diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CallerLoggerUtils.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CallerLoggerUtils.kt
index 125b4b91d0..14e2610598 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CallerLoggerUtils.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CallerLoggerUtils.kt
@@ -4,6 +4,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_BUS_P
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_SWEEPER
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI_P
 
@@ -24,7 +25,11 @@ object CallerLoggerUtils {
             AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
         //小巴车乘客
         M_BUS_P
-    }else{
+    }else if (AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)){
+        //清扫车
+        M_SWEEPER
+    }
+    else{
         ""
     }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
index 45e0d1dedd..5a72b271fe 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperOperatePanelView.java
@@ -39,8 +39,9 @@ import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 
+import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
 import chassis.SpecialVehicleTaskCmdOuterClass;
-import chassis.VehicleStateOuterClass;
 
 /**
  * 清扫车操作面板View
@@ -178,7 +179,7 @@ public class SweeperOperatePanelView extends LinearLayout {
             }
 
             @Override
-            public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+            public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
                 boolean success = false;
                 if (cleanSystemState == null) {
                     return success;
@@ -284,7 +285,7 @@ public class SweeperOperatePanelView extends LinearLayout {
             }
 
             @Override
-            public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+            public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
                 boolean success = false;
                 if (cleanSystemState == null) {
                     return success;
@@ -402,7 +403,7 @@ public class SweeperOperatePanelView extends LinearLayout {
             }
 
             @Override
-            public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+            public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
                 boolean success = false;
                 if (cleanSystemState == null) {
                     return success;
@@ -490,7 +491,7 @@ public class SweeperOperatePanelView extends LinearLayout {
             }
 
             @Override
-            public boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+            public boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
                 boolean success = false;
                 if (cleanSystemState == null) {
                     return success;
@@ -759,7 +760,7 @@ public class SweeperOperatePanelView extends LinearLayout {
     private final IMoGoSweeperFutianCleanSystemListener mIMoGoAutopilotVehicleStateListener = new IMoGoSweeperFutianCleanSystemListener() {
 
         @Override
-        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        public void onSweeperFutianCleanSystemState(@NonNull ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
             long current = System.currentTimeMillis();
             if (current - mCurrentTimeMillis <= VEHICLE_STATE_INTERVAL_MILLIS) {
                 return;
@@ -810,7 +811,7 @@ public class SweeperOperatePanelView extends LinearLayout {
         mSyncingVehicleState = true;
     }
 
-    private synchronized void onSyncVehicleStateCallBack(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+    private synchronized void onSyncVehicleStateCallBack(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
         if (cleanSystemState == null) return;
         mSyncingVehicleState = false;
         // 清扫作业开启状态（以电机状态为true代表Open成功，实际控制端控制步骤为：1.发送远程控制上装指令 2.发送电机启动指令）
@@ -902,7 +903,7 @@ public class SweeperOperatePanelView extends LinearLayout {
      * @param cleanSystemState
      * @return
      */
-    private boolean checkIfCleanModePureSweep(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+    private boolean checkIfCleanModePureSweep(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState) {
         // 作业模式状态
         // 洗扫
         boolean clean_mode_wash_sweep = cleanSystemState.getSecuModWashSweepSts();
@@ -1019,7 +1020,7 @@ public class SweeperOperatePanelView extends LinearLayout {
 
         void onCountDownTick(int senonds);
 
-        boolean onCheckIfCmdSuccess(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState);
+        boolean onCheckIfCmdSuccess(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates cleanSystemState);
 
         void onCmdSuccess();
 
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperTrafficLightView.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperTrafficLightView.java
index 5f99d4836e..e2019626e6 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperTrafficLightView.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/ui/SweeperTrafficLightView.java
@@ -4,6 +4,7 @@ import android.content.Context;
 import android.util.AttributeSet;
 import android.view.LayoutInflater;
 import android.widget.ImageView;
+import android.widget.TextView;
 
 import com.mogo.eagle.core.function.api.hmi.view.IViewTrafficLight;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -13,14 +14,14 @@ import com.mogo.och.common.module.wigets.OCHGradientTextView;
 import org.jetbrains.annotations.Nullable;
 
 /**
- * Bus司机端：红绿灯view
+ * 清扫车：红绿灯view
  *
  * Created on 2022/3/29
  */
 public class SweeperTrafficLightView extends IViewTrafficLight {
 
     private ImageView mLightIconIV;
-    private OCHGradientTextView mLightTimeTV;
+    private TextView mLightTimeTV;
     private int mCurrentLightId;
 
     public SweeperTrafficLightView(@Nullable Context context) {
@@ -98,9 +99,6 @@ public class SweeperTrafficLightView extends IViewTrafficLight {
         super.changeCountdownRed(redNum);
         UiThreadHandler.post(() -> {
             if (redNum > 0) {
-                mLightTimeTV.setVertrial(true);
-                mLightTimeTV.setmColorList(new int[]{getResources().getColor(R.color.sweeper_traffic_light_red_color_up),
-                        getResources().getColor(R.color.sweeper_traffic_light_red_color_down)});
                 mLightTimeTV.setText(String.valueOf(redNum));
             } else {
                 mLightTimeTV.setText("");
@@ -113,9 +111,6 @@ public class SweeperTrafficLightView extends IViewTrafficLight {
         super.changeCountdownGreen(greenNum);
         UiThreadHandler.post(() -> {
             if (greenNum > 0) {
-                mLightTimeTV.setVertrial(true);
-                mLightTimeTV.setmColorList(new int[]{getResources().getColor(R.color.sweeper_traffic_light_green_color_up),
-                        getResources().getColor(R.color.sweeper_traffic_light_green_color_down)});
                 mLightTimeTV.setText(String.valueOf(greenNum));
             } else {
                 mLightTimeTV.setText("");
@@ -128,9 +123,6 @@ public class SweeperTrafficLightView extends IViewTrafficLight {
         super.changeCountdownYellow(yellowNum);
         UiThreadHandler.post(() -> {
             if (yellowNum > 0) {
-                mLightTimeTV.setVertrial(true);
-                mLightTimeTV.setmColorList(new int[]{getResources().getColor(R.color.sweeper_traffic_light_yellow_color_up),
-                        getResources().getColor(R.color.sweeper_traffic_light_yellow_color_down)});
                 mLightTimeTV.setText(String.valueOf(yellowNum));
             } else {
                 mLightTimeTV.setText("");
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
index 0b0646bb8b..6d4f19207e 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
@@ -89,19 +89,22 @@
             android:id="@+id/sweeper_switch_model_layout"
             android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
             android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
-            android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
             android:background="@drawable/sweeper_switch_map_bg"
             android:elevation="@dimen/sweeper_dp_10"
             android:padding="@dimen/sweeper_dp_20"
-            app:layout_constraintBottom_toBottomOf="@+id/module_mogo_och_operation_status"
-            app:layout_constraintLeft_toRightOf="@+id/module_mogo_och_operation_status"
+            app:layout_constraintBottom_toBottomOf="parent"
+            app:layout_constraintLeft_toLeftOf="parent"
+            android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
+            android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
             android:gravity="center"
             android:orientation="horizontal">
 
             <ImageView
                 android:id="@+id/sweeper_switch_model_icon"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
+                android:layout_width="@dimen/dp_80"
+                android:layout_height="@dimen/dp_80"
+                android:layout_centerInParent="true"
+                android:layout_gravity="center" />
         </LinearLayout>
     <CheckedTextView
         android:id="@+id/module_mogo_och_operation_status"
@@ -118,7 +121,8 @@
         android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
         android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent"/>
+        app:layout_constraintLeft_toLeftOf="parent"
+        android:visibility="gone"/>
 
     <RelativeLayout
         android:id="@+id/module_mogo_och_setting_layout"
@@ -131,8 +135,8 @@
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/sweeper_switch_model_layout">
         <ImageView
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
             android:layout_centerInParent="true"
             android:layout_gravity="center"
             android:background="@drawable/sweeper_setting_btn_bg" />
@@ -149,8 +153,8 @@
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/module_mogo_och_setting_layout">
         <ImageView
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
             android:layout_centerInParent="true"
             android:layout_gravity="center"
             android:src="@drawable/bad_case_selector"/>
@@ -168,8 +172,8 @@
         app:layout_constraintLeft_toRightOf="@id/module_mogo_och_badcase_rl">
 
         <ImageView
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
             android:layout_centerInParent="true"
             android:layout_gravity="center"
             android:src="@drawable/ai_collect_selector" />
@@ -191,7 +195,8 @@
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
         app:textSize="@dimen/module_mogo_och_slide_panel_textSize"
-        tools:visibility="visible" />
+        tools:visibility="visible"
+        />
 
     <Button
         android:id="@+id/btnAutopilotDisable"
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_traffic_light_view.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_traffic_light_view.xml
index 947eb46197..a827393d7d 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_traffic_light_view.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_traffic_light_view.xml
@@ -1,35 +1,21 @@
 <?xml version="1.0" encoding="utf-8"?>
-<androidx.constraintlayout.widget.ConstraintLayout
+<FrameLayout
     xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="@dimen/sweeper_traffic_light_layout_width"
-    android:layout_height="@dimen/sweeper_traffic_light_layout_height"
-    android:visibility="visible">
-
-    <ImageView
-        android:layout_width="@dimen/sweeper_traffic_light_bg_width"
-        android:layout_height="@dimen/sweeper_traffic_light_bg_height"
-        android:background="@drawable/bg_sweeper_traffic_light_background"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        android:layout_marginLeft="@dimen/sweeper_traffic_light_bg_margin_left"
-        android:layout_marginTop="@dimen/sweeper_traffic_light_bg_margin_top"/>
-
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content">
     <ImageView
         android:id="@+id/sweeper_traffic_light_iv"
         android:layout_width="@dimen/sweeper_traffic_light_icon_size"
         android:layout_height="@dimen/sweeper_traffic_light_icon_size"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"/>
-
-    <com.mogo.och.common.module.wigets.OCHGradientTextView
+        android:layout_gravity="center"
+        android:src="@drawable/sweeper_light_red_nor"/>
+    <TextView
         android:id="@+id/sweeper_traffic_light_time_tv"
-        android:layout_width="@dimen/sweeper_traffic_light_time_view_width"
+        android:layout_width="match_parent"
         android:layout_height="match_parent"
-        android:textSize="@dimen/sweeper_traffic_light_time_size"
-        android:textStyle="bold"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        android:gravity="center" />
-
-</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
+        android:textSize="@dimen/dp_24"
+        android:layout_gravity="center"
+        android:gravity="center"
+        android:text="10"
+        android:textColor="@color/white"/>
+</FrameLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml b/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml
index 81e14340da..baef598b89 100644
--- a/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/values/dimens.xml
@@ -145,7 +145,7 @@
     <dimen name="sweeper_traffic_light_bg_height">120dp</dimen>
     <dimen name="sweeper_traffic_light_bg_margin_left">15dp</dimen>
     <dimen name="sweeper_traffic_light_bg_margin_top">17dp</dimen>
-    <dimen name="sweeper_traffic_light_icon_size">154dp</dimen>
+    <dimen name="sweeper_traffic_light_icon_size">100dp</dimen>
     <dimen name="sweeper_traffic_light_time_view_width">130dp</dimen>
     <dimen name="sweeper_traffic_light_time_size">60dp</dimen>
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
index 9421872e3f..3c97a47bd9 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
@@ -7,7 +7,9 @@ import com.zhidao.adas.client.bean.AutopilotState;
 import com.zhidao.adas.client.bean.BaseInfo;
 import com.zhidao.adas.client.bean.BasicInfoReq;
 import com.zhidao.adas.client.bean.CarConfigResp;
+import com.zhidao.adas.client.bean.ChassisStates;
 import com.zhidao.adas.client.bean.ErrorData;
+import com.zhidao.adas.client.bean.FSMFunctionStates;
 import com.zhidao.adas.client.bean.GlobalPathResp;
 import com.zhidao.adas.client.bean.GnssInfo;
 import com.zhidao.adas.client.bean.MogoReportMessage;
@@ -117,6 +119,8 @@ public class DataDistribution {
     public final List<String> listOriginalPointCloud = new ArrayList<>();
     public final List<String> listPlanningObjects = new ArrayList<>();
     public final List<String> listPlanningDecisionState = new ArrayList<>();
+    public final List<String> listChassisStates = new ArrayList<>();
+    public final List<String> listFSMFunctionStates = new ArrayList<>();
 
     public String cutDown(String str) {
         if (isCutDown && str.length() > 650) {
@@ -184,6 +188,14 @@ public class DataDistribution {
             if (listener != null && Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(listener.first)) {
                 listener.second.onRefresh();
             }
+        } else if (data instanceof ChassisStates) {
+            listChassisStates.add(0, time + str);
+            if (listChassisStates.size() > LIST_SIZE) {
+                listChassisStates.remove(listChassisStates.size() - 1);
+            }
+            if (listener != null && Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(listener.first)) {
+                listener.second.onRefresh();
+            }
         } else if (data instanceof AutopilotState) {
             listAutopilotState.add(0, time + str);
             if (listAutopilotState.size() > LIST_SIZE) {
@@ -270,6 +282,14 @@ public class DataDistribution {
             if (listener != null && Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(listener.first)) {
                 listener.second.onRefresh();
             }
+        } else if (data instanceof FSMFunctionStates) {
+            listFSMFunctionStates.add(0, time + str);
+            if (listFSMFunctionStates.size() > LIST_SIZE) {
+                listFSMFunctionStates.remove(listFSMFunctionStates.size() - 1);
+            }
+            if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) {
+                listener.second.onRefresh();
+            }
         } else if (data instanceof ErrorData) {
             listErrorData.add(0, time + str);
             if (listErrorData.size() > 100) {
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java
new file mode 100644
index 0000000000..f18d4564a5
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ChassisStates.java
@@ -0,0 +1,24 @@
+package com.zhidao.adas.client.bean;
+
+import com.google.protobuf.TextFormat;
+
+import java.text.SimpleDateFormat;
+
+import chassis.ChassisStatesOuterClass;
+import mogo.telematics.pad.MessagePad;
+
+public class ChassisStates extends BaseInfo {
+    public final ChassisStatesOuterClass.ChassisStates bean;
+
+    public ChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
+        this.bean = bean;
+    }
+
+
+    @Override
+    public String toString() {
+        return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
+    }
+
+}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java
new file mode 100644
index 0000000000..1d672127ae
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/FSMFunctionStates.java
@@ -0,0 +1,24 @@
+package com.zhidao.adas.client.bean;
+
+import com.google.protobuf.TextFormat;
+
+import java.text.SimpleDateFormat;
+
+import function_state_management.FunctionStates;
+import mogo.telematics.pad.MessagePad;
+
+public class FSMFunctionStates extends BaseInfo {
+    public final FunctionStates.FSMFunctionStates bean;
+
+    public FSMFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
+        this.bean = bean;
+    }
+
+
+    @Override
+    public String toString() {
+        return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
+    }
+
+}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
index 7cf79e26e6..6cd6a1e277 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
@@ -105,6 +105,8 @@ public class InfoFragment extends BaseFragment {
             adapter.setData(DataDistribution.getInstance().listGnssInfo);
         } else if (Constants.TITLE.RECEIVE_VEHICLE_STATE.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listVehicleState);
+        } else if (Constants.TITLE.RECEIVE_CHASSIS_STATES.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listChassisStates);
         } else if (Constants.TITLE.RECEIVE_TRACKED_OBJECTS.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listTrackedObjects);
         } else if (Constants.TITLE.RECEIVE_AUTOPILOT_STATE.equals(title)) {
@@ -135,6 +137,8 @@ public class InfoFragment extends BaseFragment {
             adapter.setData(DataDistribution.getInstance().listPlanningObjects);
         } else if (Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
+        } else if (Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listFSMFunctionStates);
         } else {
             adapter.setData(DataDistribution.getInstance().listErrorData);
         }
diff --git 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
index 646eda3822..55dfc50e5d 100644
--- 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
@@ -59,7 +59,9 @@ import com.zhidao.adas.client.bean.ArrivalNotification;
 import com.zhidao.adas.client.bean.AutopilotState;
 import com.zhidao.adas.client.bean.BasicInfoReq;
 import com.zhidao.adas.client.bean.CarConfigResp;
+import com.zhidao.adas.client.bean.ChassisStates;
 import com.zhidao.adas.client.bean.ErrorData;
+import com.zhidao.adas.client.bean.FSMFunctionStates;
 import com.zhidao.adas.client.bean.GlobalPathResp;
 import com.zhidao.adas.client.bean.GnssInfo;
 import com.zhidao.adas.client.bean.IPCConnectState;
@@ -113,7 +115,9 @@ import java.util.Locale;
 import java.util.concurrent.ScheduledExecutorService;
 
 import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
+import function_state_management.FunctionStates;
 import io.netty.channel.Channel;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
@@ -629,7 +633,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_TRAJECTORY);
         titleFragmentData.add(Constants.TITLE.RECEIVE_TRACKED_OBJECTS);
         titleFragmentData.add(Constants.TITLE.RECEIVE_VEHICLE_STATE);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_CHASSIS_STATES);
         titleFragmentData.add(Constants.TITLE.RECEIVE_AUTOPILOT_STATE);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_FUNCTION_STATES);
         titleFragmentData.add(Constants.TITLE.RECEIVE_REPORT_MESSAGE);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
@@ -895,6 +901,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates) {
+        ChassisStates base = new ChassisStates(header, chassisStates, sdf);
+        DataDistribution.getInstance().addData(base);
+    }
+
     @Override
     public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) {
         AutopilotState base = new AutopilotState(header, autopilotState, sdf);
@@ -1016,6 +1028,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates) {
+        FSMFunctionStates base = new FSMFunctionStates(header, functionStates, sdf);
+        DataDistribution.getInstance().addData(base);
+    }
+
 
     private void initAdas() {
         CupidLogUtils.e(TAG, "--->初始化");
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
index 77a8b48dff..1d22d00398 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
@@ -151,7 +151,9 @@ public class Constants {
         String RECEIVE_TRACKED_OBJECTS = MessageType.TYPE_RECEIVE_TRACKED_OBJECTS.desc;
         String RECEIVE_GNSS_INFO = MessageType.TYPE_RECEIVE_GNSS_INFO.desc;
         String RECEIVE_VEHICLE_STATE = MessageType.TYPE_RECEIVE_VEHICLE_STATE.desc;
+        String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
         String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
+        String RECEIVE_FUNCTION_STATES = MessageType.TYPE_RECEIVE_FUNCTION_STATES.desc;
         String RECEIVE_REPORT_MESSAGE = MessageType.TYPE_RECEIVE_REPORT_MESSAGE.desc;
         String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;
         String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index ac89f5c345..228afa235a 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter
 
+import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -58,6 +59,7 @@ import com.zhidao.support.adas.high.bean.AutopilotStatistics
 import com.zhidao.support.adas.high.common.ProtocolStatus
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import function_state_management.FunctionStates
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo_msg.MogoReportMsg
@@ -139,38 +141,66 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
-    //自车状态(底盘)，车灯等。
-    @ChainLog(
-            linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
-            linkCode = CHAIN_LINK_ADAS,
-            endpoint = PAD,
-            nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
-            paramIndexes = [0, 1],
-            clientPkFileName = "sn"
-    )
+    /**
+     * 老底盘
+     * TODO 老地盘数据会转发到新地盘
+     * TODO　鹰眼不要用此接口展示页面相关，可以用来记录链路日志
+     *
+     * @param header       头
+     * @param vehicleState 数据
+     */
     override fun onVehicleState(
             header: MessagePad.Header,
             vehicleState: VehicleStateOuterClass.VehicleState?
     ) {
 
-        if (vehicleState != null) {
-            //转向灯数据
-            CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
-            //刹车灯数据
-            CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
-            //方向盘转向角数据
-            CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
-            //挂挡档位数据
-            CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
-            //加速度
-            CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
-            //油门
-            CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
-            //刹车
-            CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
-            //清扫车（福田）清扫控制系统状态
-            vehicleState.sweeperFutianCleanSystemState?.also {
-                CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+    }
+
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_VEHICLE,
+        linkCode = CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_VEHICLE,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    override fun onChassisStates(header: MessagePad.Header, chassisStates: ChassisStatesOuterClass.ChassisStates?) {
+        if (chassisStates != null) {
+            chassisStates.bcmSystemStates?.let { bcmSystemStates ->
+                bcmSystemStates.turnLightState?.let {
+                    //转向灯数据
+                    CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(it)
+                }
+                //刹车灯数据
+                CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
+            }
+            chassisStates.steerSystemStates?.let {
+                //方向盘转向角数据
+                CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(it.steeringWheelAngle)
+            }
+            chassisStates.gearSystemStates?.let { gearSystemStates ->
+                gearSystemStates.gearPosition?.let {
+                    //挂挡档位数据
+                    CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
+                }
+            }
+            chassisStates.vehicleMotionStates?.let {
+                //加速度
+                CallerChassisAccStateListenerManager.invokeAutopilotAcc(it.acceleration)
+            }
+            chassisStates.drivingSystemStates?.let {
+                //油门
+                CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
+            }
+            chassisStates.brakeSystemStates?.let {
+                //刹车
+                CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
+            }
+            chassisStates.taskSystemStates?.let { taskSystemStates ->
+                taskSystemStates.sweeperFutianTaskSystemStates?.let {
+                    //清扫车（福田）清扫控制系统状态
+                    CallerSweeperFutianCleanSystemListenerManager.invokeSweeperFutianCleanSystemState(it)
+                }
             }
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
@@ -434,7 +464,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
             invokePNCActions(it)
         }
     }
+    /**
+     * 重构后的功能状态
+     *
+     * @param header         头
+     * @param functionStates 头
+     */
+    override fun onFunctionStates(header: MessagePad.Header?, functionStates: FunctionStates.FSMFunctionStates?) {
 
+    }
 
     /**
      * 是否可以启动自动驾驶
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
index 57799515e8..ea6953e00d 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
@@ -332,7 +332,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
             // 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 - BarUtils.getStatusBarHeight() - 350
+            mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()-950
             mWindowManager!!.addView(mFloatLayout, mWindowParams)
         }
     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
index fca72ca768..7227543af4 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
@@ -343,7 +343,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
             // 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 - BarUtils.getStatusBarHeight() - 950
+            mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()-950
             mWindowManager!!.addView(mFloatLayout, mWindowParams)
             //开启录包
             if (recordCaseEntity != null) {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt
index 329b2ff2ab..9b2d4ec691 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt
@@ -16,6 +16,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OLD_ROUTE
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OTHER
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_SWEEPER
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI_P
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
@@ -38,6 +39,7 @@ class SceneManager {
         private const val NET = "NET"
         private const val BUS = "BUS"
         private const val TAXI = "TAXI"
+        private const val SWEEPER = "SWEEPER"
         private const val TAXI_P = "TAXI_P"
         private const val OTHER = "OTHER"
 
@@ -63,6 +65,7 @@ class SceneManager {
         sceneModuleTAG.map[BUS] = SceneModule(true, M_BUS)
         sceneModuleTAG.map[TAXI] = SceneModule(true, M_TAXI)
         sceneModuleTAG.map[TAXI_P] = SceneModule(true, M_TAXI_P)
+        sceneModuleTAG.map[SWEEPER] = SceneModule(true, M_SWEEPER)
         sceneModuleTAG.map[OTHER] = SceneModule(false, M_OTHER)
 
         sceneLogTAG.map[TAXI] = SceneTAG(false)
@@ -160,6 +163,15 @@ class SceneManager {
                 sceneCache[M_OLD_ROUTE]?.logger = logger
                 scene.updateSceneCache(sceneCache)
             }
+            SWEEPER -> {
+                sceneCache[M_SWEEPER]?.logger = logger
+                sceneCache[M_NETWORK]?.logger = logger
+                sceneCache[M_ADAS_IMPL]?.logger = logger
+                sceneCache[M_HMI]?.logger = logger
+                sceneCache[M_DEVA]?.logger = logger
+                sceneCache[M_OLD_ROUTE]?.logger = logger
+                scene.updateSceneCache(sceneCache)
+            }
         }
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index 97f383210f..b0280cd949 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
@@ -105,7 +105,7 @@ internal class CanImpl(ctx: Context) :
         timeOutCheck()
     }
 
-    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
         send(CanStatus(isCanEnabled()))
         timeOutCheck()
     }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 75bfa78c1d..1ba35e6b2e 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -18,7 +18,7 @@ import androidx.core.content.ContextCompat
 import androidx.core.view.*
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
-import chassis.VehicleStateOuterClass
+import chassis.ChassisStatesOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
@@ -1251,6 +1251,8 @@ class DebugSettingView @JvmOverloads constructor(
                     SceneConstant.M_TAXI -> cbTaxiLog.isChecked = log
                     //TAXI_P日志标签
                     SceneConstant.M_TAXI_P -> cbTaxiPLog.isChecked = log
+                    //清扫车日志
+                    SceneConstant.M_SWEEPER -> cbSweeperPLog.isChecked = log
                     //其他模块日志(暂未区分具体模块)
                     SceneConstant.M_OTHER -> cbOtherLog.isChecked = log
                 }
@@ -1381,6 +1383,12 @@ class DebugSettingView @JvmOverloads constructor(
             sceneMap[SceneConstant.M_TAXI_P] = taxiPModule
             CallerDevaToolsManager.updateModuleTAG(sceneMap)
         }
+        //清扫车日志标签
+        cbTaxiPLog.setOnCheckedChangeListener { _, isChecked ->
+            val sweeperModule = SceneModule(isChecked, SceneConstant.M_SWEEPER)
+            sceneMap[SceneConstant.M_SWEEPER] = sweeperModule
+            CallerDevaToolsManager.updateModuleTAG(sceneMap)
+        }
         //其他未分类模块日志
         cbOtherLog.setOnCheckedChangeListener { _, isChecked ->
             val otherModule = SceneModule(isChecked, SceneConstant.M_OTHER)
@@ -2145,7 +2153,7 @@ class DebugSettingView @JvmOverloads constructor(
     /**
      * 清扫车（福田）清扫控制系统状态
      */
-    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
 
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index 7a32567b16..3b975f7a51 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -2146,6 +2146,13 @@
                         android:layout_height="wrap_content"
                         android:checked="false"
                         android:text="乘客屏日志" />
+                    <CheckBox
+                        android:id="@+id/cbSweeperPLog"
+                        style="@style/DebugSettingText"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:checked="false"
+                        android:text="清扫车日志" />
 
                     <CheckBox
                         android:id="@+id/cbOtherLog"
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
index 024c99fc99..50fbec54c8 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
@@ -1,5 +1,7 @@
 package com.mogo.eagle.core.function.smp;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP;
+
 import android.content.Context;
 import android.os.Bundle;
 import android.view.View;
@@ -16,8 +18,10 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.map.R;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 
 import org.jetbrains.annotations.NotNull;
@@ -67,6 +71,7 @@ public class SmallMapFragment extends BaseFragment
         mSmallMapDirectionView = mRootView.findViewById(R.id.smallMapDirectionView);
         mSmallMapDirectionView.onCreateView(savedInstanceState);
         CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, this);
+        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG,this);
     }
 
     @Override
@@ -86,8 +91,13 @@ public class SmallMapFragment extends BaseFragment
     @Override
     public void drawablePolyline(List<MogoLatLng> coordinates) {
         if (mSmallMapDirectionView != null) {
-            mSmallMapDirectionView.convert(coordinates);
-            UiThreadHandler.post(() -> mSmallMapDirectionView.drawablePolyline());
+            UiThreadHandler.post(new Runnable() {
+                @Override
+                public void run() {
+                    mSmallMapDirectionView.convert(coordinates);
+                    mSmallMapDirectionView.drawablePolyline();
+                }
+            });
         }
     }
 
@@ -127,9 +137,12 @@ public class SmallMapFragment extends BaseFragment
     @Override
     public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
         int  tempStatus =   autoPilotStatusInfo.getPilotmode();
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" autoPilotStatus:"+autoPilotStatus);
         if (tempStatus != 1) {
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:"+tempStatus+" clearPolyline");
             clearPolyline();
         }else if (tempStatus  == 1 && autoPilotStatus == 0){
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
             CallerAutoPilotManager.INSTANCE.getGlobalPath();
         }
         autoPilotStatus = tempStatus;
@@ -156,16 +169,21 @@ public class SmallMapFragment extends BaseFragment
 
     @Override
     public void onAutopilotRotting(MessagePad.GlobalPathResp globalPathResp) {
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting");
         if (globalPathResp == null || globalPathResp.getWayPointsList().size() == 0) {
             return;
         }
+        CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+globalPathResp.getWayPointsList().size());
+
         List<MogoLatLng> latLngList = new ArrayList<>();
         for (MessagePad.Location routeModel : globalPathResp.getWayPointsList()) {
             latLngList.add(new MogoLatLng(routeModel.getLatitude(), routeModel.getLongitude()));
         }
         if (latLngList.size() > 0) {
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+"drawablePolyline");
             drawablePolyline(latLngList);
         } else {
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotRotting:"+"clearPolyline");
             clearPolyline();
         }
     }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnum.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnum.kt
index 66da21999d..604d540451 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnum.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnum.kt
@@ -654,39 +654,59 @@ enum class EventTypeEnum(
             return when (poiType) {
                 //交通检查
                 TRAFFIC_CHECK.poiType -> {
-                    R.drawable.v_to_x_marker_2
+                    R.drawable.v2x_icon_jiaotongjiancha_vr
                 }
                 //封路
                 ROAD_CLOSED.poiType -> {
-                    R.drawable.v_to_x_marker_16
+                    R.drawable.v2x_icon_fenglu_vr
                 }
                 //施工
                 FOURS_ROAD_WORK.poiType -> {
-                    R.drawable.v_to_x_marker_11
+                    R.drawable.icon_warning_v2x_road_construction
                 }
                 //AI施工
                 AI_ROAD_WORK.poiType -> {
-                    R.drawable.v_to_x_marker_11
+                    R.drawable.icon_warning_v2x_road_construction
                 }
                 //拥堵
                 FOURS_BLOCK_UP.poiType -> {
-                    R.drawable.v_to_x_marker_5
+                    R.drawable.icon_warning_v2x_congestion
                 }
                 //积水
                 FOURS_PONDING.poiType -> {
-                    R.drawable.v_to_x_marker_6
+                    R.drawable.v2x_icon_jishui_vr
                 }
                 //浓雾
                 FOURS_FOG.poiType -> {
-                    R.drawable.v_to_x_marker_9
+                    R.drawable.v2x_icon_nongwu_vr
                 }
                 //结冰
                 FOURS_ICE.poiType -> {
-                    R.drawable.v_to_x_marker_8
+                    R.drawable.v2x_icon_jiebing_vr
                 }
                 //事故
                 FOURS_ACCIDENT.poiType -> {
-                    R.drawable.v_to_x_marker_7
+                    R.drawable.v2x_icon_jiaotongshigu_vr
+                }
+                //重大事故
+                FOURS_ACCIDENT_01.poiType -> {
+                    R.drawable.v2x_icon_jiaotongshigu_vr
+                }
+                //特大事故
+                FOURS_ACCIDENT_02.poiType -> {
+                    R.drawable.v2x_icon_jiaotongshigu_vr
+                }
+                //较大事故
+                FOURS_ACCIDENT_03.poiType -> {
+                    R.drawable.v2x_icon_jiaotongshigu_vr
+                }
+                //一般事故
+                FOURS_ACCIDENT_04.poiType -> {
+                    R.drawable.v2x_icon_jiaotongshigu_vr
+                }
+                //轻微事故
+                FOURS_ACCIDENT_05.poiType -> {
+                    R.drawable.v2x_icon_jiaotongshigu_vr
                 }
                 //事故
                 FOURS_LIVING.poiType -> {
@@ -708,6 +728,30 @@ enum class EventTypeEnum(
                 ALERT_CAR_TROUBLE_WARNING.poiType -> {
                     R.drawable.icon_car_red
                 }
+                //VIP车辆优先通行，已为您变为绿灯
+                TYPE_VIP_IDENTIFICATION_PASS.poiType -> {
+                    R.drawable.icon_warning_v2x_vip_turn_light
+                }
+                //VIP车辆优先通行，已为您延长绿灯
+                TYPE_VIP_IDENTIFICATION_EXTEND.poiType -> {
+                    R.drawable.icon_warning_v2x_vip_turn_light
+                }
+                //VIP变灯请求失败
+                TYPE_VIP_ERROR_IDENTIFICATION.poiType -> {
+                    R.drawable.icon_warning_v2x_vip_turn_light
+                }
+                //最优路线
+                TYPE_OPTIMAL_ROUTE_RECOMMEND.poiType -> {
+                    R.drawable.icon_warning_v2x_optimal_route
+                }
+                //鬼探头类型
+                GHOST_PROBE.poiType -> {
+                    R.drawable.icon_warning_v2x_pedestrian_crossing
+                }
+                //接管
+                TAKE_OVER_EVENT.poiType -> {
+                    R.drawable.icon_warning_take_over
+                }
                 else -> {
                     R.drawable.icon_default
                 }
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
index b094cad618..3d771e7acd 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
@@ -9,6 +9,6 @@ interface IMoGoAutopilotVehicleStateListener {
     /**
      * 没有自车状态数据
      */
-    fun onAutopilotDataException(timestamp: Long){}
+    fun onAutopilotDataException(timestamp: Long) {}
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-res/src/main/res/drawable-xhdpi/icon_map_marker_road_block_up2_white.png b/core/mogo-core-res/src/main/res/drawable-xhdpi/icon_map_marker_road_block_up2_white.png
old mode 100755
new mode 100644
diff --git a/core/mogo-core-res/src/main/res/drawable-xhdpi/icon_map_marker_road_check2_white.png b/core/mogo-core-res/src/main/res/drawable-xhdpi/icon_map_marker_road_check2_white.png
old mode 100755
new mode 100644
diff --git a/core/mogo-core-res/src/main/res/drawable-xhdpi/module_common_icon_map_marker_road_block_up2_white.png b/core/mogo-core-res/src/main/res/drawable-xhdpi/module_common_icon_map_marker_road_block_up2_white.png
old mode 100644
new mode 100755
diff --git a/core/mogo-core-res/src/main/res/drawable-xhdpi/module_common_icon_map_marker_road_check2_white.png b/core/mogo-core-res/src/main/res/drawable-xhdpi/module_common_icon_map_marker_road_check2_white.png
old mode 100644
new mode 100755
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/Scene.kt b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/Scene.kt
index 70ed1e0534..2296f0c794 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/Scene.kt
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/Scene.kt
@@ -10,6 +10,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_NETWORK
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OLD_ROUTE
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OTHER
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_SWEEPER
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_TAXI_P
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
@@ -67,6 +68,9 @@ class Scene {
         //初始化BUS
         val busMap = SceneLogCache(mutableMapOf(), true)
         sceneCache[M_BUS] = busMap
+        //初始化清扫车
+        val sweeperMap = SceneLogCache(mutableMapOf(), true)
+        sceneCache[M_SWEEPER] = sweeperMap
 
     }
 
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/SceneConstant.kt b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/SceneConstant.kt
index eea493fc91..a6033e9232 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/SceneConstant.kt
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/logger/scene/SceneConstant.kt
@@ -39,6 +39,8 @@ class SceneConstant {
         const val M_TAXI = "M_TAXI-"
         //出租车乘客屏
         const val M_TAXI_P = "M_TAXI_P-"
+        //清扫车
+        const val M_SWEEPER = "M_SWEEPER-"
 
     }
 }
\ No newline at end of file
diff --git a/libraries/mogo-adas-data/src/main/proto/bag_manager.proto b/libraries/mogo-adas-data/src/main/proto/bag_manager.proto
new file mode 100644
index 0000000000..448e1bfdb9
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/bag_manager.proto
@@ -0,0 +1,69 @@
+syntax = "proto2";
+package bag_manager;
+
+enum BagStat{
+    SUCCEED = 0;
+    EXECUTING = 1;
+    EXECUTEERROR = 2;
+    COPYERROR = 3;
+    MERGEERROR = 4;
+    UPLOADCOSERROR = 5;
+}
+
+// 上传cos桶状态
+message UploadCosStat{
+    required uint64 key = 1;
+    required uint32 stat = 2; // 0-成功 1-执行中 2-copy过程失败 3-合并过程失败 4-上传过程失败
+    optional string message = 3; // 失败时的具体描述
+}
+
+//空间使用情况
+message SpaceInfo{
+    optional string directory = 1; // 路径名,为空表示总空间,否则表示对应的/home/mogo/data/bags下的子目录
+    optional uint64 total = 2; // 总空间
+    optional uint64 free = 3; // 可用空间
+    optional uint64 used = 4; // 已用空间
+}
+// bag目录空间使用情况
+message BagSpaceInfo{
+    optional string host = 1; // 主机名
+    optional SpaceInfo diskSpaceInfo = 2; // 硬盘空间信息
+    repeated SpaceInfo BagDirsSpaceInfo = 3; // /home/mogo/data/bags下各子空间信息
+}
+
+// bag附加信息(录音,备注,接管信息)
+message BagDescription{
+    optional string description = 1; // bag接管描述或重命名信息
+    optional bool hasAudio = 2; // 此bag是否具有录音文件
+    optional string audioUrl = 3; // bag附加录音文件的文件名
+    optional bool reportBI = 4; //上报BI状态
+}
+
+// 各主机上报的包信息
+message SubBag {
+    required uint64 key = 1; // bag key值
+    required string host = 2; // 主机名
+    optional uint64 size = 3; // 此子包的大小
+}
+
+// 单个key值对应的包信息
+message BagInfo{
+    required uint64 key = 1; // bag key值
+    optional uint64 totalSize = 2; // 所有子包或合并后的包的总大小
+    optional string timestamp = 3; // 时间戳
+    optional string bagPath = 4; // bag所在路径
+    optional bool mergeStat = 5; // 合并状态
+    optional bool uploadStat = 6; // 上传cos桶状态
+    optional BagDescription description = 7; // 包描述信息
+    repeated SubBag subBags = 8; // 子包信息
+}
+
+// 包管理请求
+message BagManager{
+    required uint32 reqType = 1; // 请求类型:0-invalid 1-获取空间使用信息 2-遍历所有bag 3-上传cos 4-删除bag 5-为bag添加附加信息
+    optional uint64 keyReq = 2; // 要操作的包的key值,发送请求且reqType=(3,4,5)时有效
+    optional BagDescription descReq = 3; // 更新包附加信息,发送请求且reqType=5时有效
+    repeated BagSpaceInfo spaceInfoResp = 4; // 空间使用信息,获取响应且reqType=1时有效
+    repeated BagInfo bagsInfoResp = 5; // 包信息列表,获取响应且reqType=2时有效
+    optional UploadCosStat uploadCosResp = 6; //反馈上传cos桶结果,获取响应且reqType=3时有效
+}
\ No newline at end of file
diff --git a/libraries/mogo-adas-data/src/main/proto/chassis.proto b/libraries/mogo-adas-data/src/main/proto/chassis.proto
index c0d10d8dca..015f089efb 100644
--- a/libraries/mogo-adas-data/src/main/proto/chassis.proto
+++ b/libraries/mogo-adas-data/src/main/proto/chassis.proto
@@ -24,7 +24,8 @@ enum PilotMode {
   MODE_STEER_ONLY = 2;
   MODE_SPEED_ONLY = 3;
   MODE_REMOTE_DRIVE = 6;
-  CHASSID_TELECONTROL_DRIVE = 7;
+  MODE_TELECONTROL_DRIVE = 7;
+  MODE_INVALID = 8;
 }
 
 enum LongitudeDrivingMode {
@@ -98,4 +99,4 @@ enum CleanSystemControlMode {
   Clean_PureWash_Both_Side_Work = 12;
   Clean_PureWash_Left_Work = 13;
   Clean_PureWash_Right_Work = 14;
-}
\ No newline at end of file
+}
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index 91ac5b1b84..0693615023 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -6,7 +6,7 @@ import "geometry.proto";
 enum ProtocolVersion
 {
     Defaultver = 0;
-    CurrentVersion = 9; //每次修改proto文件增加1
+    CurrentVersion = 12; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -58,6 +58,7 @@ enum MessageType
     MsgTypeSpecialVehicleTaskCmd = 0x10118; //特种车辆命令
     MsgTypeSetParamReq = 0x10119; //设置参数命令
     MsgTypeTripInfoEvent = 0x1011a; //行程信息
+    MsgTypeBagManagerCmd = 0x1011b; //bag管理
 }
 
 message Header
@@ -208,6 +209,7 @@ message Line
 message TrajectoryDownloadReq
 {
     Line line = 1; //路线
+    uint32 source = 2; //来源方, 0:invalid, 1:pad, 2:aicloud
 }
 
 // message definition for MessageType: MsgTypeBasicInfoReq
@@ -452,9 +454,14 @@ enum DrivingState
     AUTO_LANE_CHANGE_RIGHT = 6; //主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
     LANE_AVOID_LEFT = 7; //主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
     LANE_AVOID_RIGHT = 8; //主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
-    START_UP = 9; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步；
-    PULL_OVER = 10; //靠边停车状态： driving_action：1 表示正常靠边停车；driving_action:2 表示择机靠边停车；
-    UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应；
+    START_UP = 9; //起步状态： driving_action：1 表示正常启动；driving_action:2 表示择机起步
+    PULL_OVER = 10; //靠边停车状态： driving_action：1 表示正常靠边停车；driving_action:2 表示择机靠边停车
+    UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应
+    AUTO_LANE_CHANGE_LEFT_V2N = 12; //V2N主动向左变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
+    AUTO_LANE_CHANGE_RIGHT_V2N = 13; //V2N主动向右变道状态: driving_action：1 表示触发变道；driving_action:2 表示执行变道；driving_action:3 表示变道取消；driving_action:4 表示变道完成
+    LANE_AVOID_LEFT_V2N = 14; //V2N主动向左绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
+    LANE_AVOID_RIGHT_V2N = 15; //V2N主动向右绕行状态: driving_action：1 表示触发绕行；driving_action:2 表示执行绕行；driving_action:3 表示绕行取消；driving_action:4 表示绕行完成
+    WAITING_V2N = 16; //V2N正在等待变道避让施工场景/静止障碍物: driving_action：1 表示正在等待；driving_action:2 表示等待超时请求平行驾驶；
 }
 
 enum DrivingAction
@@ -515,4 +522,6 @@ message TripInfoEvent
 //message definition for MsgTypeObuWarningData
 //refer to obu_warning_event.proto for details
 
+//message definition for MsgTypeBagManagerCmd
+//refer to bag_manager.proto for details
 
diff --git a/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto b/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto
index 3d3f89e613..a0fc6b36f8 100644
--- a/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto
+++ b/libraries/mogo-adas-data/src/main/proto/obu_warning_event.proto
@@ -1,5 +1,5 @@
 syntax = "proto3";
-package mogo.v2x.v2i;
+package mogo.v2x;
 
 import "header.proto";
 import "mogo_v2x.proto";
@@ -91,10 +91,27 @@ message SpatWarningData{
     repeated SpatLight lights = 3;    /* 灯色信息集合 */
 }
 
-message ObuWarningData{
-	common.Header header = 1;
-	int32 MsgDataType = 2; /*1:rsiEvent; 2:RsmEvent; 3:SpatEvent*/
-	RsiWarningData rsiEvent = 3;
-	RsmWarningData RsmEvent = 4;
-	SpatWarningData SpatEvent = 5;
+message NodeID{
+	int32 region = 1;/* 定义地图中划分区域的ID号 */
+	int32 id = 2;    /* 定义地图节点ID */
 }
+
+message MapMatchData{
+	int32 status = 1;/* 状态信息，0：更新，1：添加，2：删除 */
+	int32 unitMask = 2;/* 描述所属字段有效性 */
+	NodeID currentNodeID = 3;/* 前方节点信息 */
+	NodeID upstreamNodeID = 4;/* 上游节点信息 */
+	int32 matchingLaneID = 5;/* 匹配车道ID，0：无效 */
+	int32 speedMaxLimit = 6;/* 建议最大车速，单位(0.02m/s) */
+	int32 speedMinLimit = 7;/* 建议最小车速，单位(0.02m/s) */
+}
+
+message ObuWarningData{
+    common.Header header = 1;
+    int32 msgDataType = 2; /*1:rsiEvent; 2:rsmEvent; 3:spatEvent; 4:mapMatchData*/
+    RsiWarningData rsiEvent = 3;
+    RsmWarningData rsmEvent = 4;
+    SpatWarningData spatEvent = 5;
+	MapMatchData mapMatchData = 6;
+}
+
diff --git a/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto b/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto
index 5d442b3ae6..9f78494d75 100644
--- a/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto
+++ b/libraries/mogo-adas-data/src/main/proto/robo_sweeper_task_index.proto
@@ -17,4 +17,8 @@ message RoboSweeperTaskIndex {
     double ref_edge_point_lon = 10;  // 投影边沿点经度
     double ref_edge_point_lat = 11;  // 投影边沿点纬度
     double dist_to_ref_edge_point = 12;  // 自车到投影边沿点的距离 正值为在投影边沿点的右边 ，负值为在投影边沿点的右边 
-}
\ No newline at end of file
+
+    uint32 clean_mode = 13; // 清扫作业模式 1–纯扫  2--洗扫, 3--纯洗, 4--纯吸
+    uint32 clean_direction = 14; // 清扫方向 1--两侧, 2--左侧, 3--右侧
+    uint32 clean_intensity= 15; // 作业强度 1–标准  2--强力
+}
diff --git a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
index 58c511d8c8..0a4953f7f8 100644
--- a/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
+++ b/libraries/mogo-adas-data/src/main/proto/system_status_info.proto
@@ -30,7 +30,6 @@ message HealthInfo{
 message TopicInfo{
     optional string name = 1;       //topic name
     optional int32 hz = 2;          //Topic发送的频率
-    // optional int32 max_delay = 3;   //unit： msec
 }
 
 message DropTopic{
@@ -38,10 +37,28 @@ message DropTopic{
     repeated TopicInfo topic = 2;
 }
 
+message NodeInfo{
+    optional string node_name = 1;       //node name
+    optional string launch_name = 2;     //launch name
+    optional int32  state = 3;           //0：未知状态None，1：依赖未就绪Waiting，2：启动中Starting，3：运行running，4：停止stopping，5：无法启动状态，6：人为启动状态，7：人为关闭状态
+}
+
+message NodeFaultList{
+    required int32 sum = 1;   //下述node总数
+    repeated NodeInfo node = 2;
+}
 
 message StatusInfo {
-    required SystemState sys_state=1;        // 当前消息状态
+    required SystemState sys_state=1;        // 当前系统状态
     repeated HealthInfo health_info=2;       // 健康检查状态信息 
     optional DropTopic topic_drop_info=3;    // topic 掉频信息， 如有掉频添加没有不添加
-    optional string reserved = 4;            // 预留可选字段，用于接口扩充或者，其他信息补充
+    optional string reserved = 4;            // 用于表示idle模式，'idle' 表示idle模式 'work' 表示正常工作
+    // add by liyl 20220907
+    optional int32 pilot_mode = 5;      // 0: manaul  1: autopilot  2: RemotePilot
+    optional string map_version = 6;     // MAP 版本信息
+    optional string master_version = 7;  // system_master 版本信息
+    optional bool auto_pilot_ready = 8;     // 自动驾驶状态就绪, 20221111增加
+    optional bool remote_pilot_ready = 9;   // 平行驾驶状态就绪
+    optional NodeFaultList auto_pilot_unready_list = 10;  //20221128 增加
+    optional NodeFaultList remote_pilot_unready_list = 11;  //20221128 增加
 }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index 649cbf48d7..9c2201ff38 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -4,7 +4,9 @@ import com.zhidao.support.adas.high.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 
+import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
+import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
@@ -51,13 +53,24 @@ public interface OnAdasListener {
     void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo);
 
     /**
-     * 底盘信息, 透传底盘状态，pb参考底盘
+     * 老底盘信息,透传底盘状态，pb参考底盘
+     * TODO 老地盘数据会转发到新地盘
+     * TODO 鹰眼不要用此接口展示页面相关，可以用来记录链路日志
+     * TODO 后期可能会优化掉
      *
      * @param header       头
      * @param vehicleState 数据
      */
     void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState);
 
+    /**
+     * 底盘状态
+     *
+     * @param header        头
+     * @param chassisStates 头
+     */
+    void onChassisStates(MessagePad.Header header, ChassisStatesOuterClass.ChassisStates chassisStates);
+
     /**
      * 自动驾驶状态
      *
@@ -180,6 +193,13 @@ public interface OnAdasListener {
      */
     void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
 
+    /**
+     * 重构后的功能状态
+     *
+     * @param header         头
+     * @param functionStates 头
+     */
+    void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates);
 
     /**
      * 是否有能力启动自动驾驶
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
index af484038ee..7f1f7ff1bc 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -16,13 +16,15 @@ public enum MessageType {
     TYPE_RECEIVE_TRAJECTORY(MessagePad.MessageType.MsgTypeTrajectory, "车前引导线"),
     TYPE_RECEIVE_TRACKED_OBJECTS(MessagePad.MessageType.MsgTypeTrackedObjects, "障碍物信息"),
     TYPE_RECEIVE_GNSS_INFO(MessagePad.MessageType.MsgTypeGnssInfo, "惯导信息"),
-    TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "底盘信息"),
+    TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "老底盘状态"),
     TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
     TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
     TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
     TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
     TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
     TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
+    TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
+    TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
 
     TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
     TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),
@@ -52,7 +54,7 @@ public enum MessageType {
     TYPE_SEND_SET_PARAM_REQ(MessagePad.MessageType.MsgTypeSetParamReq, "设置参数命令"),
     TYPE_SEND_TRIP_INFO_REQ(MessagePad.MessageType.MsgTypeTripInfoEvent, "行程信息"),
     TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD(MessagePad.MessageType.MsgTypeSpecialVehicleTaskCmd, "特种车辆命令"),
-    //透传 原始pb文件中不存在以下type。由于Java中无法强转所以在mogo-adas-data message_pad.proto中放开注释
+    //TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
     TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态");
 
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java
new file mode 100644
index 0000000000..1fb5af656b
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ChassisStatesMessage.java
@@ -0,0 +1,22 @@
+package com.zhidao.support.adas.high.msg;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import chassis.ChassisStatesOuterClass;
+
+/**
+ * 重构后的底盘状态
+ */
+public class ChassisStatesMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        ChassisStatesOuterClass.ChassisStates chassisStates = ChassisStatesOuterClass.ChassisStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        if (adasListener != null) {
+            adasListener.onChassisStates(raw.getHeader(), chassisStates);
+        }
+    }
+
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java
new file mode 100644
index 0000000000..ff734645a7
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FunctionStatesMessage.java
@@ -0,0 +1,31 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import function_state_management.FunctionStates;
+
+/**
+ * 重构后的功能状态
+ */
+public class FunctionStatesMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        FunctionStates.FSMFunctionStates functionStates = FunctionStates.FSMFunctionStates.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("重构后的功能状态", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onFunctionStates(raw.getHeader(), functionStates);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("重构后的功能状态", nowTime);
+    }
+
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
index 5786c0803b..ac12d84be8 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
@@ -15,7 +15,8 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg trajectoryMessage;//局部轨迹消息
     private IMsg trackedObjectsMessage;//障碍物信息
     private IMsg gnssInfoMessage;//惯导信息
-    private IMsg vehicleStateMessage;//底盘信息, 透传底盘状态，pb参考底盘
+    private IMsg vehicleStateMessage;//老底盘信息, 透传底盘状态，pb参考底盘
+    private IMsg chassisStatesMessage;//重构后的底盘状态
     private IMsg autopilotStateMessage;//自动驾驶状态
     private IMsg reportMessage;//监控事件报告
     private IMsg perceptionTrafficLightMessage;//感知红绿灯
@@ -31,6 +32,7 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg statusQueryRespMessage;//状态查询应答
     private IMsg recordDataConfigRespMessage;//数据采集配置应答
     private IMsg planningDecisionStateMessage;//planning决策状态
+    private IMsg functionStatesMessage;//重构后的功能状态
 
     private final AutopilotReview autopilotReview;
 
@@ -64,6 +66,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 vehicleStateMessage = new VehicleStateMessage();
             }
             return vehicleStateMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_CHASSIS_STATES.typeCode) {
+            //重构后的底盘状态
+            if (chassisStatesMessage == null) {
+                chassisStatesMessage = new ChassisStatesMessage();
+            }
+            return chassisStatesMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.typeCode) {
             //自动驾驶状态
             if (autopilotStateMessage == null) {
@@ -148,6 +156,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 planningDecisionStateMessage = new PlanningDecisionStateMessage();
             }
             return planningDecisionStateMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_FUNCTION_STATES.typeCode) {
+            //重构后的功能状态
+            if (functionStatesMessage == null) {
+                functionStatesMessage = new FunctionStatesMessage();
+            }
+            return functionStatesMessage;
         } else {
             //MessageType.TYPE_DEFAULT.typeCode
             return null;
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
index ccfc0ec84d..24512ac952 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/VehicleStateMessage.java
@@ -9,7 +9,10 @@ import com.zhidao.support.adas.high.common.AutopilotAbilityManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
 
+import chassis.Chassis;
+import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
+import common.HeaderOuterClass;
 
 /**
  * 底盘信息, 透传底盘状态，pb参考底盘
@@ -25,9 +28,312 @@ public class VehicleStateMessage extends MyAbstractMessageHandler {
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
         if (adasListener != null) {
+            compatibility(adasListener, raw, vehicleState);
             adasListener.onVehicleState(raw.getHeader(), vehicleState);
         }
         AdasChannel.calculateTimeConsumingBusiness("底盘信息", nowTime);
 //        CupidLogUtils.e("底盘信息--->" + vehicleState.toString());
     }
+
+    /**
+     * 将老地盘数据转换成新地盘数据
+     * 字段注释中 鹰眼已用 的 已和底盘相关开发 确认过，其他字段均为确认对应关系
+     * 新底盘中未找到字段：
+     * parking_brake    longitude_driving_mode  eps_steering_mode
+     * steering_sign   location_missing    trajectory_missing
+     * chassis_status_missing   pilot_mode_condition_met    vehicletakeoverstatus
+     */
+    private void compatibility(OnAdasListener adasListener, RawData raw, VehicleStateOuterClass.VehicleState vehicleState) throws InvalidProtocolBufferException {
+        /**************老地盘转换成新地盘PB***************/
+        ChassisStatesOuterClass.ChassisStates.Builder builder = ChassisStatesOuterClass.ChassisStates.newBuilder();
+        //工控机所用Header
+        if (vehicleState.hasHeader()) {
+            HeaderOuterClass.Header outHeader = vehicleState.getHeader();
+            if (outHeader != null) {
+                builder.setHeader(HeaderOuterClass.Header.parseFrom(vehicleState.getHeader().toByteArray()));
+            }
+        }
+        setBCMSystemStates(builder, vehicleState);
+        setSteerSystemStates(builder, vehicleState);
+        setGearSystemStates(builder, vehicleState);
+        setVehicleMotionStates(builder, vehicleState);
+        setDrivingSystemStates(builder, vehicleState);
+        setBrakeSystemStates(builder, vehicleState);
+        setChassisAutopilotAssistanceInformation(builder, vehicleState);
+        //电子驻车制动系统
+        if (vehicleState.hasEpb()) {
+            Chassis.EPBWorkStatus old = vehicleState.getEpb();
+            if (old != null) {
+                ChassisStatesOuterClass.EPBWorkStates epb = null;
+                if (old == Chassis.EPBWorkStatus.EPBSTATUS_NONE) {
+                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_NONE;
+                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED) {
+                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED;
+                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASED) {
+                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASED;
+                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_LOCKED_FAIL) {
+                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_LOCKED_FAIL;
+                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_RELEASE_FAIL) {
+                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_RELEASE_FAIL;
+                } else if (old == Chassis.EPBWorkStatus.EPBSTATUS_FAULT) {
+                    epb = ChassisStatesOuterClass.EPBWorkStates.EPB_STATE_FAULT;
+                }
+                if (epb != null) {
+                    builder.setEpbSystemStates(ChassisStatesOuterClass.EPBSystemStates.newBuilder()
+                            .setEpbWorkState(epb));
+                }
+            }
+        }
+        // 整车故障状态
+        if (vehicleState.hasVehiclefaultlevel()) {
+            Chassis.VehicleFaultLevel vehicleFaultLevel = vehicleState.getVehiclefaultlevel();
+            if (vehicleFaultLevel != null) {
+                ChassisStatesOuterClass.VehicleFaultLevels vehicleFaultLevels = null;
+                if (vehicleFaultLevel == Chassis.VehicleFaultLevel.None_Fault) {
+                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.NONE_FAULT;
+                } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.General_Fault) {
+                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.GENERAL_FAULT;
+                } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Serious_Fault) {
+                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.SERIOUS_FAULT;
+                } else if (vehicleFaultLevel == Chassis.VehicleFaultLevel.Critical_Fault) {
+                    vehicleFaultLevels = ChassisStatesOuterClass.VehicleFaultLevels.CRITICAL_FAULT;
+                }
+                if (vehicleFaultLevels != null) {
+                    builder.setVehicleChassisFaultInformation(ChassisStatesOuterClass.VehicleChassisFaultInformation.newBuilder()
+                            .setVehiclefaultlevel(vehicleFaultLevels));
+                }
+            }
+        }
+        //电量
+        if (vehicleState.hasBmsSoc()) {
+            builder.setBmsSystemStates(ChassisStatesOuterClass.BMSSystemStates.newBuilder().setBmsSoc(vehicleState.getBmsSoc()));
+        }
+        //清扫车（福田）清扫控制系统状态
+        if (vehicleState.hasSweeperFutianCleanSystemState()) {
+            VehicleStateOuterClass.SweeperFuTianCleanSystemState sweeperFuTianCleanSystemState = vehicleState.getSweeperFutianCleanSystemState();
+            if (sweeperFuTianCleanSystemState != null) {
+                byte[] bytes = sweeperFuTianCleanSystemState.toByteArray();
+                builder.setTaskSystemStates(ChassisStatesOuterClass.TaskSystemStates.newBuilder()
+                        .setSweeperFutianTaskSystemStates(ChassisStatesOuterClass.SweeperFuTianTaskSystemStates.parseFrom(bytes)));//鹰眼已用 清扫车专用
+            }
+        }
+        adasListener.onChassisStates(raw.getHeader(), builder.build());
+    }
+
+
+    private void setChassisAutopilotAssistanceInformation(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
+        ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.Builder chassisAutopilotAssistanceInformation = null;
+        if (vehicleState.hasPilotMode()) {
+            Chassis.PilotMode pilotMode = vehicleState.getPilotMode();
+            if (pilotMode != null) {
+                chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
+                chassisAutopilotAssistanceInformation.setChassisPilotModeState(pilotMode);
+            }
+        }
+        if (vehicleState.hasEmergencyStopSwitch()) {
+            if (chassisAutopilotAssistanceInformation == null) {
+                chassisAutopilotAssistanceInformation = ChassisStatesOuterClass.ChassisAutopilotAssistanceInformation.newBuilder();
+            }
+            // 急停开关状态
+            chassisAutopilotAssistanceInformation.setEmergencyStopSwitchState(vehicleState.getEmergencyStopSwitch());
+        }
+        if (chassisAutopilotAssistanceInformation != null) {
+            builder.setChassisAutopilotAssistanceInformation(chassisAutopilotAssistanceInformation);
+        }
+    }
+
+    /**
+     * 档位
+     */
+    private void setGearSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
+        ChassisStatesOuterClass.GearSystemStates.Builder gearSystemStates = null;
+        if (vehicleState.hasGear()) {
+            Chassis.GearPosition gear = vehicleState.getGear();
+            if (gear != null) {
+                gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
+                //挂挡档位数据
+                gearSystemStates.setGearPosition(gear);//鹰眼已用
+            }
+        }
+        if (vehicleState.hasGearSwitchInference()) {
+            if (gearSystemStates == null) {
+                gearSystemStates = ChassisStatesOuterClass.GearSystemStates.newBuilder();
+            }
+            //档位干预
+            gearSystemStates.setGearSwitchInferenceState(vehicleState.getGearSwitchInference());
+        }
+        if (gearSystemStates != null) {
+            builder.setGearSystemStates(gearSystemStates);
+        }
+    }
+
+    /**
+     * 油门
+     */
+    private void setDrivingSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
+        ChassisStatesOuterClass.DrivingSystemStates.Builder drivingSystemStates = null;
+        if (vehicleState.hasThrottle()) {
+            drivingSystemStates = ChassisStatesOuterClass.DrivingSystemStates.newBuilder();
+            //油门
+            drivingSystemStates.setThrottleResponsePosition(vehicleState.getThrottle());//鹰眼已用
+        }
+        if (vehicleState.hasAccelInference()) {
+            if (drivingSystemStates == null) {
+                drivingSystemStates = ChassisStatesOuterClass.DrivingSystemStates.newBuilder();
+            }
+            //加速踏板干预
+            drivingSystemStates.setAccelerationPedalInferenceState(vehicleState.getAccelInference());
+        }
+        if (drivingSystemStates != null) {
+            builder.setDrivingSystemStates(drivingSystemStates);
+        }
+    }
+
+    /**
+     * 刹车
+     */
+    private void setBrakeSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
+        ChassisStatesOuterClass.BrakeSystemStates.Builder brakeSystemStates = null;
+        if (vehicleState.hasBrake()) {
+            brakeSystemStates = ChassisStatesOuterClass.BrakeSystemStates.newBuilder();
+            //刹车
+            brakeSystemStates.setBrakePedalResponsePosition(vehicleState.getBrake());//鹰眼已用
+        }
+        if (vehicleState.hasBrakeInference()) {
+            if (brakeSystemStates == null) {
+                brakeSystemStates = ChassisStatesOuterClass.BrakeSystemStates.newBuilder();
+            }
+            //刹车干预
+            brakeSystemStates.setBrakePedalInferenceState(vehicleState.getBrakeInference());
+        }
+        if (brakeSystemStates != null) {
+            builder.setBrakeSystemStates(brakeSystemStates);
+        }
+    }
+
+    /**
+     * 方向盘
+     */
+    private void setSteerSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
+        ChassisStatesOuterClass.SteerSystemStates.Builder steerSystemStates = null;
+        if (vehicleState.hasSteering()) {
+            steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
+            //方向盘转向角数据
+            steerSystemStates.setSteeringWheelAngle(vehicleState.getSteering());//鹰眼已用
+        }
+        if (vehicleState.hasSteerInference()) {
+            if (steerSystemStates == null) {
+                steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
+            }
+            //方向盘干预
+            steerSystemStates.setSteeringWheelInferenceState(vehicleState.getSteerInference());
+        }
+        if (vehicleState.hasSteeringSpd()) {
+            if (steerSystemStates == null) {
+                steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
+            }
+            steerSystemStates.setSteeringWheelSpeed(vehicleState.getSteeringSpd());
+        }
+        if (vehicleState.hasLeftFrontWheelAngle()) {
+            if (steerSystemStates == null) {
+                steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
+            }
+            steerSystemStates.setFrontLeftWheelAngle(vehicleState.getLeftFrontWheelAngle());
+        }
+        if (vehicleState.hasRightFrontWheelAngle()) {
+            if (steerSystemStates == null) {
+                steerSystemStates = ChassisStatesOuterClass.SteerSystemStates.newBuilder();
+            }
+            steerSystemStates.setFrontRightWheelAngle(vehicleState.getRightFrontWheelAngle());
+        }
+        if (steerSystemStates != null) {
+            builder.setSteerSystemStates(steerSystemStates);
+        }
+    }
+
+    private void setVehicleMotionStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
+        ChassisStatesOuterClass.VehicleMotionStates.Builder vehicleMotionStates = null;
+        if (vehicleState.hasSpeed()) {
+            vehicleMotionStates = ChassisStatesOuterClass.VehicleMotionStates.newBuilder();
+            vehicleMotionStates.setSpeed(vehicleState.getSpeed());
+        }
+        if (vehicleState.hasAccel()) {
+            if (vehicleMotionStates == null) {
+                vehicleMotionStates = ChassisStatesOuterClass.VehicleMotionStates.newBuilder();
+            }
+            //加速度
+            vehicleMotionStates.setAcceleration(vehicleState.getAccel());//鹰眼已用
+        }
+        if (vehicleMotionStates != null) {
+            builder.setVehicleMotionStates(vehicleMotionStates);
+        }
+    }
+
+    /**
+     * 车身控制模块
+     */
+    private void setBCMSystemStates(ChassisStatesOuterClass.ChassisStates.Builder builder, VehicleStateOuterClass.VehicleState vehicleState) {
+        ChassisStatesOuterClass.BCMSystemStates.Builder bcmSystemStates = null;
+        if (vehicleState.hasLight()) {
+            Chassis.LightSwitch light = vehicleState.getLight();
+            if (light != null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+                //转向灯数据
+                bcmSystemStates.setTurnLightState(light);//鹰眼已用
+            }
+        }
+        if (vehicleState.hasBrakeLightStatus()) {
+            if (bcmSystemStates == null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            }
+            //刹车灯数据
+            bcmSystemStates.setBrakeLightState(vehicleState.getBrakeLightStatus() ? 1 : 0);//鹰眼已用
+        }
+        if (vehicleState.hasHorn()) {
+            if (bcmSystemStates == null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            }
+            //鸣笛
+            bcmSystemStates.setHornState(vehicleState.getHorn() ? 1 : 0);
+        }
+        if (vehicleState.hasHighbeam()) {
+            if (bcmSystemStates == null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            }
+            //远光灯
+            bcmSystemStates.setHighbeamState(vehicleState.getHighbeam() ? 1 : 0);
+        }
+        if (vehicleState.hasLowbeam()) {
+            if (bcmSystemStates == null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            }
+            //近光灯
+            bcmSystemStates.setLowbeamState(vehicleState.getLowbeam() ? 1 : 0);
+        }
+        if (vehicleState.hasFoglight()) {
+            if (bcmSystemStates == null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            }
+            //雾灯 新底盘分前后雾灯 老地盘只有一个 所以同时赋值
+            bcmSystemStates.setFrontFoglightState(vehicleState.getFoglight() ? 1 : 0);
+            bcmSystemStates.setBackFoglightState(vehicleState.getFoglight() ? 1 : 0);
+        }
+        if (vehicleState.hasClearanceLamps()) {
+            if (bcmSystemStates == null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            }
+            //示廓灯
+            bcmSystemStates.setClearanceLampsState(vehicleState.getClearanceLamps() ? 1 : 0);
+        }
+        if (vehicleState.hasWarnLight()) {
+            if (bcmSystemStates == null) {
+                bcmSystemStates = ChassisStatesOuterClass.BCMSystemStates.newBuilder();
+            }
+            //报警灯
+            bcmSystemStates.setAlarmLightState(vehicleState.getWarnLight() ? 1 : 0);
+        }
+        if (bcmSystemStates != null) {
+            builder.setBcmSystemStates(bcmSystemStates);
+        }
+    }
 }