Merge branch 'dev_robotaxi-d-app-module_270_220510_2.7.0' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_robotaxi-d-app-module_270_220510_2.7.0

2022-05-13 18:58:43 +08:00
parent 3c69d910c9 d1972bec54
commit 269b583208
48 changed files with 1218 additions and 339 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
@@ -1,5 +1,9 @@
 package com.mogo.och.bus.model;

+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_OCH_BUS_START_AUTOPILOT;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_ADAS;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
 import static com.mogo.och.bus.constant.BusConst.STATION_STATUS_STOPPED;

@@ -50,6 +54,8 @@ import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.PinYinUtil;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
+import com.zhjt.service.chain.ChainLog;
+import com.zhjt.service.chain.TracingConstants;

 import java.io.IOException;
 import java.util.ArrayList;
@@ -465,6 +471,14 @@ 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
     */
+    @ChainLog(
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = TracingConstants.Endpoint.PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_OCH_BUS_START_AUTOPILOT,
+            paramIndexes = {0},
+            clientPkFileName = "sn"
+    )
    private void RenderLeaveStationSuccess(BusRoutesResult result, boolean isRestart) {
        renderBusStationsStatus(result);
        if (slidePannelHideCallback != null) {
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1,5 +1,9 @@
 package com.mogo.och.taxi.model;

+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_OCH_BUS_START_AUTOPILOT;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_ALIAS_CODE_OCH_TAXI_START_AUTOPILOT;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_ADAS;
+import static com.mogo.eagle.core.data.deva.chain.ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;

 import android.content.Context;
@@ -60,6 +64,8 @@ import com.mogo.aicloud.services.socket.IMogoLifecycleListener;
 import com.mogo.service.intent.IMogoIntentListener;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
+import com.zhjt.service.chain.ChainLog;
+import com.zhjt.service.chain.TracingConstants;

 import org.jetbrains.annotations.NotNull;

@@ -778,6 +784,14 @@ public class TaxiModel {
    }

    //以当前订单为基础，开启自动驾驶
+    @ChainLog(
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = TracingConstants.Endpoint.PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_OCH_TAXI_START_AUTOPILOT,
+            paramIndexes = {0},
+            clientPkFileName = "sn"
+    )
    public void startAutoPilot() {
        if (!checkCurrentOCHOrder()) {
            CallerLogger.INSTANCE.e(M_TAXI + TAG, "no order or order is empty.");
--- a/app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt
+++ b/app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt
@@ -2,6 +2,7 @@ package com.mogo.launcher.stageone

 import android.content.Context
 import com.mogo.commons.debug.DebugConfig
+import com.mogo.eagle.core.data.app.AppConfigInfo.appBuildTime
 import com.mogo.eagle.core.data.app.AppConfigInfo.workingBranchHash
 import com.mogo.eagle.core.data.app.AppConfigInfo.workingBranchName
 import com.mogo.eagle.core.data.constants.MoGoConfig
@@ -31,6 +32,7 @@ class ConfigStartUp : AndroidStartup<Boolean>() {
        // 初始化构建APP的时候的分支及提交HASH，用于辅助定位问题
        workingBranchName = BuildConfig.WORKING_BRANCH_NAME
        workingBranchHash = BuildConfig.WORKING_BRANCH_HASH
+        appBuildTime = BuildConfig.APP_BUILD_TIME
        // 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle  GPS_PROVIDER  0-Android系统，1-工控机，2-OBU
        FunctionBuildConfig.gpsProvider = BuildConfig.GPS_PROVIDER
        // 演示模式,上一次勾选的数据
--- 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
@@ -266,6 +266,40 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        disconnect.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
+//                MessagePad.Header header = MessagePad.Header.newBuilder()
+//                        .setTimestamp(1.6523361438761907E9).build();
+//                PointCloud.LidarPointCloud pointCloud = PointCloud.LidarPointCloud.newBuilder()
+//                        .setSelfLongitude(112.57563687979261)
+//                        .setSelfLatitude(26.828128487326854)
+//                        .setSelfAltitude(52.89)
+//                        .setSelfRoll(-0.00715584993317675)
+//                        .setSelfPitch(0.008726646259971651)
+//                        .setSelfYaw(0.4850269854068756)
+//
+//                        .addAddData(1F)
+//                        .addAddData(2F)
+//                        .addAddData(3F)
+//                        .addAddData(4F)
+//                        .addAddData(5F)
+//                        .addAddData(6F)
+//                        .addAddData(7F)
+//                        .addAddData(8F)
+//
+//                        .addDelData(9F)
+//                        .addDelData(10F)
+//                        .addDelData(11F)
+//                        .addDelData(12F)
+//                        .addDelData(13F)
+//                        .addDelData(14F)
+//                        .addDelData(15F)
+//                        .addDelData(16F)
+//                        .addDelData(17F)
+//                        .addDelData(18F)
+//                        .addDelData(19F)
+//                        .addDelData(20F)
+//                        .build();
+//                String data = PointCloudDecoder.decode(header, pointCloud);
+//                Log.i("ddd", "转换数据=" + data);
                connect(false);
            }
        });
@@ -814,6 +848,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
    public void onPointCloud(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud) {
        MyPointCloud base = new MyPointCloud(header, pointCloud);
        DataDistribution.getInstance().addData(base);
+//        String data = PointCloudDecoder.decode(header, pointCloud);
+//        Log.i("dddd", "data==" + data.length());
+//        LogSave.getInstance().saveLog("转换数据=" + data);
    }

    @Override
--- a/core/function-impl/mogo-core-function-autopilot/build.gradle
+++ b/core/function-impl/mogo-core-function-autopilot/build.gradle
@@ -51,7 +51,6 @@ dependencies {

    kapt rootProject.ext.dependencies.aroutercompiler

-    implementation rootProject.ext.dependencies.mogochainbase
    implementation rootProject.ext.dependencies.mogoami
    implementation rootProject.ext.dependencies.mogoaicloudtelematic

--- 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
@@ -11,6 +11,10 @@ import com.mogo.eagle.core.data.autopilot.toRouteInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_MULTI_CONNECT
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.toTrafficLightDetail
@@ -39,10 +43,13 @@ import com.mogo.telematic.server.netty.NettyTcpServer
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.AdasOptions
 import com.zhidao.support.adas.high.bean.IPCUpgradeInfo
+import com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
 import com.zhidao.support.adas.high.common.MogoReport
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
 import io.netty.channel.Channel
 import mogo.telematics.pad.MessagePad
 import java.util.concurrent.TimeUnit
@@ -95,23 +102,26 @@ class MoGoAutopilotProvider :
                                            platNumberArray.size, platNumberArray
                                        ), channel
                                    ) {
-                                        CallerLogger.d("$M_ADAS_IMPL$TAG", "司机端发送车牌号到乘客端是否成功：${it.isSuccess}")
+                                        invokeNettyConnResult("司机屏发送车牌号到乘客屏是否成功：${it.isSuccess}")
                                    }
                                } else {
                                    CallerAutoPilotManager.getCarConfig()
                                }
                            }
-                            else -> {}
+                            else -> {
+                            }
                        }
                    }
                }

                override fun onStartServer() {
                    ToastUtils.showShort("司机端服务启动成功!")
+                    invokeNettyConnResult("司机端服务启动成功!")
                }

                override fun onStopServer() {
                    ToastUtils.showLong("司机端服务停止!")
+                    invokeNettyConnResult("司机端服务停止!")
                }

                override fun onChannelConnect(channel: Channel?) {
@@ -240,13 +250,27 @@ class MoGoAutopilotProvider :
    }

    override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
-        if (AdasManager.getInstance().ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
-            AdasManager.getInstance().sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+        if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+            val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+            invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
        } else {
+            invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
            CallerLogger.e("$M_ADAS_IMPL$TAG", "车机与工控机链接失败，无法开启自动驾驶")
        }
    }

+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT_RESULT,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
+    private fun invokeAutoPilotResult(status: String) {
+        CallerLogger.e("$M_ADAS_IMPL$TAG", status)
+    }
+
    override fun sendTrafficLightData(trafficLightResult: TrafficLightResult) {
        AdasManager.getInstance().sendTrafficLightData(
            trafficLightResult.crossId,
@@ -449,49 +473,51 @@ class MoGoAutopilotProvider :
    }

    private fun handleMsgFromServer(msg: MogoProtocolMsg?, channel: Channel) {
-        try {
-            msg?.let {
-                when (it.protocolType) {
-                    NORMAL_DATA -> AdasManager.getInstance().parseIPCData(it.body)
-                    SYNC_MODE_STATUS -> {
-                        FunctionBuildConfig.isDemoMode = when (it.body[0].toInt()) {
-                            1 -> true
-                            else -> false
-                        }
-                        setDemoMode(FunctionBuildConfig.isDemoMode)
+        msg?.let {
+            when (it.protocolType) {
+                NORMAL_DATA -> {
+                    try {
+                        AdasManager.getInstance().parseIPCData(it.body)
+                    } catch (e: Exception) {
+                        e.printStackTrace()
+                        CallerLogger.e("$M_ADAS_IMPL$TAG", "乘客屏解析数据过程中出现异常：${e.message}")
                    }
-                    REQ_CAR_NUMBER -> {
-                        AppConfigInfo.plateNumber = String(msg.body)
+                }
+                SYNC_MODE_STATUS -> {
+                    FunctionBuildConfig.isDemoMode = when (it.body[0].toInt()) {
+                        1 -> true
+                        else -> false
                    }
-                    else -> {}
+                    setDemoMode(FunctionBuildConfig.isDemoMode)
+                }
+                REQ_CAR_NUMBER -> {
+                    AppConfigInfo.plateNumber = String(msg.body)
+                    invokeNettyConnResult("司机屏发送给乘客屏车牌号为:${AppConfigInfo.plateNumber}")
+                }
+                else -> {
                }
            }
-        } catch (e: Exception) {
-            e.printStackTrace()
-            CallerLogger.e("$M_ADAS_IMPL$TAG", "乘客屏解析数据流程中出现异常：${e.message}")
        }
    }

    private fun handleConnStatusWithServer(statusCode: Int, sign: String?) {
        when (statusCode) {
            ConnectState.STATUS_CONNECT_SUCCESS -> {
-                CallerLogger.d("$M_ADAS_IMPL$TAG", "乘客端连接司机端服务成功! sign is:${sign}")
+                ToastUtils.showShort("连接司机屏成功!")
+                invokeNettyConnResult("乘客屏连接司机屏成功，司机屏SN为：$sign")
                // 连接成功后，乘客屏没拿到车牌号就像司机屏请求
                if (AppConfigInfo.plateNumber.isNullOrEmpty()) {
                    var byteArray = byteArrayOf(0)
                    NSDNettyManager.getInstance().sendMogoProtocolMsgToServer(
                        MogoProtocolMsg(REQ_CAR_NUMBER, byteArray.size, byteArray)
                    ) {
-                        CallerLogger.d("$M_ADAS_IMPL$TAG", "请求车牌号数据发送是否成功：${it}")
+                        invokeNettyConnResult("乘客屏请求车牌号数据发送是否成功：${it}")
                    }
                }
            }
            else -> {
                ToastUtils.showLong("和司机端连接异常!")
-                CallerLogger.d(
-                    "$M_ADAS_IMPL$TAG",
-                    "client statusCode is:${statusCode}"
-                )
+                invokeNettyConnResult("乘客屏和司机屏连接异常，状态码为：$statusCode")
            }
        }
    }
@@ -499,5 +525,18 @@ class MoGoAutopilotProvider :
    override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
        // 乘客屏才监听
        AppConfigInfo.plateNumber = carConfigResp.plateNumber
+        invokeNettyConnResult("乘客屏车牌号:${carConfigResp.plateNumber}")
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_MULTI_CONNECT,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
+    private fun invokeNettyConnResult(status: String) {
+        CallerLogger.d("$M_ADAS_IMPL$TAG", status)
    }
 }
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -25,6 +25,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.invokeAutopilotSNRequest
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager.invokeAutopilotCarConfigData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarStatusListenerManager.invokeAutopilotCarStateData
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotIdentifyDataUpdate
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager.invokeAutopilotWarnMessage
@@ -224,7 +225,11 @@ class MoGoAdasListenerImpl : OnAdasListener {
        header: MessagePad.Header?,
        trafficLights: TrafficLightOuterClass.TrafficLights?
    ) {
-
+        if(trafficLights != null){
+            CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
+                trafficLights
+            )
+        }
    }

    override fun onPredictionObstacleTrajectory(
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.bindingcar;

 import android.content.Context;
-import android.util.Log;

 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
@@ -10,6 +9,7 @@ import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
 import com.mogo.eagle.core.function.api.bindingcar.IMoGoBindingcarProvider;
 import com.mogo.eagle.core.function.bindingcar.network.BindingcarNetWorkManager;
+import com.mogo.eagle.core.function.ipcupgrade.IPCUpgradeManager;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;

 import org.jetbrains.annotations.NotNull;
@@ -34,12 +34,13 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {

    @Override
    public void onDestroy() {
-
+        IPCUpgradeManager.Companion.getINSTANCE().destroy();
    }

    @Override
    public void init(Context context) {
        mContext = context;
+        IPCUpgradeManager.Companion.getINSTANCE().initServer(context);
    }

    /**
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/ipcupgrade/IPCUpgradeManager.kt
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/ipcupgrade/IPCUpgradeManager.kt
@@ -0,0 +1,64 @@
+package com.mogo.eagle.core.function.ipcupgrade
+
+import android.content.Context
+import android.util.Log
+import com.mogo.aicloud.services.socket.IMogoOnMessageListener
+import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+
+/**
+ * @author XuXinChao
+ * @description 工控机镜像版本升级管理
+ * @since: 2022/5/12
+ */
+class IPCUpgradeManager: IMogoOnMessageListener<IPCUpgradeStateInfo> ,
+    IMoGoAutopilotStatusListener {
+
+    companion object{
+        const val TAG ="IPCUpgradeManager"
+        const val IPC_UPGRADE_MSG_TYPE = 50000
+        val INSTANCE: IPCUpgradeManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED){
+            IPCUpgradeManager()
+        }
+    }
+
+    private var mContext: Context? = null
+
+    fun initServer(context: Context){
+        mContext = context
+        //添加长链接监听
+        MogoAiCloudSocketManager.getInstance(context)
+            .registerOnMessageListener(IPC_UPGRADE_MSG_TYPE, this)
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    override fun target(): Class<IPCUpgradeStateInfo> {
+        return IPCUpgradeStateInfo::class.java
+    }
+
+    override fun onMsgReceived(obj: IPCUpgradeStateInfo?) {
+
+    }
+
+    /**
+     * 自动驾驶状态信息
+     * @param autoPilotStatusInfo 状态信息
+     */
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+
+    }
+
+    fun destroy(){
+        //注销长链接监听
+        MogoAiCloudSocketManager.getInstance(mContext)
+            .unregisterLifecycleListener(IPC_UPGRADE_MSG_TYPE)
+        // 移除 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+        mContext = null
+    }
+
+}
--- a/core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/check/VehicleMonitoringManager.kt
+++ b/core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/check/VehicleMonitoringManager.kt
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.function.check.net.CheckNetWork.checkNetWork
 import com.mogo.eagle.core.function.check.net.CheckResultData
 import com.mogo.eagle.core.function.check.view.CheckActivity
 import com.mogo.eagle.core.function.check.view.CheckDialog
+import com.mogo.eagle.core.function.report.IPCReportManager
 import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.module.common.MogoApisHandler
 import com.mogo.service.statusmanager.IMogoStatusChangedListener
@@ -31,6 +32,10 @@ class VehicleMonitoringManager : ICheckProvider, IMogoStatusChangedListener {
    private val mListeners: ConcurrentHashMap<String, IMogoCheckListener> = ConcurrentHashMap()
    private var hasTipShow = false //是否已经弹框提示
    var dialog: CheckDialog? = null
+
+    override val functionName: String
+        get() = "VehicleMonitoringManager"
+
    override fun init(context: Context) {
        mContext = context
        MogoApisHandler.getInstance().apis.statusManagerApi.registerStatusChangedListener(
@@ -38,6 +43,8 @@ class VehicleMonitoringManager : ICheckProvider, IMogoStatusChangedListener {
                StatusDescriptor.MAIN_PAGE_RESUME,
                this
        )
+        //开启工控机监控节点上报服务
+        IPCReportManager.INSTANCE.initServer()
    }

    override fun registerVehicleMonitoringListener(module: String, listener: IMogoCheckListener) {
@@ -113,4 +120,10 @@ class VehicleMonitoringManager : ICheckProvider, IMogoStatusChangedListener {
            }
        }
    }
+
+    override fun onDestroy() {
+        //停止工控机监控节点上报服务
+        IPCReportManager.INSTANCE.destroy()
+    }
+
 }
--- a/core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/report/IPCReportManager.kt
+++ b/core/function-impl/mogo-core-function-check/src/main/java/com/mogo/eagle/core/function/report/IPCReportManager.kt
@@ -0,0 +1,58 @@
+package com.mogo.eagle.core.function.report
+
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.report.ReportEntity
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import mogo_msg.MogoReportMsg
+
+/**
+ * @author XuXinChao
+ * @description 工控机监控节点信息上报管理
+ * @since: 2022/5/12
+ */
+class IPCReportManager : IMoGoAutopilotStatusListener {
+
+    private var ipcReportList = arrayListOf<ReportEntity>()
+
+    companion object{
+        const val TAG ="IPCReportManager"
+        val INSTANCE: IPCReportManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            IPCReportManager()
+        }
+    }
+
+    fun initServer(){
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    /**
+     *工控机监控节点上报
+     */
+    override fun onAutopilotGuardian(guardianInfo: MogoReportMsg.MogoReportMessage?) {
+        guardianInfo?.let{
+            if(it.level=="error"){
+                if(ipcReportList.size>20){
+                    ipcReportList.removeLast()
+                }
+                ipcReportList.add(0,
+                    ReportEntity(TimeUtils.millis2String(System.currentTimeMillis()),
+                        it.src,it.level,it.msg,it.code,it.resultList,it.actionsList))
+                //当前不处于美化模式时，展示监控节点上报
+                if(!FunctionBuildConfig.isDemoMode){
+                    CallerHmiManager.showIPCReportWindow(ipcReportList)
+                }
+            }
+        }
+    }
+
+    fun destroy(){
+        // 移除 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+}
--- a/core/function-impl/mogo-core-function-devatools/build.gradle
+++ b/core/function-impl/mogo-core-function-devatools/build.gradle
@@ -72,7 +72,6 @@ dependencies {
    implementation rootProject.ext.dependencies.arouter
    kapt rootProject.ext.dependencies.aroutercompiler
    implementation rootProject.ext.dependencies.mogologlib
-    implementation rootProject.ext.dependencies.mogochainbase

    implementation rootProject.ext.dependencies.androidx_datastore
    implementation rootProject.ext.dependencies.androidxroomruntime
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt
@@ -4,6 +4,7 @@ import android.annotation.SuppressLint
 import android.content.Context
 import android.os.Handler
 import android.os.Message
+import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
@@ -11,8 +12,10 @@ import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.constants.MoGoConfig
+import com.mogo.eagle.core.function.api.map.deva.IMoGoMapDevaProvider
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
@@ -20,7 +23,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
-import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.zhidao.loglib.bean.RemoteLogPushContent
 import com.zhidao.loglib.call.LogInfoManagerFactory
 import com.zhidao.loglib.core.ILogListener
@@ -30,10 +32,11 @@ import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companio
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companion.LOG_PUSH_TYPE
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companion.START_CATCH_LOG
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchConst.Companion.STOP_CATCH_LOG
+import java.io.File

@SuppressLint("StaticFieldLeak")
 object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handler.Callback,
-    ILogListener {
+    ILogListener, IMoGoMapDevaProvider {

    private const val TAG = "MogoLogCatchManager"
    private const val MSG_TRY_CLOSE_LOG = 1001
@@ -50,6 +53,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
        mContext = context
        MogoAiCloudSocketManager.getInstance(AbsMogoApplication.getApp().applicationContext)
            .registerOnMessageListener(LOG_PUSH_TYPE, this)
+        CallerMapDevaListenerManager.addListener(TAG, this)
        manualContent.pkgName = context.packageName
        logCheck(context)
    }
@@ -107,7 +111,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
    }

    override fun handleMessage(msg: Message): Boolean {
-        when(msg.what){
+        when (msg.what) {
            MSG_TRY_CLOSE_LOG -> {
                CallerDevaToolsListenerManager.invokeDevaToolsLogCatchClose()
                closeLoggerLevel()
@@ -225,10 +229,20 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
        }
    }

+    override fun uploadFile(filePath: String) {
+        val file = File(filePath)
+        if (file.isFile) {
+            CallerLogger.d("$M_DEVA$TAG", "uploadFile path : $filePath")
+            LogInfoManagerFactory.handleSingleUploadFile(filePath)
+        }else{
+            CallerLogger.d("$M_DEVA$TAG", "file absPath : ${file.absolutePath}")
+        }
+    }
+
    fun onDestroy() {
        MogoAiCloudSocketManager.getInstance(AbsMogoApplication.getApp().applicationContext)
            .unregisterLifecycleListener(LOG_PUSH_TYPE)
-
+        CallerMapDevaListenerManager.removeListener(this)
        if (handler.hasMessages(MSG_TRY_CLOSE_LOG)) {
            handler.removeMessages(MSG_TRY_CLOSE_LOG)
        }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/TraceManager.kt
@@ -4,6 +4,7 @@ import android.content.Context
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainLogParam
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
@@ -33,15 +34,15 @@ class TraceManager {

        // Trace过程中进行日志抓取，对日志进行配置
        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
-            FwBuild(true, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_INIT)
+            FwBuild(true, -1,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_INIT)
        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT] =
-            FwBuild(true, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_AUTO)
+            FwBuild(true, -1,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_AUTO)
        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED] =
-            FwBuild(false, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_DATA_TRACK)
+            FwBuild(false, 2,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_DATA_TRACK)
        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY] =
-            FwBuild(false, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAJECTORY)
+            FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_TRAJECTORY)
        fwBuildMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE] =
-            FwBuild(false, pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_VEHICLE)
+            FwBuild(false, 30,pkgName + ChainConstant.CHAIN_LINK_LOG_ADAS_VEHICLE)

        traceInfoCache[ChainConstant.CHAIN_LINK_LOG_CONNECT_STATUS] =
            ChainLogParam(true, "ADAS连接状态")
@@ -56,6 +57,14 @@ class TraceManager {

        FileWriteManager.getInstance()
            .init(context, MoGoAiCloudClientConfig.getInstance().sn, pkgName, fwBuildMap)
+        FileWriteManager.getInstance().registerListener { type ->
+            val param = traceInfoCache[type]
+            param?.let {
+                it.record = false
+                traceInfoCache[type] = it
+            }
+            CallerDevaToolsListenerManager.invokeDevaToolsFwThreadClose()
+        }
    }

    fun setTraceLogEnable(enable:Boolean){
--- a/core/function-impl/mogo-core-function-hmi/build.gradle
+++ b/core/function-impl/mogo-core-function-hmi/build.gradle
@@ -73,7 +73,6 @@ dependencies {

    implementation rootProject.ext.dependencies.mogoami

-    implementation rootProject.ext.dependencies.mogochainbase
    implementation rootProject.ext.dependencies.android_start_up
    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
        api rootProject.ext.dependencies.mogoaicloudservicesdk
--- 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
@@ -11,9 +11,9 @@ import android.view.WindowManager.LayoutParams
 import android.view.animation.*
 import androidx.lifecycle.lifecycleScope
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.voice.AIAssist
-import com.mogo.eagle.core.data.autopilot.AdUpgradeStateHelper
 import com.mogo.eagle.core.data.camera.CameraEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
@@ -47,6 +47,7 @@ import com.mogo.eagle.core.function.hmi.ui.camera.CameraListView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeBannerView
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
 import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
+import com.mogo.eagle.core.function.hmi.ui.setting.IPCReportWindow
 import com.mogo.eagle.core.function.hmi.ui.setting.ReportListFloatWindow
 import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
 import com.mogo.eagle.core.function.hmi.ui.widget.V2XNotificationView
@@ -62,6 +63,7 @@ import kotlinx.coroutines.*
 import mogo_msg.MogoReportMsg
 import record_cache.RecordPanelOuterClass
 import java.util.*
+import kotlin.collections.ArrayList


 /**
@@ -112,6 +114,8 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
    private var reportList = arrayListOf<ReportEntity>()
    //工控机上报列表悬浮窗
    private var reportListFloatWindow: ReportListFloatWindow?=null
+    private var ipcReportWindow: IPCReportWindow?=null
+

    override fun vipIdentification(visible: Boolean) {
        ThreadUtils.runOnUiThread {
@@ -210,13 +214,28 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                ToastUtils.showShort("重启成功")
            } else {
                //重启失败
-                msg?.let {
+                msg.let {
                    ToastUtils.showShort(it)
                }
            }
        }
    }

+    /**
+     * 展示工控机监控上报数据
+     * @param reportList 上报数据列表
+     */
+    override fun showIPCReportWindow(reportList: ArrayList<ReportEntity>) {
+        ThreadUtils.runOnUiThread{
+            if(ipcReportWindow==null){
+                ipcReportWindow= activity?.let { IPCReportWindow(it) }
+                ipcReportWindow?.showFloatWindow()
+                AIAssist.getInstance(AbsMogoApplication.getApp()).speakTTSVoice("嘟")
+            }
+            ipcReportWindow?.refreshData(reportList)
+        }
+    }
+
    /**
     * 设置 V2X 通知 代理View
     */
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -53,9 +53,11 @@ import com.mogo.eagle.core.function.hmi.ui.tools.DockerRebootDialog
 import com.mogo.eagle.core.function.hmi.ui.upgrade.UpgradeListAdapter
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
 import com.mogo.eagle.core.utilcode.util.*
@@ -63,6 +65,7 @@ import com.mogo.map.MogoMap
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.*
 import com.zhidao.easysocket.utils.L
+import com.zhjt.mogo_core_function_devatools.trace.TraceManager
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -83,8 +86,8 @@ class DebugSettingView @JvmOverloads constructor(
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoObuStatusListener,
    IMoGoAutopilotStatusListener, IMoGoAutopilotCarStateListener,
    IMoGoMapLocationListener, IMoGoAutopilotIdentifyListener,
-    IMoGoAutopilotPlanningListener, IMoGoAutopilotCarConfigListener
-    ,IMoGoAutopilotVehicleStateListener{
+    IMoGoAutopilotPlanningListener, IMoGoAutopilotCarConfigListener,
+    IMoGoAutopilotVehicleStateListener {

    private val TAG = "DebugSettingView"

@@ -94,7 +97,7 @@ class DebugSettingView @JvmOverloads constructor(
    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
    private var mGnssInfo: MessagePad.GnssInfo? = null

-    private var accelerationFloatWindow: AccelerationFloatWindow?=null
+    private var accelerationFloatWindow: AccelerationFloatWindow? = null
    private var accelerationList = arrayListOf<AccelerationEntity>()
    private var accelerationIsShow: Boolean = false //实时加速度面板是否展示
    private var accelerationThresholdNum: Double = 0.0
@@ -134,9 +137,9 @@ class DebugSettingView @JvmOverloads constructor(
    private var onlineSelected: Boolean = true
    private var qaSelected: Boolean = true

-    private var upgradeListAdapter: UpgradeListAdapter?=null
+    private var upgradeListAdapter: UpgradeListAdapter? = null

-    private val upgradeVersionList by lazy{
+    private val upgradeVersionList by lazy {
        ArrayList<UpgradeVersionEntity>()
    }

@@ -182,7 +185,7 @@ class DebugSettingView @JvmOverloads constructor(
        // 添加 工控机基础信息回调 监听
        CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
        //添加 车辆底盘数据回调 监听
-        CallerAutopilotVehicleStateListenerManager.addListener(TAG,this)
+        CallerAutopilotVehicleStateListenerManager.addListener(TAG, this)
        if (logInfoView != null) {
            logInfoView!!.onEnterForeground()
        }
@@ -292,11 +295,11 @@ class DebugSettingView @JvmOverloads constructor(
         * 鹰眼参数配置
         */
        tbEagleEyeController.setOnCheckedChangeListener { buttonView, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                buttonView.setCompoundDrawables(null, null, iconDown, null)
                //展示参数配置
                eagleEyeControllerLayout.visibility = View.VISIBLE
-            }else{
+            } else {
                buttonView.setCompoundDrawables(null, null, iconRight, null)
                //隐藏参数配置
                eagleEyeControllerLayout.visibility = View.GONE
@@ -338,7 +341,7 @@ class DebugSettingView @JvmOverloads constructor(
         * 车辆状态控制中心
         */
        tbVehicleStateController.setOnCheckedChangeListener { buttonView, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                buttonView.setCompoundDrawables(null, null, iconDown, null)
                //展示车辆状态中心
                vehicleStateLayout.visibility = View.VISIBLE
@@ -398,7 +401,7 @@ class DebugSettingView @JvmOverloads constructor(
         * 应用包管理中心
         */
        btnApkCenter.setOnCheckedChangeListener { buttonView, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                buttonView.setCompoundDrawables(null, null, iconDown, null)
                //展示应用包管理中心
                apkCenterLayout.visibility = View.VISIBLE
@@ -598,7 +601,7 @@ class DebugSettingView @JvmOverloads constructor(
        }

        //初始化切换自车按钮文本（Bus版本默认显示：切换自车为出租车）
-        if(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
            tbChangeCurrentCarIcon.isChecked = true
        }

@@ -615,27 +618,28 @@ class DebugSettingView @JvmOverloads constructor(
    /**
     * 设置鹰眼本地参数配置监听
     */
-    private fun setEagleEyeConfigListener(){
+    private fun setEagleEyeConfigListener() {
        //初始化刹车加速度阈值信息
        val brakeThreshold = SharedPrefsMgr.getInstance(context)
-            .getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD,-2.5F)
+            .getFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, -2.5F)
        etInputBrakeThreshold.setText(brakeThreshold.toString())
        etInputBrakeThreshold.text?.let { etInputBrakeThreshold.setSelection(brakeThreshold.toString().length) }
        //设置刹车加速度阈值信息
        btnBrakeThreshold.setOnClickListener {
            val thresholdStr = etInputBrakeThreshold.text.toString()
-            if(thresholdStr.isEmpty()){
+            if (thresholdStr.isEmpty()) {
                ToastUtils.showShort("请输入正确的判定刹车加速度阈值")
-            }else{
-                try{
+            } else {
+                try {
                    val thresholdStrFloat = thresholdStr.toFloat()
-                    if(thresholdStrFloat<0){
-                        SharedPrefsMgr.getInstance(context).putFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD,thresholdStrFloat)
+                    if (thresholdStrFloat < 0) {
+                        SharedPrefsMgr.getInstance(context)
+                            .putFloat(MoGoConfig.BRAKE_ACCELERATION_THRESHOLD, thresholdStrFloat)
                        ToastUtils.showShort("刹车阈值设置成功")
-                    }else{
+                    } else {
                        ToastUtils.showShort("刹车阈值加速度值应小于0")
                    }
-                }catch (e: Exception){
+                } catch (e: Exception) {
                    ToastUtils.showShort("判定刹车加速度阈值格式设置不正确")
                }
            }
@@ -732,113 +736,6 @@ class DebugSettingView @JvmOverloads constructor(
            }
        }

-        /**
-         * 工控机升级
-         */
-        btnSystemUpgrade.onClick {
-            if (AppConfigInfo.isConnectAutopilot) {
-                Logger.i(
-                    TAG,
-                    "upgradeMode=" + upgradeMode + " downloadStatus=" + downloadStatus + " upgradeStatus=" + upgradeStatus
-                )
-                if (AdUpgradeStateHelper.isDownloading(downloadStatus)) {
-                    //点击Toast提示：下载剩余时间
-                    ToastUtils.showShort(
-                        "预计" + AdUpgradeStateHelper.getRemainingTime(
-                            totalProgress,
-                            previousProgress,
-                            currentProgress
-                        ) + "下载完成"
-                    )
-                } else if (AdUpgradeStateHelper.getUpgradeStatus()) {
-                    //工控机状态为“升级中”
-                    ToastUtils.showShort("新版本升级中，预计5分钟升级完成")
-                } else if (AdUpgradeStateHelper.isUpgradeFailed(upgradeStatus)) {
-                    //如果升级失败，则Toast提示：升级失败，请联系运维人员
-                    ToastUtils.showShort("升级失败，请联系运维人员")
-                } else if (AdUpgradeStateHelper.isHintUpgradeMode(upgradeMode) && AdUpgradeStateHelper.isDownloadFinish(
-                        downloadStatus,
-                        upgradeStatus
-                    )
-                ) {
-                    //如果升级模式为“提示升级”，并且下载状态为已经下载完成，点击弹出升级确认弹窗
-                    if (adUpgradeDialog == null) {
-                        adUpgradeDialog = AdUpgradeDialog(context)
-                        adUpgradeDialog?.setClickListener(object : AdUpgradeDialog.ClickListener {
-                            override fun confirm() {
-                                if (mAutoPilotStatusInfo?.state == 2) {
-                                    //当前处于自动驾驶状态，不可进行升级，Toast提示
-                                    ToastUtils.showShort("升级前请先退出自动驾驶模式")
-                                } else {
-                                    //确认升级
-                                    Logger.i(TAG, "upgrade confirm")
-                                    //设置当前状态为“升级中”
-                                    AdUpgradeStateHelper.setUpgradeStatus(true)
-                                    CallerAutoPilotManager.setIPCUpgradeAffirm()
-                                }
-                            }
-
-                            override fun cancel() {
-                                //取消升级
-                                Logger.i(TAG, "upgrade cancel")
-                                //取消升级命令不下发
-//                            CallerAutoPilotManager.setIPCUpgradeCancel()
-                            }
-
-                        })
-                    }
-                    adUpgradeDialog?.showUpgradeDialog()
-                } else {
-                    ToastUtils.showShort("当前工控机处于最新版本状态，不可升级")
-                }
-            } else {
-                ToastUtils.showShort("域控制器未连接")
-            }
-
-
-        }
-
-        /**
-         * 重启系统
-         */
-        btnSystemRestart.onClick {
-            if (AppConfigInfo.isConnectAutopilot) {
-                if (dockerRebootDialog == null) {
-                    dockerRebootDialog = DockerRebootDialog(context)
-                    dockerRebootDialog?.setClickListener(object : DockerRebootDialog.ClickListener {
-                        override fun confirm() {
-                            if (mAutoPilotStatusInfo?.state == 2) {
-                                //当前处于自动驾驶状态，不可进行重启，Toast提示
-                                ToastUtils.showShort("请先退出自动驾驶状态")
-                            } else if (AdUpgradeStateHelper.showCannotReboot(
-                                    downloadStatus,
-                                    upgradeStatus
-                                )
-                            ) {
-                                //当工控机处于下载或者升级状态，需要先进行升级
-                                ToastUtils.showShort("请先完成新自动驾驶系统的下载/升级")
-                            } else {
-                                //确认重启
-                                Logger.i(TAG, "reboot confirm")
-                                CallerAutoPilotManager.setIPCReboot()
-                            }
-                        }
-
-                        override fun cancel() {
-                            //取消重启
-                            Logger.i(TAG, "reboot cancel")
-                        }
-
-                    })
-                }
-                dockerRebootDialog?.showUpgradeDialog()
-            } else {
-                ToastUtils.showShort("域控制器未连接")
-            }
-
-
-        }
-
    }

    /**
@@ -857,27 +754,6 @@ class DebugSettingView @JvmOverloads constructor(
        }
    }

-    /**
-     * 设置工控机下载、升级状态信息
-     * @param upgradeMode 升级模式（提示升级、静默升级）
-     * @param downloadStatus 下载状态
-     * @param currentProgress 当前已经下载包体大小
-     * @param totalProgress 下载包体总大小
-     * @param downloadVersion 下载版本
-     * @param upgradeStatus 升级状态
-     */
-    fun setAdUpgradeInfo(
-        upgradeMode: Int, downloadStatus: Int, currentProgress: Int, totalProgress: Int,
-        downloadVersion: String, upgradeStatus: Int
-    ) {
-        this.upgradeMode = upgradeMode
-        this.downloadStatus = downloadStatus
-        this.previousProgress = this.currentProgress
-        this.currentProgress = currentProgress
-        this.totalProgress = totalProgress
-        this.downloadVersion = downloadVersion
-        this.upgradeStatus = upgradeStatus
-    }

    /**
     * 设置Hmi点击监听
@@ -976,13 +852,13 @@ class DebugSettingView @JvmOverloads constructor(
         * 实时加速度面板控制
         */
        tbOpenAcceleration.setOnCheckedChangeListener { _, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                //打开实时加速度面板
                accelerationFloatWindow = context?.let { AccelerationFloatWindow(it as Activity) }
                accelerationFloatWindow?.showFloatWindow()
                etThreshold.visibility = View.VISIBLE
                btnThresholdDefine.visibility = View.VISIBLE
-            }else{
+            } else {
                //关闭实时加速度面板
                accelerationFloatWindow?.hideFloatWindow()
                etThreshold.visibility = View.GONE
@@ -992,9 +868,9 @@ class DebugSettingView @JvmOverloads constructor(
        }

        btnThresholdDefine.setOnClickListener {
-            try{
+            try {
                accelerationThresholdNum = etThreshold.text.toString().toDouble()
-            }catch(e:java.lang.Exception){
+            } catch (e: java.lang.Exception) {
                ToastUtils.showShort("请输入正确的阈值")
            }
        }
@@ -1198,6 +1074,10 @@ class DebugSettingView @JvmOverloads constructor(
                    }
                }

+                override fun fwThreadClose() {
+                    refreshTraceInfo()
+                }
+
                override fun moduleLogChanged(moduleTag: MutableMap<String, SceneModule>) {
                    //模块日志 tag 发生变化，需要更新对应 UI
                    setLogCheckedChangeListener()
@@ -1207,12 +1087,16 @@ class DebugSettingView @JvmOverloads constructor(
                    //版本信息更新
                    urls?.let {
                        upgradeVersionList.clear()
-                        it.iterator().forEach {map ->
-                            val name = if(map.key.contains("{")) map.key.replace("{","") else map.key
-                            val url = if(map.value.contains("}")) map.value.replace("}","") else map.value
-                            upgradeVersionList.add(UpgradeVersionEntity(name.trim(),url))
+                        it.iterator().forEach { map ->
+                            val name =
+                                if (map.key.contains("{")) map.key.replace("{", "") else map.key
+                            val url = if (map.value.contains("}")) map.value.replace(
+                                "}",
+                                ""
+                            ) else map.value
+                            upgradeVersionList.add(UpgradeVersionEntity(name.trim(), url))
                        }
-                        upgradeVersionList.sortByDescending { upgradeVersionEntity ->upgradeVersionEntity.name  }
+                        upgradeVersionList.sortByDescending { upgradeVersionEntity -> upgradeVersionEntity.name }
                        upgradeListAdapter?.setDada(dataFilter(upgradeVersionList))
                        upgradeListAdapter?.notifyDataSetChanged()
                    }
@@ -1242,23 +1126,8 @@ class DebugSettingView @JvmOverloads constructor(
            }
        }

-        val traceInfoMap =  CallerDevaToolsManager.getTraceInfo()
-        val autopilot = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT]
-        autopilot?.let{
-            cbAdasAutoPilot.isChecked = it.record
-        }
-        val dataTrack = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED]
-        dataTrack?.let {
-            cbAdasDataTrack.isChecked = it.record
-        }
-        val trajectory = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY]
-        trajectory?.let {
-            cbAdasTrajectory.isChecked = it.record
-        }
-        val vehicle = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE]
-        vehicle?.let {
-            cbAdasVehicle.isChecked = it.record
-        }
+        // 更新链路信息
+        refreshTraceInfo()

        /**
         * ADAS自动驾驶链路
@@ -1313,24 +1182,46 @@ class DebugSettingView @JvmOverloads constructor(
        }
    }

+    private fun refreshTraceInfo() {
+        val traceInfoMap = CallerDevaToolsManager.getTraceInfo()
+        val autopilot = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT]
+        autopilot?.let {
+            cbAdasAutoPilot.isChecked = it.record
+        }
+        val dataTrack = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_DATA_TRACKED]
+        dataTrack?.let {
+            cbAdasDataTrack.isChecked = it.record
+        }
+        val trajectory = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_TRAJECTORY]
+        trajectory?.let {
+            cbAdasTrajectory.isChecked = it.record
+        }
+        val vehicle = traceInfoMap[ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE]
+        vehicle?.let {
+            cbAdasVehicle.isChecked = it.record
+        }
+    }
+
    /**
     * APK包管理
     */
-    private fun setApkCenterListener(){
-        val layoutManager: LinearLayoutManager = object : LinearLayoutManager(context,
-            VERTICAL, false) {
+    private fun setApkCenterListener() {
+        val layoutManager: LinearLayoutManager = object : LinearLayoutManager(
+            context,
+            VERTICAL, false
+        ) {
            override fun canScrollVertically(): Boolean {
                // 直接禁止垂直滑动
                return false
            }
        }
-        rvUpgradeVersionList.layoutManager =layoutManager
+        rvUpgradeVersionList.layoutManager = layoutManager

-        upgradeListAdapter = UpgradeListAdapter(context,upgradeVersionList,
-            object:UpgradeListAdapter.ClickListener{
-                override fun downloadApk(name: String,url: String) {
+        upgradeListAdapter = UpgradeListAdapter(context, upgradeVersionList,
+            object : UpgradeListAdapter.ClickListener {
+                override fun downloadApk(name: String, url: String) {
                    //下载包
-                    CallerDevaToolsManager.downLoadPackage(name,url)
+                    CallerDevaToolsManager.downLoadPackage(name, url)
                    ToastUtils.showLong("开始下载APK,稍后可前往downloads文件夹查看")
                }

@@ -1340,9 +1231,9 @@ class DebugSettingView @JvmOverloads constructor(

        ivApkSearch.setOnClickListener {
            val searchStr = etApkSearch.text.toString()
-            if(searchStr.isEmpty()){
+            if (searchStr.isEmpty()) {
                ToastUtils.showShort("请输入正确的搜索关键字")
-            }else{
+            } else {
                CallerDevaToolsManager.getUpgradeVersionUrls(searchStr)
            }

@@ -1370,11 +1261,11 @@ class DebugSettingView @JvmOverloads constructor(
    private fun dataFilter(list: ArrayList<UpgradeVersionEntity>): ArrayList<UpgradeVersionEntity> {
        val tempList = ArrayList<UpgradeVersionEntity>()
        list.let {
-            it.iterator().forEach { entity->
-                if(onlineSelected && entity.name.contains("online")){
+            it.iterator().forEach { entity ->
+                if (onlineSelected && entity.name.contains("online")) {
                    tempList.add(entity)
                }
-                if(qaSelected && entity.name.contains("qa")){
+                if (qaSelected && entity.name.contains("qa")) {
                    tempList.add(entity)
                }
            }
@@ -1435,7 +1326,8 @@ class DebugSettingView @JvmOverloads constructor(
                AppConfigInfo.isConnectedNetty = CallerTelematicManager.getClientConnStatus()
                AppConfigInfo.serverIp = CallerTelematicManager.getServerIp()
            }
-            else -> {}
+            else -> {
+            }
        }

        /**
@@ -1453,9 +1345,9 @@ class DebugSettingView @JvmOverloads constructor(
        tvAppVersionName.text = "鹰眼版本名：${AppUtils.getAppVersionName()}"
        tvAutopilotProtocolVersionInfo.text =
            "Autopilot协议版本：${CallerAutoPilotManager.getProtocolVersion()}"
-        if(AppConfigInfo.protocolVersionNumber==0){
-            tvIpcProtocolVersionInfo.text="工控机协议版本：未知"
-        }else{
+        if (AppConfigInfo.protocolVersionNumber == 0) {
+            tvIpcProtocolVersionInfo.text = "工控机协议版本：未知"
+        } else {
            tvIpcProtocolVersionInfo.text = "工控机协议版本：${AppConfigInfo.protocolVersionNumber}"
        }
        tvMoGoMapVersion.text = "HD-Map版本：${MogoMap.getInstance().mogoMap.mapVersion}"
@@ -1517,9 +1409,9 @@ class DebugSettingView @JvmOverloads constructor(
                    "<font color='blue'>正常"
                } else {
                    "<font color='red'>异常 原因：${
-                        if(AppConfigInfo.connectStatusDescribe.isNullOrEmpty()){
+                        if (AppConfigInfo.connectStatusDescribe.isNullOrEmpty()) {
                            "主动断开连接"
-                        }else{
+                        } else {
                            AppConfigInfo.connectStatusDescribe
                        }
                    }"
@@ -1562,7 +1454,7 @@ class DebugSettingView @JvmOverloads constructor(
        )

        tvLocationEnabled.text = Html.fromHtml(
-            "定位服务开启状态：${
+            "Pad定位服务开启状态：${
                if (DeviceUtils.isLocationEnabled()) {
                    "<font color='blue'>正常"
                } else {
@@ -1634,17 +1526,35 @@ class DebugSettingView @JvmOverloads constructor(
    override fun onAutopilotCarStateData(gnssInfo: MessagePad.GnssInfo?) {
        mGnssInfo = gnssInfo
        //实时加速度列表
-        ThreadUtils.runOnUiThread{
-            if(accelerationIsShow){
-                if(accelerationList.size > 9){
+        ThreadUtils.runOnUiThread {
+            if (accelerationIsShow) {
+                if (accelerationList.size > 9) {
                    accelerationList.removeLast()
                }
                gnssInfo?.acceleration?.let {
-                    if(accelerationList.isEmpty()){
-                        accelerationList.add(AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
+                    if (accelerationList.isEmpty()) {
+                        accelerationList.add(
+                            AccelerationEntity(
+                                TimeUtils.millis2String(
+                                    System.currentTimeMillis(),
+                                    TimeUtils.getHourMinSecondFormat()
+                                ), it.toString()
+                            )
+                        )
                    }
-                    if(abs(it.minus(accelerationList.first().acceleration.toDouble())) > abs(accelerationThresholdNum)){
-                        accelerationList.add(0, AccelerationEntity(TimeUtils.millis2String(System.currentTimeMillis(),TimeUtils.getHourMinSecondFormat()),it.toString()))
+                    if (abs(it.minus(accelerationList.first().acceleration.toDouble())) > abs(
+                            accelerationThresholdNum
+                        )
+                    ) {
+                        accelerationList.add(
+                            0,
+                            AccelerationEntity(
+                                TimeUtils.millis2String(
+                                    System.currentTimeMillis(),
+                                    TimeUtils.getHourMinSecondFormat()
+                                ), it.toString()
+                            )
+                        )
                    }

                    accelerationFloatWindow?.refreshData(accelerationList)
@@ -1703,13 +1613,15 @@ class DebugSettingView @JvmOverloads constructor(
                tvReportCode.text = "code:${it.code}"
                var resultStr = "result:"
                for (result in it.resultList) {
-                    resultStr = "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                    resultStr =
+                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
                }
                tvReportResult.text = resultStr

                var actionStr = "action:"
                for (action in it.actionsList) {
-                    actionStr = "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                    actionStr =
+                        "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
                }
                tvReportActions.text = actionStr

@@ -1749,7 +1661,7 @@ class DebugSettingView @JvmOverloads constructor(
     * 时延显示
     */
    override fun onObuV2iDelayTime(delayTime: Long) {
-        ThreadUtils.runOnUiThread{
+        ThreadUtils.runOnUiThread {
            tvObuDelay.text = "obu时延：" + delayTime.toString()
        }
    }
@@ -1775,7 +1687,7 @@ class DebugSettingView @JvmOverloads constructor(
     * @param steering 方向盘转向角
     */
    override fun onAutopilotSteeringData(steering: Float) {
-        ThreadUtils.runOnUiThread{
+        ThreadUtils.runOnUiThread {
            tvSteeringInfo.text = "方向盘转向角：${steering}"
        }
    }
@@ -1785,7 +1697,7 @@ class DebugSettingView @JvmOverloads constructor(
     * @param gear 档位
     */
    override fun onAutopilotGearData(gear: Chassis.GearPosition) {
-        ThreadUtils.runOnUiThread{
+        ThreadUtils.runOnUiThread {
            tvGearInfo.text = "挂挡档位：${gear}"
        }
    }
@@ -1804,7 +1716,7 @@ class DebugSettingView @JvmOverloads constructor(
        this.clickListener = clickListener
    }

-    interface ClickListener{
+    interface ClickListener {
        fun showReportListWindow(show: Boolean)
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/IPCReportAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/IPCReportAdapter.kt
@@ -0,0 +1,60 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+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.report.ReportEntity
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.hmi.R
+
+/**
+ * @author XuXinChao
+ * @description 工控机异常节点上报适配器
+ * @since: 2022/5/12
+ */
+class IPCReportAdapter: RecyclerView.Adapter<IPCReportAdapter.IPCReportHolder>(){
+
+    private var data:List<ReportEntity>? = null
+
+    fun setData( data: List<ReportEntity>?){
+        this.data = data
+    }
+
+    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): IPCReportHolder {
+        val view = LayoutInflater.from(parent.context)
+            .inflate(R.layout.item_ipc_report, parent, false)
+        return IPCReportHolder(view)
+    }
+
+    override fun onBindViewHolder(holder: IPCReportHolder, position: Int) {
+        data?.let {it ->
+            val reportEntity = it[position]
+            reportEntity.let {
+                holder.tvReportTimeContent.text = it.time
+                var resultStr = "发生异常"
+                for (result in it.resultList){
+                    resultStr = "${resultStr}-${CallerAutoPilotManager.getReportResultDesc(result)}"
+                }
+                holder.tvReportResultContent.text = resultStr
+                holder.tvReportMsgContent.text = it.msg
+                var actionStr = ""
+                for (action in it.actionsList){
+                    actionStr = "${actionStr}-${CallerAutoPilotManager.getReportActionDesc(action)}"
+                }
+                holder.tvReportActionContent.text = actionStr
+            }
+        }
+    }
+
+    override fun getItemCount() = data?.size ?: 0
+
+    class IPCReportHolder(itemView: View) : RecyclerView.ViewHolder(itemView){
+        var tvReportTimeContent: TextView = itemView.findViewById(R.id.tvReportTimeContent)
+        var tvReportResultContent: TextView = itemView.findViewById(R.id.tvReportResultContent)
+        var tvReportMsgContent: TextView = itemView.findViewById(R.id.tvReportMsgContent)
+        var tvReportActionContent: TextView = itemView.findViewById(R.id.tvReportActionContent)
+    }
+
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/IPCReportWindow.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/IPCReportWindow.kt
@@ -0,0 +1,126 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.app.Activity
+import android.graphics.PixelFormat
+import android.util.DisplayMetrics
+import android.view.*
+import androidx.recyclerview.widget.LinearLayoutManager
+import androidx.recyclerview.widget.RecyclerView
+import com.mogo.eagle.core.data.report.ReportEntity
+import com.mogo.eagle.core.function.hmi.R
+import java.lang.reflect.Field
+
+/**
+ * @author XuXinChao
+ * @description 工控机异常节点上报
+ * @since: 2022/5/12
+ */
+class IPCReportWindow constructor(activity: Activity) : View.OnTouchListener{
+
+    private var mActivity: Activity = activity
+    private var mWindowParams: WindowManager.LayoutParams? = null
+    private var mWindowManager: WindowManager? = null
+    private lateinit var rvIPCReport: RecyclerView
+    private var ipcReportAdapter: IPCReportAdapter?=null
+
+    private lateinit var mFloatLayout: View
+    private var mInViewX = 0f
+    private var mInViewY = 0f
+    private var mDownInScreenX = 0f
+    private var mDownInScreenY = 0f
+    private var mInScreenX = 0f
+    private var mInScreenY = 0f
+
+    init {
+        initFloatWindow();
+    }
+
+    private fun initFloatWindow(){
+        mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_ipc_report, null) as View
+        mFloatLayout.setOnTouchListener(this)
+        rvIPCReport= mFloatLayout.findViewById(R.id.rv_ipc_report)
+        mWindowParams = WindowManager.LayoutParams()
+        mWindowManager = mActivity.windowManager
+        mWindowParams?.let {
+            it.format = PixelFormat.RGBA_8888
+            it.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
+            it.gravity = Gravity.START or Gravity.TOP
+            it.width = 800
+            it.height = 1000
+            it.alpha = 0.9f
+        }
+        ipcReportAdapter = IPCReportAdapter()
+        rvIPCReport.layoutManager = LinearLayoutManager(mActivity,
+            LinearLayoutManager.VERTICAL,false)
+        rvIPCReport.adapter = ipcReportAdapter
+    }
+
+    fun refreshData(data:List<ReportEntity>){
+        ipcReportAdapter?.setData(data)
+        ipcReportAdapter?.notifyDataSetChanged()
+    }
+
+    override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
+        when (motionEvent?.action) {
+            MotionEvent.ACTION_DOWN -> {
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.x
+                mInViewY = motionEvent.y
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = motionEvent.rawX
+                mDownInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+            }
+            MotionEvent.ACTION_MOVE -> {
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY - getSysBarHeight(mActivity)
+                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
+                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
+            }
+//            MotionEvent.ACTION_UP ->                 // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+//                if (mDownInScreenX === mInScreenX && mDownInScreenY === mInScreenY) {
+//                }
+        }
+        return true
+    }
+
+    fun showFloatWindow() {
+        if (mFloatLayout.parent == null) {
+            val metrics = DisplayMetrics()
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager!!.defaultDisplay.getMetrics(metrics)
+            mWindowParams!!.x = metrics.widthPixels
+            mWindowParams!!.y = metrics.heightPixels / 2 - getSysBarHeight(mActivity)
+            mWindowManager!!.addView(mFloatLayout, mWindowParams)
+        }
+    }
+
+    fun hideFloatWindow() {
+        if (mFloatLayout.parent != null) mWindowManager!!.removeView(mFloatLayout)
+    }
+
+    // 获取系统状态栏高度
+    private fun getSysBarHeight(activity: Activity): Int {
+        val c: Class<*>
+        val obj: Any
+        val field: Field
+        val x: Int
+        var sbar = 0
+        try {
+            c = Class.forName("com.android.internal.R\$dimen")
+            obj = c.newInstance()
+            field = c.getField("status_bar_height")
+            x = field.get(obj).toString().toInt()
+            sbar = activity.resources.getDimensionPixelSize(x)
+        } catch (e1: Exception) {
+            e1.printStackTrace()
+        }
+        return sbar
+    }
+
+
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
@@ -104,6 +104,7 @@ class SystemVersionView @JvmOverloads constructor(
                                CallerLogger.i("$M_HMI$$TAG", "upgrade confirm")
                                //设置当前状态为“升级中”
                                AdUpgradeStateHelper.setUpgradeStatus(true)
+                                //TODO
                                CallerAutoPilotManager.setIPCUpgradeAffirm()
                                //将角标设为升级中
                                ivAdStatus?.setImageResource(R.drawable.icon_upgrading)
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_ipc_report.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_ipc_report.xml
@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <TextView
+        android:id="@+id/tvReportTimeTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        />
+
+    <TextView
+        android:id="@+id/tvReportTimeContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/tvReportTimeTitle"
+        />
+
+    <TextView
+        android:id="@+id/tvReportResultTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvReportTimeTitle"
+        />
+
+    <TextView
+        android:id="@+id/tvReportResultContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/tvReportResultTitle"
+        app:layout_constraintLeft_toRightOf="@id/tvReportResultTitle"
+        android:minLines="1"
+        />
+
+    <TextView
+        android:id="@+id/tvReportMsgTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toBottomOf="@id/tvReportResultContent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        />
+
+    <TextView
+        android:id="@+id/tvReportMsgContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/tvReportMsgTitle"
+        app:layout_constraintLeft_toRightOf="@id/tvReportMsgTitle"
+        android:minLines="1"
+        />
+
+    <TextView
+        android:id="@+id/tvReportActionTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvReportMsgContent"
+        />
+
+    <TextView
+        android:id="@+id/tvReportActionContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/tvReportActionTitle"
+        app:layout_constraintLeft_toRightOf="@id/tvReportActionTitle"
+        android:minLines="1"
+        />
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:background="#F0F0F0"
+        app:layout_constraintTop_toBottomOf="@id/tvReportActionContent"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -636,36 +636,13 @@
                        android:layout_height="1dp"
                        android:background="#F0F0F0"
                        app:layout_constraintTop_toBottomOf="@id/btnRecordPackage" />
-
-                    <Button
-                        android:id="@+id/btnSystemUpgrade"
-                        android:layout_width="0dp"
-                        android:layout_height="wrap_content"
-                        android:text="升级系统"
-                        android:visibility="gone"
-                        app:layout_constraintLeft_toLeftOf="parent"
-                        app:layout_constraintRight_toLeftOf="@id/btnSystemRestart"
-                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
-                        tools:visibility="visible" />
-
-                    <Button
-                        android:id="@+id/btnSystemRestart"
-                        android:layout_width="0dp"
-                        android:layout_height="wrap_content"
-                        android:text="重启系统"
-                        android:visibility="gone"
-                        app:layout_constraintLeft_toRightOf="@id/btnSystemUpgrade"
-                        app:layout_constraintRight_toRightOf="parent"
-                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider"
-                        tools:visibility="visible" />
-
-
+                    
                    <TextView
                        android:id="@+id/tvCarInfo"
                        style="@style/DebugSettingText"
                        android:layout_width="match_parent"
                        android:layout_height="wrap_content"
-                        app:layout_constraintTop_toBottomOf="@id/btnSystemUpgrade" />
+                        app:layout_constraintTop_toBottomOf="@id/recordPackageDivider" />

                    <TextView
                        android:id="@+id/tvIdentifyInfo"
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_ipc_report.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_ipc_report.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="840px"
+    android:layout_height="584px"
+    android:orientation="vertical">
+
+    <ImageView
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:src="@drawable/icon_drag"
+        android:padding="15dp"
+        android:layout_gravity="center_horizontal"
+        />
+
+    <com.mogo.eagle.core.widget.RoundConstraintLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:background="@color/dialog_bg_color"
+        app:roundLayoutRadius="10dp">
+
+        <androidx.recyclerview.widget.RecyclerView
+            android:id="@+id/rv_ipc_report"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"/>
+
+    </com.mogo.eagle.core.widget.RoundConstraintLayout>
+
+</LinearLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -37,7 +37,7 @@
    <string name="application_upgrade_confirm">是否将应用升级至最新版本？</string>
    <string name="application_upgrade_tips">注意！升级时需退出自动驾驶，支持在人工驾驶时升级，升级时不可中途断电。</string>
    <string name="confirm">确认</string>
-    <string name="cancel">取消</string>
+    <string name="cancel">稍后升级</string>

    <!--绑定车机-->
    <string name="bindingcar_title">绑定车机</string>
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/V2XProvider.kt
@@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightManager
 import com.mogo.eagle.core.function.v2x.events.V2XEventManager
 import com.mogo.eagle.core.function.v2x.redlightwarning.RedLightWarningManager
 import com.mogo.eagle.core.function.v2x.speedlimit.SpeedLimitDataManager
+import com.mogo.eagle.core.function.v2x.trafficlight.core.TrafficLightDispatcher
 import com.mogo.eagle.core.function.v2x.vip.VipCarManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils

@@ -22,6 +23,7 @@ class V2XProvider : IMoGoFunctionServerProvider {
        CallTrafficLightManager.getTrafficLightProvider().initTrafficLightServer(context)
        VipCarManager.INSTANCE.initServer(context)
        SpeedLimitDataManager.getInstance().start()
+        TrafficLightDispatcher.INSTANCE.initServer(context)

        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            //不处理
@@ -34,7 +36,7 @@ class V2XProvider : IMoGoFunctionServerProvider {

    override fun onDestroy() {
        VipCarManager.INSTANCE.destroy()
-
+        TrafficLightDispatcher.INSTANCE.destroy()
        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode) && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
            //不处理
        } else {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
@@ -0,0 +1,112 @@
+package com.mogo.eagle.core.function.v2x.trafficlight.core
+
+import android.content.Context
+import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.trafficlight.CallTrafficLightListenerManager
+import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
+import perception.TrafficLightOuterClass
+import perception.TrafficLightOuterClass.TrafficLight
+
+/**
+ * @author XuXinChao
+ * @description 对多个红绿灯信号来源进行统一调度（AI云、工控机）
+ * @since: 2022/4/28
+ */
+class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener , IMoGoTrafficLightListener {
+
+    companion object{
+        const val TAG = "TrafficLightDispatcher"
+        val INSTANCE: TrafficLightDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED){
+            TrafficLightDispatcher()
+        }
+
+    }
+
+    private var mContext: Context? = null
+    //是否有AI获取红绿灯灯态
+    private var hasAiLightStatus: Boolean = false
+
+    fun initServer(context: Context){
+        mContext = context
+        //注册监听AI云获取红绿灯状态
+        CallTrafficLightListenerManager.registerTrafficLightListener(TAG, this)
+        //注册监听AI云进入路口
+        CallTrafficLightListenerManager.registerEnterCrossRoadListener(TAG, this)
+        //注册监听工控机感知红绿灯
+        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+    }
+
+    /**
+     * 工控机感知红绿灯
+     * @param trafficLights 感知红绿灯
+     */
+    override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
+        if(!hasAiLightStatus){
+            trafficLights?.let { it ->
+                var light :TrafficLight?= null
+                if(it.hasStraight()){
+                    light = it.straight
+                }else if(it.hasLeft()){
+                    light = it.left
+                }else if(it.hasRight()){
+                    light = it.right
+                }else if(it.hasUTurn()){
+                    light = it.uTurn
+                }
+                if(light == null){
+                    //隐藏红绿灯显示
+                    CallerHmiManager.showWarningTrafficLight(0)
+                }else{
+                    when (light.state) {
+                        TrafficLightOuterClass.LightState.STATE_RED -> {
+                            //红灯
+                            CallerHmiManager.showWarningTrafficLight(1)
+                            CallerHmiManager.changeCountdownGreen(0)
+                        }
+                        TrafficLightOuterClass.LightState.STATE_YELLOW -> {
+                            //黄灯
+                            CallerHmiManager.showWarningTrafficLight(2)
+                            CallerHmiManager.changeCountdownGreen(0)
+                        }
+                        TrafficLightOuterClass.LightState.STATE_GREEN -> {
+                            //绿灯
+                            CallerHmiManager.showWarningTrafficLight(3)
+                            CallerHmiManager.changeCountdownGreen(0)
+                        }
+                        else -> {}
+                    }
+                }
+
+            }
+        }
+    }
+
+    /**
+     * AI云获取红绿灯状态
+     */
+    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
+        TrafficLightHMIManager.INSTANCE.updateTrafficLight(trafficLightResult)
+        hasAiLightStatus = true
+    }
+
+    /**
+     * 车辆进入路口
+     */
+    override fun onEnterCrossRoad(enter: Boolean) {
+        hasAiLightStatus = enter
+    }
+
+    fun destroy(){
+        //取消注册监听AI云获取红绿灯状态
+        CallTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
+        //取消注册监听工控机感知红绿灯
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        //取消注册监听AI云进入路口
+        CallTrafficLightListenerManager.unRegisterEnterCrossRoadListener(TAG)
+    }
+
+}
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/IPCUpgradeStateInfo.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/bindingcar/IPCUpgradeStateInfo.kt
@@ -0,0 +1,26 @@
+package com.mogo.eagle.core.data.bindingcar
+
+/**
+ * @author XuXinChao
+ * @description 工控机镜像升级状态实体类
+ * @since: 2022/5/12
+ */
+data class IPCUpgradeStateInfo(
+    val callback_url: String,
+    val images: List<String>,
+    val progress: Progress,
+    val release_id: String,
+    val status: String,
+    val token: String
+)
+
+data class Progress(
+    val id: String,
+    val progressDetail: ProgressDetail,
+    val status: String
+)
+
+data class ProgressDetail(
+    val current: Int,
+    val total: Int
+)
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
@@ -19,7 +19,7 @@ class ChainConstant {
        const val CHAIN_LINK_LOG_ADAS_TRAJECTORY = "-adasWsTrajectory"
        const val CHAIN_LINK_LOG_ADAS_VEHICLE = "-adasWsVehicle"

-
+        const val CHAIN_ALIAS_CODE_MULTI_CONNECT = "CHAIN_ALIAS_CODE_MULTI_CONNECT"
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_RECT_DATA = "PAD_ADAS_MESSAGE_AUTOPILOT_RECT_DATA"
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_CAR_STATE = "PAD_ADAS_MESSAGE_AUTOPILOT_CAR_STATE"
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_STATUS = "PAD_ADAS_MESSAGE_AUTOPILOT_STATUS"
@@ -30,5 +30,12 @@ class ChainConstant {
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_RECORD = "PAD_ADAS_MESSAGE_AUTOPILOT_RECORD"
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE = "PAD_ADAS_MESSAGE_AUTOPILOT_VEHICLE"
        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN = "PAD_ADAS_MESSAGE_AUTOPILOT_WARN"
+
+        //operation by user
+        const val CHAIN_ALIAS_CODE_OCH_BUS_START_AUTOPILOT = "CHAIN_ALIAS_CODE_OCH_BUS_START_AUTOPILOT"
+        const val CHAIN_ALIAS_CODE_OCH_TAXI_START_AUTOPILOT = "CHAIN_ALIAS_CODE_OCH_TAXI_START_AUTOPILOT"
+        const val CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT = "CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT"
+        const val CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT_RESULT = "CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT_RESULT"
+
    }
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot

 import mogo.telematics.pad.MessagePad
+import perception.TrafficLightOuterClass

 /**
 * @author xiaoyuzhou
@@ -23,4 +24,10 @@ interface IMoGoAutopilotIdentifyListener {
     */
    fun onAutopilotWarnMessage(warn: MessagePad.Warn?) {}

+    /**
+     * 感知红绿灯
+     * @param trafficLights 感知红绿灯
+     */
+    fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){}
+
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/check/ICheckProvider.java
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/check/ICheckProvider.java
@@ -2,17 +2,12 @@ package com.mogo.eagle.core.function.api.check;

 import android.content.Context;

-import com.alibaba.android.arouter.facade.template.IProvider;
-
-import org.jetbrains.annotations.NotNull;
-
-import kotlin.Unit;
-import kotlin.jvm.functions.Function0;
+import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider;

 /**
 * 检测接口
 */
-public interface ICheckProvider extends IProvider {
+public interface ICheckProvider extends IMoGoFunctionServerProvider {
    /**
     * 注册车辆监控变化监听
     *
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IMoGoDevaToolsListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IMoGoDevaToolsListener.kt
@@ -27,6 +27,11 @@ interface IMoGoDevaToolsListener {
     */
    fun onLogCatch(lineLog: String)

+    /**
+     * fw线程写入，倒计时结束
+     */
+    fun fwThreadClose()
+
    /**
     * 模块TAG更新回调
     */
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoWaringProvider.kt
@@ -4,6 +4,7 @@ import android.view.View
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.notice.NoticeNormalData
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
+import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.hmi.IMoGoHmiViewProxy

 /**
@@ -215,4 +216,10 @@ interface IMoGoWaringProvider : IMoGoHmiViewProxy {
     * @param msg
     */
    fun showDockerRebootResult(code: Int,msg: String)
+
+    /**
+     * 展示工控机监控上报数据
+     * @param reportList 上报数据列表
+     */
+    fun showIPCReportWindow(reportList: ArrayList<ReportEntity>)
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/deva/IMoGoMapDevaProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/deva/IMoGoMapDevaProvider.kt
@@ -0,0 +1,9 @@
+package com.mogo.eagle.core.function.api.map.deva
+
+interface IMoGoMapDevaProvider {
+
+    /**
+     * 压缩并上传地图日志
+     */
+    fun uploadFile(filePath: String)
+}
--- 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
@@ -3,9 +3,15 @@ package com.mogo.eagle.core.function.call.autopilot
 import android.os.SystemClock
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_ADAS
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
 import kotlin.random.Random

 /**
@@ -43,6 +49,14 @@ object CallerAutoPilotManager {
     *
     * @param controlParameters 开启自动驾驶的控制参数
     */
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_EAGLE_START_AUTOPILOT,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
    fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
        if (controlParameters == null) {
            //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
@@ -4,6 +4,7 @@ import androidx.annotation.Nullable
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
+import perception.TrafficLightOuterClass
 import java.util.concurrent.ConcurrentHashMap

 /**
@@ -79,5 +80,15 @@ object CallerAutopilotIdentifyListenerManager : CallerBase() {
        }
    }

+    /**
+     * 感知红绿灯
+     */
+    fun invokeAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){
+        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach{
+            val tag = it.key
+            val listener = it.value
+            listener.onAutopilotPerceptionTrafficLight(trafficLights)
+        }
+    }

 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsListenerManager.kt
@@ -72,6 +72,13 @@ object CallerDevaToolsListenerManager {
        }
    }

+    fun invokeDevaToolsFwThreadClose() {
+        M_DEVA_TOOLS_LISTENER.forEach {
+            val listener = it.value
+            listener.fwThreadClose()
+        }
+    }
+
    fun invokeDevaToolsModuleLogChanges(moduleTag: MutableMap<String, SceneModule>) {
        M_DEVA_TOOLS_LISTENER.forEach {
            val listener = it.value
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.notice.NoticeNormalData
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
+import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.hmi.view.IViewLimitingVelocity
 import com.mogo.eagle.core.function.api.hmi.view.IViewNotification
 import com.mogo.eagle.core.function.api.hmi.view.IViewTrafficLight
@@ -320,4 +321,12 @@ object CallerHmiManager : CallerBase() {
        waringProviderApi?.setProxyNotificationView(view)
    }

+    /**
+     * 展示工控机监控上报数据
+     * @param reportList 上报数据列表
+     */
+    fun showIPCReportWindow(reportList: ArrayList<ReportEntity>){
+        waringProviderApi?.showIPCReportWindow(reportList)
+    }
+
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDevaListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapDevaListenerManager.kt
@@ -0,0 +1,54 @@
+package com.mogo.eagle.core.function.call.map
+
+import androidx.annotation.Nullable
+import com.mogo.eagle.core.function.api.map.deva.IMoGoMapDevaProvider
+import com.mogo.eagle.core.function.call.base.CallerBase
+import java.util.concurrent.ConcurrentHashMap
+
+
+object CallerMapDevaListenerManager : CallerBase() {
+
+    private val mMapDevaListeners: ConcurrentHashMap<String, IMoGoMapDevaProvider> =
+        ConcurrentHashMap()
+
+    private var filePath: String? = null
+
+    fun addListener(
+        @Nullable tag: String,
+        @Nullable listener: IMoGoMapDevaProvider
+    ) {
+        if (mMapDevaListeners.containsKey(tag)) {
+            return
+        }
+        mMapDevaListeners[tag] = listener
+        filePath?.let {
+            listener.uploadFile(it)
+        }
+    }
+
+    fun removeListener(@Nullable tag: String) {
+        if (!mMapDevaListeners.containsKey(tag)) {
+            return
+        }
+        mMapDevaListeners.remove(tag)
+    }
+
+    fun removeListener(@Nullable listener: IMoGoMapDevaProvider) {
+        if (!mMapDevaListeners.containsValue(listener)) {
+            return
+        }
+        mMapDevaListeners.forEach {
+            if (it.value == listener) {
+                mMapDevaListeners.remove(it.key)
+            }
+        }
+    }
+
+    fun invokeUploadLogFile(filePath: String) {
+        this.filePath = filePath
+        mMapDevaListeners.forEach {
+            val listener = it.value
+            listener.uploadFile(filePath)
+        }
+    }
+}
--- a/core/mogo-core-utils/build.gradle
+++ b/core/mogo-core-utils/build.gradle
@@ -75,6 +75,8 @@ dependencies {
    api rootProject.ext.dependencies.androidxlifecycleprocess
    api rootProject.ext.dependencies.androidxccorektx
    api rootProject.ext.dependencies.life_cycle_java8
+
+    api rootProject.ext.dependencies.mogochainbase
 }

 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
--- a/gradle.properties
+++ b/gradle.properties
@@ -60,7 +60,7 @@ HOOK_LOG_VERSION=1.6.1
 SERVICE_CHAIN_VERSION=1.1.0
 ################  外部依赖引用 ################
 # loglib
-LOGLIB_VERSION=1.2.30
+LOGLIB_VERSION=1.2.46
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
 MOGO_NETWORK_VERSION=1.3.55
@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.3.55
 MOGO_TELEMATIC_VERSION=1.3.55
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.1.1
+MAP_SDK_VERSION=2.1.1.2
 MAP_SDK_OPERATION_VERSION=1.0.13
 # websocket
 WEBSOCKET_VERSION=1.1.7
--- 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
@@ -1,12 +1,17 @@
 package com.zhidao.support.adas.high;


+import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_ADAS_START_AUTOPILOT;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_CONNECT_ADDRESS;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_INIT;
+import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_STATUS_CHANGE_REASON;
+import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_ADAS;
 import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_CONNECT_STATUS;
+import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT;

 import android.text.TextUtils;
+import android.util.Log;

 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -430,6 +435,12 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     * @param reason 状态描述
     *               如果ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED && reason==null 表示主动断开连接
     */
+    @ChainLog(linkChainLog = CHAIN_LINK_LOG_CONNECT_STATUS,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = TracingConstants.Endpoint.PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_STATUS_CHANGE_REASON,
+            paramIndexes = {1},
+            clientPkFileName = "sn")
    private void updateConnectStatus(@Define.IPCConnectionStatus int status, @Nullable String reason) {
        ipcConnectionStatus.set(status);
        if (adasConnectStatusListener != null) {
@@ -576,6 +587,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     * @param routeInfo 自动驾驶路径信息
     * @return boolean
     */
+    @ChainLog(
+            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+            linkCode = CHAIN_LINK_ADAS,
+            endpoint = TracingConstants.Endpoint.PAD,
+            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_START_AUTOPILOT,
+            paramIndexes = {2},
+            clientPkFileName = "sn"
+    )
    @Override
    public boolean sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo) {
        MessagePad.SetAutopilotModeReq.Builder builder = MessagePad.SetAutopilotModeReq.newBuilder();
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/chain/AdasChain.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/chain/AdasChain.java
@@ -5,11 +5,15 @@ public class AdasChain {
    public static final int CHAIN_LINK_ADAS = 1;

    public static final int CHAIN_LINK_LOG_CONNECT_STATUS = 0;
-    public static final int CHAIN_LINK_LOG_WEB_SOCKET_DATA = 1;
+    public static final int CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT = 1;

    public static final String CHAIN_ALIAS_CODE_INIT = "PAD_ADAS_INIT";
+    public static final String CHAIN_ALIAS_CODE_STATUS_CHANGE_REASON = "CHAIN_ALIAS_CODE_STATUS_CHANGE_REASON";
    public static final String CHAIN_ALIAS_CODE_CONNECT_ADDRESS = "PAD_ADAS_CONNECT_ADDRESS";
    public static final String CHAIN_ALIAS_CODE_WEB_SOCKET_OPEN = "PAD_ADAS_WEB_SOCKET_OPEN";
    public static final String CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_JSON = "PAD_ADAS_WEB_SOCKET_MESSAGE_JSON";
    public static final String CHAIN_ALIAS_CODE_WEB_SOCKET_MESSAGE_BYTE = "PAD_ADAS_WEB_SOCKET_MESSAGE_BYTE";
+
+    //operation by user
+    public static final String CHAIN_ALIAS_CODE_ADAS_START_AUTOPILOT = "CHAIN_ALIAS_CODE_ADAS_START_AUTOPILOT";
 }
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
@@ -0,0 +1,104 @@
+package com.zhidao.support.adas.high.common;
+
+import mogo.telematics.pad.MessagePad;
+import rule_segement.PointCloud;
+
+/**
+ * 点云数据解码器
+ * 时间戳，lon，lat，alt，yaw，roll，patch，新增数据大小，id，x，y，z，强度，……，删除数据大小，id，x，y，z，强度，……
+ * 如果add_data 没有数据 新增数据大小用-1表示
+ * 如果del_data 没有数据 删除数据大小用-2表示
+ * 如果又不存在的数会使用0.0补位
+ * 目前工控机所发送数据没用ID 所以默认用0代替
+ */
+public class PointCloudDecoder {
+    /**
+     * add 和del 列表中 多少一个数据为一组
+     * 目前缺少id所以是4个
+     */
+    private static final int NUMBER_OF_DATA = 4;
+
+    public static String decode(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud) {
+        StringBuilder builder = new StringBuilder();
+        builder.append(((long) header.getTimestamp() * 1000.0D)).append(",");
+        double d;
+        if (pointCloud.hasSelfLongitude()) {
+            d = pointCloud.getSelfLongitude();
+        } else {
+            d = 0;
+        }
+        builder.append(d).append(",");
+        if (pointCloud.hasSelfLatitude()) {
+            d = pointCloud.getSelfLatitude();
+        } else {
+            d = 0;
+        }
+        builder.append(d).append(",");
+        if (pointCloud.hasSelfAltitude()) {
+            d = pointCloud.getSelfAltitude();
+        } else {
+            d = 0;
+        }
+        builder.append(d).append(",");
+        if (pointCloud.hasSelfYaw()) {
+            d = pointCloud.getSelfYaw();
+        } else {
+            d = 0;
+        }
+        builder.append(d).append(",");
+        if (pointCloud.hasSelfRoll()) {
+            d = pointCloud.getSelfRoll();
+        } else {
+            d = 0;
+        }
+        builder.append(d).append(",");
+        if (pointCloud.hasSelfPitch()) {
+            d = pointCloud.getSelfPitch();
+        } else {
+            d = 0;
+        }
+        builder.append(d).append(",");
+        int addSize = pointCloud.getAddDataCount() / NUMBER_OF_DATA;
+        int delSize = pointCloud.getDelDataCount() / NUMBER_OF_DATA;
+        if (addSize == 0 && delSize == 0) {
+            builder.append(-1).append(",").append(-2);
+        } else {
+            StringBuilder add = new StringBuilder();
+            StringBuilder del = new StringBuilder();
+            int i = 0;
+            while (i < delSize || i < addSize) {
+                int temp = i * NUMBER_OF_DATA;
+                if (i < addSize) {
+                    //目前没有id 默认插入0
+                    add.append(0).append(",");
+                    add.append(pointCloud.getAddData(temp++)).append(",");
+                    add.append(pointCloud.getAddData(temp++)).append(",");
+                    add.append(pointCloud.getAddData(temp++)).append(",");
+                    add.append(pointCloud.getAddData(temp)).append(",");
+                }
+                if (i < delSize) {
+                    temp = i * NUMBER_OF_DATA;
+                    //目前没有id 默认插入0
+                    del.append(0).append(",");
+                    del.append(pointCloud.getDelData(temp++)).append(",");
+                    del.append(pointCloud.getDelData(temp++)).append(",");
+                    del.append(pointCloud.getDelData(temp++)).append(",");
+                    del.append(pointCloud.getDelData(temp)).append(",");
+                }
+                i++;
+            }
+            if (addSize == 0) {
+                builder.append(-1).append(",");
+            } else {
+                builder.append(addSize).append(",").append(add);
+            }
+            if (delSize == 0) {
+                builder.append(-2);
+            } else {
+                del.deleteCharAt(del.length() - 1);
+                builder.append(delSize).append(",").append(del);
+            }
+        }
+        return builder.toString();
+    }
+}
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceiveTimeoutManager.java
@@ -12,7 +12,7 @@ import java.util.concurrent.atomic.AtomicBoolean;
 public class ReceiveTimeoutManager {
    private static final String TAG = ReceiveTimeoutManager.class.getSimpleName();
    private static volatile ReceiveTimeoutManager INSTANCE;
-    private static final long DEFAULT_TIMEOUT = 4 * 1000L;//默认超时时间
+    private static final long DEFAULT_TIMEOUT = 3 * 1000L;//默认超时时间
    private final AtomicBoolean isEnable = new AtomicBoolean(true);//是否启用超时检测
    private volatile long lastReceiveTime;
    private OnTimeoutListener listener;
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/AutopilotStateMessage.java
@@ -3,7 +3,6 @@ package com.zhidao.support.adas.high.msg;
 import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;

 import mogo.telematics.pad.MessagePad;

@@ -18,7 +17,6 @@ public class AutopilotStateMessage extends MyAbstractMessageHandler {

    @Override
    public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException {
-        ReceiveTimeoutManager.getInstance().refreshLast();
        MessagePad.AutopilotState autopilotState = MessagePad.AutopilotState.parseFrom(msg);
        if (adasListener != null) {
            adasListener.onAutopilotState(header, autopilotState);
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/GnssInfoMessage.java
@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.msg;
 import com.google.gson.Gson;
 import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;

 import mogo.telematics.pad.MessagePad;

@@ -17,6 +18,7 @@ public class GnssInfoMessage extends MyAbstractMessageHandler {

    @Override
    public void handlerMsg(MessagePad.Header header, byte[] msg, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        ReceiveTimeoutManager.getInstance().refreshLast();
        MessagePad.GnssInfo trajectory = MessagePad.GnssInfo.parseFrom(msg);
        if (adasListener != null) {
            adasListener.onGnssInfo(header, trajectory);
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -22,6 +22,8 @@ import android.util.Log;
 import android.view.MotionEvent;
 import android.view.View;

+import androidx.annotation.NonNull;
+
 import com.mogo.commons.constants.SharedPrefsConstants;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.config.HdMapBuildConfig;
@@ -31,6 +33,7 @@ import com.mogo.eagle.core.data.map.MapRoadInfo;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager;
+import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapStyleListenerManager;
@@ -60,6 +63,7 @@ import com.zhidaoauto.map.sdk.open.abs.OnMapStyleListener;
 import com.zhidaoauto.map.sdk.open.abs.OnMapTouchListener;
 import com.zhidaoauto.map.sdk.open.abs.OnMapViewVisualAngleChangeListener;
 import com.zhidaoauto.map.sdk.open.abs.OnRoadInfoListener;
+import com.zhidaoauto.map.sdk.open.abs.log.ILog;
 import com.zhidaoauto.map.sdk.open.camera.CameraPosition;
 import com.zhidaoauto.map.sdk.open.camera.CameraUpdateFactory;
 import com.zhidaoauto.map.sdk.open.camera.LatLngBounds;
@@ -96,7 +100,7 @@ public class AMapViewWrapper implements IMogoMapView,
        OnMarkClickListener,
        OnMapStyleListener,
        OnMapViewVisualAngleChangeListener,
-        OnRoadInfoListener {
+        OnRoadInfoListener, ILog {

    private static final String TAG = "AMapViewWrapper";
    private final MapAutoView mMapView;
@@ -116,7 +120,7 @@ public class AMapViewWrapper implements IMogoMapView,
    private boolean mIsDelayed = false;

    public AMapViewWrapper(MapAutoView mMapView) {
-        CallerLogger.INSTANCE.i(M_MAP+TAG, "autoop--AMapViewWrapper: init");
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--AMapViewWrapper: init");
        this.mMapView = mMapView;
        initViews();
        initListeners();
@@ -183,17 +187,18 @@ public class AMapViewWrapper implements IMogoMapView,
        mMapView.setOnMapStyleListener(this);
        mMapView.setOnMapViewVisualAngleChangeListener(this);
        mMapView.setOnRoadInfoListener(this, 1);
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "styleop - initListeners - setOnMapStyleListener - view " + mMapView);
+        MapAutoApi.INSTANCE.registerLogListener(this);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "styleop - initListeners - setOnMapStyleListener - view " + mMapView);
    }

    @Override
    public void onRoadIdInfo(@androidx.annotation.Nullable String roadId) {

        if (roadId != null && !TextUtils.isEmpty(roadId)) {
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "onRoadIdInfo::" + roadId);
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "onRoadIdInfo::" + roadId);
            CallerMapRoadListenerManager.INSTANCE.invokeListenersOnRoadIdGet(roadId);
        } else {
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "onRoadIdInfo::null");
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "onRoadIdInfo::null");
        }
    }

@@ -211,27 +216,27 @@ public class AMapViewWrapper implements IMogoMapView,
                 *         }
                 */
                String provider = carLoc.getProvider();
-                CallerLogger.INSTANCE.d(M_MAP+TAG, "car_loc: " + carLoc + "");
+                CallerLogger.INSTANCE.d(M_MAP + TAG, "car_loc: " + carLoc + "");
                if (!MapAutoApi.GPS_FLAG.equals(provider)) {
-                    CallerLogger.INSTANCE.d(M_MAP+TAG, "convert before: car_loc: {lon: " + carLoc.getLongitude() + ", lat: " + carLoc.getLatitude() + "}");
+                    CallerLogger.INSTANCE.d(M_MAP + TAG, "convert before: car_loc: {lon: " + carLoc.getLongitude() + ", lat: " + carLoc.getLatitude() + "}");
                    LonLatPoint p = new LonLatPoint(carLoc.getLongitude(), carLoc.getLatitude());
                    p = MapTools.INSTANCE.switchLonLatWGS84(p);
                    carLoc.setLongitude(p.longitude);
                    carLoc.setLatitude(p.latitude);
-                    CallerLogger.INSTANCE.d(M_MAP+TAG, "convert after: car_loc: {lon: " + carLoc.getLongitude() + ", lat: " + carLoc.getLatitude() + "}");
+                    CallerLogger.INSTANCE.d(M_MAP + TAG, "convert after: car_loc: {lon: " + carLoc.getLongitude() + ", lat: " + carLoc.getLatitude() + "}");
                }
-                CallerLogger.INSTANCE.d(M_MAP+TAG, "onStopLineInfo:stop_line" + stopLine + ", car_loc:{lon: " + carLoc.getLatitude() + ", lat: " + carLoc.getLongitude() + "}");
+                CallerLogger.INSTANCE.d(M_MAP + TAG, "onStopLineInfo:stop_line" + stopLine + ", car_loc:{lon: " + carLoc.getLatitude() + ", lat: " + carLoc.getLongitude() + "}");
                MapRoadInfo.StopLine stopInfo = convert(stopLine);
                LonLatPoint p1 = points.get(0);
                LonLatPoint p2 = points.get(points.size() - 1);
                double distanceOfCarToStopLine = MapDataApi.INSTANCE.getNearstFromPointToSegment(carLoc.getLongitude(), carLoc.getLatitude(), p1.longitude, p1.latitude, p2.longitude, p2.latitude) * 10_0000;
                stopInfo.setDistanceOfCarToStopLine(distanceOfCarToStopLine);
-                CallerLogger.INSTANCE.d(M_MAP+TAG, "onStopLineInfo: --- distance: " + distanceOfCarToStopLine);
+                CallerLogger.INSTANCE.d(M_MAP + TAG, "onStopLineInfo: --- distance: " + distanceOfCarToStopLine);
                CallerMapRoadListenerManager.INSTANCE.invokeListenersOnStopLineGet(stopInfo);
            }
        } else {
            if (carLoc != null) {
-                CallerLogger.INSTANCE.d(M_MAP+TAG, "onStopLineInfo::null, car_loc:{lon: " + carLoc.getLatitude() + ", lat: " + carLoc.getLongitude() + "}");
+                CallerLogger.INSTANCE.d(M_MAP + TAG, "onStopLineInfo::null, car_loc:{lon: " + carLoc.getLatitude() + ", lat: " + carLoc.getLongitude() + "}");
            }
        }
    }
@@ -279,7 +284,7 @@ public class AMapViewWrapper implements IMogoMapView,
    public void onCreate(Bundle bundle) {
        if (mMapView != null) {
            mMapView.onCreate(bundle);
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "map onCreate");
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "map onCreate");
        }
    }

@@ -287,7 +292,7 @@ public class AMapViewWrapper implements IMogoMapView,
    public void onResume() {
        if (mMapView != null) {
            mMapView.onResume();
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "map onResume");
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "map onResume");
        }
    }

@@ -295,7 +300,7 @@ public class AMapViewWrapper implements IMogoMapView,
    public void onPause() {
        if (mMapView != null) {
            mMapView.onPause();
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "map onPause");
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "map onPause");
        }
    }

@@ -309,7 +314,8 @@ public class AMapViewWrapper implements IMogoMapView,
            mMapView.setOnMapClickListener(null);
            mMapView.getLocationClient().unRegisterListener(this);
            mMapView.setOnCameraChangeListener(null);
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "map onDestroy");
+            MapAutoApi.INSTANCE.unregisterLogListener(this);
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "map onDestroy");
        }

        if (mLocationTask != null) {
@@ -321,7 +327,7 @@ public class AMapViewWrapper implements IMogoMapView,
    public void onSaveInstanceState(Bundle outState) {
        if (mMapView != null) {
            mMapView.onSaveInstanceState(outState);
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "map onSaveInstanceState");
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "map onSaveInstanceState");
        }
    }

@@ -335,9 +341,9 @@ public class AMapViewWrapper implements IMogoMapView,
        if (isVrMold()) {
            return MapControlResult.ERROR;
        }
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "changeZoom : " + zoom);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "changeZoom : " + zoom);
        if (DebugConfig.isDebug()) {
-            CallerLogger.INSTANCE.d(M_MAP+TAG, Log.getStackTraceString(new Throwable()));
+            CallerLogger.INSTANCE.d(M_MAP + TAG, Log.getStackTraceString(new Throwable()));
        }
        getMap().changeZoom(zoom);
        return MapControlResult.SUCCESS;
@@ -351,7 +357,7 @@ public class AMapViewWrapper implements IMogoMapView,
            mVisualAngleMode = angelMode;
            if (angelMode == MODE_CLOSE_SIGHT) {
                if (mogoLatLng == null) {
-                    CallerLogger.INSTANCE.e(M_MAP+TAG, "切换地图近景需要传入要移动的经纬度数据");
+                    CallerLogger.INSTANCE.e(M_MAP + TAG, "切换地图近景需要传入要移动的经纬度数据");
                    return;
                }
                // 近景传入经纬度为点击地图上静态marker经纬度数据，为GPS坐标点。
@@ -374,7 +380,7 @@ public class AMapViewWrapper implements IMogoMapView,

    private boolean checkAMapView() {
        if (mMapView == null || mMapView.getMapAutoViewHelper() == null) {
-            CallerLogger.INSTANCE.e(M_MAP+TAG, "自研mapView实例为空，请检查");
+            CallerLogger.INSTANCE.e(M_MAP + TAG, "自研mapView实例为空，请检查");
            return false;
        }
        return true;
@@ -382,20 +388,20 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void moveToCenter(MogoLatLng latLng, boolean animate) {
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "move to center " + latLng);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "move to center " + latLng);
        if (latLng == null || latLng.lat == 0.0d || latLng.lon == 0.0d) {
-            CallerLogger.INSTANCE.e(M_MAP+TAG, "latlng = null or is illegal");
+            CallerLogger.INSTANCE.e(M_MAP + TAG, "latlng = null or is illegal");
            return;
        }
        if (DebugConfig.isDebug()) {
-            CallerLogger.INSTANCE.d(M_MAP+TAG, Log.getStackTraceString(new Throwable()));
+            CallerLogger.INSTANCE.d(M_MAP + TAG, Log.getStackTraceString(new Throwable()));
        }
        mMapView.getMapAutoViewHelper().animateCamera(new LonLatPoint(latLng.lon, latLng.lat));
    }

    @Override
    public void showMyLocation(boolean visible) {
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "showMyLocation1 " + visible);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "showMyLocation1 " + visible);
        // 如果是VR模式
        if (isVrMold()) {
            return;
@@ -418,7 +424,7 @@ public class AMapViewWrapper implements IMogoMapView,
     */
    private boolean isVrMold() {
        boolean isVrMode = mCurrentUI == EnumMapUI.MAP_STYLE_NIGHT_VR || mCurrentUI == EnumMapUI.MAP_STYLE_DAY_VR;
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "是否是VR模式: " + isVrMode);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "是否是VR模式: " + isVrMode);
        return isVrMode;
    }

@@ -431,14 +437,14 @@ public class AMapViewWrapper implements IMogoMapView,
        boolean isDayMode = mCurrentUI == EnumMapUI.MAP_STYLE_DAY_VR
                || mCurrentUI == EnumMapUI.MAP_STYLE_DAY
                || mCurrentUI == EnumMapUI.MAP_STYLE_DAY_NAV;
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "是否是白天模式: " + isDayMode);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "是否是白天模式: " + isDayMode);
        return isDayMode;
    }

    @Override
    public void showMyLocation(View view) {
        if (DebugConfig.isDebug()) {
-            CallerLogger.INSTANCE.d(M_MAP+TAG, Log.getStackTraceString(new Throwable()));
+            CallerLogger.INSTANCE.d(M_MAP + TAG, Log.getStackTraceString(new Throwable()));
        }
        if (checkAMapView()) {
            MyLocationStyle style = mMapView.getMapAutoViewHelper().getMyLocationStyle();
@@ -507,7 +513,7 @@ public class AMapViewWrapper implements IMogoMapView,
            if (isVrMold()) {
                return;
            }
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "setPointToCenter x : " + mapCenterX + " y : " + mapCenterY);
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "setPointToCenter x : " + mapCenterX + " y : " + mapCenterY);
            mMapView.getMapAutoViewHelper().setPointToCenter((float) mapCenterX, (float) mapCenterY);
        }
    }
@@ -544,7 +550,7 @@ public class AMapViewWrapper implements IMogoMapView,
        if (checkAMapView()) {
            if (mMapView.getMapAutoViewHelper() != null) {
                mMapView.getMapAutoViewHelper().setRenderFps(fps);
-                CallerLogger.INSTANCE.d(M_MAP+TAG, "设置刷新帧率 fps = " + fps);
+                CallerLogger.INSTANCE.d(M_MAP + TAG, "设置刷新帧率 fps = " + fps);
            }
        }
    }
@@ -555,16 +561,16 @@ public class AMapViewWrapper implements IMogoMapView,
            return;
        }
        if (isVrMold()) {
-            CallerLogger.INSTANCE.w(M_MAP+TAG, "vr 模式下忽略该设置");
+            CallerLogger.INSTANCE.w(M_MAP + TAG, "vr 模式下忽略该设置");
            return;
        }
-        CallerLogger.INSTANCE.i(M_MAP+TAG, "showBounds : " + M_MAP+TAG + " , " + carPosition.toString() + " , " + bound.toShortString() + " , " + lockCarPosition);
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "showBounds : " + M_MAP + TAG + " , " + carPosition.toString() + " , " + bound.toShortString() + " , " + lockCarPosition);
        try {
            LatLngBounds latLngBounds = MogoMapUtils.getLatLngBounds(carPosition, lonLats, lockCarPosition);
            mMapView.getMapAutoViewHelper().setCenter(ObjectUtils.fromMogo(carPosition));
            mMapView.getMapAutoViewHelper().moveCamera(CameraUpdateFactory.INSTANCE.newLatLngBounds(latLngBounds, bound.left, bound.right, bound.top, bound.bottom));
        } catch (Exception e) {
-            CallerLogger.INSTANCE.e(M_MAP+TAG, "M_MAP+TAG : " + M_MAP+TAG + " error : " + e);
+            CallerLogger.INSTANCE.e(M_MAP + TAG, "M_MAP+TAG : " + M_MAP + TAG + " error : " + e);
        }
    }

@@ -672,6 +678,11 @@ public class AMapViewWrapper implements IMogoMapView,
        return ObjectUtils.transformCenterLine(MapDataApi.INSTANCE.getCenterLineInfo(lon, lat, angle));
    }

+    @Override
+    public void result(@NonNull String filePath) {
+        CallerMapDevaListenerManager.INSTANCE.invokeUploadLogFile(filePath);
+    }
+
    private static class LocationTask implements Runnable {

        private MogoLocation location;
@@ -698,7 +709,7 @@ public class AMapViewWrapper implements IMogoMapView,
        MogoLocation currentLocation = ObjectUtils.fromLocation(location);
        if (Looper.myLooper() == Looper.getMainLooper()) {
            CallerMapLocationListenerManager.INSTANCE.invokeMapLocationChangeListener(currentLocation, 1);
-        } else  {
+        } else {
            if (mLocationTask == null) {
                mLocationTask = new LocationTask();
            }
@@ -742,7 +753,11 @@ public class AMapViewWrapper implements IMogoMapView,
            } else {
                mIsFirstLocated = true;
                mIsDelayed = false;
-                CallerLogger.INSTANCE.d(M_MAP+TAG, "同步定位：" + GsonUtils.toJson(location));
+                try {
+                    CallerLogger.INSTANCE.d(M_MAP + TAG, "同步定位：" + GsonUtils.toJson(location));
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
            }
        }
    }
@@ -755,13 +770,13 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void onMapInit() {
-        CallerLogger.INSTANCE.i(M_MAP+TAG, "autoop--onMapInit: ");
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--onMapInit: ");
        MogoMapListenerHandler.getInstance().onMapLoaded();
    }

    @Override
    public void onMapLoaded() {
-        CallerLogger.INSTANCE.i(M_MAP+TAG, "autoop--onMapLoaded: ");
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--onMapLoaded: ");
        mMapLoaded = true;
        CameraPosition cameraPosition = mMapView.getMapAutoViewHelper().getCameraPosition();
        Trace.beginSection("timer.onCameraChangeFinish");
@@ -788,7 +803,7 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void onRoadLoaded(@Nullable String s) {
-        CallerLogger.INSTANCE.i(M_MAP+TAG, "autoop--onMapLoaded: ");
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--onMapLoaded: ");

    }

@@ -799,7 +814,7 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void onMapViewVisualAngleChange(int i) {
-        CallerLogger.INSTANCE.d(M_MAP+TAG, " 地图自动更改视距 currentThread : " + Thread.currentThread().getName());
+        CallerLogger.INSTANCE.d(M_MAP + TAG, " 地图自动更改视距 currentThread : " + Thread.currentThread().getName());
        mVisualAngleMode = getVisualAngleMode(i);
        MogoMapListenerHandler.getInstance().onMapVisualAngleChanged(mVisualAngleMode);
    }
@@ -849,8 +864,8 @@ public class AMapViewWrapper implements IMogoMapView,

    @Override
    public void onChangeMapStyle(int styleId) {
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "currentMapStyle = " + styleId);
-        CallerLogger.INSTANCE.d(M_MAP+TAG, Log.getStackTraceString(new Throwable()));
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "currentMapStyle = " + styleId);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, Log.getStackTraceString(new Throwable()));

        // 映射地图样式ID到鹰眼样式ID
        if (styleId == MapAutoApi.MAP_STYLE_DAY
@@ -871,7 +886,7 @@ public class AMapViewWrapper implements IMogoMapView,
        if (mCurrentUI != null) {
            UiThreadHandler.post(() -> {
                try {
-                    CallerLogger.INSTANCE.d(M_MAP+TAG, "currentUI = " + mCurrentUI);
+                    CallerLogger.INSTANCE.d(M_MAP + TAG, "currentUI = " + mCurrentUI);
                    MogoMapListenerHandler.getInstance().onMapModeChanged(mCurrentUI);
                    CallerMapStyleListenerManager.INSTANCE.invokeMapStyleChange(styleId);
                } catch (Exception e) {
@@ -891,7 +906,7 @@ public class AMapViewWrapper implements IMogoMapView,
            TipToast.shortTip(mRtkEnable ? "已开启rtk道路匹配" : "已开启gps道路匹配");
            mMapView.getLocationClient().rtkEnable(mRtkEnable);
        } catch (Exception e) {
-            CallerLogger.INSTANCE.e(M_MAP+TAG, "rtkEnable has exception : " + e);
+            CallerLogger.INSTANCE.e(M_MAP + TAG, "rtkEnable has exception : " + e);
        }
    }

@@ -901,7 +916,7 @@ public class AMapViewWrapper implements IMogoMapView,
            return;
        }
        if (data == null) {
-            CallerLogger.INSTANCE.d(M_MAP+TAG, "停止使用rtk定位数据");
+            CallerLogger.INSTANCE.d(M_MAP + TAG, "停止使用rtk定位数据");
            return;
        }
        double lon = data.optDouble("lon", -1);
@@ -1001,7 +1016,7 @@ public class AMapViewWrapper implements IMogoMapView,
     * 加载3D模型
     */
    private void loadPreVehicleModel() {
-        CallerLogger.INSTANCE.d(M_MAP+TAG, "添加感知模型到地图中……");
+        CallerLogger.INSTANCE.d(M_MAP + TAG, "添加感知模型到地图中……");
        addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI, "添加感知模型到地图中……preVehicleStrWeiZhi=");

        addPreVehicleModelWeiZhi(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE, "添加感知模型到地图中……preVehicleStrPeople=");
@@ -1038,11 +1053,11 @@ public class AMapViewWrapper implements IMogoMapView,
                            .addPreVehicleModel(typeTrafficId.getType(), typeTrafficId.getTraffic3DNightIconId());
        }

-        CallerLogger.INSTANCE.d(M_MAP+TAG, logMsg + preVehicleStrWeiZhi);
+        CallerLogger.INSTANCE.d(M_MAP + TAG, logMsg + preVehicleStrWeiZhi);

        if (preVehicleStrWeiZhi == null) {
            UiThreadHandler.postDelayed(() -> {
-                CallerLogger.INSTANCE.w(M_MAP+TAG, "添加感知模型到地图中失败，尝试重复添加……");
+                CallerLogger.INSTANCE.w(M_MAP + TAG, "添加感知模型到地图中失败，尝试重复添加……");
                addPreVehicleModelWeiZhi(typeTrafficId, logMsg);
            }, 1000L);
        }
--- a/modules/mogo-module-common/build.gradle
+++ b/modules/mogo-module-common/build.gradle
@@ -59,8 +59,6 @@ dependencies {
    implementation rootProject.ext.dependencies.arouter
    kapt rootProject.ext.dependencies.aroutercompiler

-    implementation rootProject.ext.dependencies.mogochainbase
-
    api rootProject.ext.dependencies.mogoaicloudrealtime

    implementation rootProject.ext.dependencies.coroutinesandroid