop)
+    override fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean) {
+        AdasManager.getInstance().sendTripInfoReq(type, lineName, departureStopName,arrivalStopName, isLastStop)
    }

    /**
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt
@@ -1,35 +1,35 @@
- package com.zhjt.mogo_core_function_devatools.badcase.biz
+package com.zhjt.mogo_core_function_devatools.badcase.biz

 import android.content.Context
 import android.graphics.Color
 import android.graphics.drawable.ColorDrawable
 import android.util.AttributeSet
 import android.view.LayoutInflater
-import android.widget.RadioButton
-import android.widget.RadioGroup
 import androidx.constraintlayout.widget.ConstraintLayout
+import androidx.recyclerview.widget.GridLayoutManager
+import com.mogo.eagle.core.data.badcase.RecordTypeEntity
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
-import com.mogo.eagle.core.utilcode.util.SizeUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo_core_function_devatools.R
+import com.zhjt.mogo_core_function_devatools.badcase.biz.adapter.RecordTemplateAdapter
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import kotlinx.android.synthetic.main.layout_badcase_config.view.*
 import mogo.telematics.pad.MessagePad
 import java.lang.Exception


- /**
+/**
 * @author XuXinChao
 * @description BadCase上报信息配置页面
 * @since: 2022/7/5
 */
 internal class BadCaseConfigView @JvmOverloads constructor(
-context: Context,
-attrs: AttributeSet? = null,
-defStyleAttr: Int = 0
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotRecordListener {

    companion object {
@@ -37,18 +37,21 @@ defStyleAttr: Int = 0
    }

    private var clickListener: ClickListener? = null
+    private var recordTemplateAdapter: RecordTemplateAdapter? = null
    private var mIdentity = BadCaseConfig.identity
    private var mPreviousDuration = BadCaseConfig.previousDuration
    private var mBackDuration = BadCaseConfig.backDuration
    private var mType = 1
+    private var recordTypesList = ArrayList<RecordTypeEntity>()
+    private var caseTopicListDialog: CaseTopicListDialog? = null

-    init{
+    init {
        LayoutInflater.from(context).inflate(R.layout.layout_badcase_config, this, true)
        background = ColorDrawable(Color.parseColor("#F0151D41"))
        initView()
    }

-    private fun initView(){
+    private fun initView() {
        //关闭BadCase配置窗口
        ivConfigClose.setOnClickListener {
            clickListener?.onClose()
@@ -75,41 +78,42 @@ defStyleAttr: Int = 0
        //保存配置按钮
        tvConfigSave.setOnClickListener {
            //判断、保存录制时间信息
-            val preTimeStr=etInitiativePreTime.text.toString()
-            val afterTimeStr=etInitiativeAfterTime.text.toString()
+            val preTimeStr = etInitiativePreTime.text.toString()
+            val afterTimeStr = etInitiativeAfterTime.text.toString()

            try {
-                if(preTimeStr.isEmpty()){
+                if (preTimeStr.isEmpty()) {
                    mPreviousDuration = BadCaseConfig.previousDuration
-                }else{
+                } else {
                    mPreviousDuration = preTimeStr.toInt()
                }
-                if(afterTimeStr.isEmpty()){
+                if (afterTimeStr.isEmpty()) {
                    mBackDuration = BadCaseConfig.backDuration
-                }else{
+                } else {
                    mBackDuration = afterTimeStr.toInt()
                }

-                if(mPreviousDuration<0 || mPreviousDuration>30){
+                if (mPreviousDuration < 0 || mPreviousDuration > 30) {
                    ToastUtils.showLong("前溯采集时长最长30S")
                    return@setOnClickListener
                }
-                if(mBackDuration<0 || mBackDuration>300){
+                if (mBackDuration < 0 || mBackDuration > 300) {
                    ToastUtils.showLong("采集总时长最长300S")
                    return@setOnClickListener
                }
-                if((mPreviousDuration+mBackDuration)<5){
+                if ((mPreviousDuration + mBackDuration) < 5) {
                    ToastUtils.showLong("采集总时长最短5S")
                    return@setOnClickListener
                }
-                if((mPreviousDuration+mBackDuration)>300){
+                if ((mPreviousDuration + mBackDuration) > 300) {
                    ToastUtils.showLong("采集总时长最长300S")
                    return@setOnClickListener
                }
                BadCaseConfig.previousDuration = mPreviousDuration
                BadCaseConfig.backDuration = mBackDuration
-                BadCaseConfig.totalDuration = BadCaseConfig.previousDuration + BadCaseConfig.backDuration
-            }catch (e: Exception){
+                BadCaseConfig.totalDuration =
+                    BadCaseConfig.previousDuration + BadCaseConfig.backDuration
+            } catch (e: Exception) {
                ToastUtils.showLong("输入时间格式不合法，请重新输入")
                etInitiativePreTime.text = null
                etInitiativeAfterTime.text = null
@@ -126,14 +130,14 @@ defStyleAttr: Int = 0
        }

        //现场恢复
-        when(BadCaseConfig.identity){
-            "安全员"->{
+        when (BadCaseConfig.identity) {
+            "安全员" -> {
                rbSafetyOfficer.isChecked = true
            }
-            "QA、研发"->{
+            "QA、研发" -> {
                rbDeveloper.isChecked = true
            }
-            "产品、运营、演示"->{
+            "产品、运营、演示" -> {
                rbProduct.isChecked = true
            }
        }
@@ -141,128 +145,67 @@ defStyleAttr: Int = 0
        etInitiativePreTime.hint = "${BadCaseConfig.previousDuration}S"
        etInitiativeAfterTime.hint = "${BadCaseConfig.backDuration}S"

-//        val test1 = TestBean(1,"人工接管自动录制")
-//        val test2 = TestBean(2,"地图采集")
-//        val test3 = TestBean(3,"画龙问题排查")
-//        val test4 = TestBean(4,"误识别问题排查")
-//        val test5 = TestBean(5,"lidar+planning")
-//        val test6 = TestBean(6,"camera+planning")
-//        val test7 = TestBean(7,"bus lidar+planning")
-//        val test8 = TestBean(8,"bus camera+planning")
-//        val test99 = TestBean(99,"ai data")
-//
-//        val list = ArrayList<TestBean>()
-//        list.add(test1)
-//        list.add(test2)
-//        list.add(test3)
-//        list.add(test4)
-//        list.add(test5)
-//        list.add(test6)
-//        list.add(test7)
-//        list.add(test8)
-//        list.add(test99)
-//        list.iterator().forEach {
-//            if(it.id!=99){
-//                val radioButton = RadioButton(context)
-//                val lp = RadioGroup.LayoutParams(
-//                    RadioGroup.LayoutParams.WRAP_CONTENT,
-//                    RadioGroup.LayoutParams.WRAP_CONTENT
-//                )
-//                //设置RadioButton边距 (int left, int top, int right, int bottom)
-//                lp.setMargins(
-//                    SizeUtils.dp2px(0f),
-//                    SizeUtils.dp2px(8f),
-//                    SizeUtils.dp2px(10f),
-//                    SizeUtils.dp2px(8f)
-//                )
-//                //设置RadioButton背景
-//                radioButton.setTextColor(Color.WHITE)
-//
-//                radioButton.buttonDrawable = resources.getDrawable(R.drawable.badcase_radio_button_style)
-//                //设置文字距离四周的距离
-//                radioButton.setPadding(
-//                    SizeUtils.dp2px(12f),
-//                    SizeUtils.dp2px(5f),
-//                    SizeUtils.dp2px(10f),
-//                    SizeUtils.dp2px(5f)
-//                )
-//                radioButton.textSize = SizeUtils.sp2px(9f).toFloat()
-//                radioButton.id = it.id
-//                radioButton.isChecked = it.id == BadCaseConfig.type
-//                //设置文字
-//                radioButton.text = it.src
-//                //将radioButton添加到radioGroup中
-//                rgRecordConfig.addView(radioButton, lp)
-//                rgRecordConfig.setOnCheckedChangeListener { _, checkedId ->
-//                    mType = checkedId
-//                }
-//            }
-//        }
+        recordTemplateAdapter = RecordTemplateAdapter()
+        recordTemplateAdapter?.setListener(object :RecordTemplateAdapter.ClickTemplateListener{
+            override fun onClick(recordTypeEntity: RecordTypeEntity) {
+                //弹窗Topic清单列表
+                showCaseTopicListDialog(recordTypeEntity)
+            }
+
+        })
+        val gridLayoutManager = GridLayoutManager(context,2)
+        rvTemplate.layoutManager = gridLayoutManager
+        rvTemplate.adapter = recordTemplateAdapter
    }

-     fun setClickListener(clickListener: ClickListener) {
-         this.clickListener = clickListener
-     }
+    fun setClickListener(clickListener: ClickListener) {
+        this.clickListener = clickListener
+    }

-     override fun onAutopilotRecordConfig(config: MessagePad.RecordDataConfig) {
-         super.onAutopilotRecordConfig(config)
-         ThreadUtils.runOnUiThread{
-             config.recordTypesList.iterator().forEach {
-                 if(it.id!=99){
-                     val radioButton = RadioButton(context)
-                     val lp = RadioGroup.LayoutParams(
-                         RadioGroup.LayoutParams.WRAP_CONTENT,
-                         RadioGroup.LayoutParams.WRAP_CONTENT
-                     )
-                     //设置RadioButton边距 (int left, int top, int right, int bottom)
-                     lp.setMargins(
-                         SizeUtils.dp2px(0f),
-                         SizeUtils.dp2px(8f),
-                         SizeUtils.dp2px(10f),
-                         SizeUtils.dp2px(8f)
-                     )
-                     //设置RadioButton背景
-                     radioButton.setTextColor(Color.WHITE)
+    private fun showCaseTopicListDialog(recordTypeEntity: RecordTypeEntity){
+        if(caseTopicListDialog == null){
+            caseTopicListDialog = CaseTopicListDialog(context)
+        }
+        caseTopicListDialog?.setData(recordTypeEntity)
+        caseTopicListDialog?.show()
+    }

-                     radioButton.buttonDrawable = resources.getDrawable(R.drawable.badcase_radio_button_style)
-                     //设置文字距离四周的距离
-                     radioButton.setPadding(
-                         SizeUtils.dp2px(12f),
-                         SizeUtils.dp2px(5f),
-                         SizeUtils.dp2px(10f),
-                         SizeUtils.dp2px(5f)
-                     )
-                     radioButton.textSize = SizeUtils.sp2px(9f).toFloat()
-                     radioButton.id = it.id
-                     radioButton.isChecked = it.id == BadCaseConfig.type
-                     //设置文字
-                     radioButton.text = it.desc
-                     //将radioButton添加到radioGroup中
-                     rgRecordConfig.addView(radioButton, lp)
-                     rgRecordConfig.setOnCheckedChangeListener { _, checkedId ->
-                         mType = checkedId
-                     }
-                 }
-
-             }
-         }
-     }
+    override fun onAutopilotRecordConfig(config: MessagePad.RecordDataConfig) {
+        super.onAutopilotRecordConfig(config)
+        ThreadUtils.runOnUiThread {
+            config.recordTypesList.iterator().forEach {
+                if (it.id != 99){
+                    val topicList = ArrayList<String>()
+                    it.topicsList.iterator().forEach {
+                        topicList.add(it)
+                    }
+                    recordTypesList.add(RecordTypeEntity(it.id,it.desc,topicList))
+                }
+            }
+            if(recordTypesList.size>1){
+                recordTemplateAdapter?.setData(recordTypesList)
+                recordTemplateAdapter?.notifyDataSetChanged()
+            }
+        }
+    }


-     override fun onAttachedToWindow() {
-         super.onAttachedToWindow()
-         CallerAutopilotRecordListenerManager.addListener(TAG, this)
-         //获取数据采集录制模式配置列表 TODO
-//         CallerAutoPilotManager.getBadCaseConfig()
-     }
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerAutopilotRecordListenerManager.addListener(TAG, this)
+        //获取数据采集录制模式配置列表
+        CallerAutoPilotManager.getBadCaseConfig(0, 0, listOf())
+        recordTypesList.add(RecordTypeEntity(0,"自定义", arrayListOf()))
+    }

-     override fun onDetachedFromWindow() {
-         super.onDetachedFromWindow()
-         CallerAutopilotRecordListenerManager.removeListener(TAG)
-     }
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerAutopilotRecordListenerManager.removeListener(TAG)
+        recordTypesList.clear()
+    }

-     interface ClickListener{
-         fun onClose()
-     }
+    interface ClickListener {
+        fun onClose()
+    }

 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseListDialog.java
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseListDialog.java
@@ -0,0 +1,63 @@
+package com.zhjt.mogo_core_function_devatools.badcase.biz;
+
+import android.app.Dialog;
+import android.content.Context;
+import android.os.Bundle;
+import android.view.View;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.GridLayoutManager;
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.zhjt.mogo_core_function_devatools.R;
+import com.zhjt.mogo_core_function_devatools.badcase.biz.adapter.CaseListAdapter;
+
+import java.util.ArrayList;
+
+/**
+ * @author XuXinChao
+ * @description BadCase清单选择对话框
+ * @since: 2022/10/19
+ */
+public class CaseListDialog extends Dialog {
+
+    private TextView tvCancel;
+    private RecyclerView rvCaseList;
+    private CaseListAdapter caseListAdapter;
+
+    public CaseListDialog(@NonNull Context context) {
+        super(context, R.style.bad_case_dialog);
+    }
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.dialog_case_list);
+        setCanceledOnTouchOutside(false);
+        init();
+        initEvent();
+    }
+
+    private void init() {
+        tvCancel = findViewById(R.id.tvCancel);
+        rvCaseList = findViewById(R.id.rvCaseList);
+        caseListAdapter = new CaseListAdapter();
+        GridLayoutManager gridLayoutManager = new GridLayoutManager(getContext(),2);
+        gridLayoutManager.setOrientation(RecyclerView.VERTICAL);
+        rvCaseList.setLayoutManager(gridLayoutManager);
+        rvCaseList.setAdapter(caseListAdapter);
+        ArrayList<String> list = new ArrayList<>();
+        list.add("红绿灯检测错误");
+        list.add("接管默认录制");
+        list.add("行程冲突");
+        list.add("自定义A");
+        caseListAdapter.setData(list);
+        caseListAdapter.notifyDataSetChanged();
+    }
+
+    private void initEvent() {
+        tvCancel.setOnClickListener(v -> dismiss());
+
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java
@@ -0,0 +1,147 @@
+package com.zhjt.mogo_core_function_devatools.badcase.biz;
+
+import android.app.Dialog;
+import android.content.Context;
+import android.os.Bundle;
+import android.text.Editable;
+import android.text.TextWatcher;
+import android.util.Log;
+import android.view.KeyEvent;
+import android.view.View;
+import android.widget.EditText;
+import android.widget.ImageView;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.LinearLayoutManager;
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.mogo.eagle.core.data.badcase.RecordTypeEntity;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
+import com.zhjt.mogo_core_function_devatools.R;
+import com.zhjt.mogo_core_function_devatools.badcase.biz.adapter.TopicListAdapter;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import mogo.telematics.pad.MessagePad;
+import record_cache.RecordPanelOuterClass;
+
+/**
+ * @author XuXinChao
+ * @description BadCase Topic列表选择对话框
+ * @since: 2022/10/19
+ */
+public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordListener {
+
+    private static final String TAG = "CaseTopicListDialog";
+    private TextView tvCaseName;
+    private TextView tvSave;
+    private TextView tvCancel;
+    private ImageView ivSearch;
+    private EditText etSearch;
+    private RecyclerView rvTopicList;
+    private TopicListAdapter topicListAdapter;
+    private String searchStr;
+    private List<String> allTopicList = new ArrayList<>();
+
+
+    public CaseTopicListDialog(@NonNull Context context) {
+        super(context, R.style.bad_case_dialog);
+    }
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.dialog_case_topic_list);
+        setCanceledOnTouchOutside(false);
+        CallerAutopilotRecordListenerManager.INSTANCE.addListener(TAG, this);
+        init();
+        initEvent();
+    }
+
+    @Override
+    public void onDetachedFromWindow() {
+        super.onDetachedFromWindow();
+        CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
+    }
+
+    public void setData(RecordTypeEntity recordTypeEntity){
+        tvCaseName.setText(recordTypeEntity.getDesc());
+        //获取所有Topic
+        CallerAutoPilotManager.INSTANCE.getBadCaseConfig(1, 0, new ArrayList<>());
+        if(recordTypeEntity.getTopicsList().size()>0){
+            topicListAdapter.setData(recordTypeEntity.getTopicsList());
+            topicListAdapter.notifyDataSetChanged();
+        }
+    }
+
+    private void init() {
+        tvCaseName = findViewById(R.id.tvCaseName);
+        tvSave = findViewById(R.id.tvSave);
+        tvCancel = findViewById(R.id.tvCancel);
+        ivSearch = findViewById(R.id.ivSearch);
+        etSearch = findViewById(R.id.etSearch);
+        rvTopicList = findViewById(R.id.rvTopicList);
+        LinearLayoutManager linearLayoutManager = new LinearLayoutManager(getContext());
+        linearLayoutManager.setOrientation(LinearLayoutManager.VERTICAL);
+        rvTopicList.setLayoutManager(linearLayoutManager);
+        topicListAdapter = new TopicListAdapter();
+        rvTopicList.setAdapter(topicListAdapter);
+    }
+
+    private void initEvent() {
+        etSearch.addTextChangedListener(new TextWatcher() {
+            @Override
+            public void beforeTextChanged(CharSequence s, int start, int count, int after) {
+
+            }
+
+            @Override
+            public void onTextChanged(CharSequence s, int start, int before, int count) {
+
+            }
+
+            @Override
+            public void afterTextChanged(Editable s) {
+                searchStr = s.toString();
+                if(searchStr!=null && searchStr.length()>0){
+                    ivSearch.setImageDrawable(getContext().getDrawable(R.drawable.icon_bad_case_delect));
+                } else {
+                    ivSearch.setImageDrawable(getContext().getDrawable(R.drawable.icon_bad_case_search));
+                }
+                //TODO
+            }
+        });
+
+        ivSearch.setOnClickListener(v -> {
+            if(searchStr!=null && searchStr.length()>0){
+                etSearch.setText("");
+                ivSearch.setImageDrawable(getContext().getDrawable(R.drawable.icon_bad_case_search));
+            }
+        });
+
+        tvCancel.setOnClickListener(v -> {
+           dismiss();
+        });
+
+    }
+
+    @Override
+    public void onAutopilotRecordConfig(MessagePad.RecordDataConfig config) {
+        ThreadUtils.runOnUiThread(() -> {
+            if(config.getAllTopicsCount()>0){
+               for(int index=0;index<config.getAllTopicsCount();index++){
+                   allTopicList.add(config.getAllTopics(index));
+               }
+            }
+        });
+    }
+
+    @Override
+    public void onAutopilotRecordResult(@NonNull RecordPanelOuterClass.RecordPanel recordPanel) {
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/CaseListAdapter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/CaseListAdapter.kt
@@ -0,0 +1,43 @@
+package com.zhjt.mogo_core_function_devatools.badcase.biz.adapter
+
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.TextView
+import androidx.recyclerview.widget.RecyclerView
+import com.zhjt.mogo_core_function_devatools.R
+
+/**
+ * @author XuXinChao
+ * @description Case清单列表适配器
+ * @since: 2022/10/19
+ */
+class CaseListAdapter: RecyclerView.Adapter<CaseListAdapter.CaseListHolder>() {
+
+    private var data:List<String>? = null
+
+    fun setData( data: List<String>?){
+        this.data = data
+    }
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): CaseListHolder {
+        val view = LayoutInflater.from(parent.context)
+            .inflate(R.layout.item_case_list, parent, false)
+        return CaseListHolder(view)
+    }
+
+    override fun onBindViewHolder(holder: CaseListHolder, position: Int) {
+        data?.let {
+            holder.caseName.text = it[position]
+            holder.caseName.setOnClickListener {
+
+            }
+        }
+    }
+
+    override fun getItemCount() = data?.size ?: 0
+
+    class CaseListHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
+        var caseName: TextView = itemView.findViewById(R.id.caseName)
+    }
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/RecordTemplateAdapter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/RecordTemplateAdapter.kt
@@ -0,0 +1,55 @@
+package com.zhjt.mogo_core_function_devatools.badcase.biz.adapter
+
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.TextView
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.badcase.RecordTypeEntity
+import com.zhjt.mogo_core_function_devatools.R
+import com.zhjt.mogo_core_function_devatools.badcase.biz.BadCaseConfigView
+
+/**
+ * @author XuXinChao
+ * @description 录制模板清单列表适配器
+ * @since: 2022/10/19
+ */
+class RecordTemplateAdapter : RecyclerView.Adapter<RecordTemplateAdapter.RecordTemplateHolder>(){
+
+    private var data:List<RecordTypeEntity>? = null
+    private var clickTemplateListener: ClickTemplateListener? = null
+
+    fun setData( data: List<RecordTypeEntity>?){
+        this.data = data
+    }
+
+    fun setListener(listener: ClickTemplateListener){
+        clickTemplateListener = listener
+    }
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): RecordTemplateHolder {
+        val view = LayoutInflater.from(parent.context)
+            .inflate(R.layout.item_record_template, parent, false)
+        return RecordTemplateHolder(view)
+    }
+
+    override fun onBindViewHolder(holder: RecordTemplateHolder, position: Int) {
+        data?.let {recordTypeEntity->
+            holder.caseName.text = recordTypeEntity[position].desc
+            holder.caseName.setOnClickListener {
+                clickTemplateListener?.onClick(recordTypeEntity[position])
+            }
+        }
+    }
+
+    override fun getItemCount() = data?.size ?: 0
+
+    class RecordTemplateHolder(itemView: View): RecyclerView.ViewHolder(itemView){
+        var caseName: TextView = itemView.findViewById(R.id.caseName)
+    }
+
+    interface ClickTemplateListener{
+        fun onClick(recordTypeEntity: RecordTypeEntity)
+    }
+
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/TopicListAdapter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/TopicListAdapter.kt
@@ -0,0 +1,41 @@
+package com.zhjt.mogo_core_function_devatools.badcase.biz.adapter
+
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.CheckBox
+import androidx.recyclerview.widget.RecyclerView
+import com.zhjt.mogo_core_function_devatools.R
+
+/**
+ * @author XuXinChao
+ * @description Topic列表适配器
+ * @since: 2022/10/19
+ */
+class TopicListAdapter: RecyclerView.Adapter<TopicListAdapter.TopicListHolder>() {
+
+    private var data:List<String>? = null
+
+    fun setData( data: List<String>?){
+        this.data = data
+    }
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): TopicListHolder {
+        val view = LayoutInflater.from(parent.context)
+            .inflate(R.layout.item_topic_list, parent, false)
+        return TopicListHolder(view)
+    }
+
+    override fun onBindViewHolder(holder: TopicListHolder, position: Int) {
+        data?.let{
+            holder.topic_check_box.text = it[position]
+        }
+    }
+
+    override fun getItemCount() = data?.size ?: 0
+
+    class TopicListHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
+        var topic_check_box: CheckBox = itemView.findViewById(R.id.topic_check_box);
+    }
+
+}
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xxhdpi/icon_bad_case_delect.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xxhdpi/icon_bad_case_delect.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xxhdpi/icon_bad_case_search.png
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xxhdpi/icon_bad_case_search.png
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bad_case_dialog_bg.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bad_case_dialog_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#3B4577" />
+    <corners android:radius="32px" />
+</shape>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bad_case_search_bg.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bad_case_search_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#29305E" />
+    <corners android:radius="48px" />
+</shape>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/case_list_normal.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/case_list_normal.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#29305E" />
+    <corners android:radius="20px" />
+</shape>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/case_list_select.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/case_list_select.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#2B6EFF" />
+    <corners android:radius="20px" />
+</shape>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/case_list_selector.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/case_list_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/case_list_select" android:state_focused="true" android:state_pressed="true" />
+    <item android:drawable="@drawable/case_list_select" android:state_focused="false" android:state_pressed="true" />
+    <item android:drawable="@drawable/case_list_select" android:state_selected="true" />
+    <item android:drawable="@drawable/case_list_select" android:state_focused="true" />
+    <item android:drawable="@drawable/case_list_normal" />
+</selector>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/rv_scroll_bar_thumb.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/rv_scroll_bar_thumb.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#33E1E5FF" />
+    <corners android:radius="32px" />
+</shape>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/rv_scroll_bar_track.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/rv_scroll_bar_track.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#29305E" />
+    <corners android:radius="32px" />
+</shape>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/template_list_bg.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/template_list_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#3B4577" />
+    <corners android:radius="24px" />
+</shape>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/dialog_case_list.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/dialog_case_list.xml
@@ -0,0 +1,61 @@
+<?xml version="1.0" encoding="utf-8"?>
+<com.mogo.eagle.core.widget.RoundConstraintLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="1110px"
+    android:layout_height="668px"
+    android:background="#3B4577"
+    app:roundLayoutRadius="32px"
+    >
+
+    <TextView
+        android:id="@+id/tvCaseListTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="case清单"
+        android:textColor="#FFFFFFFF"
+        android:textSize="56px"
+        android:gravity="center"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="50px"
+        />
+
+    <TextView
+        android:id="@+id/tvCancel"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:text="取消"
+        android:textColor="#FFFFFFFF"
+        android:textSize="52px"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:paddingBottom="50px"
+        android:gravity="center"
+        />
+
+    <View
+        android:id="@+id/viewCancelDivider"
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#66B8BFE8"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toTopOf="@id/tvCancel"
+        android:layout_marginBottom="50px"
+        />
+
+    <androidx.recyclerview.widget.RecyclerView
+        android:id="@+id/rvCaseList"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvCaseListTitle"
+        app:layout_constraintBottom_toTopOf="@id/viewCancelDivider"
+        android:layout_margin="50px"
+        />
+
+</com.mogo.eagle.core.widget.RoundConstraintLayout>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/dialog_case_topic_list.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/dialog_case_topic_list.xml
@@ -0,0 +1,126 @@
+<?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="1270px"
+    android:layout_height="959px"
+    >
+
+    <TextView
+        android:id="@+id/tvCaseName"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="#FFFFFFFF"
+        android:textSize="56px"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="50px"
+        />
+
+    <View
+        android:id="@+id/viewVerticalLine"
+        android:layout_width="2px"
+        android:layout_height="160px"
+        android:background="#66B8BFE8"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        />
+
+    <View
+        android:id="@+id/viewHorizontalLine"
+        android:layout_width="match_parent"
+        android:layout_height="2px"
+        android:background="#66B8BFE8"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toTopOf="@id/viewVerticalLine"
+        />
+
+    <TextView
+        android:id="@+id/tvSave"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintTop_toBottomOf="@id/viewHorizontalLine"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/viewVerticalLine"
+        android:text="保存"
+        android:textColor="#FFFFFFFF"
+        android:textSize="52px"
+        android:gravity="center"
+        />
+
+    <TextView
+        android:id="@+id/tvCancel"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintTop_toBottomOf="@id/viewHorizontalLine"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/viewVerticalLine"
+        app:layout_constraintRight_toRightOf="parent"
+        android:text="取消"
+        android:textColor="#FFFFFFFF"
+        android:textSize="52px"
+        android:gravity="center"
+        />
+
+    <androidx.constraintlayout.widget.ConstraintLayout
+        android:id="@+id/clSearchLayout"
+        android:layout_width="1030px"
+        android:layout_height="96px"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvCaseName"
+        android:layout_marginTop="50px"
+        android:focusable="true"
+        android:focusableInTouchMode="true"
+        android:background="@drawable/bad_case_search_bg"
+        >
+
+        <ImageView
+            android:id="@+id/ivSearch"
+            android:layout_width="38px"
+            android:layout_height="42px"
+            app:layout_constraintTop_toTopOf="parent"
+            app:layout_constraintBottom_toBottomOf="parent"
+            app:layout_constraintRight_toRightOf="parent"
+            android:src="@drawable/icon_bad_case_search"
+            android:layout_marginEnd="40px"
+            />
+
+        <EditText
+            android:id="@+id/etSearch"
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            app:layout_constraintTop_toTopOf="parent"
+            app:layout_constraintBottom_toBottomOf="parent"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toLeftOf="@id/ivSearch"
+            android:hint="topic搜索"
+            android:textSize="38px"
+            android:textColor="#FFFFFFFF"
+            android:textColorHint="#B3FFFFFF"
+            android:background="@null"
+            android:layout_marginStart="40px"
+            />
+
+    </androidx.constraintlayout.widget.ConstraintLayout>
+
+    <androidx.recyclerview.widget.RecyclerView
+        android:id="@+id/rvTopicList"
+        android:layout_width="0dp"
+        android:layout_height="0dp"
+        app:layout_constraintLeft_toLeftOf="@id/clSearchLayout"
+        app:layout_constraintRight_toRightOf="@id/clSearchLayout"
+        app:layout_constraintTop_toBottomOf="@id/clSearchLayout"
+        app:layout_constraintBottom_toTopOf="@id/viewHorizontalLine"
+        android:layout_marginTop="50px"
+        android:layout_marginBottom="20dp"
+        android:scrollbars="vertical"
+        android:fadeScrollbars="false"
+        style="@style/rv_vertical_style"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/item_case_list.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/item_case_list.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TextView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/caseName"
+    android:layout_width="430px"
+    android:layout_height="116px"
+    android:textColor="#FFFFFFFF"
+    android:textSize="43px"
+    android:background="@drawable/case_list_selector"
+    android:gravity="center"
+    android:layout_marginTop="5dp"
+    android:layout_marginBottom="5dp"
+    android:clickable="true"
+    android:focusable="true"
+    >
+</TextView>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/item_record_template.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/item_record_template.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TextView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/caseName"
+    android:layout_width="wrap_content"
+    android:layout_height="84px"
+    android:textColor="#FFFFFFFF"
+    android:textSize="34px"
+    android:background="@drawable/case_list_selector"
+    android:gravity="center"
+    android:layout_marginTop="20dp"
+    android:clickable="true"
+    android:focusable="true"
+    android:paddingStart="30dp"
+    android:paddingEnd="30dp"
+    android:layout_marginStart="20dp"
+    >
+</TextView>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/item_topic_list.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/item_topic_list.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<CheckBox xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/topic_check_box"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:button="@drawable/badcase_radio_button_style"
+    android:layout_marginTop="8dp"
+    android:layout_marginBottom="8dp"
+    android:textColor="#FFFFFFFF"
+    android:textSize="38px"
+    android:paddingStart="5dp"
+    android:gravity="center_vertical"
+    >
+</CheckBox>
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_badcase_config.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_badcase_config.xml
@@ -308,6 +308,17 @@
                android:layout_marginStart="@dimen/dp_30"
                />

+            <androidx.recyclerview.widget.RecyclerView
+                android:id="@+id/rvTemplate"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                app:layout_constraintLeft_toLeftOf="@id/tvRecordTemplate"
+                app:layout_constraintRight_toRightOf="parent"
+                app:layout_constraintTop_toBottomOf="@id/tvRecordTemplate"
+                android:background="@drawable/template_list_bg"
+                android:layout_marginTop="@dimen/dp_50"
+                />
+
            <RadioGroup
                android:id="@+id/rgRecordConfig"
                android:layout_width="0dp"
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/values/styles.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/values/styles.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+
+    <style name="bad_case_dialog" parent="@android:style/Theme.Dialog">
+        <item name="android:windowFrame">@null</item>
+        <item name="android:windowNoTitle">true</item>
+        <item name="android:windowBackground">@drawable/bad_case_dialog_bg</item>
+        <item name="android:windowIsFloating">true</item>
+        <item name="android:windowContentOverlay">@null</item>
+    </style>
+
+    <style name="rv_vertical_style">
+        <item name="android:scrollbarSize">5dp</item>
+        <item name="android:scrollbars">horizontal</item>
+        <item name="android:scrollbarThumbVertical">@drawable/rv_scroll_bar_thumb</item>
+        <item name="android:scrollbarTrackVertical">@drawable/rv_scroll_bar_track</item>
+    </style>
+
+
+</resources>
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
@@ -751,7 +751,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                    context?.let { it -> SharedPrefsMgr.getInstance(it).getLong("roadwork", 0) }
                if (currentTime - oldTime!! > 60) { //超过一分钟，才会继续播报重复提醒
                    context?.let { it -> SharedPrefsMgr.getInstance(it).putLong("roadwork", System.currentTimeMillis() / 1000) }
-                    CallerAutoPilotManager.sendTripInfo(5, "", "", false);
+                    CallerAutoPilotManager.sendTripInfo(5, "", "", "", false);
                }
            }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -43,6 +43,10 @@ class SOPSettingView @JvmOverloads constructor(

        }

+        if(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
+            tbMarkingObstacles.visibility = View.GONE
+        }
+
        //引导线动态效果
        tbRouteDynamicEffect.isChecked =
            AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) && !AppIdentityModeUtils.isBus(
@@ -154,6 +158,14 @@ class SOPSettingView @JvmOverloads constructor(
            }
        }

+        if(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
+            tvSpeedThresholdTitle.visibility = View.GONE
+            ivSpeedReduce.visibility = View.GONE
+            tvSpeed.visibility = View.GONE
+            ivSpeedAdd.visibility = View.GONE
+            btnSpeedSet.visibility = View.GONE
+        }
+
    }

 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
@@ -71,7 +71,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis

    private BluetoothMonitorReceiver mBluetoothReceiver = null;
    private BluetoothAdapter mBluetoothAdapter;
-    private List<BluetoothDevice> mAreadlyConnectedList = new ArrayList<>();//已连接设备集合
+//    private List<BluetoothDevice> mAreadlyConnectedList = new ArrayList<>();//已连接设备集合
    private int numberA = 0;
    private boolean isLongPressA = false;
    private int numberB = 0;
@@ -98,13 +98,11 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
        super.onResume();

        initBluetooth();
-
        mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
        if (!mBluetoothAdapter.isEnabled()) {
            mBluetoothAdapter.enable();
        }
        mBluetoothAdapter.startDiscovery();
-
        showBondedDevice(mBluetoothAdapter);
    }

@@ -212,30 +210,6 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis

    @Override
    public boolean onKeyDown(int keyCode, KeyEvent event) {
-        if (keyCode == KeyEvent.KEYCODE_VOLUME_UP) { //向上长按 开启自动驾驶
-            long currentTime = System.currentTimeMillis() / (1000);
-            long oldTime = SharedPrefsMgr.getInstance(getContext()).getLong("old_time_up", 0);
-            if (currentTime - oldTime > 6) {
-                SharedPrefsMgr.getInstance(getContext()).putLong("old_time_up", System.currentTimeMillis() / 1000);
-//                ToastUtils.showShort("长按 ↑↑↑ 开启自动驾驶");
-//                CallerAutoPilotManager.INSTANCE.setControlAutopilotCarAuto(true);
-                CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
-
-            }
-
-            return true;
-        } else if (keyCode == KeyEvent.KEYCODE_VOLUME_DOWN) { //下和中间键盘长按，减速为-2
-            long currentTime = System.currentTimeMillis() / (1000);
-            long oldTime = SharedPrefsMgr.getInstance(getContext()).getLong("old_time_down", 0);
-            if (currentTime - oldTime > 6) {
-                SharedPrefsMgr.getInstance(getContext()).putLong("old_time_down", System.currentTimeMillis() / 1000);
-//                ToastUtils.showShort("长按 ↓↓↓ 减速 -2 ");
-                sendAcc(true, -2);
-            }
-            return true;
-        }
-
-//        Log.e("liyz", "onKeyDown keyCode = " + keyCode + "--action = " + event.getAction() + "---" + event);
        return super.onKeyDown(keyCode, event);
    }

@@ -243,109 +217,112 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
    @Override
    public boolean dispatchKeyEvent(KeyEvent event) {
 //        Log.d("liyz", "dispatchKeyEvent code = " + event.getKeyCode() +  "--action = " + event.getAction() + "----" + event);
-        if (event.getKeyCode() == KeyEvent.KEYCODE_A) { //单击向左变道，长按-1
-            if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                numberA++;
-                if (numberA > 2) {
-                    if (!isLongPressA) {
-//                        ToastUtils.showShort("方块 长按A -2 ");
-                        sendAcc(true, -2);
-                        isLongPressA = true;
-                    }
-                }
-            } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                if (numberA == 1) {
-//                    ToastUtils.showShort("方块 点击A -1 ");
-                    sendAcc(true, -1);
-                }
-                numberA = 0;
-                isLongPressA = false;
-            }
-            return true;
-        } else if (event.getKeyCode() == KeyEvent.KEYCODE_B) { //单击向右变道，长按-2
-            if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                numberB++;
-                if (numberB > 2) {
-                    if (!isLongPressB) {
-//                        ToastUtils.showShort("方块 长按B 无操作 ");
-                        isLongPressB = true;
-                    }
-                }
-            } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                if (numberB == 1) {
-//                    ToastUtils.showShort("方块 单击B 复原 ");
-                    sendAcc(false, 0.0);
-                }
-                numberB = 0;
-                isLongPressB = false;
-            }
-            return true;
-        } else if (event.getKeyCode() == KeyEvent.KEYCODE_C) { //单击鸣笛，
-            if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                numberC++;
-                if (numberC > 2) {
-                    if (!isLongPressC) {
-//                        ToastUtils.showShort("方块 长按C 无操作");
-                        isLongPressC = true;
-                    }
-                }
-            } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                if (numberC == 1) {
-//                    ToastUtils.showShort("方块 单击C ← 向左变道 ");
-                    CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
-                }
-                numberC = 0;
-                isLongPressC = false;
-            }
-            return true;
-        } else if (event.getKeyCode() == KeyEvent.KEYCODE_D) { //单击开启自动驾驶，
-            if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                numberD++;
-                if (numberD > 2) {
-                    if (!isLongPressD) {
-//                        ToastUtils.showShort("方块 长按D  无操作");
-                        isLongPressD = true;
-                    }
-                }
-            } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                if (numberD == 1) {
-//                    ToastUtils.showShort("方块 单击D → 向右变道 ");
-                    CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
-                }
-                numberD = 0;
-                isLongPressD = false;
-            }
-            return true;
-        } else if (event.getKeyCode() == KeyEvent.KEYCODE_E) { //单击复原，
-            if (event.getAction() == KeyEvent.ACTION_DOWN) {
-                numberE++;
-                if (numberE > 2) {
-                    if (!isLongPressE) {
-//                        ToastUtils.showShort("方块 长按E 鸣笛 ");
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
-                        if (timerHorn == null) {
-                            timerHorn = new Timer();
+        String bluetoothName = SharedPrefsMgr.getInstance(getContext()).getString("BLUETOOTH");
+        if (bluetoothName.equals("MINI_KEYBOARD")) {
+            if (event.getKeyCode() == KeyEvent.KEYCODE_A) { //单击向左变道，长按-1
+                if (event.getAction() == KeyEvent.ACTION_DOWN) {
+                    numberA++;
+                    if (numberA > 2) {
+                        if (!isLongPressA) {
+                            ToastUtils.showShort("方块 长按A -2 ");
+                            sendAcc(true, -2);
+                            isLongPressA = true;
                        }
-                        timerHorn.schedule(new TimerTask() {
-                            @Override
-                            public void run() {
-                                CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
-                                timerHorn = null;
-                            }
-                        }, 500);
-                        isLongPressE = true;
                    }
+                } else if (event.getAction() == KeyEvent.ACTION_UP) {
+                    if (numberA == 1) {
+                        ToastUtils.showShort("方块 点击A -1 ");
+                        sendAcc(true, -1);
+                    }
+                    numberA = 0;
+                    isLongPressA = false;
                }
-            } else if (event.getAction() == KeyEvent.ACTION_UP) {
-                if (numberE == 1) {
-//                    ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
+                return true;
+            } else if (event.getKeyCode() == KeyEvent.KEYCODE_B) { //单击向右变道，长按-2
+                if (event.getAction() == KeyEvent.ACTION_DOWN) {
+                    numberB++;
+                    if (numberB > 2) {
+                        if (!isLongPressB) {
+                            ToastUtils.showShort("方块 长按B 无操作 ");
+                            isLongPressB = true;
+                        }
+                    }
+                } else if (event.getAction() == KeyEvent.ACTION_UP) {
+                    if (numberB == 1) {
+                        ToastUtils.showShort("方块 单击B 复原 ");
+                        sendAcc(false, 0.0);
+                    }
+                    numberB = 0;
+                    isLongPressB = false;
+                }
+                return true;
+            } else if (event.getKeyCode() == KeyEvent.KEYCODE_C) { //单击鸣笛，
+                if (event.getAction() == KeyEvent.ACTION_DOWN) {
+                    numberC++;
+                    if (numberC > 2) {
+                        if (!isLongPressC) {
+                            ToastUtils.showShort("方块 长按C 无操作");
+                            isLongPressC = true;
+                        }
+                    }
+                } else if (event.getAction() == KeyEvent.ACTION_UP) {
+                    if (numberC == 1) {
+                        ToastUtils.showShort("方块 单击C ← 向左变道 ");
+                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
+                    }
+                    numberC = 0;
+                    isLongPressC = false;
+                }
+                return true;
+            } else if (event.getKeyCode() == KeyEvent.KEYCODE_D) { //单击开启自动驾驶，
+                if (event.getAction() == KeyEvent.ACTION_DOWN) {
+                    numberD++;
+                    if (numberD > 2) {
+                        if (!isLongPressD) {
+                            ToastUtils.showShort("方块 长按D  无操作");
+                            isLongPressD = true;
+                        }
+                    }
+                } else if (event.getAction() == KeyEvent.ACTION_UP) {
+                    if (numberD == 1) {
+                        ToastUtils.showShort("方块 单击D → 向右变道 ");
+                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
+                    }
+                    numberD = 0;
+                    isLongPressD = false;
+                }
+                return true;
+            } else if (event.getKeyCode() == KeyEvent.KEYCODE_E) { //单击复原，
+                if (event.getAction() == KeyEvent.ACTION_DOWN) {
+                    numberE++;
+                    if (numberE > 2) {
+                        if (!isLongPressE) {
+                            ToastUtils.showShort("方块 长按E 鸣笛 ");
+                            CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+                            if (timerHorn == null) {
+                                timerHorn = new Timer();
+                            }
+                            timerHorn.schedule(new TimerTask() {
+                                @Override
+                                public void run() {
+                                    CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                                    timerHorn = null;
+                                }
+                            }, 500);
+                            isLongPressE = true;
+                        }
+                    }
+                } else if (event.getAction() == KeyEvent.ACTION_UP) {
+                    if (numberE == 1) {
+                        ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
 //                    CallerAutoPilotManager.INSTANCE.setControlAutopilotCarAuto(true);
-                    CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                        CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                    }
+                    numberE = 0;
+                    isLongPressE = false;
                }
-                numberE = 0;
-                isLongPressE = false;
+                return true;
            }
-            return true;
        }

        return super.dispatchKeyEvent(event);
@@ -353,43 +330,6 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis

    @Override
    public boolean dispatchTouchEvent(MotionEvent event) {
-//        Log.d("liyz", "dispatchTouchEvent event.getX() = " + event.getX() + "--event.getY() = " + event.getY() + "--action = " + event.getAction());
-        if (event.getX() == -1469.6875 && event.getY() == 530.0) { //向左变道
-//            ToastUtils.showShort("← 向左变道");
-            CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
-
-            return true;
-        } else if (event.getX() == -1096.25 && event.getY() == 132.5) { //鸣笛
-//            ToastUtils.showShort("↑ 鸣笛 ");
-            CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
-
-            if (timerHorn == null) {
-                timerHorn = new Timer();
-            }
-            timerHorn.schedule(new TimerTask() {
-                @Override
-                public void run() {
-                    CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
-                    timerHorn = null;
-                }
-            }, 500);
-
-            return true;
-        } else if (event.getX() == -863.4375 && event.getY() == 690.0) { //向右变道
-            CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
-//            ToastUtils.showShort("→ 向右变道");
-            return true;
-        } else if (event.getX() == -1096.25 && event.getY() == 1099.0) { // -1减速
-            sendAcc(true, -1);
-//            ToastUtils.showShort("↓ 减速 -1 ");
-
-            return true;
-        } else if (event.getX() == -1096.25 && event.getY() == 690.0) { //复原
-//            ToastUtils.showShort("O 复原 ");
-            sendAcc(false, 0.0);
-
-            return true;
-        }

        return super.dispatchTouchEvent(event);
    }
@@ -444,10 +384,9 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
    /**
     * 查找蓝牙连接过的蓝牙设备
     *
-     * @param bluetoothAdapter
     */
    private void showBondedDevice(BluetoothAdapter bluetoothAdapter) {
-        mAreadlyConnectedList.clear();
+//        mAreadlyConnectedList.clear();
        Set<BluetoothDevice> deviceList = bluetoothAdapter.getBondedDevices();
        for (BluetoothDevice device : deviceList) {
            try {
@@ -455,14 +394,10 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                Method isConnectedMethod = BluetoothDevice.class.getDeclaredMethod("isConnected", (Class[]) null);
                isConnectedMethod.setAccessible(true);
                boolean isConnected = (boolean) isConnectedMethod.invoke(device, (Object[]) null);
-                mAreadlyConnectedList.add(device);
-                if (device.getName().equals("JX-05")) { //后面魔戒可能不使用了
-                    SharedPrefsMgr.getInstance(getContext()).putString("BT_MAC", device.getAddress());
-                }
-                if (!isConnected) {
-                    UiThreadHandler.postDelayed(() -> {
-                        connectBluetooth(); //主动连接一次
-                    }, 4000L);
+//                mAreadlyConnectedList.add(device);
+//                Log.d("liyz", "-- device.getName() = " + device.getName()); //device.getAddress()
+                if (device.getName().equals("MINI_KEYBOARD")) {
+                    SharedPrefsMgr.getInstance(getContext()).putString("BLUETOOTH", device.getName());
                }
            } catch (NoSuchMethodException e) {
                e.printStackTrace();
@@ -474,41 +409,11 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
        }
    }

-
    @Subscribe(threadMode = ThreadMode.MAIN)
    public void onAutoConnection(ConnectBluetoothEvent event) {
 //        connectBluetooth();
    }

-    /**
-     * 主动连接最近的一次连接
-     */
-    private void connectBluetooth() {
-        if (mAreadlyConnectedList.size() > 0) {
-            try {
-                Method method = BluetoothDevice.class.getMethod("createBond");
-                String macAddress = SharedPrefsMgr.getInstance(getContext()).getString("BT_MAC");
-                int pos = -1;
-                for (int i = 0; i < mAreadlyConnectedList.size(); i++) {
-                    if (macAddress.equals(mAreadlyConnectedList.get(i).getAddress())) {
-                        pos = i;
-                    }
-                }
-
-                if (mAreadlyConnectedList.size() > pos && (pos >= 0)) {
-                    method.invoke(mAreadlyConnectedList.get(pos));
-                }
-
-            } catch (NoSuchMethodException e) {
-                e.printStackTrace();
-            } catch (IllegalAccessException e) {
-                e.printStackTrace();
-            } catch (InvocationTargetException e) {
-                e.printStackTrace();
-            }
-        }
-    }
-

 }

--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -329,69 +329,42 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun refreshCarState(location: MogoLocation) {
        V2XStatusManager.getInstance().location = location
-//        V2XAiRoadEventMarker.onLocationChanged(location)
-        // 只有车速大于 5 的时候进行计算
-        if (location.speed < 5) return
        val v2xPolyline = BridgeApi.v2xPolyline()?.mogoPolyline
        val isRoadEventPOIShow = BridgeApi.v2xStatus()?.isRoadEventPOIShow ?: false
-        val isOtherSeekHelpPOIShow = BridgeApi.v2xStatus()?.isOtherSeekHelpPOIShow ?: false
        val v2xStatusManager = V2XStatusManager.getInstance()
-        if (v2xPolyline != null && (isRoadEventPOIShow or isOtherSeekHelpPOIShow) && v2xStatusManager.targetMoGoLatLng != null) { // 取出原有的绘制线的经纬度点
+        if (v2xPolyline != null && (isRoadEventPOIShow) && v2xStatusManager.targetMoGoLatLng != null) { // 取出原有的绘制线的经纬度点
            // 取出原有的绘制线的经纬度点
            val pointsOdl: MutableList<MogoLatLng> = v2xPolyline.points // 重新设置第一个坐标，也就是当前车辆位置
            // 重新设置第一个坐标，也就是当前车辆位置
            pointsOdl[0] = MogoLatLng(location.latitude, location.longitude)
            v2xPolyline.points = pointsOdl
-
            //CallerLogger.d("$M_V2X$TAG", "当前地图的缩放比例为：" + zoomLevel);
            val zoomLevel: Float = CallerMapUIServiceManager.getMapUIController()?.zoomLevel ?: 0.0f
            //CallerLogger.d("$M_V2X$TAG", "当前地图的缩放比例为：" + zoomLevel);
-            if (zoomLevel > 0 && zoomLevel <= 17 && BridgeApi.v2xStatus()?.isRoadEventWindowShow == false) { // 缩放地图
+            if (zoomLevel > 0 && zoomLevel <= 17) { // 缩放地图
                val context: Context = context()
                MapUtils.zoomMap(v2xStatusManager.targetMoGoLatLng, context)
            }
        }

-//        if (DebugConfig.isMapBased()) { // 只有自研车机才有疲劳驾驶检测
-//            // 只有自研车机才有疲劳驾驶检测
-//            if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_SELF_INNOVATE) {
-//                V2XAlarmServer.getFatigueDrivingShow(location) { drivingShowEntity ->
-//                    CallerLogger.i("$M_V2X$TAG", "疲劳驾驶POI查询结果为: " + GsonUtil.jsonFromObject(drivingShowEntity))
-//                    val style = if (V2XServiceManager.getMoGoStatusManager().isMainPageOnResume()) "1" else "2"
-//                    com.mogo.module.v2x.listener.V2XLocationListener.trackWithType(ALERT_FATIGUE_DRIVING.poiType, drivingShowEntity.getLon(), drivingShowEntity.getLat(), style)
-//                    val v2XMessageEntity = V2XMessageEntity<V2XPushMessageEntity>()
-//                    v2XMessageEntity.type = V2XTypeEnum.ALERT_FATIGUE_DRIVING
-//                    v2XMessageEntity.setContent(drivingShowEntity)
-//                    v2XMessageEntity.isShowState = drivingShowEntity.isShowWindow() // 广播给ADAS Launcher
-//                    ADASUtils.broadcastToADAS(context(), drivingShowEntity)
-//                    V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
-//                }
-//            }
-//        }
-
        // 巡航处理
        val v2XRoadEventEntity = V2XAlarmServer.getDriveFrontAlarmEvent(
            BridgeApi.v2xMarker()?.v2XRoadEventEntityList,
            V2XStatusManager.getInstance().location
-        ) // 距离是否大于10米 && 消息是否不为空
-        // 距离是否大于10米 && 消息是否不为空
-        if (v2XRoadEventEntity != null && v2XRoadEventEntity.distance >= 5) { //            CallerLogger.w("$M_V2X$TAG",
-            //                    //"\nV2X预警--当前导航状态:" + V2XServiceManager.getNavi().isNaviing() +
-            //                    //"\nV2X预警--roadEventIsNullCount:" + roadEventIsNullCount +
-            //                    "\nV2X预警--当前预警事件:" + v2XRoadEventEntity
-            //            );
-            // CallerLogger.w("$M_V2X$TAG", "V2X预警--前方数据距离:" + v2XRoadEventEntity.getDistance());
-            // 触发展示操作
-            TrackUtils.trackV2xRoadProduceEvent(1)
-            val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
-            v2XMessageEntity.type = V2XTypeEnum.ALERT_ROAD_WARNING
-            v2XMessageEntity.content = v2XRoadEventEntity
-            v2XMessageEntity.isShowState = true
-            V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
-
-            // 存储本地，出行动态作展示
-            saveLocalStory(V2XTypeEnum.ALERT_ROAD_WARNING, v2XRoadEventEntity.noveltyInfo)
-
+        )
+        if (v2XRoadEventEntity != null) { //            CallerLogger.w("$M_V2X$TAG",
+            val distance = v2XRoadEventEntity.distance
+            val min = if (EventTypeEnum.AI_ROAD_WORK.poiType == v2XRoadEventEntity.poiType) 0 else 5
+            Logger.d(TAG, "--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.speed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}")
+            if (distance >= min) {
+                Logger.d(TAG, "--- trigger show ---:poiType:" + v2XRoadEventEntity.poiType)
+                TrackUtils.trackV2xRoadProduceEvent(1)
+                val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
+                v2XMessageEntity.type = V2XTypeEnum.ALERT_ROAD_WARNING
+                v2XMessageEntity.content = v2XRoadEventEntity
+                v2XMessageEntity.isShowState = true
+                V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
+            }
        }
    }

@@ -507,11 +480,6 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb

    private fun handleRoadMarkerEvent(data: V2XMarkerCardResult) {
        try {
-            BridgeApi.v2xStatus()?.let {
-                if (it.isRoadEventWindowShow) {
-                    return
-                }
-            }
            scope.launch(Dispatchers.Default) {
                BridgeApi.v2xMarker()?.analysisV2XRoadEvent(data)
            }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
@@ -1,18 +1,13 @@
 package com.mogo.eagle.core.function.v2x.events.alarm;

-import android.text.TextUtils;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.v2x.events.utils.DrivingDirectionUtils;
-import com.mogo.eagle.core.utilcode.constant.TimeConstants;
-import com.mogo.eagle.core.utilcode.util.TimeUtils;
-import com.mogo.module.common.entity.MarkerExploreWay;
 import com.mogo.module.common.entity.MarkerLocation;
 import com.mogo.module.common.entity.V2XRoadEventEntity;
 import com.mogo.module.common.enums.EventTypeEnum;
-
-import java.util.HashMap;
-import java.util.concurrent.ConcurrentHashMap;
+import java.util.Iterator;
 import java.util.concurrent.CopyOnWriteArrayList;
+import io.netty.util.internal.ConcurrentSet;

 /**
 * @author donghongyu
@@ -29,11 +24,7 @@ import java.util.concurrent.CopyOnWriteArrayList;
 public class V2XAlarmServer {

    // 记录道路播报的事件
-    public static ConcurrentHashMap<V2XRoadEventEntity, String> mAlertRoadEventList = new ConcurrentHashMap<>();
-
-    // 记录违章停车播报事件
-    private static final HashMap<MarkerExploreWay, String> mAlertIllegalParkEventList = new HashMap<>();
-
+    private static ConcurrentSet<V2XRoadEventEntity> showedEvents = new ConcurrentSet<>();
    /**
     * 获取当前车辆前方距离最近的道路事件
     */
@@ -41,9 +32,22 @@ public class V2XAlarmServer {
            CopyOnWriteArrayList<V2XRoadEventEntity> v2XRoadEventEntityList,
            MogoLocation currentLocation) {
        try {
-            // 检测道路事件是否需UGC问答
-            V2XEarlyWarningServer.roadEventUgcCheck(currentLocation);
-            // 60(km/h)
+            if (!showedEvents.isEmpty()) {
+                Iterator<V2XRoadEventEntity> iterator = showedEvents.iterator();
+                while (iterator.hasNext()) {
+                    V2XRoadEventEntity next = iterator.next();
+                    if (next == null) {
+                        continue;
+                    }
+                    MarkerLocation poiLocation = next.getLocation();
+                    if (poiLocation == null) {
+                        continue;
+                    }
+                    if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getBearing())) {
+                        iterator.remove();
+                    }
+                }
+            }
            if (currentLocation != null && v2XRoadEventEntityList != null) {
                // 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告
                for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
@@ -73,71 +77,14 @@ public class V2XAlarmServer {
                                        (int) currentLocation.getBearing()
                                );
                                if (0 <= eventAngle && eventAngle <= 20) {
-                                    // 判断是否已经提示过道路事件
-                                    boolean isAlreadyAlert = false;
-                                    String lastTime = mAlertRoadEventList.get(v2XRoadEventEntity);
-                                    if (!TextUtils.isEmpty(lastTime)) {
-                                        long timeSpan = Math.abs(TimeUtils.getTimeSpanByNow(lastTime, TimeConstants.MIN));
-//                                    CallerLogger.INSTANCE.w(M_V2X + "V2XAlarmServer",
-//                                            "V2X预警--事件ID：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
-//                                                    "\n上一次预警时间：" + lastTime +
-//                                                    "\n距离当前时间：" + timeSpan);
-                                        // 5分钟内不重复提醒
-                                        if (timeSpan < 5) {
-                                            isAlreadyAlert = true;
-                                        }
+                                    if (showedEvents.contains(v2XRoadEventEntity)) {
+                                        return null;
                                    }
-                                    // 进行提醒
-                                    if (!isAlreadyAlert) {
-//                                        CallerLogger.INSTANCE.w(M_V2X + "V2XAlarmServer", "V2X预警--车辆与事件信息：" +
-//                                                "\n事件详情ID：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
-//                                                "\n事件详情：" + GsonUtil.jsonFromObject(v2XRoadEventEntity.getNoveltyInfo()) +
-//                                                "\n距离：" + v2XRoadEventEntity.getDistance() + "米" +
-//                                                "\n是否已经提醒：" + isAlreadyAlert +
-//                                                "\n当前车辆-经度：" + currentLocation.getLongitude() +
-//                                                "\n当前车辆-经度：" + currentLocation.getLatitude() +
-//                                                "\n当前车辆-角度：" + currentLocation.getBearing() +
-//                                                "\n道路事件-经度：" + eventLocation.getLon() +
-//                                                "\n道路事件-经度：" + eventLocation.getLat() +
-//                                                "\n道路事件-角度：" + eventLocation.getAngle() +
-//                                                "\n夹角角度：" + eventAngle + " 度"
-//                                        );
-                                        mAlertRoadEventList.put(v2XRoadEventEntity, TimeUtils.getNowString());
-                                        return v2XRoadEventEntity;
-                                    }
-                                    return null;
-                                } else {
-//                                CallerLogger.INSTANCE.w(M_V2X + "V2XAlarmServer", "V2X预警--事件与车头角度夹角过大：" +
-//                                        "\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
-//                                        "\n当前车辆-经度：" + currentLocation.getLongitude() +
-//                                        "\n当前车辆-经度：" + currentLocation.getLatitude() +
-//                                        "\n当前车辆-角度：" + currentLocation.getBearing() +
-//                                        "\n道路事件-经度：" + eventLocation.getLon() +
-//                                        "\n道路事件-经度：" + eventLocation.getLat() +
-//                                        "\n道路事件-角度：" + eventLocation.getAngle() +
-//                                        "\n夹角角度：" + eventAngle + " 度"
-//                                );
+                                    showedEvents.add(v2XRoadEventEntity);
+                                    return v2XRoadEventEntity;
                                }
-                            } else {
-//                                CallerLogger.INSTANCE.w(M_V2X + "V2XAlarmServer",
-//                                        "V2X预警--车头方向与事件方向角度不一致：" +
-//                                                "\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
-//                                                "\n车头方向： " + carBearing +
-//                                                "\n事件方向：" + eventBearing +
-//                                                "\n角度差值：" + diffAngle
-//                                );
                            }
-                        } else {
-//                            CallerLogger.INSTANCE.w(M_V2X + "V2XAlarmServer", "V2X预警--车辆距离事件距离大于500米了：" +
-//                                    "\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId() +
-//                                    "\n距离：" + v2XRoadEventEntity.getDistance() + "米"
-//                            );
                        }
-                    } else {
-//                        CallerLogger.INSTANCE.e(M_V2X + "V2XAlarmServer",
-//                                "V2X预警--道路事件没有角度信息" +
-//                                        "\n事件详情：" + v2XRoadEventEntity.getNoveltyInfo().getInfoId()
-//                        );
                    }
                }
            }
@@ -147,4 +94,14 @@ public class V2XAlarmServer {
        return null;
    }

+
+    private static boolean isOutOfRange(double poi_lon, double poi_lat, double car_lon, double car_lat, double car_angle) {
+        return !isFrontOfCar(poi_lon, poi_lat, car_lon, car_lat, car_angle);
+    }
+
+    private static boolean isFrontOfCar(double poi_lon, double poi_lat, double car_lon, double car_lat, double car_angle) {
+        double degree = DrivingDirectionUtils.getDegreeOfCar2Poi(car_lon, car_lat, poi_lon, poi_lat, (int)car_angle);
+        return degree <= 90;
+    }
+
 }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XEarlyWarningServer.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XEarlyWarningServer.java
@@ -1,101 +0,0 @@
-package com.mogo.eagle.core.function.v2x.events.alarm;
-
-import android.content.Intent;
-
-import androidx.localbroadcastmanager.content.LocalBroadcastManager;
-
-import com.mogo.eagle.core.function.v2x.events.consts.V2XConst;
-import com.mogo.eagle.core.function.v2x.events.utils.DrivingDirectionUtils;
-import com.mogo.eagle.core.utilcode.util.Utils;
-import com.mogo.eagle.core.data.map.MogoLocation;
-import com.mogo.module.common.entity.MarkerLocation;
-import com.mogo.module.common.entity.V2XMessageEntity;
-import com.mogo.module.common.entity.V2XRoadEventEntity;
-import com.mogo.module.common.enums.EventTypeEnum;
-
-import java.util.ArrayList;
-import java.util.Set;
-
-
-/**
- * V2X 道路预警服务
- */
-public class V2XEarlyWarningServer {
-    private static final String TAG = "V2XEarlyWarningServer";
-
-    private static ArrayList<String> alertMessageId = new ArrayList<>();
-
-    /**
-     * 对提醒过的道路事件进行UGC检测
-     *
-     * @param currentLocation 当前车辆位置
-     */
-    public static void roadEventUgcCheck(MogoLocation currentLocation) {
-
-        try {
-            if (currentLocation != null) {
-                // 循环已经播报的道路事件，将刚行驶过的道路事件进行弹窗交互，进行UGC问答，
-                Set<V2XRoadEventEntity> keySet = V2XAlarmServer.mAlertRoadEventList.keySet();
-                for (V2XRoadEventEntity v2XRoadEventEntity : keySet) {
-                    // 计算车辆距离指定气泡的距离
-                    MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
-                    double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
-                            currentLocation.getLongitude(),
-                            currentLocation.getLatitude(),
-                            eventLocation.getLon(),
-                            eventLocation.getLat(),
-                            (int) currentLocation.getBearing()
-                    );
-
-                    double carBearing = currentLocation.getBearing();
-                    String roadInfoId = v2XRoadEventEntity.getNoveltyInfo().getInfoId();
-
-                    // 封路、施工、拥堵、拥堵 才会有UGC提示
-                    if (EventTypeEnum.isNeedRoadEventUgc(v2XRoadEventEntity.getPoiType())) {
-//                        CallerLogger.INSTANCE.d(M_V2X + TAG,
-//                                "V2X预警--UGC检测：" +
-//                                        "\n事件详情：" + roadInfoId +
-//                                        "\n事件详情：" + EventTypeUtils.getPoiTypeStr(v2XRoadEventEntity.getPoiType()) +
-//                                        "\n车头方向： " + carBearing +
-//                                        "\n车与事件夹角：" + eventAngle +
-//                                        "\n已经UGC的事件：" + GsonUtil.jsonFromObject(alertMessageId)
-//                        );
-                        // 判断是否预警过了
-                        if (!alertMessageId.contains(roadInfoId)) {
-                            // 判断车辆行驶角度是否与事件相反，相反的话表示已经行驶过去了
-                            if (80 <= eventAngle) {
-//                                CallerLogger.INSTANCE.d(M_V2X + TAG, "V2X预警UGC--事件与车头角度夹角过大：" +
-//                                        "\n角度：" + eventAngle + " 度" +
-//                                        "\n事件详情：" + roadInfoId +
-//                                        "\n库存事件：" + V2XAlarmServer.mAlertRoadEventList.size()
-//                                );
-
-                                // 记录已经 UGC 提醒过的数据
-                                alertMessageId.add(roadInfoId);
-
-                                // 加载数据源
-                                V2XMessageEntity<V2XRoadEventEntity> v2xMessageEntity = new V2XMessageEntity<>();
-                                // 控制类型
-                                v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_EVENT_UGC_WARNING);
-                                // 设置数据
-                                v2xMessageEntity.setContent(v2XRoadEventEntity);
-                                // 控制展示状态
-                                v2xMessageEntity.setShowState(true);
-                                // 弹出UGC
-                                Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
-                                intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity);
-                                LocalBroadcastManager.getInstance(Utils.getApp()).sendBroadcast(intent);
-
-                            }
-                            // 移出已经预警的事件列表
-                            //V2XAlarmServer.mAlertRoadEventList.remove(v2XRoadEventEntity);
-                        }
-                    }
-                }
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-}
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/IMoGoV2XStatusManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/IMoGoV2XStatusManager.java
@@ -15,26 +15,6 @@ public interface IMoGoV2XStatusManager extends IProvider {
     */
    boolean isRoadEventPOIShow();

-    /**
-     * 按钮区 V2X道路预警 是否在展示
-     */
-    boolean isRoadEventButtonShow();
-
-    /**
-     * 头部 V2X道路预警 UI 是否在展示
-     */
-    boolean isRoadEventWindowShow();
-
-    /**
-     * 头部 他人车辆故障求助 UI 是否在展示
-     */
-    boolean isOtherSeekHelpWindowShow();
-
-    /**
-     * 地图区域 他人车辆故障求助POI 是否在展示
-     */
-    boolean isOtherSeekHelpPOIShow();
-
    /**
     * 设置 V2X道路预警POI 是否在展示
     *
@@ -43,67 +23,6 @@ public interface IMoGoV2XStatusManager extends IProvider {
     */
    void setRoadEventPOIShow(String tag, boolean show);

-    /**
-     * 设置 V2X道路预警 是否在展示
-     *
-     * @param tag
-     * @param show
-     */
-    void setRoadEventButtonShow(String tag, boolean show);
-
-    /**
-     * 设置 右侧2/3 头部 V2X道路预警 是否在展示
-     *
-     * @param tag
-     * @param show
-     */
-    void setRoadEventWindowShow(String tag, boolean show);
-
-    /**
-     * 设置 右侧2/3 头部 V2X的道路直播 是否在展示
-     *
-     * @param tag
-     * @param show
-     */
-    void setRoadLiveCarWindowShow(String tag, boolean show);
-
-    /**
-     * 设置 他人车辆故障求助 UI 是否在展示
-     *
-     * @param tag
-     * @param show
-     */
-    void setOtherSeekHelpWindowShow(String tag, boolean show);
-
-    /**
-     * 设置 右侧2/3 全屏 V2X 场景动画 是否在展示
-     *
-     * @param tag
-     * @param show
-     */
-    void setV2XAnimationWindowShow(String tag, boolean show);
-
-    /*
-     * 道路事件图片/视频资源 全屏
-     * */
-    void setV2XRoadVideoWindowShow(String tag, boolean show);
-
-    /**
-     * 设置 模拟直播车机 UI 是否在展示
-     *
-     * @param tag
-     * @param show
-     */
-    void setLiveCarWindowShow(String tag, boolean show);
-
-    /**
-     * 推送弹窗的状态
-     *
-     * @param tag
-     * @param show
-     */
-    void setPushWindowShow(String tag, boolean show);
-
    /**
     * 地图区域 推送的 POI 是否在展示
     *
@@ -112,11 +31,4 @@ public interface IMoGoV2XStatusManager extends IProvider {
     */
    void setPushPOIShow(String tag, boolean show);

-    /**
-     * 地图区域 疲劳驾驶 是否在展示
-     *
-     * @param tag
-     * @param show
-     */
-    void setFatigueDrivingWindowShow(String tag, boolean show);
 }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
@@ -63,7 +63,6 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
    private static final CopyOnWriteArraySet<V2XRoadEventEntity> mV2XRoadEventEntityArrayList = new CopyOnWriteArraySet<>();
    // 上次的道路事件的预警Marker
    private static IMogoMarker mAlarmInfoMarker;
-    private static IMogoMarker m3DMarker;

    @Override
    public void drawableLastAllPOI() {
@@ -81,7 +80,6 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
        CopyOnWriteArrayList<V2XRoadEventEntity> roadEventEntities = new CopyOnWriteArrayList<>();
        // 当前车辆数据
        MogoLocation currentLocation = V2XStatusManager.getInstance().getLocation();
-
        if (currentLocation != null) {
            // 重新计算距离
            for (V2XRoadEventEntity v2XRoadEventEntity : mV2XRoadEventEntityArrayList) {
@@ -96,7 +94,6 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
                }
                roadEventEntities.add(v2XRoadEventEntity);
            }
-
            // 按照与当前车辆距离排序
            for (int i = 0; i < roadEventEntities.size(); i++) {
                for (int j = i; j > 0; j--) {
@@ -107,37 +104,17 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
                    }
                }
            }
-            //输出日志查看结果
-//            for (int i = 0; i < roadEventEntities.size(); i++) {
-//                CallerLogger.INSTANCE.w(M_V2X + TAG, "V2X===" +
-//                        "事件名称：" + roadEventEntities.get(i).getNoveltyInfo() +
-//                        "\t 事件距离：" + roadEventEntities.get(i).getDistance());
-//            }
        }
-
        return roadEventEntities;
    }

    @Override
    public void analysisV2XRoadEvent(V2XMarkerCardResult markerCardResult) {
-        boolean isShowEventWindow = false;
-        boolean isShowEventButton = false;
-        boolean isOtherSeekHelpWindowShow = false;
-        IMoGoV2XStatusManager v2xStatus = BridgeApi.INSTANCE.v2xStatus();
-        if (v2xStatus != null) {
-            //预警Window状态
-            isShowEventWindow = v2xStatus.isRoadEventWindowShow();
-            //预警按钮状态
-            isShowEventButton = v2xStatus.isRoadEventButtonShow();
-            //道路求助的window
-            isOtherSeekHelpWindowShow = v2xStatus.isOtherSeekHelpWindowShow();
-        }
        try {
            //当没有预警提示的时候重新绘制地图POI点
-            if (markerCardResult != null && !isShowEventWindow && !isShowEventButton && !isOtherSeekHelpWindowShow) {
+            if (markerCardResult != null) {
                // 清除上次的道路事件， 这里注意，道路事件的触发和这里是异步操作会触发异常
                mV2XRoadEventEntityArrayList.clear();
-
                // 获取探路以及新鲜事儿
                List<V2XMarkerExploreWay> exploreWayList = markerCardResult.getExploreWay();
                if (exploreWayList != null) {
@@ -149,7 +126,6 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
                            v2XRoadEventEntity.setLocation(EntityUtilsKt.toMarkerLocation(markerLocation));
                            // 探路目前只有上报拥堵
                            String poi = markerExploreWay.getPoiType();
-
                            v2XRoadEventEntity.setPoiType(poi);
                            v2XRoadEventEntity.setNoveltyInfo(EntityUtilsKt.toMarkExploreWay(markerExploreWay,markerCardResult.getExtras()));
                            v2XRoadEventEntity.setExpireTime(20000);
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XStatusManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XStatusManager.java
@@ -11,7 +11,6 @@ import com.mogo.eagle.core.function.v2x.events.manager.IMoGoV2XStatusManager;
 import com.mogo.eagle.core.function.v2x.events.manager.V2XStatusDescriptor;
 import com.mogo.service.statusmanager.IMogoStatusManager;

-import java.util.ArrayList;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
@@ -53,26 +52,6 @@ public class MoGoV2XStatusManager implements IMoGoV2XStatusManager {
        return get_bool_val(V2XStatusDescriptor.RoadEventPOI_UI);
    }

-    @Override
-    public boolean isRoadEventButtonShow() {
-        return get_bool_val(V2XStatusDescriptor.RoadEventButton_UI);
-    }
-
-    @Override
-    public boolean isRoadEventWindowShow() {
-        return get_bool_val(V2XStatusDescriptor.RoadEventWindow_UI);
-    }
-
-    @Override
-    public boolean isOtherSeekHelpWindowShow() {
-        return get_bool_val(V2XStatusDescriptor.OtherSeekHelpWindow_UI);
-    }
-
-    @Override
-    public boolean isOtherSeekHelpPOIShow() {
-        return get_bool_val(V2XStatusDescriptor.OtherSeekHelpPOI_UI);
-    }
-
    @Override
    public void setRoadEventPOIShow(String tag, boolean show) {
        IMogoStatusManager statusManager = BridgeApi.INSTANCE.statusManager();
@@ -84,62 +63,6 @@ public class MoGoV2XStatusManager implements IMoGoV2XStatusManager {
        recordStatusModifier(tag, V2XStatusDescriptor.RoadEventPOI_UI);
    }

-    @Override
-    public void setRoadEventButtonShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.RoadEventButton_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.RoadEventButton_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.RoadEventButton_UI);
-    }
-
-    @Override
-    public void setRoadEventWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.RoadEventWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.RoadEventWindow_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.RoadEventWindow_UI);
-    }
-
-    @Override
-    public void setRoadLiveCarWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.RoadLiveCarWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.RoadLiveCarWindow_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.RoadLiveCarWindow_UI);
-    }
-
-    @Override
-    public void setOtherSeekHelpWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.OtherSeekHelpWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.OtherSeekHelpWindow_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.OtherSeekHelpWindow_UI);
-    }
-
-    @Override
-    public void setV2XAnimationWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.V2XAnimationWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.V2XAnimationWindow_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.V2XAnimationWindow_UI);
-    }
-
-    @Override
-    public void setV2XRoadVideoWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.V2XAnimationWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.V2XRoadVideo_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.V2XRoadVideo_UI);
-    }
-
-    @Override
-    public void setLiveCarWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.LiveCarWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.LiveCarWindow_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.LiveCarWindow_UI);
-    }
-
-
-    @Override
-    public void setPushWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.PushWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.PushWindow_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.PushWindow_UI);
-    }

    @Override
    public void setPushPOIShow(String tag, boolean show) {
@@ -148,14 +71,7 @@ public class MoGoV2XStatusManager implements IMoGoV2XStatusManager {
        recordStatusModifier(tag, V2XStatusDescriptor.PushWindowPOI_UI);
    }

-    @Override
-    public void setFatigueDrivingWindowShow(String tag, boolean show) {
-        mStatus.put(V2XStatusDescriptor.FatigueDrivingWindow_UI, show);
-        invokeStatusChangedListener(V2XStatusDescriptor.FatigueDrivingWindow_UI, show);
-        recordStatusModifier(tag, V2XStatusDescriptor.FatigueDrivingWindow_UI);
-    }
-
-   /**
+    /**
     * 调用所有存储的监听
     *
     * @param descriptor
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -58,10 +58,10 @@ object AiRoadMarker {
    }

    private val checkExpiredTask = Runnable {
-        val marker = this@AiRoadMarker.marker.get()
-        if (marker != null) {
-            unMarker(marker)
-        }
+//        val marker = this@AiRoadMarker.marker.get()
+//        if (marker != null) {
+//            unMarker(marker)
+//        }
    }

    private val onClearAllMarker = object : OnClearAllMarker  {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.v2x.events.scenario.scene.road

+import android.graphics.*
 import android.util.*
 import com.mogo.cloud.commons.utils.*
 import com.mogo.eagle.core.data.map.*
@@ -14,6 +15,7 @@ import com.mogo.module.common.utils.*
 import java.util.*
 import java.util.concurrent.atomic.*
 import kotlin.Pair
+import kotlin.collections.ArrayList

 object V2XAiRoadEventMarker {

@@ -29,6 +31,8 @@ object V2XAiRoadEventMarker {

    private val distance = AtomicInteger(0)

+    private val overlayManager by lazy { MogoOverlayManager.getInstance() }
+
    fun drawMarkers(entity: V2XRoadEventEntity): Pair<IMogoPolyline?, List<IMogoMarker>?>? {
        removeMarkers(current.get())
        timerTask.get()?.cancel()
@@ -69,7 +73,32 @@ object V2XAiRoadEventMarker {
                        v2xMarker()?.drawableAlarmPOI(context(), entity, null)
                        val l2 = entity.noveltyInfo?.location ?: return null
                        v2xLocation.set(MogoLocation().also { it.longitude = l2.lon; it.latitude = l2.lat; it.bearing = l2.angle.toFloat() })
-                        current.set(Pair(null, markers))
+
+                        val options = MogoPolylineOptions()
+                        val colors = ArrayList<Int>()
+                        colors.add(Color.argb(204, 237, 172, 21))
+                        colors.add(Color.argb(0, 255, 255, 255))
+                        options.colorValues(colors)
+                        val points = ArrayList<MogoLatLng>()
+
+                        for (p in polygons) {
+                            points.add(MogoLatLng(p.second, p.first))
+                        }
+                        if (points.size > 2) {
+                            points.add(points[0])
+                        }
+                        options.points(points);
+                        options.useGradient(true)
+                        options.useFacade(true)
+                        options.setGps(false)
+                        options.width(5f)
+                        options.zIndex(75000f)
+                        options.maxIndex(800000f)
+                        val line = overlayManager.addPolyline(options)
+                        current.set(Pair(line, markers))
+                        if (line != null) {
+                            line.isVisible = true
+                        }
                    }
                }
            }
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/badcase/RecordTypeEntity.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/badcase/RecordTypeEntity.kt
@@ -0,0 +1,8 @@
+package com.mogo.eagle.core.data.badcase
+
+/**
+ * @author XuXinChao
+ * @description BadCase录制模板实体类
+ * @since: 2022/10/25
+ */
+data class RecordTypeEntity(var id: Int,var desc: String,var topicsList:ArrayList<String>)
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
@@ -264,12 +264,17 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
    fun sendOperatorSetHorn(value: Double)

    /**
-     * 行程信息
-     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
-     * @param lineName 路线名, for type 1, 2
-     * @param stopName 站点名, for type 3, 4
-     * @param isLastStop 是否是最后一站
-     * @return
+     * 发生行程相关
+     * type=1或2的时 需要参数 lineName
+     * type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
+     * type=5时 不需要任何参数
+     *
+     * @param type              事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName          路线名
+     * @param departureStopName 出站站点名
+     * @param arrivalStopName   下一站到达站点名
+     * @param isLastStop        是否最终站
+     * @return boolean
     */
-    fun sendTripInfo(type: Int, lineName: String, stopName: String, isLastStop: Boolean)
+    fun sendTripInfo(type: Int, lineName: String, departureStopName: String,arrivalStopName: String, isLastStop: Boolean)
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
@@ -259,10 +259,12 @@ object CallerAutoPilotManager {
     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
     * @param topicsNeedToCache
     */
-    fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>){
+    fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean?{
        // 司机屏才能查询数据采集的配置
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            providerApi?.getBadCaseConfig(reqType, recordType, topicsNeedToCache)
+            return providerApi?.getBadCaseConfig(reqType, recordType, topicsNeedToCache)
+        }else{
+            return false
        }
    }

@@ -295,15 +297,20 @@ object CallerAutoPilotManager {
    }

    /**
-     * 行程信息
-     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
-     * @param lineName 路线名, for type 1, 2
-     * @param stopName 站点名, for type 3, 4
-     * @param isLastStop 是否终点站
-     * @return
+     * 发生行程相关
+     * type=1或2的时 需要参数 lineName
+     * type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
+     * type=5时 不需要任何参数
+     *
+     * @param type              事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName          路线名
+     * @param departureStopName 出站站点名
+     * @param arrivalStopName   下一站到达站点名
+     * @param isLastStop        是否最终站
+     * @return boolean
     */
-    fun sendTripInfo(type: Int, lineName: String, stopName: String, isLastStop: Boolean) {
-        providerApi?.sendTripInfo(type, lineName, stopName, isLastStop)
+    fun sendTripInfo(type: Int, lineName: String, departureStopName: String, arrivalStopName: String, isLastStop: Boolean) {
+        providerApi?.sendTripInfo(type, lineName, departureStopName, arrivalStopName, isLastStop)
    }

    /**
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -489,9 +489,10 @@ message SetParamReq
 message TripInfoEvent
 {
    uint32 type = 1; //事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
-    string lineName = 2; //路线名, for type 1, 2
-    string stopName = 3; //站点名, for type 3, 4
-    bool isLastStop = 4; //是否最终站, for type 3, 4
+    string lineName = 2; //路线名
+    string departureStopName = 3; //出站站点名
+    string arrivalStopName = 4; //下一站到达站点名
+    bool isLastStop = 5; //下一站到达站是否最终站
 }


--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -14,7 +14,6 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SO

 import android.os.SystemClock;
 import android.text.TextUtils;
-import android.util.Log;

 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -302,7 +301,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
        if (mSocket == null || bytes == null || bytes.length <= 0) {
            return false;
        }
-        Log.d("liyz", "sendWsMessag bytes = " + bytes); //TODO
        ByteString byteString = ByteString.of(bytes);
        if (!byteString.startsWith(Constants.RAW_MG)) {
            CupidLogUtils.e(TAG, "协议不匹配，命令下发失败 bytes=" + ByteUtil.byteArrToHex(bytes));
@@ -1265,22 +1263,35 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
    }

    /**
+     * 发生行程相关
+     * type=1或2的时 需要参数 lineName
+     * type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
+     * type=5时 不需要任何参数
     *
-     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
-     * @param lineName 路线名, for type 1, 2
-     * @param stopName 站点名, for type 3, 4
-     * @param isLastStop
-     * @return
+     * @param type              事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName          路线名
+     * @param departureStopName 出站站点名
+     * @param arrivalStopName   下一站到达站点名
+     * @param isLastStop        是否最终站
+     * @return boolean
     */
    @Override
-    public boolean sendTripInfoReq(int type, String lineName, String stopName, boolean isLastStop) {
-        MessagePad.TripInfoEvent req = MessagePad.TripInfoEvent
+    public boolean sendTripInfoReq(int type, String lineName, String departureStopName, String arrivalStopName, boolean isLastStop) {
+        MessagePad.TripInfoEvent.Builder builder = MessagePad.TripInfoEvent
                .newBuilder()
-                .setType(type)
-                .setLineName(lineName)
-                .setStopName(stopName)
-                .setIsLastStop(isLastStop)
-                .build();
+                .setType(type);
+        if (type < 5) {
+            if (lineName != null)
+                builder.setLineName(lineName);
+            if (type == 3 || type == 4) {
+                if (departureStopName != null)
+                    builder.setDepartureStopName(departureStopName);
+                if (arrivalStopName != null)
+                    builder.setArrivalStopName(arrivalStopName);
+                builder.setIsLastStop(isLastStop);
+            }
+        }
+        MessagePad.TripInfoEvent req = builder.build();
        return sendPBMessage(MessageType.TYPE_SEND_TRIP_INFO_REQ.typeCode, req.toByteArray());
    }

--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -654,16 +654,21 @@ public class AdasManager implements IAdasNetCommApi {
    }

    /**
-     * 行程信息
-     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
-     * @param lineName 路线名, for type 1, 2
-     * @param stopName 站点名, for type 3, 4
-     * @param isLastStop 是否终点站
-     * @return
+     * 发生行程相关
+     * type=1或2的时 需要参数 lineName
+     * type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
+     * type=5时 不需要任何参数
+     *
+     * @param type              事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName          路线名
+     * @param departureStopName 出站站点名
+     * @param arrivalStopName   下一站到达站点名
+     * @param isLastStop        是否最终站
+     * @return boolean
     */
    @Override
-    public boolean sendTripInfoReq(int type, String lineName, String stopName, boolean isLastStop) {
-        return mChannel != null && mChannel.sendTripInfoReq(type,lineName,stopName,isLastStop);
+    public boolean sendTripInfoReq(int type, String lineName, String departureStopName, String arrivalStopName, boolean isLastStop) {
+        return mChannel != null && mChannel.sendTripInfoReq(type, lineName, departureStopName, arrivalStopName, isLastStop);
    }

    /**
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -382,13 +382,18 @@ public interface IAdasNetCommApi {

    /**
     * 发生行程相关
+     * type=1或2的时 需要参数 lineName
+     * type=3或4的时 需要参数 lineName departureStopName arrivalStopName isLastStop
+     * type=5时 不需要任何参数
     *
-     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
-     * @param lineName 路线名, for type 1, 2
-     * @param stopName 站点名, for type 3, 4
-     * @return boolean 是否最终站, for type 3, 4
+     * @param type              事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName          路线名
+     * @param departureStopName 出站站点名
+     * @param arrivalStopName   下一站到达站点名
+     * @param isLastStop        是否最终站
+     * @return boolean
     */
-    boolean sendTripInfoReq(int type, String lineName, String stopName, boolean isLastStop);
+    boolean sendTripInfoReq(int type, String lineName, String departureStopName, String arrivalStopName, boolean isLastStop);


    // TODO 需求暂停 待讨论
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
@@ -13,6 +13,8 @@ import system_master.SystemStatusInfo;

 /**
 * 是否可以启动自动驾驶能力检测
+ * 目前监控了底盘的一些状态和查询节点状态应答的数据
+ * 没有使用监控事件报告的原因是因为，部分异常没进行正常恢复通知，例如收到了异常监控数据，但是异常恢复之后没有恢复的通知
 */
 public class AutopilotAbilityManager {
    private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
@@ -2,7 +2,7 @@ package com.zhidao.support.adas.high.common;

 /**
 * 监控事件报告中定义的事件以及解释
- * 根据260消息定义编写
+ * 根据290消息定义编写
 */
 public class MogoReport {
    private static final String RESULT_AUTOPILOT_SYSTEM_UNSTARTED = "RESULT_AUTOPILOT_SYSTEM_UNSTARTED";
@@ -190,6 +190,20 @@ public class MogoReport {
                String EXIT_AUTOPILOT_FOR_LOCATION = "EMAP_EXIT_AUTOPILOT_FOR_LOCATION";//因location掉帧强退自动驾驶
                String EXIT_AUTOPILOT_FOR_CHASSIS = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS";//因底盘消息掉帧强退自动驾驶
                String EXIT_AUTOPILOT_FOR_DISTANCE = "EMAP_EXIT_AUTOPILOT_FOR_DISTANCE";//因planning起点距离当前过远强退自动驾驶
+                String EXIT_AUTOPILOT_FOR_BRAKE = "EMAP_EXIT_AUTOPILOT_FOR_BRAKE";//制动踏板干预而强退自动驾驶
+                String EXIT_AUTOPILOT_FOR_ACCEL = "EMAP_EXIT_AUTOPILOT_FOR_ACCEL";//加速踏板干预而强退自动驾驶
+                String EXIT_AUTOPILOT_FOR_STEER = "EMAP_EXIT_AUTOPILOT_FOR_STEER";//方向盘干预而强退自动驾驶
+                String EXIT_AUTOPILOT_FOR_GEAR_SWITCH = "EMAP_EXIT_AUTOPILOT_FOR_GEAR_SWITCH";//档位切换干预而强退自动驾驶
+                String EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_NO_RESPONSE";//底盘不响应请求而强退自动驾驶
+                String EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN = "EMAP_EXIT_AUTOPILOT_FOR_CHASSIS_UNKNOWN";//底盘退出原因未知而强退自动驾驶
+                String ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_CANADAPTER_TIMEOUT";//can_adapter消息超时未进入自驾
+                String ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_PLANNING_TIMEOUT";//PLANNING消息超时未进自驾
+                String ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT = "EMAP_ENTRY_AUTOPILOT_FOR_LOCATION_TIMEOUT";//定位消息超时未进自驾
+                String ENTRY_AUTOPILOT_FOR_BRAKE = "EMAP_ENTRY_AUTOPILOT_FOR_BRAKE";//制动踏板干预未进自驾
+                String ENTRY_AUTOPILOT_FOR_ACCEL = "EMAP_ENTRY_AUTOPILOT_FOR_ACCEL";//加速踏板干预未进自驾
+                String ENTRY_AUTOPILOT_FOR_STEER = "EMAP_ENTRY_AUTOPILOT_FOR_STEER";//方向盘干预未进自驾
+                String ENTRY_AUTOPILOT_FOR_GEAR_SWITCH = "EMAP_ENTRY_AUTOPILOT_FOR_GEAR_SWITCH";//档位切换干预未进自驾
+                String ENTRY_AUTOPILOT_FOR_OTHER_CTL = "EMAP_ENTRY_AUTOPILOT_FOR_OTHER_CTL";//其他干预未进自驾，请检查仪表盘和开关项（如双闪，制动灯灯等 可在msg中补充原因信息）
                String HADMAP_ENGINE_NO_ROUTING_INFO = "EMAP_HADMAP_ENGINE_NO_ROUTING_INFO";//hadmap_engine算路失败或未找到轨迹文件导致的轨迹文件信息未发布
                String HADMAP_NO_TRAJECTORY = "EMAP_HADMAP_NO_TRAJECTORY";//hadmap未发布全局路径
                String HADMAP_PLANNING_NO_TRAJECTORY = "EMAP_HADMAP_PLANNING_NO_TRAJECTORY";//local_planning未发布局部轨迹
@@ -213,6 +227,7 @@ public class MogoReport {
                String STEER_INFERENCE = "EVHC_STEER_INFERENCE";//由于方向盘干预退出自动驾驶或无法进入自动驾驶
                String ACCEL_INFERENCE = "EVHC_ACCEL_INFERENCE";//由于油门干预退出自动驾驶或无法进入自动驾驶
                String CSS = "EVHC_CSS";//底盘不允许进入自动驾驶
+                String GEAR = "EVHC_GEAR";//档位不是D或N档
            }

            /**
@@ -226,13 +241,15 @@ public class MogoReport {
                String NOT_ALLOW_AUTOPILOT_FOR_REMOTE = "ESYS_NOT_ALLOW_AUTOPILOT_FOR_REMOTE";//系统处于远程驾驶中，拒绝进入自动驾驶
                String NOT_ALLOW_REBOOT = "ESYS_NOT_ALLOW_REBOOT";//重启拒绝
                String TOPIC_FREQ_DROPED = "ESYS_TOPIC_FREQ_DROPED";//存在topic严重掉频
+                String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管
                @Deprecated
                String RTK_STATUS_FAULT = "ESYS_RTK_STATUS_FAULT";//RTK状态持续错误
-                String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管
                String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应
                String PLANNING_CHANGE_FAILIED = "ESYS_PLANNING_CHANGE_FAILIED";//planning版本切换启动失败
                String CHECK_TRAJECTORY_FAILURE = "ESYS_CHECK_TRAJECTORY_FAILURE";//轨迹文件检查超时或检查结果无可用轨迹
                String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接
+                String REBOOT_WARNING = "ESYS_REBOOT_WARNING";//命令重启不完全提示(部分模块没有关闭成功）
+                String CAN_MSG_LOST = "ESYS_CAN_MSG_LOST";//master接收底盘消息超时
            }

            interface EAGENT {
@@ -246,6 +263,7 @@ public class MogoReport {
            interface ECAM {
                String INIT = "ECAM_INIT";//相机初始化失败
                String CALIB = "ECAM_CALIB";//标定信息读取失败
+                String GRAB_FATAL = "ECAM_GRAB_FATAL";//相机数据采集异常
            }

            /**
@@ -281,7 +299,7 @@ public class MogoReport {
                String TRA_LOADED = "IMAP_TRA_LOADED";//轨迹文件加载成功
                String TRA_ROUTING = "IMAP_TRA_ROUTING";//算路成功
                String TRA_TYPE = "IMAP_TRA_TYPE";//加载轨迹类型通知
-
+                String ENTRY_AUTOPILOT = "IMAP_ENTRY_AUTOPILOT";//控制进入自动驾驶成功
            }

            /**
@@ -311,14 +329,16 @@ public class MogoReport {
                String CAN_NORMAL = "ISYS_CAN_NORMAL";//底盘状态正常或恢复正常
                String REOMTEPILOT_STARTING = "ISYS_REOMTEPILOT_STARTING";//平行驾驶启动中
                String REOMTEPILOT_RUNING = "ISYS_REOMTEPILOT_RUNING";//平行驾驶运行中
+                String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态
+                String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态
                String INIT_TRAJECTORY_START = "ISYS_INIT_TRAJECTORY_START";//轨迹管理_轨迹开始下载
                String INIT_TRAJECTORY_SUCCESS = "ISYS_INIT_TRAJECTORY_SUCCESS";//轨迹管理_轨迹下载成功
                String INIT_TRAJECTORY_FAILURE = "ISYS_INIT_TRAJECTORY_FAILURE";//轨迹管理_轨迹下载失败，本地无对应轨迹
                String INIT_TRAJECTORY_WARNING = "ISYS_INIT_TRAJECTORY_WARNING";//轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
                String INIT_TRAJECTORY_TIMEOUT = "ISYS_INIT_TRAJECTORY_TIMEOUT";//轨迹管理_轨迹下载超时
-                String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态
-                String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态
-                String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//高精地图：需要重启升级高精地图
+                String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//需要重启升级高精地图
+                String CONFIG_UPDATE_AI_MODEL = "ISYS_CONFIG_UPDATE_AI_MODEL";//需要重启升级AI模型
+                String CONFIG_UPDATE_SLAM_MAP = "ISYS_CONFIG_UPDATE_SLAM_MAP";//需要重启升级SLAM地图
            }

            interface IAGENT {