Merge branch 'dev_arch_opt_3.0' of gitlab.zhidaoauto.com:zhjt/AndroidApp/MoGoEagleEye into dev_arch_opt_3.0

Conflicts: app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
2023-02-13 15:13:08 +08:00
parent 5e2ee3f76c fd291a15b7
commit 3a1f96396f
275 changed files with 4570 additions and 4594 deletions
--- a/core/function-impl/mogo-core-function-datacenter/README.md
+++ b/core/function-impl/mogo-core-function-datacenter/README.md
@@ -44,7 +44,7 @@ MogoObuManager.getInstance().init(Context context);
 ```
 ## 连接
 ```java
-//默认192.168.8.199
+//默认192.168.1.199
 MogoObuManager.getInstance().connect();
 //自定义 IP
 MogoObuManager.getInstance().connect(String ip);
--- a/core/function-impl/mogo-core-function-datacenter/build.gradle
+++ b/core/function-impl/mogo-core-function-datacenter/build.gradle
@@ -60,17 +60,14 @@ dependencies {
    implementation rootProject.ext.dependencies.amapnavi3dmap

    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        implementation rootProject.ext.dependencies.mogo_core_data
        implementation rootProject.ext.dependencies.mogo_core_utils
        implementation rootProject.ext.dependencies.mogo_core_function_call

        implementation project(':libraries:mogo-adas')
        implementation rootProject.ext.dependencies.mogocommons
    } else {
-        implementation project(':core:mogo-core-data')
        implementation project(':core:mogo-core-utils')
        implementation project(':core:mogo-core-function-call')
-
        implementation project(':libraries:mogo-adas')
        implementation project(':foudations:mogo-commons')
    }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
@@ -5,6 +5,8 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.datacenter.IDataCenterProvider
 import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher
+import com.mogo.eagle.core.function.datacenter.v2x.SpeedLimitDispatcher
+import com.mogo.eagle.core.function.datacenter.v2x.TrafficLightDispatcher

@Route(path = MogoServicePaths.PATH_DATA_CENTER_MODULE)
 class DataCenterProvider: IDataCenterProvider {
@@ -14,9 +16,15 @@ class DataCenterProvider: IDataCenterProvider {

    override fun init(context: Context?) {
        MoGoLocationDispatcher.initListener()
+
+        context?.let {
+            TrafficLightDispatcher.INSTANCE.initServer(it)
+            SpeedLimitDispatcher.INSTANCE.initLimit(it)
+        }
    }

    override fun onDestroy() {
-
+        TrafficLightDispatcher.INSTANCE.destroy()
+        SpeedLimitDispatcher.INSTANCE.destroy()
    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -52,6 +52,7 @@ import com.zhidao.support.adas.high.OnMultiDeviceListener
 import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS
 import com.zhidao.support.adas.high.common.CupidLogUtils
+import com.zhidao.support.adas.high.common.MessageType
 import com.zhidao.support.adas.high.common.MogoReport
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants
@@ -720,7 +721,20 @@ class MoGoAutopilotControlProvider :
    }

    override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
-        Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----")
        AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd)
    }
+
+    override fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
+        if (isDrawPointCloud) {
+            AdasManager.getInstance().subscribeInterface(
+                Constants.TERMINAL_ROLE.DRIVER,
+                Constants.SUBSCRIBE_TYPE.SUBSCRIBE,
+                MessageType.TYPE_RECEIVE_POINT_CLOUD)
+        } else {
+            AdasManager.getInstance().subscribeInterface(
+                Constants.TERMINAL_ROLE.DRIVER,
+                Constants.SUBSCRIBE_TYPE.UNSUBSCRIBE,
+                MessageType.TYPE_RECEIVE_POINT_CLOUD)
+        }
+    }
 }
--- 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
@@ -526,16 +526,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
        }
    }

-    /**
-     * OBU预警事件
-     *
-     * @param header         头
-     * @param obuWarningData 数据
-     */
-    override fun onObuWarningData(header: MessagePad.Header?, obuWarningData: ObuWarningEvent.ObuWarningData?) {
-        CallerObuDcCombineListenerManager.invokeObuDcData(obuWarningData)
-    }
-
    /**
     * OBU 红绿灯预警信息
     *
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -1,9 +1,9 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.server

 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
-import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager

 /**
 * @author xiaoyuzhou
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
@@ -6,16 +6,20 @@ import com.amap.api.location.AMapLocationClientOption
 import com.amap.api.location.AMapLocationListener
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssListener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuLocationWGS84Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.CoordinateTransform
 import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.mogo.eagle.core.utilcode.util.Utils
+import com.mogo.support.obu.model.MogoObuHvBasicsData
 import mogo.telematics.pad.MessagePad

 /**
@@ -25,6 +29,7 @@ import mogo.telematics.pad.MessagePad
 */
 object MoGoLocationDispatcher :
    IMoGoChassisGnssListener,
+    IMoGoObuLocationWGS84Listener,
    AMapLocationListener {

    private val TAG = "MoGoLocationManager"
@@ -37,6 +42,11 @@ object MoGoLocationDispatcher :
     */
    private var lastGnssLocation: MogoLocation = MogoLocation()

+    /**
+     * 最后一次OBU GNSS 返回更新的位置
+     */
+    private var lastOBULocation: MogoLocation = MogoLocation()
+
    /**
     * 最后一次高德定位返回的位置信息
     */
@@ -69,6 +79,7 @@ object MoGoLocationDispatcher :

        // 初始化监听订阅工控机位置信息
        CallerChassisGnssListenerManager.addListener(TAG, this)
+        CallerObuLocationWGS84ListenerManager.addListener(TAG, this)
    }

    override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
@@ -77,6 +88,11 @@ object MoGoLocationDispatcher :
        lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
        mapLocation?.let {
+            //agps 高德
+            //agps_rtk 高德-高精
+            lastGnssLocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
+            lastGnssLocation.satellite = 4
+
            lastGnssLocation.cityName = it.city
            lastGnssLocation.cityCode = it.cityCode
            lastGnssLocation.provider = it.provider
@@ -95,17 +111,19 @@ object MoGoLocationDispatcher :
            lastGnssLocation.errorCode = it.errorCode
            lastGnssLocation.errorInfo = it.errorInfo
        }
-
-        // WGS84坐标系高精度位置信息
-        CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
-            lastGnssLocation,
-            DataSourceType.TELEMATIC
-        )
-        // GCJ02高德坐标系位置信息
-        CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
-            lastGnssLocation,
-            DataSourceType.TELEMATIC
-        )
+        //FileUtils.writeToFile("/sdcard/Download/", "location_wgs84.txt", "${gnssInfo.longitude},${gnssInfo.latitude}\n")
+        if (1 == FunctionBuildConfig.gpsProvider) {
+            // WGS84坐标系高精度位置信息
+            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+                lastGnssLocation,
+                DataSourceType.TELEMATIC
+            )
+            // GCJ02高德坐标系位置信息
+            CallerChassisLocationGCJ02ListenerManager.invokeChassisLocationGCJ02(
+                lastGnssLocation,
+                DataSourceType.TELEMATIC
+            )
+        }
    }

    /**
@@ -115,7 +133,7 @@ object MoGoLocationDispatcher :
    override fun onLocationChanged(aMapLocation: AMapLocation) {
        mapLocation = aMapLocation
        // 更新GNSS 信息
-
+        lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()

        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
        mapLocation?.let {
@@ -131,6 +149,9 @@ object MoGoLocationDispatcher :
            lastGaoDeLocation.satelliteTime = it.time
            lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()

+            lastGaoDeLocation.locType = 1 // 定位类型为高德坐标(网路或者硬件定位)
+            lastGaoDeLocation.satellite = 4
+
            lastGaoDeLocation.cityName = it.city
            lastGaoDeLocation.cityCode = it.cityCode
            lastGaoDeLocation.provider = it.provider
@@ -151,26 +172,104 @@ object MoGoLocationDispatcher :
        }

        // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换
-        if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 30000) {
-            // WGS84坐标系高精度位置信息
-            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
-                lastGaoDeLocation,
-                DataSourceType.MAP
-            )
-            // GCJ02高德坐标系位置信息
-            CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
-                lastGaoDeLocation,
-                DataSourceType.MAP
-            )
+        if (1 == FunctionBuildConfig.gpsProvider) {
+            if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 30000) {
+                syncGaoDeLocation()
+            }
+        } else if (2 == FunctionBuildConfig.gpsProvider) {
+            if (TimeUtils.getNowMills() - lastOBULocation.lastReceiveTime > 30000) {
+                syncGaoDeLocation()
+            }
        }

+
        // 本地SP缓存城市Code
        val cityCode = aMapLocation.cityCode
        if (cityCode != null && cityCode.isNotEmpty()) {
            mCityCode = aMapLocation.cityCode
            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
                .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
+
+            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                .putString(
+                    SharedPrefsConstants.LOCATION_LATITUDE,
+                    aMapLocation.latitude.toString()
+                )
+            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                .putString(
+                    SharedPrefsConstants.LOCATION_LONGITUDE,
+                    aMapLocation.longitude.toString()
+                )
        }

    }
+
+    /**
+     * 对外同步高德回掉的定位数据
+     */
+    private fun syncGaoDeLocation() {
+        // WGS84坐标系高精度位置信息
+        CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+            lastGaoDeLocation,
+            DataSourceType.MAP
+        )
+        // GCJ02高德坐标系位置信息
+        CallerChassisLocationGCJ02ListenerManager.invokeChassisLocationGCJ02(
+            lastGaoDeLocation,
+            DataSourceType.MAP
+        )
+    }
+
+    /**
+     * OBU定位回调监听
+     */
+    override fun onObuLocationWGS84(data: MogoObuHvBasicsData) {
+        // 更新GNSS 信息
+        lastOBULocation.longitude = data.vehBasicsMsg.longitude
+        lastOBULocation.latitude = data.vehBasicsMsg.latitude
+        lastOBULocation.heading = data.vehBasicsMsg.heading
+        lastOBULocation.gnssSpeed = data.vehBasicsMsg.speed.toFloat()
+        lastOBULocation.altitude = data.vehBasicsMsg.elevation
+        lastOBULocation.satelliteTime = data.vehBasicsMsg.secMark
+        lastOBULocation.lastReceiveTime = TimeUtils.getNowMills()
+
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            //agps 高德
+            //agps_rtk 高德-高精
+            lastOBULocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
+            lastOBULocation.satellite = 4
+
+            lastOBULocation.cityName = it.city
+            lastOBULocation.cityCode = it.cityCode
+            lastOBULocation.provider = it.provider
+            lastOBULocation.address = it.address
+            lastOBULocation.district = it.district
+            lastOBULocation.province = it.province
+            lastOBULocation.adCode = it.adCode
+            lastOBULocation.locationDetail = it.locationDetail
+            lastOBULocation.poiName = it.poiName
+            lastOBULocation.aoiName = it.aoiName
+            lastOBULocation.street = it.street
+            lastOBULocation.streetNum = it.streetNum
+            lastOBULocation.description = it.description
+            lastOBULocation.buildingId = it.buildingId
+            lastOBULocation.floor = it.floor
+            lastOBULocation.errorCode = it.errorCode
+            lastOBULocation.errorInfo = it.errorInfo
+        }
+
+        if (2 == FunctionBuildConfig.gpsProvider) {
+            // WGS84坐标系高精度位置信息
+            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+                lastOBULocation,
+                DataSourceType.OBU
+            )
+            // GCJ02高德坐标系位置信息
+            CallerChassisLocationGCJ02ListenerManager.invokeChassisLocationGCJ02(
+                lastOBULocation,
+                DataSourceType.OBU
+            )
+        }
+    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
@@ -22,8 +22,7 @@ class MoGoObuProvider : IMoGoObuProvider {
    private val TAG = "MoGoObuProvider"

    private var mContext: Context? = null
-    private val busObuIp = "192.168.8.199"
-    private val taxiObuIp = "192.168.1.199"
+    private val taxiObuIp = "192.168.1.199" //obu的taxi和bus的ip已经全部统一成1网段ip

    override val functionName: String
        get() = TAG
@@ -37,35 +36,16 @@ class MoGoObuProvider : IMoGoObuProvider {
        MogoObuDcCombineManager.INSTANCE.init(context)
        CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress())

-        //bus乘客版本obu功能去掉
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
-            && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
-        ) {
-            //不处理
-        } else {
-            mContext = context
-            mContext?.let {
-                if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //bus 司机端
-                    val ipAddress =
-                        SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, busObuIp)
-
-                    //mogo obu
-                    MogoPrivateObuNewManager.INSTANCE.connectObu(
-                        it,
-                        ipAddress,
-                        CommonUtils.getIpAddressString()
-                    )
-                } else if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) { //taxi 司机端和乘客端
-                    val ipAddress =
-                        SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
-                    //mogo obu
-                    MogoPrivateObuNewManager.INSTANCE.connectObu(
-                        it,
-                        ipAddress,
-                        CommonUtils.getIpAddressString()
-                    )
-                }
-            }
+        //bus乘客版本obu功能去掉，大理项目需要全部车辆接收，不在限制
+        mContext = context
+        mContext?.let {
+            val ipAddress = SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
+            //mogo obu
+            MogoPrivateObuNewManager.INSTANCE.connectObu(
+                it,
+                ipAddress,
+                CommonUtils.getIpAddressString()
+            )
        }
    }

--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
@@ -9,7 +9,6 @@ import com.mogo.eagle.core.data.enums.WarningDirectionEnum
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
-import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningMapListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsiListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsmListener
@@ -21,13 +20,12 @@ import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
 import com.mogo.support.obu.ObuScene
 import com.mogo.support.obu.constants.MogoObuConstants
-import mogo.v2x.ObuWarningEvent.*
 import kotlin.math.roundToInt


@@ -258,8 +256,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
            when (status) {
                // 添加
                MogoObuConstants.STATUS.ADD -> {
-                    //显示警告红边
-                    CallerHmiManager.showWarning(direction)
                    CallerMsgBoxManager.saveMsgBox(
                        MsgBoxBean(
                            MsgBoxType.V2X,
@@ -275,13 +271,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                    CallerHmiManager.warningV2X(
                        appId,
                        alertContent,
-                        ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
-                        object : IMoGoWarningStatusListener {
-                            override fun onDismiss() {
-                                // 关闭警告红边
-                                CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
-                            }
-                        }
+                        ttsContent, null, direction
                    )

                    // 更新数据，是否需要
@@ -297,7 +287,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                // 删除
                MogoObuConstants.STATUS.DELETE -> {
                    // 关闭警告红边
-//                    CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
+                    CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_NON)
                    // 更新数据，删除标牌？
 //                    TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(rsiWarningData)
 //                        ?.let {
@@ -345,24 +335,20 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                    level = rsmWarningData.warningMsg.warningDataList[0].warningLevel
                    CallerLogger.d(
                        "${M_OBU}${TAG}",
-                        "MogoObuDcCombineManager onMogoObuRsmWarning ---status---> ${rsmWarningData.status} --list status----> ${
-                            rsmWarningData.warningMsg.warningDataList.get(
-                                0
-                            ).status
+                        "ObuDcCombineManager onObuRsmWarning ---status---> ${rsmWarningData.status} --list status----> ${
+                            rsmWarningData.warningMsg.warningDataList[0].status
                        } --v2xType--- $v2xType ---alertContent = $alertContent ---ttsContent= $ttsContent"
                    )

-                    when (rsmWarningData.warningMsg.warningDataList.get(0).status) {
+                    when (rsmWarningData.warningMsg.warningDataList[0].status) {
                        MogoObuConstants.STATUS.ADD -> { // 添加
-                            //显示警告红边
-                            CallerHmiManager.showWarning(direction)
                            CallerMsgBoxManager.saveMsgBox(
                                MsgBoxBean(
                                    MsgBoxType.V2X,
                                    V2XMsg(
                                        v2xType,
                                        alertContent,
-                                        ttsContent
+                                        ttsContent,
                                    )
                                ).apply {
                                    sourceType = DataSourceType.TELEMATIC
@@ -371,15 +357,9 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                            CallerHmiManager.warningV2X(
                                v2xType,
                                alertContent,
-                                ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
-                                object : IMoGoWarningStatusListener {
-                                    override fun onDismiss() {
-                                        // 关闭警告红边
-                                        CallerHmiManager.dismissWarning(
-                                            WarningDirectionEnum.ALERT_WARNING_ALL
-                                        )
-                                    }
-                                }
+                                ttsContent,
+                                null,
+                                direction
                            )

                            // 更新数据 TODO
@@ -396,7 +376,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                        // 删除
                        MogoObuConstants.STATUS.DELETE -> {
                            // 关闭警告红边
-                            CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
+                            CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
                            // 更新数据 TODO 由于obu通过域控需要转换单位，这里临时转换，后面3.0不需要转换
 //                            TrafficDataConvertUtils.cvxPtcThreatIndInfo2TrafficData(rsmWarningData)?.let {
 //                                    // 事件结束，还原交通参与者颜色
@@ -451,8 +431,8 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                    } --- data.speedMaxLimit = ${data.speedMaxLimit}"
                )
                when (data.status) {
-                    MogoObuConstants.STATUS.ADD -> { // 添加
-                        CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(
+                    MogoObuConstants.STATUS.ADD -> { // 添加 TODO
+                        CallerLimitingVelocityListenerManager.invokeUnion(
                            (data.speedMaxLimit * 0.02 * 3.6).roundToInt().toInt(),
                            DataSourceType.OBU
                        )
@@ -462,7 +442,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                    }

                    MogoObuConstants.STATUS.DELETE -> { // 删除
-                        CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(
+                        CallerLimitingVelocityListenerManager.invokeUnion(
                            -1,
                            DataSourceType.OBU
                        )
@@ -637,7 +617,6 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                                sourceType = DataSourceType.TELEMATIC
                            }
                        )
-
                        CallerHmiManager.warningV2X(
                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
                            alertContent,
@@ -651,40 +630,38 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
        when (currentLight.light) {
            // 灯光不可用
            0 -> {
-                CallerTrafficLightListenerManager.showTrafficLight(
+                CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
                    TrafficLightEnum.BLACK,
+                    -1,
                    DataSourceType.TELEMATIC
                )
            }
-
            // 红灯
            2, 3 -> {
-                CallerTrafficLightListenerManager.showTrafficLight(
+                val red = (currentLight.countDown / 10).toInt()
+                CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
                    TrafficLightEnum.RED,
+                    red,
                    DataSourceType.TELEMATIC
                )
-                val red = currentLight.countDown / 10
-                CallerTrafficLightListenerManager.changeCountdownRed(red.toInt())
            }
-
            // 绿灯
            4, 5, 6 -> {
-                CallerTrafficLightListenerManager.showTrafficLight(
+                val green = (currentLight.countDown / 10).toInt()
+                CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
                    TrafficLightEnum.GREEN,
+                    green,
                    DataSourceType.TELEMATIC
                )
-                val green = currentLight.countDown / 10
-                CallerTrafficLightListenerManager.changeCountdownGreen(green.toInt())
            }
-
            // 黄灯
            7, 8 -> {
-                CallerTrafficLightListenerManager.showTrafficLight(
+                val yellow = (currentLight.countDown / 10).toInt()
+                CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
                    TrafficLightEnum.YELLOW,
+                    yellow,
                    DataSourceType.TELEMATIC
                )
-                val yellow = currentLight.countDown / 10
-                CallerTrafficLightListenerManager.changeCountdownYellow(yellow.toInt())
            }
        }
    }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -16,8 +16,9 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Defa
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
-import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.datacenter.obu.utils.TrafficDataConvertUtilsNew
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
@@ -31,7 +32,6 @@ import com.mogo.support.obu.model.*
 import com.mogo.support.obu.model.advance.SpatLight
 import com.mogo.support.obu.option.MogoObuCom
 import com.mogo.support.obu.option.MogoObuOptions
-import org.json.JSONObject
 import kotlin.math.roundToInt

 /**
@@ -107,45 +107,22 @@ class MogoPrivateObuNewManager private constructor() {
        /**
         * HV车辆基础信息 CvxHvCarIndInfo  CvxHvInfoIndInfo
         */
-        override fun onMogoObuHvBasics(p0: MogoObuHvBasicsData?) {
-            if (p0 != null && p0.vehBasicsMsg != null) {
+        override fun onMogoObuHvBasics(mogoObuHvBasicsData: MogoObuHvBasicsData?) {
+            if (mogoObuHvBasicsData != null && mogoObuHvBasicsData.vehBasicsMsg != null) {
                CallerLogger.d(
                    "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                    "onMogoObuHvBasics  lon = ${p0.vehBasicsMsg.longitude} --- lat = ${p0.vehBasicsMsg.latitude} ---speed = ${p0.vehBasicsMsg.speed} ---heading = ${p0.vehBasicsMsg.heading} --acceleration = ${p0.vehBasicsMsg.accFourAxes.accLat} --yawRate = ${p0.vehBasicsMsg.accFourAxes.accYaw}"
+                    "onMogoObuHvBasics  lon = ${mogoObuHvBasicsData.vehBasicsMsg.longitude} --- lat = ${mogoObuHvBasicsData.vehBasicsMsg.latitude} ---speed = ${mogoObuHvBasicsData.vehBasicsMsg.speed} ---heading = ${mogoObuHvBasicsData.vehBasicsMsg.heading} --acceleration = ${mogoObuHvBasicsData.vehBasicsMsg.accFourAxes.accLat} --yawRate = ${mogoObuHvBasicsData.vehBasicsMsg.accFourAxes.accYaw}"
                )
-                val data = JSONObject()
-                try {
-                    data.putOpt("lon", p0.vehBasicsMsg.longitude)
-                    data.putOpt("lat", p0.vehBasicsMsg.latitude)
-                    data.putOpt("speed", p0.vehBasicsMsg.speed)
-                    data.putOpt("heading", p0.vehBasicsMsg.heading)
-                    data.putOpt("acceleration", p0.vehBasicsMsg.accFourAxes.accLat)
-                    data.putOpt("yawRate", p0.vehBasicsMsg.accFourAxes.accYaw)
-
-                    try {
-                        data.putOpt("systemTime", System.currentTimeMillis())
-                    } catch (e: Exception) {
-                        e.printStackTrace()
-                    }
-                    try {
-                        data.putOpt("satelliteTime", System.currentTimeMillis())
-                    } catch (e: Exception) {
-                        e.printStackTrace()
-                    }
-
-                    // 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle  GPS_PROVIDER  0-Android系统，1-工控机，2-OBU
-                    if (2 == FunctionBuildConfig.gpsProvider) {
-                        // 同步给MAP地图
-                        CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(data)
-                        // 同步更新经纬度和系统时间至 AutoPilotStatusListener
-                        CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
-                            System.currentTimeMillis() / 1000.0,
-                            p0.vehBasicsMsg.longitude,
-                            p0.vehBasicsMsg.latitude
-                        )
-                    }
-                } catch (e: Exception) {
-                    e.printStackTrace()
+                // 使用与渠道配置一样的gps提供者提供的数据,app/productFlavors/fPadLenovo.gradle  GPS_PROVIDER  0-Android系统，1-工控机，2-OBU
+                if (2 == FunctionBuildConfig.gpsProvider) {
+                    // 同步给MAP地图
+                    CallerObuLocationWGS84ListenerManager.invokeObuLocationWGS84(mogoObuHvBasicsData)
+                    // 同步更新经纬度和系统时间至 AutoPilotStatusListener
+                    CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
+                        System.currentTimeMillis() / 1000.0,
+                        mogoObuHvBasicsData.vehBasicsMsg.longitude,
+                        mogoObuHvBasicsData.vehBasicsMsg.latitude
+                    )
                }
            }
        }
@@ -410,12 +387,7 @@ class MogoPrivateObuNewManager private constructor() {
                                appId,
                                alertContent,
                                ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
-                                object : IMoGoWarningStatusListener {
-                                    override fun onDismiss() {
-                                        // 关闭警告红边
-                                        CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
-                                    }
-                                }
+                                null, direction
                            )

                            // 更新数据
@@ -551,8 +523,6 @@ class MogoPrivateObuNewManager private constructor() {
                                if (alertContent.isEmpty() || ttsContent.isEmpty()) {
                                    return
                                }
-                                //显示警告红边
-                                CallerHmiManager.showWarning(direction)
                                CallerMsgBoxManager.saveMsgBox(
                                    MsgBoxBean(
                                        MsgBoxType.V2X,
@@ -570,14 +540,7 @@ class MogoPrivateObuNewManager private constructor() {
                                    v2xType,
                                    alertContent,
                                    ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
-                                    object : IMoGoWarningStatusListener {
-                                        override fun onDismiss() {
-                                            // 关闭警告红边
-                                            CallerHmiManager.dismissWarning(
-                                                WarningDirectionEnum.ALERT_WARNING_ALL
-                                            )
-                                        }
-                                    }
+                                    null, direction
                                )
                            }

@@ -586,7 +549,7 @@ class MogoPrivateObuNewManager private constructor() {

                            MogoObuConstants.STATUS.DELETE -> { // 删除
                                // 关闭警告红边
-                                CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
+                                CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
                                //删除弱势交通元素
                                CallerMapUIServiceManager.getMarkerService()
                                    ?.removeCvxRvInfoIndInfo(data.participant.ptcId.toString())
@@ -612,7 +575,7 @@ class MogoPrivateObuNewManager private constructor() {
                    MogoObuConstants.STATUS.ADD -> { // 添加
                        UiThreadHandler.post {
                            if (data.speedMaxLimit > 0) {
-                                CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(
+                                CallerLimitingVelocityListenerManager.invokeUnion(
                                    (data.speedMaxLimit * 3.6).roundToInt(), DataSourceType.OBU
                                )
                            }
@@ -624,7 +587,7 @@ class MogoPrivateObuNewManager private constructor() {

                    MogoObuConstants.STATUS.DELETE -> { // 删除
                        UiThreadHandler.post {
-                            CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(
+                            CallerLimitingVelocityListenerManager.invokeUnion(
                                -1,
                                DataSourceType.OBU
                            )
@@ -635,198 +598,368 @@ class MogoPrivateObuNewManager private constructor() {
        }
    }

-  }
+}

-    /**
-     * 获取消息的方位 车辆相关
-     */
-    private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
-        //        CallerLogger.d("$M_OBU${TAG_MOGO_NEW_OBU}", "预警红边：预警方向->$targetClassification")
-        return when (targetClassification) {
-            MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
-            MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方
+/**
+ * 获取消息的方位 车辆相关
+ */
+private fun getMessageDirection(targetClassification: Int): WarningDirectionEnum {
+    //        CallerLogger.d("$M_OBU${TAG_MOGO_NEW_OBU}", "预警红边：预警方向->$targetClassification")
+    return when (targetClassification) {
+        MogoObuConstants.VEH_TARGET_POSITION.AHEAD_IN_LANE,
+        MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_TOP //正前方

-            MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_BOTTOM //正后方
+        MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_IN_LANE -> WarningDirectionEnum.ALERT_WARNING_BOTTOM //正后方

-            MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_RIGHT -> WarningDirectionEnum.ALERT_WARNING_RIGHT //正右方
+        MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_RIGHT -> WarningDirectionEnum.ALERT_WARNING_RIGHT //正右方

-            MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_LEFT -> WarningDirectionEnum.ALERT_WARNING_LEFT //正左方
+        MogoObuConstants.VEH_TARGET_POSITION.INTERSECTION_LEFT -> WarningDirectionEnum.ALERT_WARNING_LEFT //正左方

-            MogoObuConstants.VEH_TARGET_POSITION.AHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_LEFT,
-            MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_LEFT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAR_LEFT
-            -> WarningDirectionEnum.ALERT_WARNING_TOP_LEFT //左前方
+        MogoObuConstants.VEH_TARGET_POSITION.AHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_LEFT,
+        MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_LEFT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAR_LEFT
+        -> WarningDirectionEnum.ALERT_WARNING_TOP_LEFT //左前方

-            MogoObuConstants.VEH_TARGET_POSITION.AHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_RIGHT,
-            MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAT_RIGHT
-            -> WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT //右前方
+        MogoObuConstants.VEH_TARGET_POSITION.AHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.AHEAD_FAR_RIGHT,
+        MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.ONCOMING_FAT_RIGHT
+        -> WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT //右前方

-            MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_LEFT,
-            -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT //左后方
+        MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_LEFT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_LEFT,
+        -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT //左后方

-            MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_RIGHT,
-            -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT  //右后方
+        MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_RIGHT, MogoObuConstants.VEH_TARGET_POSITION.BEHEAD_FAR_RIGHT,
+        -> WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT  //右后方

-            MogoObuConstants.VEH_TARGET_POSITION.UNCLASSIFIED -> WarningDirectionEnum.ALERT_WARNING_NON //未知
-            else -> WarningDirectionEnum.ALERT_WARNING_ALL
+        MogoObuConstants.VEH_TARGET_POSITION.UNCLASSIFIED -> WarningDirectionEnum.ALERT_WARNING_NON //未知
+        else -> WarningDirectionEnum.ALERT_WARNING_ALL
+    }
+}
+
+/**
+ * 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
+ *
+ * @param appId    使用WarningTypeEnum获取icon、提示内容、tts内容  TODO 添加事件频繁播报拦截
+ *
+ * @see com.mogo.module.common.enums.EventTypeEnum
+ */
+private fun handleSdkObu(
+    appId: String,
+    direction: WarningDirectionEnum,
+    status: Int,
+    level: Int,
+    info: MogoObuRvWarningData
+) {
+    //  这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
+    var alertContent: String = ""
+    var ttsContent: String = ""
+    var changeVisualAngle = false
+    when (appId) {
+        //交叉路口碰撞预警
+        MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
+        }
+
+        //交叉路口碰撞预警
+        MogoObuConstants.V2X_WARNING_TYPE.ICW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
+        }
+
+        //左转辅助预警
+        MogoObuConstants.V2X_WARNING_TYPE.LTA.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
+        }
+
+        //盲区预警
+        MogoObuConstants.V2X_WARNING_TYPE.BSW.toString() -> {
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
+            if (
+                direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
+            ) { //左后
+                changeVisualAngle = true
+                ttsContent = String.format(ttsContent, "左")
+                alertContent = String.format(alertContent, "左")
+            } else if (
+                direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
+            ) { //右后
+                changeVisualAngle = true
+                ttsContent = String.format(ttsContent, "右")
+                alertContent = String.format(alertContent, "右")
+            }
+        }
+
+        // 变道预警,注意左后车辆/注意右后车辆
+        MogoObuConstants.V2X_WARNING_TYPE.LCW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
+            if (
+                direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
+            ) {
+                ttsContent = String.format(ttsContent, "左")
+                alertContent = String.format(alertContent, "左")
+            } else if (
+                direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
+                direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
+            ) {
+                ttsContent = String.format(ttsContent, "右")
+                alertContent = String.format(alertContent, "右")
+            }
+        }
+
+        //逆向超车预警
+        MogoObuConstants.V2X_WARNING_TYPE.DNPW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
+        }
+
+        //紧急制动预警
+        MogoObuConstants.V2X_WARNING_TYPE.EBW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
+        }
+
+        //异常车辆提醒
+        MogoObuConstants.V2X_WARNING_TYPE.AVW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
+            alertContent = String.format(alertContent, direction.desc)
+            ttsContent = String.format(ttsContent, direction.desc)
+        }
+
+        //车辆失控预警
+        MogoObuConstants.V2X_WARNING_TYPE.CLW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
+            alertContent = String.format(alertContent, direction.desc)
+            ttsContent = String.format(ttsContent, direction.desc)
+        }
+        //车辆失控预警
+        MogoObuConstants.V2X_WARNING_TYPE.EVW.toString() -> {
+            alertContent =
+                EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
+            ttsContent =
+                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
+        }
+
+        // 这里处理固定的提示信息,包括了<紧急车辆提醒>
+        else -> { //TODO
+//                ttsContent = EventTypeEnumNew.getWarningTts(appId.toString())
+//                alertContent = EventTypeEnumNew.getWarningContent(appId.toString())
        }
    }

-    /**
-     * 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
-     *
-     * @param appId    使用WarningTypeEnum获取icon、提示内容、tts内容  TODO 添加事件频繁播报拦截
-     *
-     * @see com.mogo.module.common.enums.EventTypeEnum
-     */
-    private fun handleSdkObu(
-        appId: String,
-        direction: WarningDirectionEnum,
-        status: Int,
-        level: Int,
-        info: MogoObuRvWarningData
-    ) {
-        //  这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
-        var alertContent: String = ""
-        var ttsContent: String = ""
-        var changeVisualAngle = false
-        when (appId) {
-            //交叉路口碰撞预警
-            MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
-            }
+    when (status) {
+        // 添加,更新 add的时候，可能级别是2，
+        MogoObuConstants.STATUS.ADD,
+        MogoObuConstants.STATUS.UPDATE -> {
+            CallerLogger.d(
+                "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
+                "new handleSdkObu appId2 = $appId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
+            )
+            if (level == 2 || level == 3) {
+                //不显示弹框，其它保留
+                CallerMsgBoxManager.saveMsgBox(
+                    MsgBoxBean(
+                        MsgBoxType.V2X,
+                        V2XMsg(
+                            appId,
+                            alertContent,
+                            ttsContent
+                        )
+                    ).apply {
+                        sourceType = DataSourceType.OBU
+                    }
+                )
+                CallerHmiManager.warningV2X(
+                    appId,
+                    alertContent,
+                    ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
+                    object : IMoGoWarningStatusListener {
+                        override fun onShow() {
+                            super.onShow()
+                            if (changeVisualAngle) {
+                                CallerVisualAngleManager.changeVisualAngle(TooClose)
+                            }
+                        }

-            //交叉路口碰撞预警
-            MogoObuConstants.V2X_WARNING_TYPE.ICW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
+                        override fun onDismiss() {
+                            if (changeVisualAngle) {
+                                CallerVisualAngleManager.changeVisualAngle(Default())
+                            }
+                        }
+                    }, direction
+                )
            }
-
-            //左转辅助预警
-            MogoObuConstants.V2X_WARNING_TYPE.LTA.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
-            }
-
-            //盲区预警
-            MogoObuConstants.V2X_WARNING_TYPE.BSW.toString() -> {
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
-                if (
-                    direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
-                ) { //左后
-                    changeVisualAngle = true
-                    ttsContent = String.format(ttsContent, "左")
-                    alertContent = String.format(alertContent, "左")
-                } else if (
-                    direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
-                ) { //右后
-                    changeVisualAngle = true
-                    ttsContent = String.format(ttsContent, "右")
-                    alertContent = String.format(alertContent, "右")
-                }
-            }
-
-            // 变道预警,注意左后车辆/注意右后车辆
-            MogoObuConstants.V2X_WARNING_TYPE.LCW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
-                if (
-                    direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_LEFT
-                ) {
-                    ttsContent = String.format(ttsContent, "左")
-                    alertContent = String.format(alertContent, "左")
-                } else if (
-                    direction == WarningDirectionEnum.ALERT_WARNING_RIGHT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_TOP_RIGHT ||
-                    direction == WarningDirectionEnum.ALERT_WARNING_BOTTOM_RIGHT
-                ) {
-                    ttsContent = String.format(ttsContent, "右")
-                    alertContent = String.format(alertContent, "右")
-                }
-            }
-
-            //逆向超车预警
-            MogoObuConstants.V2X_WARNING_TYPE.DNPW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
-            }
-
-            //紧急制动预警
-            MogoObuConstants.V2X_WARNING_TYPE.EBW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
-            }
-
-            //异常车辆提醒
-            MogoObuConstants.V2X_WARNING_TYPE.AVW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
-                alertContent = String.format(alertContent, direction.desc)
-                ttsContent = String.format(ttsContent, direction.desc)
-            }
-
-            //车辆失控预警
-            MogoObuConstants.V2X_WARNING_TYPE.CLW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
-                alertContent = String.format(alertContent, direction.desc)
-                ttsContent = String.format(ttsContent, direction.desc)
-            }
-            //车辆失控预警
-            MogoObuConstants.V2X_WARNING_TYPE.EVW.toString() -> {
-                alertContent =
-                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
-                ttsContent =
-                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
-            }
-
-            // 这里处理固定的提示信息,包括了<紧急车辆提醒>
-            else -> { //TODO
-    //                ttsContent = EventTypeEnumNew.getWarningTts(appId.toString())
-    //                alertContent = EventTypeEnumNew.getWarningContent(appId.toString())
+            //更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
+            TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
+                CallerMapUIServiceManager.getMarkerService()
+                    ?.updateITrafficThreatLevelInfo(it)
            }
        }
+        // 删除
+        MogoObuConstants.STATUS.DELETE -> {
+            // 关闭警告红边
+            CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
+            //更新周边车辆进行预警颜色变换，车辆实时移动和变色
+            TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
+                it.threatLevel = 0x01
+                CallerMapUIServiceManager.getMarkerService()
+                    ?.updateITrafficThreatLevelInfo(it)
+            }
+        }
+    }
+}

-        when (status) {
-            // 添加,更新 add的时候，可能级别是2，
-            MogoObuConstants.STATUS.ADD,
-            MogoObuConstants.STATUS.UPDATE -> {
+/**
+ * 处理红绿灯
+ */
+private fun handlerTrafficLight(appId: Int, status: Int, lights: List<SpatLight>) {
+    CallerLogger.d(
+        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
+        "handlerTrafficLight --- status = $status ---lights.size = ${lights.size} ---lights = $lights ---appId = $appId"
+    )
+    when (status) {
+        // 添加
+        MogoObuConstants.STATUS.ADD,
+        MogoObuConstants.STATUS.UPDATE
+        -> {
+            if (lights != null && lights.isNotEmpty()) {
+                changeTrafficLightStatus(appId, lights)
+            }
+        }
+        // 删除
+        MogoObuConstants.STATUS.DELETE -> {
+            // 移除顶部弹窗
+            CallerTrafficLightListenerManager.disableTrafficLight()
+            isShowGreenWave = false
+            isShowRunRedLight = false
+//                lightCountDownRed = 1
+//                lightCountDownGreen = 1
+//                lightCountDownYellow = 1
+        }
+    }
+}
+
+private var isShowGreenWave = false
+private var isShowRunRedLight = false
+
+
+/**
+ * 修改红绿灯
+ */
+@Synchronized
+private fun changeTrafficLightStatus(
+    appId: Int,
+    lights: List<SpatLight>
+) {
+    var ttsContent = ""
+    var alertContent = ""
+    //这里需要根据真实数据确定 index 取值方式
+    val currentLight = lights[0]
+    CallerLogger.d(
+        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
+        "changeTrafficLightStatus currentLight = $currentLight ----currentLight.light = ${currentLight.light} ---currentLight.phase = ${currentLight.phaseId} ---appId = $appId --countDown =  ${currentLight.countDown.toInt()}"
+    )
+    // 闯红灯预警，绿波通行和闯红灯是互斥的
+    when (appId) {
+        0 -> {//不可用 V2I_RLVW_VIOLATION_TYPE_UNAVAILABLE 无效
+
+        }
+        1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
+            if (!isShowRunRedLight) {
+                isShowRunRedLight = true
                CallerLogger.d(
                    "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                    "new handleSdkObu appId2 = $appId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
+                    "changeTrafficLightStatus 闯红灯 --------> "
                )
-                if (level == 2 || level == 3) {
-                    //不显示弹框，其它保留
+                ttsContent =
+                    EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                alertContent =
+                    EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
+                CallerMsgBoxManager.saveMsgBox(
+                    MsgBoxBean(
+                        MsgBoxType.V2X,
+                        V2XMsg(
+                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                            alertContent,
+                            ttsContent
+                        )
+                    ).apply {
+                        sourceType = DataSourceType.OBU
+                    }
+                )
+
+                CallerHmiManager.warningV2X(
+                    EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                    alertContent,
+                    ttsContent// 只有第一次才tts，防止更新的时候不断的提醒
+                )
+            }
+        }
+
+        2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次 100m的时候
+            if (!isShowGreenWave) {
+                isShowGreenWave = true
+
+                var minSpeedTemp = Math.round(currentLight.suggestMinSpeed * 3.6)
+                var maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
+                if (minSpeedTemp == maxSpeedTemp) {
+                    minSpeedTemp -= 5
+                }
+
+                val adviceSpeed = "$minSpeedTemp - $maxSpeedTemp"
+                val adviceSpeedTts = "$minSpeedTemp 到 $maxSpeedTemp"
+
+//                    val adviceSpeed =
+//                        "${Math.round(currentLight.suggestMinSpeed*3.6)} - ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
+//                    val adviceSpeedTts =
+//                        "${Math.round(currentLight.suggestMinSpeed*3.6)} 到 ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
+
+                ttsContent =
+                    String.format(
+                        EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
+                        adviceSpeedTts
+                    )
+                alertContent =
+                    String.format(
+                        EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
+                        adviceSpeed
+                    )
+
+                val maxSpeed = currentLight.suggestMaxSpeed
+                if (maxSpeed > 0) {
                    CallerMsgBoxManager.saveMsgBox(
                        MsgBoxBean(
                            MsgBoxType.V2X,
                            V2XMsg(
-                                appId,
+                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
                                alertContent,
                                ttsContent
                            )
@@ -835,205 +968,50 @@ class MogoPrivateObuNewManager private constructor() {
                        }
                    )
                    CallerHmiManager.warningV2X(
-                        appId,
-                        alertContent,
-                        ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
-                        object : IMoGoWarningStatusListener {
-                            override fun onShow() {
-                                super.onShow()
-                                if (changeVisualAngle) {
-                                    CallerVisualAngleManager.changeVisualAngle(TooClose)
-                                }
-                            }
-
-                            override fun onDismiss() {
-                                // 关闭警告红边
-                                CallerHmiManager.dismissWarning(WarningDirectionEnum.ALERT_WARNING_ALL)
-                                if (changeVisualAngle) {
-                                    CallerVisualAngleManager.changeVisualAngle(Default())
-                                }
-                            }
-                        }
-                    )
-                    //显示警告红边
-                    CallerHmiManager.showWarning(direction)
-                }
-                //更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
-                TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
-                    CallerMapUIServiceManager.getMarkerService()
-                        ?.updateITrafficThreatLevelInfo(it)
-                }
-            }
-            // 删除
-            MogoObuConstants.STATUS.DELETE -> {
-                // 关闭警告红边
-                CallerHmiManager.showWarning(WarningDirectionEnum.ALERT_WARNING_NON)
-                // 移除顶部弹窗
-                //                CallerHmiManager.disableWarningV2X((appId + direction.direction))
-                //更新周边车辆进行预警颜色变换，车辆实时移动和变色
-                TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
-                    it.threatLevel = 0x01
-                    CallerMapUIServiceManager.getMarkerService()
-                        ?.updateITrafficThreatLevelInfo(it)
-                }
-            }
-        }
-    }
-
-    /**
-     * 处理红绿灯
-     */
-    private fun handlerTrafficLight(appId: Int, status: Int, lights: List<SpatLight>) {
-        CallerLogger.d(
-            "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-            "handlerTrafficLight --- status = $status ---lights.size = ${lights.size} ---lights = $lights ---appId = $appId"
-        )
-        when (status) {
-            // 添加
-            MogoObuConstants.STATUS.ADD,
-            MogoObuConstants.STATUS.UPDATE
-            -> {
-                if (lights != null && lights.isNotEmpty()) {
-                    changeTrafficLightStatus(appId, lights)
-                }
-            }
-            // 删除
-            MogoObuConstants.STATUS.DELETE -> {
-                // 移除顶部弹窗
-                CallerTrafficLightListenerManager.disableTrafficLight()
-                isShowGreenWave = false
-                isShowRunRedLight = false
-            }
-        }
-    }
-
-
-    private var isYellowLight = false
-    private var isShowGreenWave = false
-    private var isShowRunRedLight = false
-
-
-
-    /**
-     * 修改红绿灯
-     */
-    @Synchronized
-    private fun changeTrafficLightStatus(
-        appId: Int,
-        lights: List<SpatLight>
-    ) {
-        var ttsContent = ""
-        var alertContent = ""
-        //这里需要根据真实数据确定 index 取值方式
-        val currentLight = lights[0]
-        CallerLogger.d(
-            "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-            "changeTrafficLightStatus currentLight = $currentLight ----currentLight.light = ${currentLight.light} ---currentLight.phase = ${currentLight.phaseId} ---appId = $appId --countDown =  ${currentLight.countDown.toInt()}"
-        )
-        // 闯红灯预警，绿波通行和闯红灯是互斥的
-        when (appId) {
-            0 -> {//不可用 V2I_RLVW_VIOLATION_TYPE_UNAVAILABLE 无效
-
-            }
-            1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if (!isShowRunRedLight) {
-                    isShowRunRedLight = true
-                    CallerLogger.d(
-                        "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                        "changeTrafficLightStatus 闯红灯 --------> "
-                    )
-                    ttsContent =
-                        EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                    alertContent =
-                        EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType)
-                    CallerMsgBoxManager.saveMsgBox(
-                        MsgBoxBean(
-                            MsgBoxType.V2X,
-                            V2XMsg(
-                                EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
-                                alertContent,
-                                ttsContent
-                            )
-                        ).apply {
-                            sourceType = DataSourceType.OBU
-                        }
-                    )
-
-                    CallerHmiManager.warningV2X(
-                        EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType,
+                        EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
                        alertContent,
                        ttsContent// 只有第一次才tts，防止更新的时候不断的提醒
                    )
                }
            }
-
-            2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次 100m的时候
-                if (!isShowGreenWave) {
-                    isShowGreenWave = true
-
-                    var minSpeedTemp = Math.round(currentLight.suggestMinSpeed * 3.6)
-                    var maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
-                    if (minSpeedTemp == maxSpeedTemp) {
-                        minSpeedTemp -= 5
-                    }
-
-                    val adviceSpeed = "$minSpeedTemp - $maxSpeedTemp"
-                    val adviceSpeedTts = "$minSpeedTemp 到 $maxSpeedTemp"
-
-                    ttsContent =
-                        String.format(
-                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
-                            adviceSpeedTts
-                        )
-                    alertContent =
-                        String.format(
-                            EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
-                            adviceSpeed
-                        )
-
-                    val maxSpeed = currentLight.suggestMaxSpeed
-                    if (maxSpeed > 0) {
-                        CallerMsgBoxManager.saveMsgBox(
-                            MsgBoxBean(
-                                MsgBoxType.V2X,
-                                V2XMsg(
-                                    EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
-                                    alertContent,
-                                    ttsContent
-                                )
-                            ).apply {
-                                sourceType = DataSourceType.OBU
-                            }
-                        )
-
-                        CallerHmiManager.warningV2X(
-                            EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType,
-                            alertContent,
-                            ttsContent// 只有第一次才tts，防止更新的时候不断的提醒
-                        )
-                    }
-                }
-            }
-        }
-
-        when (currentLight.light) {
-            // 灯光不可用
-            0 -> {
-                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.BLACK)
-            }
-            // 红灯
-            2, 3 -> {
-                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.RED)
-            }
-
-            // 绿灯
-            4, 5, 6 -> {
-                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.GREEN)
-            }
-
-            // 黄灯
-            7, 8 -> {
-                CallerTrafficLightListenerManager.invokeObuTrafficLightStatus(TrafficLightEnum.YELLOW)
-            }
        }
    }
+
+    when (currentLight.light) {
+        // 灯光不可用
+        0 -> {
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.BLACK,
+                -1,
+                DataSourceType.OBU
+            )
+        }
+        // 红灯
+        2, 3 -> {
+            val red = currentLight.countDown.toInt()
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.RED,
+                red,
+                DataSourceType.OBU
+            )
+        }
+        // 绿灯
+        4, 5, 6 -> {
+            val green = currentLight.countDown.toInt()
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.GREEN,
+                green,
+                DataSourceType.OBU
+            )
+        }
+        // 黄灯
+        7, 8 -> {
+            val yellow = currentLight.countDown.toInt()
+            CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
+                TrafficLightEnum.YELLOW,
+                yellow,
+                DataSourceType.OBU
+            )
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/SpeedLimitDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/SpeedLimitDispatcher.kt
@@ -0,0 +1,62 @@
+package com.mogo.eagle.core.function.datacenter.v2x
+
+import android.content.Context
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener
+import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
+
+/**
+ * @author lixiaopeng
+ * @description 对多个限速进行调度（map，rsu ...）
+ * @since: 2023/1/12
+ */
+class SpeedLimitDispatcher : ILimitingVelocityListener {
+    companion object {
+        const val TAG = "SpeedLimitDispatcher"
+        val INSTANCE: SpeedLimitDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            SpeedLimitDispatcher()
+        }
+    }
+
+    private var mContext: Context? = null
+
+    //obu限速状态
+    private var hasObuStatus: Boolean = false
+
+    fun initLimit(context: Context) {
+        mContext = context
+        CallerLimitingVelocityListenerManager.addListener(TAG, this)
+    }
+
+    /**
+     * 地图限速数据
+     */
+//    @BizConfig(FuncBizConfig.V2I, "", FuncBizConfig.BIZ_SLW) //todo arrow 重新考虑放的位置
+    override fun onUnion(limitingVelocity: Int, sourceType: DataSourceType) {
+        super.onUnion(limitingVelocity, sourceType)
+        when (sourceType) { // obu 优先级高于 map，体现链路能力
+            DataSourceType.OBU -> {
+                hasObuStatus = limitingVelocity > 0
+                CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(
+                    limitingVelocity,
+                    sourceType
+                )
+                return
+            }
+            DataSourceType.MAP -> {
+                if (!hasObuStatus) {
+                    CallerLimitingVelocityListenerManager.invokeOnLimitingVelocityChange(
+                        limitingVelocity,
+                        sourceType
+                    )
+                }
+            }
+            else -> {}
+        }
+    }
+
+    fun destroy() {
+        CallerLimitingVelocityListenerManager.removeListener(TAG)
+    }
+
+}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -0,0 +1,185 @@
+package com.mogo.eagle.core.function.datacenter.v2x
+
+import android.content.Context
+import android.os.Handler
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.enums.TrafficLightEnum
+import com.mogo.eagle.core.data.trafficlight.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.v2x.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import perception.TrafficLightOuterClass
+import perception.TrafficLightOuterClass.TrafficLight
+
+fun TrafficLightStatus.convert(): TrafficLightEnum {
+    return when {
+        this.isGreen() || this.isFlashGreen() -> TrafficLightEnum.GREEN
+        this.isYellow() -> TrafficLightEnum.YELLOW
+        this.isRed() -> TrafficLightEnum.RED
+        else -> TrafficLightEnum.BLACK
+    }
+}
+
+fun TrafficLight.convert(): TrafficLightEnum {
+    return when (this.state) {
+        TrafficLightOuterClass.LightState.STATE_GREEN -> TrafficLightEnum.GREEN
+        TrafficLightOuterClass.LightState.STATE_YELLOW -> TrafficLightEnum.YELLOW
+        TrafficLightOuterClass.LightState.STATE_RED -> TrafficLightEnum.RED
+        TrafficLightOuterClass.LightState.STATE_OFF -> TrafficLightEnum.BLACK
+        else -> TrafficLightEnum.BLACK
+    }
+}
+
+/**
+ * @author XuXinChao
+ * @description 对多个红绿灯信号来源进行统一调度（AI云、工控机、OBU）
+ * @优先级：OBU,云,工控
+ * @since: 2022/4/28
+ */
+class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLightListener {
+
+    companion object {
+        const val TAG = "TrafficLightDispatcher"
+        val INSTANCE: TrafficLightDispatcher by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            TrafficLightDispatcher()
+        }
+
+    }
+
+    private var mContext: Context? = null
+
+    //是否有AI获取红绿灯灯态
+    private var hasAiLightStatus: Boolean = false
+
+    //obu数据
+    private var hasObuLightStatus: Boolean = false
+
+    fun initServer(context: Context) {
+        mContext = context
+        //注册监听AI云.OBU，路侧获取红绿灯状态
+        CallerTrafficLightListenerManager.addListener(TAG, this)
+        //注册监听工控机感知红绿灯
+        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+    }
+
+    /**
+     * 工控机感知红绿灯
+     * @param trafficLights 感知红绿灯
+     */
+    override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
+        if (!hasObuLightStatus) {
+            if (!hasAiLightStatus) {
+                trafficLights?.let { it ->
+                    var light: TrafficLight? = null
+                    if (it.hasStraight()) {
+                        light = it.straight
+                    } else if (it.hasLeft()) {
+                        light = it.left
+                    } else if (it.hasRight()) {
+                        light = it.right
+                    } else if (it.hasUTurn()) {
+                        light = it.uTurn
+                    }
+                    if (light == null) {
+                        //隐藏红绿灯显示
+                        CallerTrafficLightListenerManager.disableTrafficLight()
+                    } else {
+                        onTrafficLightPlusSource(light.convert(), 0, DataSourceType.TELEMATIC)
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * AI云获取红绿灯状态
+     */
+    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
+        if (!hasObuLightStatus) {
+            hasAiLightStatus = true
+            updateTrafficLight(trafficLightResult)
+        }
+    }
+
+    /**
+     * 车辆进入路口回调
+     * @param enter true:进入路口；false:离开路口
+     */
+    override fun onEnterCrossRoad(enter: Boolean) {
+        if (!enter) {
+            Handler().postDelayed({
+                hasAiLightStatus = false
+                hasObuLightStatus = false
+            }, 5000)
+            //如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理
+            CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
+        }
+    }
+
+    /**
+     * 红绿灯接口请求失败
+     */
+    override fun onTrafficRequestError() {
+        hasAiLightStatus = false
+        CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
+    }
+
+    /**
+     * obu 红绿灯数据
+     */
+    override fun onTrafficLightPlusSource(
+        light: TrafficLightEnum,
+        remain: Int,
+        lightSource: DataSourceType
+    ) {
+        super.onTrafficLightPlusSource(light, remain, lightSource)
+
+        if (lightSource == DataSourceType.OBU) {
+            hasObuLightStatus = true //todo 会存在优先级高的数据没有回调，导致没有数据出现
+        }
+
+        CallerTrafficLightListenerManager.showTrafficLight(light, lightSource)
+        if (remain == -1) {
+            CallerTrafficLightListenerManager.disableTrafficLightCountDown()
+            return
+        }
+
+        when (light) {
+            TrafficLightEnum.GREEN -> {
+                CallerTrafficLightListenerManager.changeCountdownGreen(remain)
+            }
+            TrafficLightEnum.RED -> {
+                CallerTrafficLightListenerManager.changeCountdownRed(remain)
+            }
+            TrafficLightEnum.YELLOW -> {
+                CallerTrafficLightListenerManager.changeCountdownYellow(remain)
+            }
+            TrafficLightEnum.BLACK -> {
+                CallerTrafficLightListenerManager.disableTrafficLightCountDown()
+            }
+        }
+
+    }
+
+    private fun updateTrafficLight(trafficLightResult: TrafficLightResult) {
+        val currentTrafficLight = trafficLightResult.currentRoadTrafficLight()
+        currentTrafficLight?.let {
+            val remain = if (it.remain > 99) {
+                99
+            } else {
+                it.remain
+            }
+            onTrafficLightPlusSource(it.convert(), remain, DataSourceType.AICLOUD)
+        }
+
+    }
+
+    fun destroy() {
+        //取消注册监听AI云.OBU,路侧获取红绿灯状态
+        CallerTrafficLightListenerManager.removeListener(TAG)
+        //取消注册监听工控机感知红绿灯
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+    }
+
+}