diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutesResult.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutesResult.java
index 3a99d5d57e..b2b722d02a 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutesResult.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutesResult.java
@@ -15,6 +15,14 @@ public class BusRoutesResult {
     private String description;
     private int status;
 
+    //线路轨迹相关字段
+    public String csvFileUrl; //轨迹文件下载的cos url，默认“”
+    public String csvFileMd5; //轨迹文件md5，默认“”
+    public String txtFileUrl; //打点文件下载的cos url，默认“”
+    public String txtFileMd5; //轨迹文件md5，默认“”
+    public long contrailSaveTime; //上传轨迹完成时间戳ms：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
+    public String carModel; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
+
     public int getLineId() {
         return lineId;
     }
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/ITPClickStartAutopilotCallback.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/ITPClickStartAutopilotCallback.java
new file mode 100644
index 0000000000..bf55573adc
--- /dev/null
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/callback/ITPClickStartAutopilotCallback.java
@@ -0,0 +1,5 @@
+package com.mogo.och.taxi.passenger.callback;
+
+public interface ITPClickStartAutopilotCallback {
+    void onClickCallback();
+}
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
index bf43ba64f0..44d635ab52 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
@@ -11,7 +11,6 @@ import androidx.lifecycle.LifecycleOwner;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
-import com.mogo.eagle.core.network.utils.GsonUtil;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrderQueryRespBean;
@@ -19,7 +18,6 @@ import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerADASStatusCallback;
 import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerControllerStatusCallback;
 import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerOrderStatusCallback;
 import com.mogo.och.taxi.passenger.callback.ITaxiPassengerCommonCallback;
-import com.mogo.och.taxi.passenger.callback.ITaxiPassengerCommonValueCallback;
 import com.mogo.och.taxi.passenger.constant.TaxiPassengerOrderStatusEnum;
 import com.mogo.och.taxi.passenger.model.TaxiPassengerGeocodeSearchModel;
 import com.mogo.och.taxi.passenger.model.TaxiPassengerModel;
@@ -149,7 +147,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
         if (TaxiPassengerOrderStatusEnum.Cancel.getCode() == order.orderStatus){
             runOnUIThread(() -> {
                         mView.showOrHideServingOrderFragment(false);
-                        mView.showOrHideStartAutopilotBtn(false);
+//                        mView.showOrHideStartAutopilotView(false);
                         mView.showOrHidePressengerCheckPager(false, "",
                                 "", "", "", "");
                         mView.showOrHideArrivedEndLayout(false,"","");
@@ -170,10 +168,10 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
         // TODO: 2022/6/10 若司机端已经确认，则显示开始行程按钮 并且可点击
         //TODO: 2022/6/10 若订单取消或者隐藏则隐藏开始行程按钮
         if (TaxiPassengerOrderStatusEnum.UserArriveAtStart.getCode() == order.orderStatus){
-            mView.showOrHideStartAutopilotBtn(true);
+//            mView.showOrHideStartAutopilotView(true);
         }
         if (TaxiPassengerOrderStatusEnum.OnTheWayToEnd.getCode() == order.orderStatus){
-            mView.showOrHideStartAutopilotBtn(false);
+//            mView.showOrHideStartAutopilotView(false);
         }
         // 30 用户到达上车点 并通过了手机号后四位验证
         // 40 服务中
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerArrivedView.kt b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerArrivedView.kt
index f92da8f1ee..fea4e70c1d 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerArrivedView.kt
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerArrivedView.kt
@@ -11,9 +11,11 @@ import android.view.animation.AnimationUtils
 import android.widget.ImageView
 import android.widget.RelativeLayout
 import android.widget.TextView
+import androidx.appcompat.widget.AppCompatImageView
 import com.amap.api.navi.view.PoiInputSearchWidget
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.util.OverlayViewUtils
 import com.mogo.eagle.core.widget.media.video.SimpleVideoPlayer
 import com.mogo.och.common.module.wigets.OCHBorderShadowLayout
 import com.mogo.och.taxi.passenger.R
@@ -53,6 +55,7 @@ class TaxiPassengerArrivedView :RelativeLayout, View.OnClickListener {
     private lateinit var ivStarFourth: ImageView
     private lateinit var ivStarFifth: ImageView
     private lateinit var ivAnimalList: ImageView
+    private lateinit var acivClose: AppCompatImageView
     private lateinit var svpFrame: SimpleVideoPlayer
     private var subscribe: Disposable?=null
     private var orderNo = ""
@@ -85,6 +88,7 @@ class TaxiPassengerArrivedView :RelativeLayout, View.OnClickListener {
         ochShadowLayout = findViewById(R.id.och_shadow_layout)
         ochThankShadowLayout = findViewById(R.id.och_thank_shadow_layout)
         ivAnimalList = findViewById(R.id.iv_animal_list)
+        acivClose = findViewById(R.id.aciv_close)
         svpFrame = findViewById(R.id.svp_frame)
         svpFrame.setBackgroundResource(R.drawable.tail_ani_0000)
         svpFrame.setIsTouchWiget(false)
@@ -103,6 +107,11 @@ class TaxiPassengerArrivedView :RelativeLayout, View.OnClickListener {
             false
         }
 
+        acivClose.setOnClickListener {
+            ochShadowLayout.visibility = View.GONE
+            OverlayViewUtils.dismissOverlayView(this@TaxiPassengerArrivedView)
+        }
+
         val url = "android.resource://" + context.packageName + "/" + R.raw.end_video
         gsyVideoOptionBuilder.setUrl(url)
             .setCacheWithPlay(false)
@@ -281,7 +290,13 @@ class TaxiPassengerArrivedView :RelativeLayout, View.OnClickListener {
             .observeOn(AndroidSchedulers.mainThread())
             .subscribe {
                 // 正在展示感谢页面
-                taxiPassengerCommonCallback?.onCommonCallback()
+                if (taxiPassengerCommonCallback == null) {
+                    // 没有用户确定页面
+                    OverlayViewUtils.dismissOverlayView(this@TaxiPassengerArrivedView)
+                } else {
+                    // 有排队展示的用户确定页面
+                    taxiPassengerCommonCallback?.onCommonCallback()
+                }
             }
     }
 
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
index 4f5b89c8f6..d13c32ec71 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
@@ -26,6 +26,7 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.och.common.module.wigets.OCHBorderShadowLayout;
 import com.mogo.och.taxi.passenger.R;
+import com.mogo.och.taxi.passenger.callback.ITPClickStartAutopilotCallback;
 import com.mogo.och.taxi.passenger.presenter.BaseTaxiPassengerPresenter;
 import com.mogo.och.taxi.passenger.ui.leftmenu.OverlayLeftViewUtils;
 import com.mogo.och.taxi.passenger.ui.video.TaxiPassengerMogoConsultView;
@@ -41,7 +42,7 @@ import java.lang.ref.WeakReference;
  * @author tongchenfei
  */
 public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFragment, BaseTaxiPassengerPresenter>
-        implements IMogoMapListener, TaxiPassengerTaxiView {
+        implements IMogoMapListener, TaxiPassengerTaxiView, ITPClickStartAutopilotCallback {
 
     static final String TAG = "TaxiPassengerBaseFragment";
 
@@ -50,12 +51,10 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
     private ImageView mMapswitchBtn;
     private TaxiPassengerTrafficLightView mTrafficLightView;
     private TaxiPassengerV2XNotificationView mV2XNotificationView;
-    private OCHBorderShadowLayout mStartAutopilotBtnView;
-    private TextView mStartAutopilotBtn;
 
-//    private ConstraintLayout mArrivedEndCL;
     private WeakReference<TaxiPassengerArrivedView> mArrivedEndView;
     private WeakReference<TaxiPassengerCheckView> mArrivedCheckView;
+    private WeakReference<TaxiPassengerStartAutopilotView> mStartAutopilotView;
 
     protected TaxiPassengerServingOrderFragment ochServingOrderFragment = null;
 
@@ -79,9 +78,6 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         mAutopilotImage = findViewById(R.id.module_och_autopilot_iv);
         flNaviPanelContainer = findViewById(R.id.module_mogo_och_navi_panel_container);
 
-        mStartAutopilotBtnView = findViewById(R.id.taxi_p_start_autopilot_shadow);
-        mStartAutopilotBtn = findViewById(R.id.taxi_p_start_autopilot);
-
         mTrafficLightView = findViewById(R.id.traffic_light_view);
         CallerHmiManager.INSTANCE.setProxyTrafficLightView(mTrafficLightView);
 
@@ -136,10 +132,6 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             OverlayViewUtils.showOverlayView(getActivity(),new TaxiPassengerMogoConsultView(getContext()));
             ToastUtils.showShort("测试点击");
         });
-
-        mStartAutopilotBtn.setOnClickListener(view -> {
-            ToastUtils.showShort("等待接口。。。。");
-        });
     }
 
     private void initArrivedView(){
@@ -281,15 +273,28 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         }
     }
 
+
+
     /**
-     * 显示或者隐藏 "点击开始按钮"
+     * 显示或者隐藏乘客可点击自动驾驶页面
+     * 乘客验证成功，页面显示，按钮置于不可点击
+     * 司机端确认可点击开启自动驾驶, 按钮置为可点击
+     * 订单前往目的地，页面消失
      * @param isShow
      */
-    public void showOrHideStartAutopilotBtn(boolean isShow){
+    public void showOrHideStartAutopilotView(boolean isShow, boolean isClickable){
         if (isShow){
-            mStartAutopilotBtnView.setVisibility(View.VISIBLE);
+            if (mStartAutopilotView == null || mStartAutopilotView.get() == null){
+                mStartAutopilotView = new WeakReference<>(new TaxiPassengerStartAutopilotView(getContext()));
+            }
+            OverlayViewUtils.showOverlayView(getActivity(),mStartAutopilotView.get());
+            mStartAutopilotView.get().setOnClickStartAutopilotBtnCallback(this);
+            mStartAutopilotView.get().updateStartAutopilotBtnStatus(isClickable);
         }else {
-            mStartAutopilotBtnView.setVisibility(View.GONE);
+            if (mStartAutopilotView == null || mStartAutopilotView.get() == null){
+                return;
+            }
+            OverlayViewUtils.dismissOverlayView(mStartAutopilotView.get());
         }
     }
 
@@ -323,11 +328,9 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
                                           String passengerNum,
                                           String carNumber,
                                           String phone){
-        // 正在展示打分页面或者正在展示感谢页面
-        showOrHideArrivedEndLayout(false, "","");
+        showOrHideArrivedEndLayout(false, "", "");
         showOrHidePressengerCheckPager(true, startSiteAddr,
                 endSiteAddr, passengerNum, carNumber, phone);
-
     }
 
     /**
@@ -373,4 +376,9 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             mArrivedEndView.get().scoreFail();
         }
     }
+
+    @Override
+    public void onClickCallback() {
+        //todo 点击开始自动驾驶按钮
+    }
 }
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
new file mode 100644
index 0000000000..e90fb955ad
--- /dev/null
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
@@ -0,0 +1,57 @@
+package com.mogo.och.taxi.passenger.ui;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.widget.RelativeLayout;
+import android.widget.TextView;
+
+import com.mogo.eagle.core.utilcode.util.ToastUtils;
+import com.mogo.och.common.module.wigets.OCHBorderShadowLayout;
+import com.mogo.och.taxi.passenger.R;
+import com.mogo.och.taxi.passenger.callback.ITPClickStartAutopilotCallback;
+
+/**
+ * @author: wangmingjun
+ * @date: 2022/6/14
+ */
+public class TaxiPassengerStartAutopilotView extends RelativeLayout implements View.OnClickListener {
+
+    private TextView mStartAutopilotBtn;
+    private ITPClickStartAutopilotCallback mClickCallback;
+
+    public TaxiPassengerStartAutopilotView(Context context) {
+        super(context);
+    }
+
+    public TaxiPassengerStartAutopilotView(Context context, AttributeSet attrs) {
+        super(context, attrs);
+    }
+
+    public TaxiPassengerStartAutopilotView(Context context, AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+        initView(context);
+    }
+
+    private void initView(Context context) {
+        LayoutInflater.from(context).inflate(R.layout.taxi_p_start_autopilot_view, this, true);
+        mStartAutopilotBtn = findViewById(R.id.taxi_p_start_autopilot);
+        mStartAutopilotBtn.setOnClickListener(this);
+    }
+
+    public void setOnClickStartAutopilotBtnCallback(ITPClickStartAutopilotCallback clickCallback){
+        this.mClickCallback = clickCallback;
+    }
+
+    @Override
+    public void onClick(View v) {
+        if (v.getId() == R.id.taxi_p_start_autopilot){
+            ToastUtils.showShort("等待接口。。。。");
+        }
+    }
+
+    public void updateStartAutopilotBtnStatus(boolean isClickable){
+        mStartAutopilotBtn.setClickable(isClickable);
+    }
+}
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable-xhdpi-2560x1440/taxi_p_passenger_arrived_close.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable-xhdpi-2560x1440/taxi_p_passenger_arrived_close.png
new file mode 100644
index 0000000000..2d9221c90e
Binary files /dev/null and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable-xhdpi-2560x1440/taxi_p_passenger_arrived_close.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable-xhdpi/taxi_p_passenger_arrived_close.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable-xhdpi/taxi_p_passenger_arrived_close.png
new file mode 100644
index 0000000000..2d9221c90e
Binary files /dev/null and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable-xhdpi/taxi_p_passenger_arrived_close.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_arrived_end_panel.xml b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_arrived_end_panel.xml
index f97c97de3d..af88f2d3bc 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_arrived_end_panel.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_arrived_end_panel.xml
@@ -14,6 +14,16 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <androidx.appcompat.widget.AppCompatImageView
+        android:id="@+id/aciv_close"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        android:src="@drawable/taxi_p_passenger_arrived_close"
+        android:layout_marginEnd="@dimen/dp_70"
+        android:layout_marginTop="@dimen/dp_140"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>
+
     <com.mogo.och.common.module.wigets.OCHBorderShadowLayout
         android:id="@+id/och_shadow_layout"
         android:layout_width="wrap_content"
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
index cca6de087e..0cfb6db266 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
@@ -130,32 +130,4 @@
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
-    <com.mogo.och.common.module.wigets.OCHBorderShadowLayout
-        android:id="@+id/taxi_p_start_autopilot_shadow"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        app:bgColor="@color/taxi_p_map_bg"
-        app:blurRadius="@dimen/dp_80"
-        app:shadowColor="@color/taxi_p_start_autopilot_bg_shadow"
-        app:shadowRadius="@dimen/dp_80"
-        app:shadow_position="outer"
-        app:xOffset="0px"
-        app:yOffset="0px"
-        android:visibility="gone"
-        android:layout_marginBottom="@dimen/dp_120"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent">
-    <TextView
-        android:id="@+id/taxi_p_start_autopilot"
-        android:layout_width="@dimen/taxi_p_start_autopilot_btn_width"
-        android:layout_height="@dimen/taxi_p_start_autopilot_btn_height"
-        android:gravity="center"
-        android:text="@string/taxi_p_start_autopilot_txt"
-        android:textSize="@dimen/taxi_p_start_autopilot_txt_size"
-        android:textStyle="bold"
-        android:textColor="@android:color/white"
-        android:elevation="5dp"
-        android:background="@drawable/taxi_p_start_autopilot_txt_btn_bg"/>
-    </com.mogo.och.common.module.wigets.OCHBorderShadowLayout>
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
new file mode 100644
index 0000000000..c24b844553
--- /dev/null
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    tools:ignore="MissingDefaultResource"
+    android:background="@drawable/taxi_p_passenger_check_panel_bg">
+
+    <com.mogo.och.common.module.wigets.OCHBorderShadowLayout
+        android:id="@+id/taxi_p_start_autopilot_shadow"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:bgColor="@color/taxi_p_map_bg"
+        app:blurRadius="@dimen/dp_80"
+        app:shadowColor="@color/taxi_p_start_autopilot_bg_shadow"
+        app:shadowRadius="@dimen/dp_80"
+        app:shadow_position="outer"
+        app:xOffset="0px"
+        app:yOffset="0px"
+        android:layout_marginBottom="@dimen/dp_120"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent">
+        <TextView
+            android:id="@+id/taxi_p_start_autopilot"
+            android:layout_width="@dimen/taxi_p_start_autopilot_btn_width"
+            android:layout_height="@dimen/taxi_p_start_autopilot_btn_height"
+            android:gravity="center"
+            android:text="@string/taxi_p_start_autopilot_txt"
+            android:textSize="@dimen/taxi_p_start_autopilot_txt_size"
+            android:textStyle="bold"
+            android:textColor="@android:color/white"
+            android:elevation="5dp"
+            android:background="@drawable/taxi_p_start_autopilot_txt_btn_bg"/>
+    </com.mogo.och.common.module.wigets.OCHBorderShadowLayout>
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/bean/OrderQueryRespBean.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/bean/OrderQueryRespBean.java
index 8a46cd8116..22c969090e 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/bean/OrderQueryRespBean.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/bean/OrderQueryRespBean.java
@@ -52,12 +52,12 @@ public class OrderQueryRespBean extends BaseData {
 
         //线路轨迹相关字段
         public long lineId; //路线id，默认-1
-        public String trajUrl; //轨迹文件下载的cos url，默认“”
-        public String trajMd5; //轨迹文件md5，默认“”
-        public String stopUrl; //打点文件下载的cos url，默认“”
-        public String stopMd5; //轨迹文件md5，默认“”
-        public long timestamp; //上传轨迹完成时间戳ms：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
-        public String vehicleModel; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
+        public String csvFileUrl; //轨迹文件下载的cos url，默认“”
+        public String csvFileMd5; //轨迹文件md5，默认“”
+        public String txtFileUrl; //打点文件下载的cos url，默认“”
+        public String txtFileMd5; //轨迹文件md5，默认“”
+        public long contrailSaveTime; //上传轨迹完成时间戳ms：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
+        public String carModel; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
 
         // !!!接口中暂无此字段，仅用于本地实现逻辑使用：起始站目的站距离km
         public double travelDistance;
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 79d643d4d3..2047065e57 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1304,7 +1304,7 @@ public class TaxiModel {
     /**
      * 调试使用，没有乘客屏时可使用此按钮跳过乘客验证
      */
-    public void debugPassengerCheckDone() {
+    public void jumpPassengerCheckDone() {
         if (mCurrentOCHOrder == null
                 || mCurrentOCHOrder.orderStatus != TaxiOrderStatusEnum.ArriveAtStart.getCode()
                 || mCurrentOCHOrder.passengerPhone == null || mCurrentOCHOrder.passengerPhone.length() < 5) {
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index bb31398790..7050ba9d19 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -95,6 +95,13 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
         TaxiModel.getInstance().startAutoPilot(isRestart);
     }
 
+    /**
+     * 跳过乘客验证环节
+     */
+    public void jumpPassengerCheckDone(){
+        TaxiModel.getInstance().jumpPassengerCheckDone();
+    }
+
     // 更新出车/收车状态
     public void updateCarStatus() {
         TaxiModel.getInstance().updateCarStatus();
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
index b79d0f57f6..08aa22e22c 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
@@ -92,6 +92,9 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
     private TextView mGoAheadStationTitleTv31;
     private TextView mCatchStationTitleTv31;
     private ImageView mNaviIcon;
+    private TextView mPassengerNum;
+    private TextView mPassengerPhone;
+    private ConstraintLayout mPassengerInfoLayout;
 
     private TextView mNoDatasTv;
 
@@ -125,6 +128,11 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
         mCatchStationTitleTv31 = view.findViewById(R.id.go_ahead_station_catch_31);
         mGoAheadStationTitleTv31 = view.findViewById(R.id.go_ahead_station_31);
         mArrivedStationTitleTv32 = view.findViewById(R.id.arrive_station_32);
+
+        mPassengerInfoLayout = view.findViewById(R.id.module_och_taxi_order_passenger_data);
+        mPassengerNum = view.findViewById(R.id.taxi_passenger_num);
+        mPassengerPhone = view.findViewById(R.id.taxi_passenger_phone);
+
         mNoDatasTv = view.findViewById(R.id.no_order_data_tv);
         mNoDataView = view.findViewById(R.id.being_no_data_view);
         mOrderCancel.setOnClickListener(this);
@@ -173,15 +181,11 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
             GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
             background.setColor(Color.parseColor("#FF1D5EF3"));
             mOrderServerStatus.setClickable(true);
-//            String strHtml3 = "<font color=\"#CAD6FF\">送乘客至</font><br>"
-//                    + "<b><font color=\"#FFFFFF\"><big>" + order.endSiteAddr + "<big></font></b>";
             mTitleTV2.setText("送乘客至");
             mStationTv2.setText(order.endSiteAddr);
-//            String strHtml2 = "<font color=\"#CAD6FF\">距离 </font>" + "<b><font color=\"#FFFFFF\">- -</font></b>" + "<font color=\"#CAD6FF\"> 公里，</font>"
-//                    + "<font color=\"#CAD6FF\">用时 </font>" + "<b><font color=\"#FFFFFF\">- -</font></b>" + "<font color=\"#CAD6FF\"> 分钟</font>";
-//            mDistanceAndTime.setText(Html.fromHtml(strHtml2));
         } else if (TaxiOrderStatusEnum.OnTheWayToEnd.getCode() == order.orderStatus) {
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "已经去往终点");
+
             mContentModule3.setVisibility(View.GONE);
             mContentModule2.setVisibility(View.VISIBLE);
             mOrderStatus.setText(R.string.module_och_taxi_on_the_way_2_end_station);
@@ -228,14 +232,19 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
 
             if (TaxiOrderStatusEnum.ArriveAtStart.getCode() == order.orderStatus){
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "车辆已经达到起点");
+                mPassengerInfoLayout.setVisibility(View.VISIBLE);
+                mPassengerNum.setText(order.passengerNum  + "人");
+                mPassengerPhone.setText(order.passengerPhone);
                 mOrderStatus.setText(R.string.module_och_taxi_waiting);
                 mOrderServerStatus.setText(R.string.module_och_taxi_order_server_start_wait_check);
-                mOrderServerStatus.setTextColor(Color.parseColor("#4DFFFFFF"));
+                mOrderServerStatus.setTextColor(Color.parseColor("#FFFFFF"));
                 GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
                 background.setColor(Color.parseColor("#4D1D5EF3"));
-                mOrderServerStatus.setClickable(false);
+                mOrderServerStatus.setClickable(true);
             }else if (TaxiOrderStatusEnum.UserArriveAtStart.getCode() == order.orderStatus ){
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "乘客已上车验证成功");
+
+                mPassengerInfoLayout.setVisibility(View.GONE);
                 mOrderStatus.setText(R.string.module_och_taxi_user_check_success);
                 mOrderServerStatus.setText(R.string.module_och_taxi_order_server_start);
                 GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
@@ -244,44 +253,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
                 mOrderServerStatus.setClickable(true);
             }
 
-        }else if (TaxiOrderStatusEnum.ArriveAtStart.getCode() == order.orderStatus) {
-
-            mContentModule2.setVisibility(View.GONE);
-            mContentModule3.setVisibility(View.VISIBLE);
-            mArrivedStartTimeTv32.setVisibility(View.VISIBLE);
-            mContentModule32.setVisibility(View.VISIBLE);
-            mContentModule31.setVisibility(View.GONE);
-            mOrderOtherContent3.setVisibility(View.GONE);
-            mOrderStatus.setText(R.string.module_och_taxi_waiting);
-            mOrderServerStatus.setText(R.string.module_och_taxi_order_server_start);
-            GradientDrawable background = (GradientDrawable) mOrderServerStatus.getBackground();//GradientDrawable是Drawable的子类
-            background.setColor(Color.parseColor("#FF1D5EF3"));
-            mOrderServerStatus.setTextColor(Color.parseColor("#FFFFFF"));
-            mOrderServerStatus.setClickable(true);
-            Calendar currentCale = DateTimeUtils.getCurrentDateTime();
-            String currentHM = DateTimeUtil.formatCalendarToString(currentCale, DateTimeUtil.TAXI_HH_mm);
-            String currentDay = DateTimeUtil.formatCalendarToString(currentCale, DateTimeUtil.TAXI_yyyy_MM_dd);
-            String strHtml11 = "<font color=\"#CAD6FF\">已于</font><br>"
-                    + "<b><font color=\"#FFFFFF\"><big><big>" + currentHM + "</big></big></font></b>"
-                    + "<font color=\"#CAD6FF\">" + " " + "到达乘客上车地点</font>";
-            mArrivedStartTimeTv32.setLineHeight(60);
-            mArrivedStartTimeTv32.setText(Html.fromHtml(strHtml11));
-//            String strHtml12 = "<font color=\"#CAD6FF\">送乘客至</font><br>"
-//                    + "<b><font color=\"#FFFFFF\"><big>" + order.endSiteAddr + "</big</font></b>";
-            mArrivedStationTitleTv32.setText("送乘客至");
-            mStationTv32.setText(order.endSiteAddr);
-            currentCale.add(Calendar.MINUTE, 10);
-            String strHtml13 = "";
-            if (currentDay.equals(DateTimeUtil.formatCalendarToString(currentCale, DateTimeUtil.TAXI_yyyy_MM_dd))) {
-                strHtml13 = "<font color=\"#CAD6FF\">免费等待至 </font>"
-                        + "<b><font color=\"#FFFFFF\"><big>" + DateTimeUtil.formatCalendarToString(currentCale, DateTimeUtil.TAXI_HH_mm) + "</big></b></font>";
-
-            } else {
-                strHtml13 = "<font color=\"#CAD6FF\">免费等待至</font>"
-                        + "<font color=\"#FFFFFF\"><big>" + DateTimeUtil.formatCalendarToString(currentCale, DateTimeUtil.TAXI_MM_dd_HH_mm) + "</big></font>";
-            }
-            mDistanceAndTime3.setText(Html.fromHtml(strHtml13));
-        } else if (TaxiModel.getInstance().checkCurrentOCHOrder()) {
+        }else if (TaxiModel.getInstance().checkCurrentOCHOrder()) {
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "前往乘客上车地点");
             mContentModule2.setVisibility(View.GONE);
             mContentModule3.setVisibility(View.VISIBLE);
@@ -290,6 +262,9 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
             mContentModule32.setVisibility(View.GONE);
             mOrderOtherContent3.setVisibility(View.VISIBLE);
             mDistanceAndTime3.setVisibility(View.VISIBLE);
+            mPassengerInfoLayout.setVisibility(View.VISIBLE);
+            mPassengerNum.setText(order.passengerNum  + "人");
+            mPassengerPhone.setText(order.passengerPhone);
             mOrderStatus.setText(R.string.module_och_taxi_new_order);
             mOrderServerStatus.setText(R.string.module_och_taxi_order_server_start);
             mOrderServerStatus.setTextColor(Color.parseColor("#4DFFFFFF"));
@@ -298,10 +273,8 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
             mOrderServerStatus.setClickable(false);
             mGoAheadStationTitleTv31.setText("前往");
             mCatchStationTitleTv31.setText("接乘客");
-//            String strHtml0 = "<font color=\"#CAD6FF\">前往</font><br>"
-//                    + "<b><font color=\"#FFFFFF\"><big>" + order.startSiteAddr + "</big></font></b><br>"
-//                    + "<font color=\"#CAD6FF\">接乘客</font>";
             mStationTv31.setText(order.startSiteAddr);
+
             Calendar currentCale = DateTimeUtils.getCurrentDateTime();
             Calendar startCale = DateTimeUtil.formatLongToCalendar(order.bookingTime);
             String currentDay = DateTimeUtil.formatCalendarToString(currentCale, DateTimeUtil.TAXI_yyyy_MM_dd);
@@ -415,6 +388,9 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
         } else if (TaxiOrderStatusEnum.UserArriveAtStart.getCode() == mCurrentOrder.orderStatus) {//点击服务，开启自动驾驶
             mTaxiFragment.startAutoPilot();
             showNotice(getResources().getString(R.string.module_och_taxi_order_server_start_auto_tip));
+            return;
+        }else if (TaxiOrderStatusEnum.ArriveAtStart.getCode() == mCurrentOrder.orderStatus){ //到达乘客上车点，司机可跳过乘客屏认证
+            mTaxiFragment.jumpPassengerCheckDone();
         }
     }
 
@@ -472,7 +448,6 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
                         setOrRemoveMapMaker(true, TaxiConst.TAXI_END_MAP_MAKER,order.endSitePoint,R.raw.end_marker);
                         break;
                     case ArriveAtEnd:
-                        mCurrentOrder = null;
                         mTtsLessThan200Tip = 0;
                         mOrderCancel.setVisibility(View.GONE);
                         showNotice(mActivity.getString(R.string.module_och_taxi_order_auto_arrive_end_tip));
@@ -520,13 +495,8 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
     @Override
     public void onClick(View v) {
         if (v.getId() == R.id.module_och_taxi_order_server_status_tv) {
-            switch (mOrderServerStatus.getText().toString().trim()) {
-                case "开始服务":
-                case "服务完成":
-                    CallerLogger.INSTANCE.d(M_TAXI + TAG, mOrderServerStatus.getText().toString());
-                    startOrEndService();
-                    break;
-            }
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, mOrderServerStatus.getText().toString());
+            startOrEndService();
         } else if (v.getId() == R.id.module_och_taxi_order_cancel_iv) {
             new TaxiOrderCancelDialog(mTaxiFragment, mActivity, mOrderNo, saveOrderState).show();
         } else if (v.getId() == R.id.module_och_taxi_navi_iv) {
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
index d1e99cd486..29f01e6f71 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -225,6 +225,10 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
         }
     }
 
+    public void jumpPassengerCheckDone(){
+        mPresenter.jumpPassengerCheckDone();
+    }
+
     public void completeOrderService(TaxiOrderStatusEnum status) {
         mPresenter.updateCurOrderStatus(status);
     }
@@ -355,9 +359,6 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
             }
             TaxiModel.getInstance().setOnTheWayToEndStation();
         });
-        findViewById(R.id.test_passenger_check_done).setOnClickListener(v -> {
-            TaxiModel.getInstance().debugPassengerCheckDone();
-        });
     }
 
     private void testRouteInfoUpload() {
diff --git a/OCH/mogo-och-taxi/src/main/res/layout/taxi_being_order.xml b/OCH/mogo-och-taxi/src/main/res/layout/taxi_being_order.xml
index da7aa36c9d..cb652413ae 100644
--- a/OCH/mogo-och-taxi/src/main/res/layout/taxi_being_order.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/taxi_being_order.xml
@@ -101,18 +101,55 @@
             android:paddingRight="40px"
             android:visibility="visible"
             app:layout_constraintBottom_toTopOf="@+id/module_och_taxi_order_server_status_tv">
+
+            <androidx.constraintlayout.widget.ConstraintLayout
+                android:id="@+id/module_och_taxi_order_passenger_data"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                app:layout_constraintLeft_toLeftOf="parent"
+                app:layout_constraintTop_toTopOf="parent"
+                android:layout_marginTop="130px">
+                <TextView
+                    android:id="@+id/taxi_passenger_num"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    app:layout_constraintLeft_toLeftOf="parent"
+                    app:layout_constraintTop_toTopOf="parent"
+                    android:text="--"
+                    android:textColor="@android:color/white"
+                    android:textSize="@dimen/taxi_passenger_txt_size"/>
+                <TextView
+                    android:id="@+id/taxi_passenger_phone"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    app:layout_constraintLeft_toRightOf="@+id/taxi_passenger_num"
+                    app:layout_constraintTop_toTopOf="@+id/taxi_passenger_num"
+                    android:layout_marginLeft="@dimen/dp_30"
+                    android:text="--"
+                    android:textColor="@android:color/white"
+                    android:textSize="@dimen/taxi_passenger_txt_size"/>
+                <View
+                    android:layout_width="match_parent"
+                    android:layout_height="@dimen/dp_2"
+                    app:layout_constraintTop_toBottomOf="@+id/taxi_passenger_phone"
+                    app:layout_constraintLeft_toLeftOf="@+id/taxi_passenger_num"
+                    app:layout_constraintRight_toRightOf="parent"
+                    android:layout_marginTop="@dimen/dp_30"
+                    android:background="@color/taxi_passenger_line_color"/>
+
+            </androidx.constraintlayout.widget.ConstraintLayout>
             <TextView
                 android:id="@+id/module_och_taxi_order_had_arrived_time_32"
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
-                android:layout_marginTop="150px"
+                android:layout_marginTop="@dimen/dp_30"
                 android:lineSpacingExtra="16px"
                 android:textColor="#CAD6FF"
-                android:textSize="17sp"
+                android:textSize="30px"
                 android:visibility="visible"
                 app:layout_constraintLeft_toLeftOf="parent"
-                app:layout_constraintTop_toTopOf="parent"
-                app:layout_goneMarginTop="50px"
+                app:layout_constraintTop_toBottomOf="@+id/module_och_taxi_order_passenger_data"
+                app:layout_goneMarginTop="@dimen/dp_150"
                 tools:text="已于 - - 到达乘客上车点" />
             <LinearLayout
                 android:id="@+id/module_och_taxi_order_go_ahead_station_31"
@@ -120,15 +157,15 @@
                 android:layout_height="wrap_content"
                 android:orientation="vertical"
                 android:visibility="visible"
+                android:layout_marginTop="@dimen/dp_30"
                 app:layout_constraintLeft_toLeftOf="parent"
-                app:layout_constraintTop_toTopOf="parent">
+                app:layout_constraintTop_toBottomOf="@+id/module_och_taxi_order_passenger_data">
                 <TextView
                     android:id="@+id/go_ahead_station_31"
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
                     android:textColor="#CAD6FF"
-                    android:layout_marginTop="150px"
-                    android:textSize="17sp"
+                    android:textSize="30px"
                     android:text="前往"/>
                 <TextView
                     android:id="@+id/module_och_taxi_order_start_station_31"
@@ -141,21 +178,22 @@
                     android:ellipsize="end"
                     android:lineSpacingExtra="10px"
                     android:textColor="#FFFFFF"
-                    android:textSize="23sp"
+                    android:textSize="42px"
                     tools:text="- -" />
                 <RelativeLayout
                     android:layout_width="match_parent"
                     android:layout_height="wrap_content"
                     android:layout_marginTop="8px"
                     android:layout_gravity="center_vertical">
+
                     <TextView
                         android:id="@+id/go_ahead_station_catch_31"
                         android:layout_width="wrap_content"
                         android:layout_height="wrap_content"
-                        android:textColor="#CAD6FF"
-                        android:textSize="17sp"
                         android:gravity="center_horizontal"
-                        android:text="接乘客"/>
+                        android:text="接乘客"
+                        android:textColor="#CAD6FF"
+                        android:textSize="28px" />
                     <ImageView
                         android:id="@+id/module_och_taxi_navi_iv"
                         android:layout_width="wrap_content"
@@ -183,7 +221,7 @@
                     android:inputType="textMultiLine"
                     android:lineSpacingExtra="16px"
                     android:textColor="#CAD6FF"
-                    android:textSize="17sp"
+                    android:textSize="30px"
                     tools:text="送乘客至" />
                 <TextView
                     android:id="@+id/module_och_taxi_order_end_station_32"
@@ -195,7 +233,7 @@
                     android:ellipsize="end"
                     android:lineSpacingExtra="16px"
                     android:textColor="#FFFFFF"
-                    android:textSize="23sp"
+                    android:textSize="42px"
                     tools:text="- -" />
             </LinearLayout>
 
@@ -207,7 +245,7 @@
                 android:inputType="textMultiLine"
                 android:lineSpacingExtra="16px"
                 android:textColor="#CAD6FF"
-                android:textSize="17sp"
+                android:textSize="30px"
                 app:layout_constraintBottom_toBottomOf="parent"
                 app:layout_constraintLeft_toLeftOf="@+id/module_och_taxi_order_arrive_station_32"
                 tools:text="乘客将于 - - 用车" />
@@ -219,9 +257,9 @@
                 android:layout_marginBottom="180px"
                 android:inputType="textMultiLine"
                 android:lineSpacingExtra="16px"
-                android:text="距离 - - 公里，用时 - - 分钟"
+                android:text="距离 -- 公里，用时 -- 分钟"
                 android:textColor="#CAD6FF"
-                android:textSize="16sp"
+                android:textSize="32px"
                 app:layout_constraintBottom_toBottomOf="parent"
                 app:layout_constraintLeft_toLeftOf="@+id/module_och_taxi_order_go_ahead_station_31"/>
 
diff --git a/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml b/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
index 18a801ebf2..333782635a 100644
--- a/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
@@ -62,13 +62,6 @@
             android:onClick="testToEnd"
             android:text="到达目的地"
             android:textSize="12sp" />
-        <Button
-            android:id="@+id/test_passenger_check_done"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:onClick="testToEnd"
-            android:text="跳过乘客验证"
-            android:textSize="12sp" />
 
     </LinearLayout>
 </com.mogo.och.common.module.wigets.OCHBorderShadowLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/res/values-sw320dp/dimens.xml b/OCH/mogo-och-taxi/src/main/res/values-sw320dp/dimens.xml
index c58602dcd2..c51eac02c2 100644
--- a/OCH/mogo-och-taxi/src/main/res/values-sw320dp/dimens.xml
+++ b/OCH/mogo-och-taxi/src/main/res/values-sw320dp/dimens.xml
@@ -101,4 +101,6 @@
     <dimen name="taxi_traffic_light_icon_size">154px</dimen>
     <dimen name="taxi_traffic_light_time_view_width">130px</dimen>
     <dimen name="taxi_traffic_light_time_size">60px</dimen>
+
+    <dimen name="taxi_passenger_txt_size">34px</dimen>
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/res/values-xhdpi-2560x1440/dimens.xml b/OCH/mogo-och-taxi/src/main/res/values-xhdpi-2560x1440/dimens.xml
index 7dd0bd4e6b..eb9e459063 100644
--- a/OCH/mogo-och-taxi/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/OCH/mogo-och-taxi/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -101,4 +101,6 @@
     <dimen name="taxi_traffic_light_icon_size">154px</dimen>
     <dimen name="taxi_traffic_light_time_view_width">130px</dimen>
     <dimen name="taxi_traffic_light_time_size">60px</dimen>
+
+    <dimen name="taxi_passenger_txt_size">34px</dimen>
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/res/values/colors.xml b/OCH/mogo-och-taxi/src/main/res/values/colors.xml
index 6cec08f793..116d9ab70f 100644
--- a/OCH/mogo-och-taxi/src/main/res/values/colors.xml
+++ b/OCH/mogo-och-taxi/src/main/res/values/colors.xml
@@ -22,4 +22,6 @@
     <color name="taxi_traffic_light_green_color_down">#FF006D43</color>
     <color name="taxi_traffic_light_yellow_color_up">#FFFFE198</color>
     <color name="taxi_traffic_light_yellow_color_down">#FFFF9B00</color>
+
+    <color name="taxi_passenger_line_color">#657EE2</color>
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/res/values/dimens.xml b/OCH/mogo-och-taxi/src/main/res/values/dimens.xml
index ae72969ee1..c3e4e839f4 100644
--- a/OCH/mogo-och-taxi/src/main/res/values/dimens.xml
+++ b/OCH/mogo-och-taxi/src/main/res/values/dimens.xml
@@ -99,4 +99,6 @@
     <dimen name="taxi_traffic_light_icon_size">154px</dimen>
     <dimen name="taxi_traffic_light_time_view_width">130px</dimen>
     <dimen name="taxi_traffic_light_time_size">60px</dimen>
+
+    <dimen name="taxi_passenger_txt_size">34px</dimen>
 </resources>
\ No newline at end of file
diff --git a/app/productFlavors/f8xx.gradle b/app/productFlavors/f8xx.gradle
index 9504d6c0c6..bb0a3be919 100644
--- a/app/productFlavors/f8xx.gradle
+++ b/app/productFlavors/f8xx.gradle
@@ -31,7 +31,7 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.102\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 
 }
\ No newline at end of file
diff --git a/app/productFlavors/fPadLenovo.gradle b/app/productFlavors/fPadLenovo.gradle
index 830d322313..d24cd0e616 100644
--- a/app/productFlavors/fPadLenovo.gradle
+++ b/app/productFlavors/fPadLenovo.gradle
@@ -31,6 +31,6 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.104\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 }
\ No newline at end of file
diff --git a/app/productFlavors/fPadLenovoOchBus.gradle b/app/productFlavors/fPadLenovoOchBus.gradle
index 481187896d..fee00431e4 100644
--- a/app/productFlavors/fPadLenovoOchBus.gradle
+++ b/app/productFlavors/fPadLenovoOchBus.gradle
@@ -33,6 +33,6 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.102\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 }
\ No newline at end of file
diff --git a/app/productFlavors/fPadLenovoOchBusPassenger.gradle b/app/productFlavors/fPadLenovoOchBusPassenger.gradle
index 74487113d3..241ba1770b 100644
--- a/app/productFlavors/fPadLenovoOchBusPassenger.gradle
+++ b/app/productFlavors/fPadLenovoOchBusPassenger.gradle
@@ -31,6 +31,6 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.103\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 }
\ No newline at end of file
diff --git a/app/productFlavors/fPadLenovoOchTaxi.gradle b/app/productFlavors/fPadLenovoOchTaxi.gradle
index 7a583209e6..5111983e45 100644
--- a/app/productFlavors/fPadLenovoOchTaxi.gradle
+++ b/app/productFlavors/fPadLenovoOchTaxi.gradle
@@ -34,7 +34,7 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.102\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 
 }
\ No newline at end of file
diff --git a/app/productFlavors/fPadLenovoOchTaxiPassenger.gradle b/app/productFlavors/fPadLenovoOchTaxiPassenger.gradle
index 2c4ad036b9..4a4e2ac167 100644
--- a/app/productFlavors/fPadLenovoOchTaxiPassenger.gradle
+++ b/app/productFlavors/fPadLenovoOchTaxiPassenger.gradle
@@ -33,7 +33,7 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.103\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 
 }
\ No newline at end of file
diff --git a/app/productFlavors/fochbus.gradle b/app/productFlavors/fochbus.gradle
index 16feafdae4..e86161847a 100644
--- a/app/productFlavors/fochbus.gradle
+++ b/app/productFlavors/fochbus.gradle
@@ -31,7 +31,7 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.102\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 
 }
\ No newline at end of file
diff --git a/app/productFlavors/fochtaxi.gradle b/app/productFlavors/fochtaxi.gradle
index fa21f03205..47bcbd5ede 100644
--- a/app/productFlavors/fochtaxi.gradle
+++ b/app/productFlavors/fochtaxi.gradle
@@ -31,7 +31,7 @@ project.android.productFlavors {
         // 连接的工控机IP地址
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.102\""
         // 构建的是否是演示（美化）模式
-        buildConfigField 'boolean', 'IS_DEMO_MODE', 'true'
+        buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
     }
 
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt b/app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt
index 442700a153..1647869ae4 100644
--- a/app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt
+++ b/app/src/main/java/com/mogo/launcher/stageone/ConfigStartUp.kt
@@ -99,8 +99,5 @@ class ConfigStartUp : AndroidStartup<Boolean>() {
             FunctionBuildConfig.skinMode = 1
         }
 
-        // 是否是演示（美化）模式，会存在SP中，方便做现场恢复
-        FunctionBuildConfig.isDemoMode =
-            SharedPrefsMgr.getInstance(context).getBoolean(MoGoConfig.IS_DEMO_MODE, false)
     }
 }
\ No newline at end of file
diff --git a/app_ipc_monitoring/build.gradle b/app_ipc_monitoring/build.gradle
index 242357adb3..a023efe6fa 100644
--- a/app_ipc_monitoring/build.gradle
+++ b/app_ipc_monitoring/build.gradle
@@ -69,6 +69,7 @@ dependencies {
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
     implementation rootProject.ext.dependencies.gson
     implementation project(':libraries:mogo-adas')
+    implementation project(':libraries:mogo-adas-backgrounder-permission')
 //    implementation 'com.zhidao.support.adas:high:2.6.6.0'
 //    implementation 'com.zhjt.mogo.adas.data:adas-data:2.6.6.0'
     compileOnly project(':core:mogo-core-data')
diff --git a/app_ipc_monitoring/src/main/AndroidManifest.xml b/app_ipc_monitoring/src/main/AndroidManifest.xml
index eff7016ee7..13164a794c 100644
--- a/app_ipc_monitoring/src/main/AndroidManifest.xml
+++ b/app_ipc_monitoring/src/main/AndroidManifest.xml
@@ -1,7 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
     package="com.zhidao.adas.client">
-
+    <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED"/>
+    <uses-permission android:name="android.permission.DEVICE_POWER"/>
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
@@ -61,6 +63,40 @@
             android:theme="@style/AppTheme.NoActionBar">
 
         </activity>
+        <!-- 开机启动 -->
+        <receiver
+            android:name="BootCompletedReceive"
+            android:enabled="true"
+            android:exported="true"
+            android:permission="android.permission.RECEIVE_BOOT_COMPLETED"
+            android:process=":daemon">
+            <intent-filter android:priority="1000">
+                <action
+                    android:name="android.net.conn.CONNECTIVITY_CHANGE"
+                    tools:ignore="BatteryLife" />
+                <action android:name="android.net.ethernet.ETH_STATE_CHANGED" />
+                <action android:name="mitv.network.ethernet.action.ETHERNET_STATE_CHANGED" />
+                <action android:name="android.intent.action.BOOT_COMPLETED" />
+                <action android:name="android.intent.action.USER_PRESENT" />
+                <action android:name="android.intent.action.ACTION_POWER_CONNECTED" />
+                <action android:name="android.intent.action.ACTION_POWER_DISCONNECTED" />
+                <action android:name="com.duokan.duokanplayer.BOOT_COMPLETED" />
+                <action android:name="android.intent.action.LETV_SCREENON" />
+
+                <category android:name="android.intent.category.HOME" />
+                <category android:name="android.intent.category.LAUNCHER" />
+                <category android:name="android.intent.category.DEFAULT" />
+
+            </intent-filter>
+            <intent-filter>
+                <action android:name="com.android.server.action.NETWORK_STATS_UPDATED" />
+                <action android:name="android.intent.action.MEDIA_MOUNTED" />
+                <action android:name="android.intent.action.MEDIA_UNMOUNTED" />
+                <action android:name="android.intent.action.MEDIA_EJECT" />
+
+                <data android:scheme="file" />
+            </intent-filter>
+        </receiver>
     </application>
 
 </manifest>
\ No newline at end of file
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/BootCompletedReceive.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/BootCompletedReceive.java
new file mode 100644
index 0000000000..84d033637b
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/BootCompletedReceive.java
@@ -0,0 +1,13 @@
+package com.zhidao.adas.client;
+
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+import android.util.Log;
+
+public class BootCompletedReceive extends BroadcastReceiver {
+    @Override
+    public void onReceive(Context context, Intent intent) {
+        Log.i("开机", "启动");
+    }
+}
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 65babeb785..b2c4656337 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
@@ -12,6 +12,7 @@ import com.zhidao.adas.client.bean.GlobalPathResp;
 import com.zhidao.adas.client.bean.GnssInfo;
 import com.zhidao.adas.client.bean.MogoReportMessage;
 import com.zhidao.adas.client.bean.MyPointCloud;
+import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
 import com.zhidao.adas.client.bean.PlanningObjects;
 import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
@@ -112,6 +113,7 @@ public class DataDistribution {
     public final List<String> listStatusInfo = new ArrayList<>();
     public final List<String> listErrorData = new ArrayList<>();
     public final List<String> listPointCloud = new ArrayList<>();
+    public final List<String> listOriginalPointCloud = new ArrayList<>();
     public final List<String> listPlanningObjects = new ArrayList<>();
 
     public String cutDown(String str) {
@@ -148,6 +150,14 @@ public class DataDistribution {
             if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD.equals(listener.first)) {
                 listener.second.onRefresh();
             }
+        }  else if (data instanceof OriginalPointCloudData) {
+            listOriginalPointCloud.add(0, time + str);
+            if (listOriginalPointCloud.size() > LIST_SIZE) {
+                listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
+            }
+            if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
+                listener.second.onRefresh();
+            }
         } else if (data instanceof PlanningObjects) {
             listPlanningObjects.add(0, time + str);
             if (listPlanningObjects.size() > LIST_SIZE) {
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java
index 64d47bc670..9c5904dc23 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ArrivalNotification.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class ArrivalNotification extends BaseInfo {
     public final MessagePad.ArrivalNotification bean;
 
-    public ArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public ArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java
index aaebc9ba7a..e3a2c31b98 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/AutopilotState.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class AutopilotState extends BaseInfo {
     public final MessagePad.AutopilotState bean;
 
-    public AutopilotState(MessagePad.Header header, MessagePad.AutopilotState bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public AutopilotState(MessagePad.Header header, MessagePad.AutopilotState bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
index b05ed5b232..dc56ac3fc9 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
@@ -1,7 +1,8 @@
 package com.zhidao.adas.client.bean;
 
 
-import com.google.protobuf.TextFormat;
+import java.text.SimpleDateFormat;
+import java.util.Date;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -10,12 +11,14 @@ public abstract class BaseInfo {
     public final long nowTime;
     public final MessagePad.Header header;
     public final int len;
+    private SimpleDateFormat sdf;
 
-    public BaseInfo(String action, int len, MessagePad.Header header) {
+    public BaseInfo(String action, int len, MessagePad.Header header, SimpleDateFormat sdf) {
         this.action = action;
         nowTime = System.currentTimeMillis();
         this.len = 8 + header.getSerializedSize() + len;
         this.header = header;
+        this.sdf = sdf;
     }
 
     public BaseInfo(String action, int len) {
@@ -27,6 +30,8 @@ public abstract class BaseInfo {
 
     @Override
     public String toString() {
-        return "原始数据长度："+len + "\nHeader:[" + TextFormat.printer().escapingNonAscii(false).shortDebugString(header) + "]\n";
+        return "原始数据长度：" + len + "\nHeader:[" + "MessageID:" + header.getMsgID() +
+                " MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
+                + " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
     }
 }
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java
index 496d32df71..bce516eee2 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BasicInfoReq.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class BasicInfoReq extends BaseInfo {
     public final MessagePad.BasicInfoReq bean;
 
-    public BasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public BasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java
index 0fadfaa882..c8b3b390f3 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/CarConfigResp.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class CarConfigResp extends BaseInfo {
     public final MessagePad.CarConfigResp bean;
 
-    public CarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public CarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java
index 5d4d67cd6d..bd5be112a6 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GlobalPathResp.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class GlobalPathResp extends BaseInfo {
     public final MessagePad.GlobalPathResp bean;
 
-    public GlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public GlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java
index 2e37afa373..1ebd36a34f 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/GnssInfo.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class GnssInfo extends BaseInfo {
     public final MessagePad.GnssInfo bean;
 
-    public GnssInfo(MessagePad.Header header, MessagePad.GnssInfo bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public GnssInfo(MessagePad.Header header, MessagePad.GnssInfo bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java
index 54c4eb7be9..ec25240c06 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MogoReportMessage.java
@@ -2,14 +2,16 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 
 public class MogoReportMessage extends BaseInfo {
     public final MogoReportMsg.MogoReportMessage bean;
 
-    public MogoReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public MogoReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
index b6214a4637..44143d894a 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
@@ -2,14 +2,16 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 import rule_segement.MogoPointCloudOuterClass;
 
 public class MyPointCloud extends BaseInfo {
     public final MogoPointCloudOuterClass.MogoPointCloud bean;
 
-    public MyPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public MyPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java
new file mode 100644
index 0000000000..b51c9c4cd6
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java
@@ -0,0 +1,17 @@
+package com.zhidao.adas.client.bean;
+
+import com.zhidao.support.adas.high.common.ByteUtil;
+
+public class OriginalPointCloudData extends BaseInfo {
+    private final byte[] pointCloud;
+
+    public OriginalPointCloudData(byte[] pointCloud) {
+        super("接收", pointCloud.length);
+        this.pointCloud = pointCloud;
+    }
+
+    @Override
+    public String toString() {
+        return "\n" + ByteUtil.byteArrToHex(pointCloud);
+    }
+}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java
index 5587a6acd8..585a18d0a6 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PerceptionTrafficLight.java
@@ -2,14 +2,16 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 import perception.TrafficLightOuterClass;
 
 public class PerceptionTrafficLight extends BaseInfo {
     public final TrafficLightOuterClass.TrafficLights bean;
 
-    public PerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public PerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java
index cc124d82c9..68c1947de2 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PlanningObjects.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class PlanningObjects extends BaseInfo {
     public final MessagePad.PlanningObjects bean;
 
-    public PlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public PlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java
index 5ea6472a70..b6b070e110 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/PredictionObstacleTrajectory.java
@@ -2,14 +2,16 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 import prediction.Prediction;
 
 public class PredictionObstacleTrajectory extends BaseInfo {
     public final Prediction.mPredictionObjects bean;
 
-    public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public PredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java
index c00cce9217..a5d8cd7964 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/RecordPanel.java
@@ -2,14 +2,16 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 import record_cache.RecordPanelOuterClass;
 
 public class RecordPanel extends BaseInfo {
     public final RecordPanelOuterClass.RecordPanel bean;
 
-    public RecordPanel(MessagePad.Header header, RecordPanelOuterClass.RecordPanel bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public RecordPanel(MessagePad.Header header, RecordPanelOuterClass.RecordPanel bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java
index e0f6c419a7..72a96e6b7a 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/StatusInfo.java
@@ -2,14 +2,16 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 import system_master.SystemStatusInfo;
 
 public class StatusInfo extends BaseInfo {
     public final SystemStatusInfo.StatusInfo bean;
 
-    public StatusInfo(MessagePad.Header header, SystemStatusInfo.StatusInfo bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public StatusInfo(MessagePad.Header header, SystemStatusInfo.StatusInfo bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java
index efcbcb2fef..6f49037779 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/TrackedObjects.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class TrackedObjects extends BaseInfo {
     private MessagePad.TrackedObjects bean;
 
-    public TrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public TrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java
index ac4cbe5c33..764d7fa44e 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Trajectory.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class Trajectory extends BaseInfo {
     public final MessagePad.Trajectory bean;
 
-    public Trajectory(MessagePad.Header header, MessagePad.Trajectory bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public Trajectory(MessagePad.Header header, MessagePad.Trajectory bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
     @Override
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java
index ebdacb3c7d..aabab1571e 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/VehicleState.java
@@ -2,14 +2,16 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
 
 public class VehicleState extends BaseInfo {
     public final VehicleStateOuterClass.VehicleState bean;
 
-    public VehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public VehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java
index fd41e8e212..5bb43ebaaa 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/Warn.java
@@ -2,13 +2,15 @@ package com.zhidao.adas.client.bean;
 
 import com.google.protobuf.TextFormat;
 
+import java.text.SimpleDateFormat;
+
 import mogo.telematics.pad.MessagePad;
 
 public class Warn extends BaseInfo {
     public final MessagePad.Warn bean;
 
-    public Warn(MessagePad.Header header, MessagePad.Warn bean) {
-        super("接收", bean.getSerializedSize(), header);
+    public Warn(MessagePad.Header header, MessagePad.Warn bean, SimpleDateFormat sdf) {
+        super("接收", bean.getSerializedSize(), header, sdf);
         this.bean = bean;
     }
 
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/ConnectStatusSave.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/ConnectStatusSave.java
new file mode 100644
index 0000000000..03c4632db9
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/ConnectStatusSave.java
@@ -0,0 +1,150 @@
+package com.zhidao.adas.client.log;
+
+import android.os.Environment;
+import android.text.TextUtils;
+
+import com.zhidao.adas.client.utils.Constants;
+import com.zhidao.support.adas.high.common.ThreadPoolManager;
+
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.Locale;
+import java.util.concurrent.Future;
+import java.util.concurrent.LinkedBlockingQueue;
+
+/**
+ * 与服务器交互日志管理任务
+ */
+public class ConnectStatusSave {
+    private static final String TAG = ConnectStatusSave.class.getSimpleName();
+    private static final String LOG_FILE_NAME = "ConnectStatus-%s.log";//文件名称
+    private volatile static ConnectStatusSave INSTANCE;
+    private static final long MAX_CAPACITY = 20 * 1024 * 1024L;//单文件最大存储容量 kb
+    private final LinkedBlockingQueue<String> queue;
+    private BufferedWriter buff = null;
+    private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd_HH-mm-ss-SSS", Locale.getDefault());
+    private File file;
+    private volatile long capacity = MAX_CAPACITY;
+    private Future future;
+
+    private ConnectStatusSave() {
+        queue = new LinkedBlockingQueue<>();
+    }
+
+    public static ConnectStatusSave getInstance() {
+        if (INSTANCE == null) {
+            synchronized (ConnectStatusSave.class) {
+                if (INSTANCE == null) {
+                    INSTANCE = new ConnectStatusSave();
+                }
+            }
+        }
+        return INSTANCE;
+    }
+
+
+    public boolean isSdcardUse() {
+        boolean bl = false;
+        if (Environment.MEDIA_MOUNTED.equals(Environment.getExternalStorageState())) {
+            bl = true;
+        }
+        return bl;
+    }
+
+    private synchronized void getFile() throws IOException {
+        if (isSdcardUse()) {
+            String time = sdf.format(new Date());
+            String childPath = time.split("_")[0] + File.separator;
+            file = new File(Constants.ROOT_PATH + childPath + String.format(LOG_FILE_NAME, time));
+            if (!file.exists()) {
+                if (!file.getParentFile().exists()) {
+                    file.getParentFile().mkdirs();
+                }
+                file.createNewFile();
+            }
+            FileWriter fw = new FileWriter(file, true);
+            buff = new BufferedWriter(fw);
+        }
+    }
+
+
+    public void saveLog(String info) {
+        if (isStart()) {
+            queue.add(info);
+        }
+    }
+
+    public boolean isStart() {
+        return future != null;
+    }
+
+    public void start() {
+        if (future == null) {
+            future = ThreadPoolManager.getsInstance().submit(new WriteThread());
+        }
+    }
+
+    public void stop() {
+        if (future != null) {
+            Runnable runnable = new Runnable() {
+                @Override
+                public void run() {
+                    queue.clear();
+                    if (!future.isCancelled()) {
+                        future.cancel(true);
+                    }
+                    future = null;
+                    closeBufferedWriter();
+                }
+            };
+            ThreadPoolManager.getsInstance().execute(runnable);
+        }
+    }
+
+    private void closeBufferedWriter() {
+        if (buff != null) {
+            try {
+                buff.flush();
+                buff.close();
+            } catch (IOException e) {
+                e.printStackTrace();
+            }
+            buff = null;
+        }
+
+    }
+
+    private class WriteThread implements Runnable {
+
+        @Override
+        public void run() {
+            synchronized (this) {
+                while (!Thread.currentThread().isInterrupted()) {
+                    try {
+                        long size = 0;
+                        if (file != null) {
+                            size = file.length();
+                        }
+                        if (size > capacity || file == null || !file.exists() || buff == null) {
+                            closeBufferedWriter();
+                            getFile();
+                        }
+                        String data = queue.take();
+                        if (buff != null && !TextUtils.isEmpty(data)) {
+                            buff.write(data);
+                            buff.newLine();
+                            buff.flush();
+                        }
+                    } catch (IOException | InterruptedException e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+        }
+    }
+
+}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/LogSave.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/LogSave.java
index 58435bf681..0e9fd80b99 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/LogSave.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/log/LogSave.java
@@ -3,6 +3,7 @@ package com.zhidao.adas.client.log;
 import android.os.Environment;
 import android.text.TextUtils;
 
+import com.zhidao.adas.client.utils.Constants;
 import com.zhidao.support.adas.high.common.ThreadPoolManager;
 
 import java.io.BufferedWriter;
@@ -20,7 +21,6 @@ import java.util.concurrent.LinkedBlockingQueue;
  */
 public class LogSave {
     private static final String TAG = LogSave.class.getSimpleName();
-    private static final String ROOT_PATH = Environment.getExternalStorageDirectory().getAbsolutePath() + File.separator + "IPCMonitoring" + File.separator;//程序外部存储跟目录
     private static final String LOG_FILE_NAME = "%s.log";//文件名称
     private volatile static LogSave INSTANCE;
     private static final long MAX_CAPACITY = 20 * 1024 * 1024L;//单文件最大存储容量 kb
@@ -59,7 +59,7 @@ public class LogSave {
         if (isSdcardUse()) {
             String time = sdf.format(new Date());
             String childPath = time.split("_")[0] + File.separator;
-            file = new File(ROOT_PATH + childPath + String.format(LOG_FILE_NAME, time));
+            file = new File(Constants.ROOT_PATH + childPath + String.format(LOG_FILE_NAME, time));
             if (!file.exists()) {
                 if (!file.getParentFile().exists()) {
                     file.getParentFile().mkdirs();
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 148f773758..72c81dccba 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
@@ -129,6 +129,8 @@ public class InfoFragment extends BaseFragment {
             adapter.setData(DataDistribution.getInstance().listPredictionObstacleTrajectory);
         } else if (Constants.TITLE.RECEIVE_POINT_CLOUD.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listPointCloud);
+        }else if (Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listOriginalPointCloud);
         } else if (Constants.TITLE.RECEIVE_PLANNING_OBJECTS.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listPlanningObjects);
         }else{
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 e634012900..5722e2b169 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
@@ -7,11 +7,14 @@ import android.content.DialogInterface;
 import android.content.Intent;
 import android.content.res.Configuration;
 import android.net.Uri;
+import android.net.wifi.WifiManager;
 import android.os.Build;
 import android.os.Bundle;
 import android.os.Message;
+import android.os.PowerManager;
 import android.provider.Settings;
 import android.text.Editable;
+import android.text.Html;
 import android.text.TextUtils;
 import android.text.TextWatcher;
 import android.util.Log;
@@ -62,6 +65,7 @@ import com.zhidao.adas.client.bean.GnssInfo;
 import com.zhidao.adas.client.bean.IPCConnectState;
 import com.zhidao.adas.client.bean.MogoReportMessage;
 import com.zhidao.adas.client.bean.MyPointCloud;
+import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
 import com.zhidao.adas.client.bean.PlanningObjects;
 import com.zhidao.adas.client.bean.PredictionObstacleTrajectory;
@@ -71,6 +75,7 @@ import com.zhidao.adas.client.bean.TrackedObjects;
 import com.zhidao.adas.client.bean.Trajectory;
 import com.zhidao.adas.client.bean.VehicleState;
 import com.zhidao.adas.client.bean.Warn;
+import com.zhidao.adas.client.log.ConnectStatusSave;
 import com.zhidao.adas.client.log.LogSave;
 import com.zhidao.adas.client.utils.Constants;
 import com.zhidao.support.adas.high.AdasManager;
@@ -88,10 +93,13 @@ import java.net.Inet4Address;
 import java.net.InetAddress;
 import java.net.NetworkInterface;
 import java.net.SocketException;
+import java.text.SimpleDateFormat;
 import java.util.ArrayList;
+import java.util.Date;
 import java.util.Enumeration;
 import java.util.HashMap;
 import java.util.List;
+import java.util.Locale;
 import java.util.Map;
 import java.util.concurrent.ScheduledExecutorService;
 
@@ -107,6 +115,7 @@ import system_master.SystemStatusInfo;
 
 public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
     private final static String TAG = MainActivity.class.getSimpleName();
+    private final SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS", Locale.getDefault());
     private static final int WHAT_IPC_IP = 0x00;
     private static final int WHAT_DRIVER_IP = 0x01;
     private static final int WHAT_IPC_CONNECT_STATE = 0x02;
@@ -115,6 +124,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private ImageView tvIp;
     private TextView title;
     private TextView ipcIp;
+    private TextView background;
     private TextView localIp;
     private View line;
     private View line1;
@@ -161,12 +171,15 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 //        LogSave.getInstance().stop();
 //    }
 
+    PowerManager.WakeLock wakeLock;
+    WifiManager.WifiLock wifiLock;
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_main);
         initHandler();
+        ConnectStatusSave.getInstance().start();
         isPad = isPad(this);
         if (!isPad)
             getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN);
@@ -177,6 +190,40 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         onUpdateConnectStateView();
         showIPCIP();
         canDrawOverlays();
+//        PowerManager powerManager = (PowerManager) getSystemService(POWER_SERVICE);
+//        wakeLock = powerManager.newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, TAG);
+//        wakeLock.acquire();
+//        int wifiLockType = WifiManager.WIFI_MODE_FULL;
+//        try {
+//            wifiLockType = WifiManager.class.getField("WIFI_MODE_FULL_HIGH_PERF").getInt(null);
+//        } catch (Exception e) {
+//            // 我们必须运行在一个pre-Honeycomb设备上。
+//            Log.w(TAG, "无法获得高性能wifi锁.");
+//        }
+//        WifiManager wifiManager = WifiManager.class.cast(getApplicationContext().getSystemService(WIFI_SERVICE));
+//        wifiLock = wifiManager.createWifiLock(wifiLockType, TAG);
+//        wifiLock.acquire();
+    }
+
+    @Override
+    protected void onDestroy() {
+        super.onDestroy();
+        AdasManager.getInstance().setOnAdasListener(null);
+        AdasManager.getInstance().disconnect();
+        if (mExecutorServiceConfigTimer != null) {
+            mExecutorServiceConfigTimer.shutdownNow();
+        }
+        DataDistribution.getInstance().stop();
+        if (floatWindow != null) {
+            floatWindow.hideFloatWindow();
+            floatWindow = null;
+        }
+        ConnectStatusSave.getInstance().stop();
+        // 释放唤醒锁, 如果没有其它唤醒锁存在, 设备会很快进入休眠状态
+        if (wakeLock != null)
+            wakeLock.release();
+        if (wifiLock != null)
+            wifiLock.release();
     }
 
     private void canDrawOverlays() {
@@ -214,6 +261,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private void initView() {
         include_title = findViewById(R.id.include_title);
         etIp = findViewById(R.id.et_ip);
+        background = findViewById(R.id.background);
         role = findViewById(R.id.role);
         line = findViewById(R.id.line);
         line1 = findViewById(R.id.line1);
@@ -477,6 +525,22 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 }
             }
         });
+
+//        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
+//            String str = "后台运行：" + (AdasManager.getInstance().isPermissionLongBackgroundRunning(this) ? "<font color='red'>已优化</font>" : "<font color='red'>未优化</font>");
+//            background.setText(Html.fromHtml(str, Html.FROM_HTML_MODE_LEGACY));
+//            background.setOnClickListener(new View.OnClickListener() {
+//                @Override
+//                public void onClick(View v) {
+//
+////                    Permission.requestAddDataSaverWhite(MainActivity.this);
+////                    AdasManager.getInstance().requestIgnoreBatteryOptimizations(MainActivity.this);
+//                    AdasManager.getInstance().showPermissionLongBackgroundRunningDialog(MainActivity.this);
+//                }
+//            });
+//        } else {
+//            background.setVisibility(View.GONE);
+//        }
     }
 
     private void showListPopupWindow() {
@@ -517,6 +581,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_PERCEPTION_TRAFFIC_LIGHT);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY);
         titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL);
         titleFragmentData.add(Constants.TITLE.RECEIVE_PLANNING_OBJECTS);
         titleFragmentData.add(Constants.TITLE.RECEIVE_CAR_CONFIG_RESP);
         titleFragmentData.add(Constants.TITLE.RECEIVE_RECORD_RESULT);
@@ -527,18 +592,21 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
 
 
-        titleBtnData.add("自动驾驶模式");
-        titleBtnData.add("自动驾驶路径查询");
-        titleBtnData.add("下发SN");
-        titleBtnData.add("数据采集5秒");
-        titleBtnData.add("数据采集start");
-        titleBtnData.add("数据采集end");
-        titleBtnData.add("发送信号灯");
-        titleBtnData.add("自动驾驶限速");
-        titleBtnData.add("重启所有节点");
-        titleBtnData.add("采集类型");
-        titleBtnData.add("打开演示模式");
-        titleBtnData.add("关闭演示模式");
+        titleBtnData.add(Constants.TITLE.SEND_SET_AUTOPILOT_MODE_REQ);
+        titleBtnData.add(Constants.TITLE.SEND_GLOBAL_PATH_REQ);
+        titleBtnData.add(Constants.TITLE.SEND_STATUS_QUERY_REQ);
+        titleBtnData.add(Constants.TITLE.SEND_BASIC_INFO_RESP);
+        titleBtnData.add(Constants.TITLE.SEND_RECORD_DATA_5);
+        titleBtnData.add(Constants.TITLE.SEND_RECORD_DATA_START);
+        titleBtnData.add(Constants.TITLE.SEND_RECORD_DATA_END);
+        titleBtnData.add(Constants.TITLE.SEND_TRAFFIC_LIGHT_DATA);
+        titleBtnData.add(Constants.TITLE.SEND_SET_AUTOPILOT_SPEED_REQ);
+        titleBtnData.add(Constants.TITLE.SEND_SYSTEM_CMD_REQ_REBOOT);
+        titleBtnData.add(Constants.TITLE.SEND_RECORD_CAUSE);
+        titleBtnData.add(Constants.TITLE.SEND_SET_DEMO_MODE_REQ_OPEN);
+        titleBtnData.add(Constants.TITLE.SEND_SET_DEMO_MODE_REQ_CLOSE);
+        titleBtnData.add(Constants.TITLE.SEND_SET_RAIN_MODE_REQ_OPEN);
+        titleBtnData.add(Constants.TITLE.SEND_SET_RAIN_MODE_REQ_CLOSE);
     }
 
     private void initBtnRecyclerView() {
@@ -690,56 +758,56 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     @Override
     public void onTrajectory(MessagePad.Header header, MessagePad.Trajectory trajectory) {
-        Trajectory base = new Trajectory(header, trajectory);
+        Trajectory base = new Trajectory(header, trajectory, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onTrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects trackedObjects) {
-        TrackedObjects base = new TrackedObjects(header, trackedObjects);
+        TrackedObjects base = new TrackedObjects(header, trackedObjects, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo) {
-        GnssInfo base = new GnssInfo(header, gnssInfo);
+        GnssInfo base = new GnssInfo(header, gnssInfo, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
-        VehicleState base = new VehicleState(header, vehicleState);
+        VehicleState base = new VehicleState(header, vehicleState, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState) {
-        AutopilotState base = new AutopilotState(header, autopilotState);
+        AutopilotState base = new AutopilotState(header, autopilotState, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage) {
-        MogoReportMessage base = new MogoReportMessage(header, mogoReportMessage);
+        MogoReportMessage base = new MogoReportMessage(header, mogoReportMessage, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights) {
-        PerceptionTrafficLight base = new PerceptionTrafficLight(header, trafficLights);
+        PerceptionTrafficLight base = new PerceptionTrafficLight(header, trafficLights, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects) {
-        PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects);
+        PredictionObstacleTrajectory base = new PredictionObstacleTrajectory(header, predictionObjects, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
 
     @Override
     public void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud) {
-        MyPointCloud base = new MyPointCloud(header, pointCloud);
+        MyPointCloud base = new MyPointCloud(header, pointCloud, sdf);
         DataDistribution.getInstance().addData(base);
 //        String data = PointCloudDecoder.decode(header, pointCloud);
 //        Log.i("dddd", "data==" + data.length());
@@ -747,15 +815,21 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 //        LogSave.getInstance().saveLog("转换数据=" + data);
     }
 
+    @Override
+    public void onPointCloud(byte[] pointCloud) {
+        OriginalPointCloudData base = new OriginalPointCloudData(pointCloud);
+        DataDistribution.getInstance().addData(base);
+    }
+
     @Override
     public void onPlanningObjects(MessagePad.Header header, MessagePad.PlanningObjects planningObjects) {
-        PlanningObjects base = new PlanningObjects(header, planningObjects);
+        PlanningObjects base = new PlanningObjects(header, planningObjects, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq) {
-        BasicInfoReq info = new BasicInfoReq(header, basicInfoReq);
+        BasicInfoReq info = new BasicInfoReq(header, basicInfoReq, sdf);
         DataDistribution.getInstance().addData(info);
         AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 0);
         showToastCenter("收到车机基础信息请求:" + info.toString());
@@ -763,13 +837,13 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     @Override
     public void onCarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp carConfigResp) {
-        CarConfigResp base = new CarConfigResp(header, carConfigResp);
+        CarConfigResp base = new CarConfigResp(header, carConfigResp, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onRecordResult(MessagePad.Header header, RecordPanelOuterClass.RecordPanel recordPanel) {
-        RecordPanel base = new RecordPanel(header, recordPanel);
+        RecordPanel base = new RecordPanel(header, recordPanel, sdf);
         DataDistribution.getInstance().addData(base);
         recordKey = recordPanel.getKey();
         recordFileName = recordPanel.getFilename();
@@ -777,25 +851,25 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     @Override
     public void onGlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp globalPathResp) {
-        GlobalPathResp base = new GlobalPathResp(header, globalPathResp);
+        GlobalPathResp base = new GlobalPathResp(header, globalPathResp, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onWarn(MessagePad.Header header, MessagePad.Warn warn) {
-        Warn base = new Warn(header, warn);
+        Warn base = new Warn(header, warn, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification) {
-        ArrivalNotification base = new ArrivalNotification(header, arrivalNotification);
+        ArrivalNotification base = new ArrivalNotification(header, arrivalNotification, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
     @Override
     public void onStatusQueryResp(MessagePad.Header header, SystemStatusInfo.StatusInfo statusInfo) {
-        StatusInfo base = new StatusInfo(header, statusInfo);
+        StatusInfo base = new StatusInfo(header, statusInfo, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
@@ -892,21 +966,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     }
 
 
-    @Override
-    protected void onDestroy() {
-        super.onDestroy();
-        AdasManager.getInstance().setOnAdasListener(null);
-        AdasManager.getInstance().disconnect();
-        if (mExecutorServiceConfigTimer != null) {
-            mExecutorServiceConfigTimer.shutdownNow();
-        }
-        DataDistribution.getInstance().stop();
-    }
-
-
     @Override
     public void onConnectionIPCStatus(int ipcConnectionStatus, String reason) {
-        Log.i(TAG, "连接状态=" + (reason == null ? "主动断开连接" : reason));
+//        Log.i(TAG, "连接状态=" + (reason == null ? "主动断开连接" : reason));
+        String time = sdf.format(new Date());
+        ConnectStatusSave.getInstance().saveLog(time + " ipcConnectionStatus=" + ipcConnectionStatus + " reason=" + reason);
         connectStatusList.add(0, new IPCConnectState(reason == null ? "主动断开连接" : reason, getStatusColor(ipcConnectionStatus)));
         if (connectStatusList.size() > 100) {
             connectStatusList.remove(connectStatusList.size() - 1);
@@ -924,12 +988,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             getHandler().sendEmptyMessage(WHAT_IPC_IP);
         }
 //        LogSave.getInstance().saveLog("连接状态", status);
-        CupidLogUtils.i(TAG, "connectStatus=" + status);
+//        CupidLogUtils.i(TAG, "connectStatus=" + status);
     }
 
     @Override
     public void onCompatibility(VersionCompatibility versionCompatibility) {
-        showToastCenter("所连工控机：\n" + versionCompatibility.toString(), Toast.LENGTH_LONG);
+        showToastCenter("所连工控机：\n" + (versionCompatibility == null ? "未连接" : versionCompatibility.toString()), Toast.LENGTH_LONG);
     }
 
     private void showLocalIP() {
@@ -998,8 +1062,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             showToastCenter("IPC 未连接");
             return;
         }
-        switch (position) {
-            case 0:
+        switch (data) {
+            case Constants.TITLE.SEND_SET_AUTOPILOT_MODE_REQ:
 //                MessagePad.Line.Builder line = MessagePad.Line.newBuilder();
 //                line.setLineId(10);
 //                line.setTrajUrl("我是TrajUrl");
@@ -1015,32 +1079,34 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 if (!autoPilotModeDialog.isShowing()) {
                     autoPilotModeDialog.show();
                 }
-
                 break;
-            case 1:
+            case Constants.TITLE.SEND_GLOBAL_PATH_REQ:
                 //自动驾驶路径查询
                 AdasManager.getInstance().sendGlobalPathReq();
                 break;
-            case 2:
-                //发送sn
-                AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 1);
+            case Constants.TITLE.SEND_STATUS_QUERY_REQ:
+                AdasManager.getInstance().sendStatusQueryReq();
                 break;
-            case 3:
+            case Constants.TITLE.SEND_BASIC_INFO_RESP:
+                //发送sn
+                AdasManager.getInstance().sendBasicInfoResp("X202021111192N41VY", 0);
+                break;
+            case Constants.TITLE.SEND_RECORD_DATA_5:
                 //数据采集5秒
                 boolean b = AdasManager.getInstance().startRecordPackage(1, 5, 1);
                 CupidLogUtils.w(TAG, "AutopilotRecord===>send:" + b);
                 break;
-            case 4:
+            case Constants.TITLE.SEND_RECORD_DATA_START:
                 //数据采集start
                 boolean bStart = AdasManager.getInstance().startRecordPackage(1, 1);
                 CupidLogUtils.w(TAG, "AutopilotRecord===>send:" + bStart);
                 break;
-            case 5:
+            case Constants.TITLE.SEND_RECORD_DATA_END:
                 //数据采集end
                 boolean bEnd = AdasManager.getInstance().stopRecordPackage(1, 1);
                 CupidLogUtils.w(TAG, "AutopilotRecord===>send:" + bEnd);
                 break;
-            case 6:
+            case Constants.TITLE.SEND_TRAFFIC_LIGHT_DATA:
                 //发送信号灯
                 MessagePad.TrafficLightStatus left = MessagePad.TrafficLightStatus.newBuilder()
                         .setPhaseNo("1")
@@ -1062,9 +1128,9 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                         .setMid(mid)
                         .setRight(right)
                         .build();
-                AdasManager.getInstance().sendTrafficLightData("10038", 26.848153, 112.574883, "180.0", "SN", 100413, -4, 201, 0, detail);
+                AdasManager.getInstance().sendTrafficLightData("10038", 26.848153, 112.574883, "180.0", "SN", 100413, -4, 201, 0, detail, System.currentTimeMillis());
                 break;
-            case 7:
+            case Constants.TITLE.SEND_SET_AUTOPILOT_SPEED_REQ:
                 //速度设置
                 AlertDialog.Builder builder = new AlertDialog.Builder(this);
                 builder.setTitle("自动驾驶限速");
@@ -1091,23 +1157,31 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
                 builder.show();//显示Dialog对话框
 
                 break;
-            case 8:
+            case Constants.TITLE.SEND_SYSTEM_CMD_REQ_REBOOT:
                 //重启所有节点
                 AdasManager.getInstance().sendSystemCmdReq(MessagePad.SystemCmdType.SYSTEMCMD_REBOOT);
                 break;
 
-            case 9:
+            case Constants.TITLE.SEND_RECORD_CAUSE:
                 //采集类型
                 AdasManager.getInstance().sendRecordCause(recordKey, recordFileName, "1", "变道有干扰");
                 break;
-            case 10:
+            case Constants.TITLE.SEND_SET_DEMO_MODE_REQ_OPEN:
                 //打开演示模式
                 AdasManager.getInstance().sendDemoModeReq(1);
                 break;
-            case 11:
+            case Constants.TITLE.SEND_SET_DEMO_MODE_REQ_CLOSE:
                 //关闭演示模式
                 AdasManager.getInstance().sendDemoModeReq(0);
                 break;
+            case Constants.TITLE.SEND_SET_RAIN_MODE_REQ_OPEN:
+                //打开雨天模式
+                AdasManager.getInstance().sendRainModeReq(1);
+                break;
+            case Constants.TITLE.SEND_SET_RAIN_MODE_REQ_CLOSE:
+                //关闭雨天模式
+                AdasManager.getInstance().sendRainModeReq(0);
+                break;
         }
     }
 
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 16c93a6ac7..ff2ea6e065 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
@@ -1,6 +1,7 @@
 package com.zhidao.adas.client.utils;
 
 import android.content.Context;
+import android.os.Environment;
 import android.text.TextUtils;
 
 import com.google.gson.reflect.TypeToken;
@@ -8,8 +9,11 @@ import com.zhidao.adas.client.bean.AutoPilotMode;
 import com.zhidao.support.adas.high.common.JsonUtil;
 import com.zhidao.support.adas.high.common.MessageType;
 
+import java.io.File;
+import java.text.SimpleDateFormat;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Locale;
 
 /**
  * @author song kenan
@@ -17,6 +21,9 @@ import java.util.List;
  * @date 2021/10/8
  */
 public class Constants {
+    public static final String ROOT_PATH = Environment.getExternalStorageDirectory().getAbsolutePath() + File.separator + "IPCMonitoring" + File.separator;//程序外部存储跟目录
+    public static final String FILE_PATH = ROOT_PATH + "Crash" + File.separator;
+
     private static final String ALL_PATH = "all_path";//所有路线
     private static final String DEFAULT_PATH = "[{\"endLatLon\":{\"latitude\":40.19774,\"longitude\":116.72704},\"endName\":\"汇源果汁\",\"name\":\"北京市顺义区北小营镇\",\"speedLimit\":20.0,\"startLatLon\":{\"latitude\":40.20047,\"longitude\":116.73512},\"startName\":\"13号路口西\"},{\"endLatLon\":{\"latitude\":40.19996,\"longitude\":116.73584},\"endName\":\"13号路口（主路）\",\"name\":\"北京市顺义区北小营镇\",\"speedLimit\":20.0,\"startLatLon\":{\"latitude\":40.19763,\"longitude\":116.72686},\"startName\":\"汇源果汁\"}]";
 
@@ -151,6 +158,7 @@ public class Constants {
         String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;
         String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;
         String RECEIVE_POINT_CLOUD = MessageType.TYPE_RECEIVE_POINT_CLOUD.desc;
+        String RECEIVE_POINT_CLOUD_ORIGINAL = "点云原始透传";
         String RECEIVE_PLANNING_OBJECTS = MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.desc;
 
         //        String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
@@ -164,5 +172,23 @@ public class Constants {
         String RECEIVE_ERROR = "错误数据";
 
 
+
+        String SEND_SET_AUTOPILOT_MODE_REQ="自动驾驶模式";
+        String SEND_GLOBAL_PATH_REQ="自动驾驶路径查询";
+        String SEND_STATUS_QUERY_REQ="状态查询";
+        String SEND_BASIC_INFO_RESP="下发SN";
+        String SEND_RECORD_DATA_5="数据采集5秒";
+        String SEND_RECORD_DATA_START="数据采集Start";
+        String SEND_RECORD_DATA_END="数据采集End";
+        String SEND_TRAFFIC_LIGHT_DATA="发送信号灯";
+        String SEND_SET_AUTOPILOT_SPEED_REQ="自动驾驶限速";
+        String SEND_SYSTEM_CMD_REQ_REBOOT="重启所有节点";
+        String SEND_RECORD_CAUSE="采集类型";
+        String SEND_SET_DEMO_MODE_REQ_OPEN="打开演示模式";
+        String SEND_SET_DEMO_MODE_REQ_CLOSE="关闭演示模式";
+        String SEND_SET_RAIN_MODE_REQ_OPEN="打开雨天模式";
+        String SEND_SET_RAIN_MODE_REQ_CLOSE="关闭雨天模式";
+
+
     }
 }
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/CrashHandler.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/CrashHandler.java
index 86a38c657a..14957a6a1f 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/CrashHandler.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/CrashHandler.java
@@ -23,7 +23,6 @@ import java.text.SimpleDateFormat;
 import java.util.Date;
 import java.util.HashMap;
 import java.util.Map;
-import java.util.Objects;
 
 
 /**
@@ -40,7 +39,7 @@ import java.util.Objects;
  * @since Ver 1.0		I used to be a programmer like you, then I took an arrow in the knee
  */
 public class CrashHandler implements UncaughtExceptionHandler {
-    private static final String FILE_PATH = Environment.getExternalStorageDirectory().getAbsolutePath() + File.separator + "IPCMonitoring" + File.separator + "Crash" + File.separator;//程序外部存储跟目录
+
     /**
      * Log日志的tag
      * String			:		TAG
@@ -75,7 +74,7 @@ public class CrashHandler implements UncaughtExceptionHandler {
      *
      * @since 2013-3-21下午8:46:15
      */
-    private final Map<String, String> mLogInfo = new HashMap<String, String>();
+    private Map<String, String> mLogInfo = new HashMap<String, String>();
     /**
      * 用于格式化日期,作为日志文件名的一部分(FIXME 注意在windows下文件名无法使用：等符号！)
      * SimpleDateFormat			:		mSimpleDateFormat
@@ -219,8 +218,11 @@ public class CrashHandler implements UncaughtExceptionHandler {
         for (Field field : mFields) {
             try {
                 field.setAccessible(true);
-                mLogInfo.put(field.getName(), Objects.requireNonNull(field.get("")).toString());
-            } catch (IllegalArgumentException | IllegalAccessException e) {
+                mLogInfo.put(field.getName(), field.get("").toString());
+                Log.d(TAG, field.getName() + ":" + field.get(""));
+            } catch (IllegalArgumentException e) {
+                e.printStackTrace();
+            } catch (IllegalAccessException e) {
                 e.printStackTrace();
             }
         }
@@ -270,8 +272,8 @@ public class CrashHandler implements UncaughtExceptionHandler {
         String mFileName = mContext.getPackageName() + "_Exception-" + mTime + ".log";
         if (Environment.getExternalStorageState().equals(Environment.MEDIA_MOUNTED)) {
             try {
-                File mDirectory = new File(FILE_PATH);
-                Log.v(TAG, mDirectory.toString());
+                File mDirectory = new File(Constants.FILE_PATH);
+                Log.d(TAG, mDirectory.toString());
                 if (!mDirectory.exists())
                     mDirectory.mkdirs();
                 FileOutputStream mFileOutputStream = new FileOutputStream(mDirectory + File.separator + mFileName);
diff --git a/app_ipc_monitoring/src/main/res/drawable/bg_dialog.xml b/app_ipc_monitoring/src/main/res/drawable/bg_dialog.xml
deleted file mode 100644
index 470ebb3806..0000000000
--- a/app_ipc_monitoring/src/main/res/drawable/bg_dialog.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android">
-    <solid android:color="#ffffff" />
-    <stroke
-        android:width="0.8dp"
-        android:color="#ffffff" />
-    <!-- 圆角 -->
-    <corners android:radius="6dp" />
-</shape>
diff --git a/app_ipc_monitoring/src/main/res/layout/dialog_autopilot_mode.xml b/app_ipc_monitoring/src/main/res/layout/dialog_autopilot_mode.xml
index b25a35f542..f1829fc2dc 100644
--- a/app_ipc_monitoring/src/main/res/layout/dialog_autopilot_mode.xml
+++ b/app_ipc_monitoring/src/main/res/layout/dialog_autopilot_mode.xml
@@ -3,7 +3,7 @@
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:layout_width="match_parent"
     android:layout_height="wrap_content"
-    android:background="@drawable/bg_dialog">
+    android:background="@drawable/bg_adas_dialog">
 
     <TextView
         android:id="@+id/title"
diff --git a/app_ipc_monitoring/src/main/res/layout/item_main.xml b/app_ipc_monitoring/src/main/res/layout/item_main.xml
index 8652ca51b5..2c33569728 100644
--- a/app_ipc_monitoring/src/main/res/layout/item_main.xml
+++ b/app_ipc_monitoring/src/main/res/layout/item_main.xml
@@ -6,23 +6,42 @@
     android:focusable="true"
     android:focusableInTouchMode="true">
 
-    <TextView
-        android:id="@+id/title"
+    <LinearLayout
+        android:id="@+id/title_layout"
         android:layout_width="wrap_content"
         android:layout_height="match_parent"
         android:layout_marginStart="10dp"
         android:gravity="center_vertical"
-        android:text="@string/app_name"
-        android:textColor="@color/colorWhile"
-        android:textSize="18dp"
-        android:textStyle="bold" />
+        android:orientation="vertical">
+
+        <TextView
+            android:id="@+id/title"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:gravity="center_vertical"
+            android:text="@string/app_name"
+            android:textColor="@color/colorWhile"
+            android:textSize="18sp"
+            android:textStyle="bold" />
+
+        <TextView
+            android:id="@+id/background"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginTop="5dp"
+            android:text="后台运行："
+            android:textColor="@color/colorWhile"
+            android:textSize="12sp"
+            android:textStyle="bold" />
+    </LinearLayout>
+
 
     <ImageView
         android:id="@+id/role"
         android:layout_width="22dp"
         android:layout_height="match_parent"
         android:layout_marginStart="5dp"
-        android:layout_toEndOf="@id/title"
+        android:layout_toEndOf="@id/title_layout"
         android:scaleType="centerInside"
         android:src="@drawable/selector_role" />
 
diff --git a/app_ipc_monitoring/src/main/res/layout/layout_float.xml b/app_ipc_monitoring/src/main/res/layout/layout_float.xml
index 9cbebe07f8..7e199841eb 100644
--- a/app_ipc_monitoring/src/main/res/layout/layout_float.xml
+++ b/app_ipc_monitoring/src/main/res/layout/layout_float.xml
@@ -2,7 +2,7 @@
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="wrap_content"
     android:layout_height="wrap_content"
-    android:background="@drawable/bg_float"
+    android:background="@drawable/bg_adas_dialog"
     android:orientation="vertical">
 
 
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
index 43db57e5bd..5a33c42d23 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -176,6 +176,8 @@ class MoGoAutopilotProvider :
         AsyncDataToAutopilotServer.INSTANCE.initServer()
         // 同步是否开启美化模式
         setDemoMode(FunctionBuildConfig.isDemoMode)
+        // 同步是否开启雨天模式
+        setRainMode(FunctionBuildConfig.isRainMode)
     }
 
     /**
@@ -259,7 +261,8 @@ class MoGoAutopilotProvider :
             trafficLightResult.laneNo,
             trafficLightResult.arrowNo,
             trafficLightResult.flashYellow,
-            trafficLightResult.toTrafficLightDetail()
+            trafficLightResult.toTrafficLightDetail(),
+            trafficLightResult.timeStamp
         )
     }
 
@@ -355,6 +358,27 @@ class MoGoAutopilotProvider :
         }
     }
 
+    /**
+     * 雨天模式
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     */
+    override fun setRainMode(isEnable: Boolean) {
+        if(isEnable){
+            AdasManager.getInstance().sendRainModeReq(1)
+        }else{
+            AdasManager.getInstance().sendRainModeReq(0)
+        }
+    }
+
+    /**
+     * 发送工控机所有节点重启命令
+     */
+    override fun sendIpcReboot() {
+        //重启所有节点
+        AdasManager.getInstance().sendSystemCmdReq(MessagePad.SystemCmdType.SYSTEMCMD_REBOOT)
+    }
+
     /**
      * 办公室调试使用，强制开启自动驾驶，将 status，pilotMode，control_pilotMode，强追设置为 1
      * isEnable = true  开启
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
index 87c21dfdf2..ff9e9558c2 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -248,6 +248,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
         CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
     }
 
+    override fun onPointCloud(pointCloud: ByteArray?) {
+        //点云数据透传
+    }
+
     override fun onPlanningObjects(
         header: MessagePad.Header?,
         planningObjects: MessagePad.PlanningObjects?
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
index c1e998d1b7..cc1686d7f7 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -4,8 +4,10 @@ import android.annotation.SuppressLint
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.autopilot.network.AdasServiceModel
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_ADAS_IMPL
@@ -50,7 +52,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
             syncBasicInfoToAutopilot()
             // 开启轮询上传自动驾驶状态
             updateDriveStatusTask()
-
+            //每次工控机连接成功后，需同步当前设置的美化模式状态
+            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            //每次工控机连接成功后，需同步当前设置的雨天模式状态
+            CallerAutoPilotManager.setRainMode(FunctionBuildConfig.isRainMode)
         } else if (ipcConnectionStatus == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             CallerLogger.d("$M_ADAS_IMPL$TAG", "webSocket 连接失败 reason:$reason")
             if (connectStatus) {
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
index dfc51cfcd7..58109c2de8 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
@@ -122,6 +122,7 @@ class TeleMsgHandler : IMsgHandler {
                 if (!isFirstDisc) {
                     isFirstDisc = true
                 }
+                AdasManager.getInstance().startDispatchHandler()
                 ToastUtils.showShort("连接司机屏成功!")
                 invokeNettyConnResult("乘客屏连接司机屏成功")
                 val byteArray = byteArrayOf(0)
@@ -138,14 +139,18 @@ class TeleMsgHandler : IMsgHandler {
                     AppConfigInfo.iPCMacAddress = ""
                     ToastUtils.showLong("断开和司机屏的连接!")
                     invokeNettyConnResult("断开和司机屏的连接!")
+                    AdasManager.getInstance().stopDispatchHandler()
                 }
             }
             ConnectState.STATUS_CONNECT_ERROR -> {
                 AppConfigInfo.plateNumber = ""
                 ToastUtils.showLong("和司机端连接异常!")
                 invokeNettyConnResult("乘客屏和司机屏连接异常，错误为：$content")
+                AdasManager.getInstance().stopDispatchHandler()
+            }
+            else -> {
+                AdasManager.getInstance().stopDispatchHandler()
             }
-            else -> {}
         }
     }
 
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 a9a44777d0..4ea05b2f14 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
@@ -69,7 +69,6 @@ import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import java.text.SimpleDateFormat
 import java.util.*
-import kotlin.collections.ArrayList
 import kotlin.math.abs
 
 /**
@@ -540,9 +539,29 @@ class DebugSettingView @JvmOverloads constructor(
             if (!FunctionBuildConfig.isDemoMode) {
                 tbIsDrawAutopilotTrajectoryData.isChecked = false
             }
-            SharedPrefsMgr.getInstance(context).putBoolean(MoGoConfig.IS_DEMO_MODE, isChecked)
         }
 
+        // 雨天模式，上一次勾选的数据
+        tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode
+        //雨天模式
+        tbIsRainMode.setOnCheckedChangeListener { _, isChecked ->
+            CallerAutoPilotManager.setRainMode(isChecked)
+            FunctionBuildConfig.isRainMode = isChecked
+        }
+        //雨天模式按钮只在司机屏生效，乘客屏不显示
+        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+            tbIsRainMode.visibility = View.GONE
+        }
+
+        //重启工控机所有节点
+        btnIpcReboot.onClick{
+            CallerAutoPilotManager.sendIpcReboot()
+            ToastUtils.showLong("重启命令已发送")
+        }
+        //只在司机端设置工控机节点重启功能
+        if(AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)){
+            btnIpcReboot.visibility = View.GONE
+        }
 
         // 强制绘制引导线
         tbIsDrawAutopilotTrajectoryData.setOnCheckedChangeListener { _, isChecked ->
@@ -612,7 +631,35 @@ class DebugSettingView @JvmOverloads constructor(
         tbDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
         //是否渲染点云数据
         tbDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isDrawPointCloudData = isChecked
+            CallerHDMapManager.setIsDrawPointCloud(isChecked)
+        }
+
+        //设置点云大小
+        btnPointCloudSize.setOnClickListener{
+            val cloudSize = etPointCloudSize.text.toString()
+            if(cloudSize.isEmpty()){
+                ToastUtils.showShort("请输入正确的点云大小")
+            }else{
+                try {
+                    val cloudSizeFloat = cloudSize.toFloat()
+                    CallerHDMapManager.setPointCloudSize(cloudSizeFloat)
+                }catch (e: Exception){
+                    ToastUtils.showShort("点云大小格式输入不正确")
+                }
+            }
+        }
+        //设置点云颜色
+        btnPointCloudColor.setOnClickListener {
+            val cloudColor = etPointCloudColor.text.toString()
+            if(cloudColor.isEmpty()){
+                ToastUtils.showShort("请输入正确的点云颜色")
+            }else{
+                try {
+                    CallerHDMapManager.setPointCloudColor(cloudColor)
+                }catch (e: Exception){
+                    ToastUtils.showShort("点云大小颜色输入不正确")
+                }
+            }
         }
 
         // 模拟自动驾驶中
@@ -986,6 +1033,13 @@ class DebugSettingView @JvmOverloads constructor(
             L.setEnableLog(isChecked)
         }
 
+        /**
+         * 设置是否输出高精地图日志 true-打印日志，false-不打印日志
+         */
+        tbHdMapLog.setOnCheckedChangeListener { _, isChecked ->
+            CallerHDMapManager.setDebugMode(isChecked)
+        }
+
         cbTraceLog.isChecked = CallerDevaToolsManager.getTraceLogStatus()
         //链路Log输出日志
         cbTraceLog.setOnCheckedChangeListener { _, isChecked ->
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 c6a7b0628d..42c19c0815 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
@@ -221,6 +221,27 @@
                 android:textSize="@dimen/dp_24"
                 android:background="@drawable/radio_button_normal_background_right"/>
 
+            <ToggleButton
+                android:id="@+id/tbIsRainMode"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:textColor="#000"
+                android:textOff="开启雨天模式"
+                android:textOn="关闭雨天模式"
+                android:textSize="@dimen/dp_24"
+                android:background="@drawable/radio_button_normal_background_right"/>
+
+            <Button
+                android:id="@+id/btnIpcReboot"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:text="重启IPC节点"
+                android:textSize="@dimen/dp_24"
+                android:background="@drawable/radio_button_normal_background_right"
+                />
+
             <ToggleButton
                 android:id="@+id/tbDeviceBind"
                 android:layout_width="match_parent"
@@ -1527,12 +1548,76 @@
                         app:layout_constraintRight_toRightOf="parent"
                         />
 
+                    <Button
+                        android:id="@+id/btnPointCloudSize"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:gravity="center"
+                        android:padding="@dimen/dp_10"
+                        android:layout_margin="2dp"
+                        android:text="设置点云大小"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintTop_toBottomOf="@id/tbDrawPointCloudData"
+                        app:layout_constraintLeft_toLeftOf="parent"
+                        />
+
+                    <androidx.appcompat.widget.AppCompatEditText
+                        android:id="@+id/etPointCloudSize"
+                        android:layout_width="0dp"
+                        android:layout_height="0dp"
+                        android:layout_marginStart="@dimen/dp_30"
+                        android:layout_marginTop="@dimen/dp_10"
+                        android:layout_marginEnd="@dimen/dp_20"
+                        android:layout_marginBottom="@dimen/dp_10"
+                        android:background="@drawable/debug_setting_edit_bg"
+                        android:gravity="center"
+                        android:hint="请输入点云大小"
+                        android:textColor="#1A1A1A"
+                        android:textSize="14sp"
+                        app:layout_constraintLeft_toRightOf="@id/btnPointCloudSize"
+                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintTop_toTopOf="@id/btnPointCloudSize"
+                        app:layout_constraintBottom_toBottomOf="@id/btnPointCloudSize"
+                        />
+
+                    <Button
+                        android:id="@+id/btnPointCloudColor"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:gravity="center"
+                        android:padding="@dimen/dp_10"
+                        android:layout_margin="2dp"
+                        android:text="设置点云颜色"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintTop_toBottomOf="@id/btnPointCloudSize"
+                        app:layout_constraintLeft_toLeftOf="parent"
+                        />
+
+                    <androidx.appcompat.widget.AppCompatEditText
+                        android:id="@+id/etPointCloudColor"
+                        android:layout_width="0dp"
+                        android:layout_height="0dp"
+                        android:layout_marginStart="@dimen/dp_30"
+                        android:layout_marginTop="@dimen/dp_10"
+                        android:layout_marginEnd="@dimen/dp_20"
+                        android:layout_marginBottom="@dimen/dp_10"
+                        android:background="@drawable/debug_setting_edit_bg"
+                        android:gravity="center"
+                        android:hint="请输入点云颜色"
+                        android:textColor="#1A1A1A"
+                        android:textSize="14sp"
+                        app:layout_constraintLeft_toRightOf="@id/btnPointCloudColor"
+                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintTop_toTopOf="@id/btnPointCloudColor"
+                        app:layout_constraintBottom_toBottomOf="@id/btnPointCloudColor"
+                        />
+
                     <RadioGroup
                         android:id="@+id/rgGpsProvider"
                         android:layout_width="match_parent"
                         android:layout_height="wrap_content"
                         android:orientation="horizontal"
-                        app:layout_constraintTop_toBottomOf="@id/tbChangeAutoPilotStatus">
+                        app:layout_constraintTop_toBottomOf="@id/btnPointCloudColor">
 
                         <RadioButton
                             android:id="@+id/rbGpsProviderAndroid"
@@ -1654,6 +1739,16 @@
                         android:textOn="关闭「OBU」Log"
                         android:textSize="@dimen/dp_24" />
 
+                    <ToggleButton
+                        android:id="@+id/tbHdMapLog"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="2dp"
+                        android:gravity="center"
+                        android:textOff="打开「HD-MAP」Log"
+                        android:textOn="关闭「HD-MAP」Log"
+                        android:textSize="@dimen/dp_24"
+                        />
 
                 </com.google.android.flexbox.FlexboxLayout>
 
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java
index a4dce21da3..7ee58cb4ac 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.java
@@ -21,6 +21,8 @@ import com.mogo.map.IMogoMap;
 import com.mogo.map.IMogoUiSettings;
 import com.mogo.map.MogoMapView;
 import com.mogo.map.uicontroller.IMogoMapUIController;
+import com.zhidaoauto.map.sdk.open.MapAutoApi;
+import com.zhidaoauto.map.sdk.open.business.PointCloudHelper;
 
 /**
  * @author donghongyu
@@ -275,4 +277,30 @@ public class MapFragment extends MvpFragment<MapView, MapPresenter>
         }
     }
 
+    @Override
+    public void setPointCloudSize(float pointCloudSize) {
+        //设置点云大小
+        PointCloudHelper.INSTANCE.setPointCloudSize(pointCloudSize);
+    }
+
+    @Override
+    public void setPointCloudColor(@NonNull String color) {
+        // 设置点云颜色
+        PointCloudHelper.INSTANCE.setPointCloudColor(color);
+    }
+
+    @Override
+    public void setIsDrawPointCloud(boolean isDrawPointCloud) {
+        // 是否绘制点云
+        PointCloudHelper.INSTANCE.setIsDrawPointCloud(isDrawPointCloud);
+    }
+
+    /**
+     * 设置地图是否是Debug模式
+     * @param debugMode 是否开启Debug模式
+     */
+    @Override
+    public void setDebugMode(boolean debugMode) {
+        MapAutoApi.INSTANCE.setDebugMode(debugMode);
+    }
 }
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
index 2b13a45f9e..4298b23cd2 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -102,6 +102,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                 V2XManager.init(V2XConfig.Builder().also {
                     it.aiCloudConfig(MoGoAiCloudClientConfig.getInstance())
                     it.context(context)
+                    it.loggable(true)
                     it.distanceForTriggerRefresh(200f) //行驶超过200（包含）米，刷新道路周边信息（短链请求）
                     it.durationForTriggerRefresh(
                         60,
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index 3c7cd675c6..32c858e10d 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -8,7 +8,7 @@ package com.mogo.eagle.core.data.config
 object FunctionBuildConfig {
 
     /**
-     * 是否是演示（美化）模式，会存在SP中，方便做现场恢复
+     * 是否是演示（美化）模式
      * 1.当点击【开始服务（taxi）/滑动出发（bus）】btn后，不管实际自动驾驶按钮「state值」如何变更，自动驾驶按钮都呈现2的状态。
      *    只是自动驾驶按钮的样式为2-被选中的状态
      *    若点击，则可继续向自动驾驶系统发送启动自动驾驶的命令。
@@ -18,6 +18,17 @@ object FunctionBuildConfig {
     @JvmField
     var isDemoMode = false
 
+    /**
+     * 是否是雨天模式
+     * 默认关闭
+     * 打开后可实现过滤到误检的雨天水花，带来两个效果变化：
+     * 1、鹰眼感知到的误识别物体减少
+     * 2、自动驾驶因为水花误识别导致的点刹减少
+     */
+    @Volatile
+    @JvmField
+    var isRainMode = false
+
     /**
      * 当前APP的身份模式
      *
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MoGoConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MoGoConfig.kt
index 815eb08e8e..9ab0e0bd07 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MoGoConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MoGoConfig.kt
@@ -17,9 +17,6 @@ object MoGoConfig {
     // CMD全量日志抓取当时时间
     const val CATCH_LOG_TIME = "CATCH_LOG_TIME"
 
-    // 是否是演示（美化）模式，会存在SP中，方便做现场恢复
-    const val IS_DEMO_MODE = "IS_DEMO_MODE"
-
     //根据加速度判断是否刹车阈值
     const val BRAKE_ACCELERATION_THRESHOLD = "BRAKE_ACCELERATION_THRESHOLD"
 
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt
index 376379889b..bea0fc16be 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/trafficlight/TrafficLightResult.kt
@@ -40,6 +40,7 @@ data class TrafficLightResult(
     val laneNo: Int,                 //车道号
     val arrowNo: Int,                //当前车道对应地面要素转向
     val laneList: TrafficLightDetail,  //灯态具体信息
-    val flashYellow: Int// 黄灯总时间
+    val flashYellow: Int,// 黄灯总时间
+    val timeStamp: Long //当前卫星时间，单位:ms
 ) {
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
index 6a0541fe02..d37b549ea0 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
@@ -120,6 +120,18 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      */
     fun setDemoMode(isEnable: Boolean)
 
+    /**
+     * 雨天模式
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     */
+    fun setRainMode(isEnable: Boolean)
+
+    /**
+     * 发送工控机所有节点重启命令
+     */
+    fun sendIpcReboot()
+
     /**
      * 办公室调试使用，强制开启自动驾驶，将 status，pilotmode，control_pilotmode，强追设置为 1
      * isEnable = true  开启
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/hd/IMoGoMapFragmentProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/hd/IMoGoMapFragmentProvider.kt
index 02290028c1..b5c8e24b28 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/hd/IMoGoMapFragmentProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/hd/IMoGoMapFragmentProvider.kt
@@ -42,4 +42,33 @@ interface IMoGoMapFragmentProvider : IMoGoFunctionServerProvider {
      * @param isDayMode true-白天模式，false-夜间模式
      */
     fun stepInVrMode(isDayMode: Boolean)
+
+    /**
+     * 打开点云绘制
+     *
+     * @param isDrawPointCloud 是否绘制点云
+     */
+    fun setIsDrawPointCloud(isDrawPointCloud: Boolean)
+
+    /**
+     * 设制点云大小
+     *
+     * @param pointCloudSize 点云的点大小
+     */
+    fun setPointCloudSize(pointCloudSize: Float)
+
+
+    /**
+     * 设置点云颜色
+     *
+     * @param color // color:"#RRGGBB*
+     */
+    fun setPointCloudColor(color: String)
+
+    /**
+     * 设置地图是否是Debug模式
+     * @param debugMode 是否开启Debug模式
+     */
+    fun setDebugMode(debugMode: Boolean)
+
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
index 9e5ddeecd9..aef03abc58 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
@@ -156,6 +156,22 @@ object CallerAutoPilotManager {
         providerApi?.setDemoMode(isEnable)
     }
 
+    /**
+     * 雨天模式
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     */
+    fun setRainMode(isEnable: Boolean){
+        providerApi?.setRainMode(isEnable)
+    }
+
+    /**
+     * 发送工控机所有节点重启命令
+     */
+    fun sendIpcReboot(){
+        providerApi?.sendIpcReboot()
+    }
+
     /**
      * 办公室调试使用，强制开启自动驾驶，将 status，pilotmode，control_pilotmode，强追设置为 1
      * isEnable = true  开启
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerHDMapManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerHDMapManager.kt
index f407c14c38..df54eda5aa 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerHDMapManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerHDMapManager.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.map
 
 import androidx.annotation.RawRes
 import com.alibaba.android.arouter.launcher.ARouter
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
 import com.mogo.eagle.core.data.map.CenterLine
 import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
@@ -58,4 +59,40 @@ object CallerHDMapManager : CallerBase() {
     fun stepInVrMode(isDayMode: Boolean) {
         return mapProviderApi.stepInVrMode(isDayMode)
     }
+
+    /**
+     *
+     * 打开点云绘制
+     *
+     * @param isDrawPointCloud 是否绘制点云
+     */
+    fun setIsDrawPointCloud(isDrawPointCloud: Boolean) {
+        FunctionBuildConfig.isDrawPointCloudData = isDrawPointCloud
+        return mapProviderApi.setIsDrawPointCloud(isDrawPointCloud)
+    }
+
+    /**
+     * 设制点云大小
+     * @param pointCloudSize 点云的点大小
+     */
+    fun setPointCloudSize(pointCloudSize: Float) {
+        return mapProviderApi.setPointCloudSize(pointCloudSize)
+    }
+
+    /**
+     * 设置点云颜色
+     *
+     * @param color // color:"#RRGGBB*
+     */
+    fun setPointCloudColor(color: String) {
+        return mapProviderApi.setPointCloudColor(color)
+    }
+
+    /**
+     * 设置地图是否是Debug模式
+     * @param debugMode 是否开启Debug模式
+     */
+    fun setDebugMode(debugMode: Boolean){
+        return mapProviderApi.setDebugMode(debugMode)
+    }
 }
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index 023b0f0e9f..7c8aeaa61c 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -63,26 +63,26 @@ SERVICE_CHAIN_VERSION=1.1.0
 LOGLIB_VERSION=1.3.0
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.1
+MOGO_NETWORK_VERSION=1.4.3.3
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.1
+MOGO_PASSPORT_VERSION=1.4.3.3
 # 常链接
-MOGO_SOCKET_VERSION=1.4.1
+MOGO_SOCKET_VERSION=1.4.3.3
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.1
+MOGO_REALTIME_VERSION=1.4.3.3
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.1
+MOGO_TANLU_VERSION=1.4.3.3
 # 直播推流
-MOGO_LIVE_VERSION=1.4.1
+MOGO_LIVE_VERSION=1.4.3.3
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.1
+MOGO_TRAFFICLIVE_VERSION=1.4.3.3
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.1
+MOGO_LOCATION_VERSION=1.4.3.3
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.1
+MOGO_TELEMATIC_VERSION=1.4.3.3
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.2.0.7
+MAP_SDK_VERSION=2.2.0.9
 MAP_SDK_OPERATION_VERSION=1.0.13
 # websocket
 WEBSOCKET_VERSION=1.1.7
@@ -155,7 +155,7 @@ MOGO_OCH_TAXI_VERSION=2.0.66
 # mogoAiCloud sdk services
 MOGO_AICLOUD_SERVICES_SDK_VERSION=2.1.16.10
 # v2x-sdk
-MOGO_V2X_SDK_VERSION=1.4.1
+MOGO_V2X_SDK_VERSION=1.4.3.3
 ################# 旧版本架构模块版本 #################
 
 
diff --git a/libraries/mogo-adas-backgrounder-permission/.gitignore b/libraries/mogo-adas-backgrounder-permission/.gitignore
new file mode 100644
index 0000000000..796b96d1c4
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/.gitignore
@@ -0,0 +1 @@
+/build
diff --git a/libraries/mogo-adas-backgrounder-permission/README.md b/libraries/mogo-adas-backgrounder-permission/README.md
new file mode 100644
index 0000000000..2014927e77
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/README.md
@@ -0,0 +1,463 @@
+#### 说明
+# ADAS LIB
+## 与工控机交互LIB
+
+# 使用方法参见【app_ipc_monitoring】中的代码
+
+## 可用接口
+~~~java
+    /**
+     * 设置多设备监听
+     *
+     * @param l 监听
+     */
+    AdasManager.getInstance().setOnMultiDeviceListener(OnMultiDeviceListener l);
+~~~
+~~~java
+    /**
+     * 设置工控机数据监听
+     *
+     * @param l 监听
+     */
+    AdasManager.getInstance().setOnAdasListener(OnAdasListener l);
+~~~
+~~~java
+    /**
+     * 创建一个连接
+     *
+     * @param options                     连接参数
+     * @param onAdasConnectStatusListener 连接状态监听
+     */
+    AdasManager.getInstance().create(AdasOptions options, OnAdasConnectStatusListener onAdasConnectStatusListener);
+~~~
+~~~java
+    /**
+     * ADAS LIB 版本
+     *
+     * @return 版本
+     */
+    AdasManager.getInstance().getAdasVersion();
+~~~
+~~~java
+    /**
+     * 获取协议版本
+     *
+     * @return 版本
+     */
+    AdasManager.getInstance().getProtocolVersion();
+~~~
+~~~java
+    /**
+     * 获取工控机配置信息
+     *
+     * @return 配置信息 未连接为null 断开连接会清空
+     */
+    AdasManager.getInstance().getCarConfig();
+~~~
+~~~java
+    /**
+     * 连接工控机
+     */
+    AdasManager.getInstance().connect();
+~~~
+~~~java
+    /**
+     * 与工控机断开连接
+     */
+    AdasManager.getInstance().disconnect();
+~~~
+~~~java
+    /**
+     * 获取当前工控机的链接状态
+     *
+     * @return {@link Constants.IPC_CONNECTION_STATUS}
+     */
+    AdasManager.getInstance().getIpcConnectionStatus();
+~~~
+~~~java
+
+    /**
+     * Log是否开启打印
+     */
+    AdasManager.getInstance().setEnableLog(boolean isEnableLog);
+~~~
+~~~java
+    /**
+     * 系统命令请求, 比如系统重启，启用新镜像
+     *
+     * @param type SystemCmdType。SYSTEMCMD_REBOOT 重启所有节点
+     *             SystemCmdType。SYSTEMCMD_EMPLOY_NEW_IMAGE 使用新镜像（推镜像）
+     *             SystemCmdType。SYSTEMCMD_SHUT_DOWN 关机
+     * @return boolean
+     */
+    AdasManager.getInstance().sendSystemCmdReq(@NonNull MessagePad.SystemCmdType type);
+~~~
+~~~java
+    /**
+     * 解析工控机发送过来的数据
+     * 多设备时使用
+     *
+     * @param bytes 数据
+     */
+    AdasManager.getInstance().parseIPCData(byte[] bytes);
+~~~
+~~~java
+    /**
+     * 获取工控机链接配置
+     *
+     * @return 工控机链接参数
+     */
+    AdasManager.getInstance().getAdasOptions();
+~~~
+~~~java
+    /**
+     * 获取已经链接成功的工控机IP 未连接为null
+     *
+     * @return ip   null:表示未连接
+     */
+    AdasManager.getInstance().getIpcConnectedIp();
+~~~
+~~~java
+    /**
+     * 获取已经链接成功的工控机端口
+     *
+     * @return 端口  未连接为默认端口
+     */
+    AdasManager.getInstance().getIpcConnectedPort();
+~~~
+~~~java
+
+    /**
+     * 自动驾驶设备基础信息应答
+     *
+     * @param sn          SN
+     * @param environment 1: 研发环境, 2:测试环境, 3:生产环境 4:演示环境
+     * @return
+     */
+    AdasManager.getInstance().sendBasicInfoResp(@NonNull String sn, int environment);
+~~~
+~~~java
+    /**
+     * 设置自动驾驶模式 启动自动驾驶
+     *
+     * @param mode      1: enter autopilot mode, 0: quit autopilot mode
+     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param routeInfo 自动驾驶路径信息
+     * @return
+     */
+    AdasManager.getInstance().sendAutoPilotModeReq(int mode, int source, MessagePad.RouteInfo routeInfo);
+~~~
+~~~java
+    /**
+     * 设置演示模式
+     *
+     * @param enable 1: enable, 0: disable
+     * @return
+     */
+    AdasManager.getInstance().sendDemoModeReq(int enable);
+~~~
+~~~java
+    /**
+     * 车机基础信息请求
+     *
+     * @return
+     */
+    AdasManager.getInstance().sendCarConfigReq();
+~~~
+~~~java
+    /**
+     * 记录人工接管原因
+     *
+     * @param key      bag key 唯一标识
+     * @param filename 文件路径
+     * @param reasonID 接管原因id
+     * @param reason   接管原因
+     * @return
+     */
+    AdasManager.getInstance().sendRecordCause(long key, @NonNull String filename, @NonNull String reasonID, @NonNull String reason);
+~~~
+~~~java
+    /**
+     * 同下
+     *
+     * @param id
+     * @param type
+     * @return
+     */
+    AdasManager.getInstance().startRecordPackage(int id, int type);
+~~~
+~~~java
+    /**
+     * 同下
+     *
+     * @param id
+     * @param type
+     * @return
+     */
+    AdasManager.getInstance().startRecordPackage(int id, int duration, int type);
+~~~
+~~~java
+    /**
+     * 同下
+     *
+     * @param id
+     * @param type
+     * @return
+     */
+
+    AdasManager.getInstance().stopRecordPackage(int id, int type);
+~~~
+~~~java
+    /**
+     * 数据采集请求  主动录制Bag包
+     *
+     * @param id       采集id
+     * @param duration 采集时间长
+     * @param type     采集类型, 1:badcase, 2: map; 3: rests
+     * @param isRecord 采集指令, true: 采集, false: 停止采集
+     * @param sustain  是否持续采集
+     * @return
+     */
+
+    AdasManager.getInstance().sendRecordData(int id, int duration, int type, boolean isRecord);
+~~~
+~~~java
+    /**
+     * 设置自动驾驶最大速度
+     *
+     * @param speedLimit 最大车辆速度 m/s
+     * @return
+     */
+    AdasManager.getInstance().sendAutopilotSpeedReq(double speedLimit);
+~~~
+~~~java
+    /**
+     * 发送红绿灯数据到工控机
+     *
+     * @param crossID     roadID
+     * @param latitude
+     * @param longitude
+     * @param heading     红绿灯方向
+     * @param direction   路的航向角
+     * @param lightId     红绿灯ID
+     * @param laneNo      车道号
+     * @param arrowNo     当前车道对应地面要素转向
+     * @param flashYellow 黄灯总时间
+     * @param laneDetail  灯态具体信息
+     * @return
+     */
+    AdasManager.getInstance().sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail);
+~~~
+~~~java
+    /**
+     * 自动驾驶路径请求
+     *
+     * @return
+     */
+    AdasManager.getInstance().sendGlobalPathReq();
+~~~
+~~~java
+    /**
+     * 获取工控机固定IP列表
+     *
+     * @return 返回默认工控机IP列表
+     */
+    AdasManager.getInstance().getIPCFixationIPList(Context context);
+~~~
+~~~java
+    /**
+     * 增加工控机固定IP
+     *
+     * @param ipcIP IP
+     */
+    AdasManager.getInstance().addIPCFixationIP(Context context, String ipcIP);
+~~~
+~~~java
+    /**
+     * 删除指定的工控机固定IP
+     *
+     * @param ipcIP IP
+     */
+    AdasManager.getInstance().delIPCFixationIP(Context context, String ipcIP);
+~~~
+~~~java
+    /**
+     * 删除所有工控机固定IP
+     */
+    AdasManager.getInstance().delIPCFixationIP(Context context);
+~~~
+
+
+## OnAdasListener
+### 工控机数据回调
+#### 回调中对象的字段详情参见各个proto文件
+~~~java
+    /**
+     * 自动驾驶局部轨迹 前车引导线
+     *
+     * @param header     头
+     * @param trajectory 数据
+     */
+    void onTrajectory(MessagePad.Header header, MessagePad.Trajectory trajectory);
+~~~
+~~~java
+    /**
+     * 障碍物 他车数据
+     *
+     * @param header         头
+     * @param trackedObjects 数据
+     */
+    void onTrackedObjects(MessagePad.Header header, MessagePad.TrackedObjects trackedObjects);
+~~~
+~~~java
+    /**
+     * 惯导信息
+     *
+     * @param header   头
+     * @param gnssInfo 数据
+     */
+    void onGnssInfo(MessagePad.Header header, MessagePad.GnssInfo gnssInfo);
+~~~
+~~~java
+    /**
+     * 底盘信息, 透传底盘状态，pb参考底盘
+     *
+     * @param header       头
+     * @param vehicleState 数据
+     */
+    void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState);
+~~~
+~~~java
+    /**
+     * 自动驾驶状态
+     *
+     * @param header         头
+     * @param autopilotState 数据
+     */
+    void onAutopilotState(MessagePad.Header header, MessagePad.AutopilotState autopilotState);
+~~~
+~~~java
+    /**
+     * 监控事件报告
+     *
+     * @param header            头
+     * @param mogoReportMessage 数据
+     */
+    void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage);
+~~~
+~~~java
+    /**
+     * 感知红绿灯
+     *
+     * @param header        头
+     * @param trafficLights 感知红绿灯
+     */
+    void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
+~~~
+~~~java
+    /**
+     * 他车轨迹预测
+     *
+     * @param header        头
+     * @param predictionObjects 他车轨迹预测数据
+     */
+    void onPredictionObstacleTrajectory(MessagePad.Header header, Prediction.mPredictionObjects predictionObjects);
+~~~
+~~~java
+    /**
+     * 自动驾驶设备基础信息请求
+     *
+     * @param header       头
+     * @param basicInfoReq 数据 目前没有任何参数
+     */
+    void onBasicInfoReq(MessagePad.Header header, MessagePad.BasicInfoReq basicInfoReq);
+~~~
+~~~java
+    /**
+     * 车机基础信息应答
+     *
+     * @param header        头
+     * @param carConfigResp 数据
+     */
+    void onCarConfigResp(MessagePad.Header header, MessagePad.CarConfigResp carConfigResp);
+~~~
+~~~java
+    /**
+     * 数据采集结果
+     *
+     * @param header      头
+     * @param recordPanel 数据
+     */
+    void onRecordResult(MessagePad.Header header, RecordPanelOuterClass.RecordPanel recordPanel);
+~~~
+~~~java
+    /**
+     * 自动驾驶路径应答
+     *
+     * @param header         头
+     * @param globalPathResp 数据
+     */
+    void onGlobalPathResp(MessagePad.Header header, MessagePad.GlobalPathResp globalPathResp);
+~~~
+~~~java
+    /**
+     * 报警信息
+     * 暂时保留，目前没有使用
+     *
+     * @param header 头
+     * @param warn   数据
+     */
+    @Deprecated
+    void onWarn(MessagePad.Header header, MessagePad.Warn warn);
+~~~
+~~~java
+    /**
+     * 到站提醒 自动驾驶站点
+     *
+     * @param header              头
+     * @param arrivalNotification 数据
+     */
+    void onArrivalNotification(MessagePad.Header header, MessagePad.ArrivalNotification arrivalNotification);
+~~~
+~~~java
+    /**
+     * 向IPC发送命令返回结果
+     *
+     * @param info
+     */
+    void onSSHResult(SSHResult info);
+~~~
+~~~java
+    /**
+     * 数据错误
+     *
+     * @param status 错误原因
+     * @param bytes  原始数据
+     */
+    void onError(ProtocolStatus status, byte[] bytes);
+~~~
+
+## OnAdasConnectStatusListener
+### 连接状态监听
+~~~java
+    /**
+     * 与工控机链接状态变化
+     *
+     * @param ipcConnectionStatus {@link Constants.IPC_CONNECTION_STATUS}
+     * @param reason              连接信息 需要判null
+     *                            如果ipcConnectionStatus==Constants.IPC_CONNECTION_STATUS.DISCONNECTED&&reason==null 表示主动断开连接
+     */
+    void onConnectionIPCStatus(@Define.IPCConnectionStatus int ipcConnectionStatus, @Nullable String reason);
+~~~
+
+## OnMultiDeviceListener
+### 多设备链接监听
+~~~java
+    /**
+     * 转发工控机消息
+     * 如果是客户端此回调不会被调用
+     *
+     * @param bytes 数据
+     */
+    void onForwardingIPCMessage(byte[] bytes);
+~~~
\ No newline at end of file
diff --git a/libraries/mogo-adas-backgrounder-permission/build.gradle b/libraries/mogo-adas-backgrounder-permission/build.gradle
new file mode 100644
index 0000000000..c58c14698e
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/build.gradle
@@ -0,0 +1,36 @@
+plugins {
+    id 'com.android.library'
+}
+
+android {
+    compileSdkVersion rootProject.ext.android.compileSdkVersion
+    // buildToolsVersion rootProject.ext.android.buildToolsVersion
+
+    defaultConfig {
+        minSdkVersion 21
+        targetSdkVersion rootProject.ext.android.targetSdkVersion
+//        versionCode Integer.valueOf(VERSION_CODE)
+//        versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
+//
+//        buildConfigField "String", "AP_VERSION", "\"${AP_VERSION}\""
+        versionCode rootProject.versionCode as int
+        versionName rootProject.versionName
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+        consumerProguardFiles 'consumer-rules.pro'
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+
+
+}
+
+dependencies {
+    implementation fileTree(dir: 'libs', include: ['*.jar'])
+    implementation rootProject.ext.dependencies.androidxappcompat
+
+}
diff --git a/libraries/mogo-adas-backgrounder-permission/consumer-rules.pro b/libraries/mogo-adas-backgrounder-permission/consumer-rules.pro
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/libraries/mogo-adas-backgrounder-permission/gradle.properties b/libraries/mogo-adas-backgrounder-permission/gradle.properties
new file mode 100644
index 0000000000..0d60ce4aee
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/gradle.properties
@@ -0,0 +1,3 @@
+GROUP=com.mogo.adas
+POM_ARTIFACT_ID=mogo-adas
+VERSION_CODE=1
\ No newline at end of file
diff --git a/libraries/mogo-adas-backgrounder-permission/proguard-rules.pro b/libraries/mogo-adas-backgrounder-permission/proguard-rules.pro
new file mode 100644
index 0000000000..f10712073b
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/proguard-rules.pro
@@ -0,0 +1,26 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
+
+#-----MogoMap-----
+-keep class com.mogo.map.MogoNavi{
+   private <init>();
+}
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/AndroidManifest.xml b/libraries/mogo-adas-backgrounder-permission/src/main/AndroidManifest.xml
new file mode 100644
index 0000000000..da52cf04c3
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/AndroidManifest.xml
@@ -0,0 +1,14 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.zhidao.support.adas.high.permission">
+
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.REQUEST_IGNORE_BATTERY_OPTIMIZATIONS" />
+
+    <application>
+
+        <activity
+            android:name=".dialog.PermissionLongBackgroundRunningDialog"
+            android:theme="@style/PermissionLongBackgroundRunningDialogStyle" />
+
+    </application>
+</manifest>
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/java/com/zhidao/support/adas/high/permission/BackgrounderPermission.java b/libraries/mogo-adas-backgrounder-permission/src/main/java/com/zhidao/support/adas/high/permission/BackgrounderPermission.java
new file mode 100644
index 0000000000..8f3436b394
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/java/com/zhidao/support/adas/high/permission/BackgrounderPermission.java
@@ -0,0 +1,111 @@
+package com.zhidao.support.adas.high.permission;
+
+import android.content.Context;
+import android.content.Intent;
+import android.net.ConnectivityManager;
+import android.net.Uri;
+import android.os.PowerManager;
+import android.provider.Settings;
+import android.util.Log;
+
+import com.zhidao.support.adas.high.permission.dialog.PermissionLongBackgroundRunningDialog;
+
+
+/**
+ * 长时间后台运行权限检查
+ */
+public class BackgrounderPermission {
+
+
+
+    public void showPermissionLongBackgroundRunningDialog(Context context) {
+        Intent intent = new Intent(context, PermissionLongBackgroundRunningDialog.class);
+        context.startActivity(intent);
+
+    }
+
+
+    /**
+     * 获取当前是否开启电池优化
+     *
+     * @param context 上下文
+     * @return 否在设备的电源白名单上 true 表示未优化
+     */
+    public boolean isIgnoringBatteryOptimizations(Context context) {
+        boolean isIgnoring = false;
+        PowerManager powerManager = (PowerManager) context.getSystemService(Context.POWER_SERVICE);
+        if (powerManager != null) {
+            isIgnoring = powerManager.isIgnoringBatteryOptimizations(context.getPackageName());
+        }
+        return isIgnoring;
+    }
+
+    /**
+     * 申请 关闭电池优化权限
+     *
+     * @param context
+     */
+    public void requestIgnoreBatteryOptimizations(Context context) {
+        Intent intent = new Intent(Settings.ACTION_REQUEST_IGNORE_BATTERY_OPTIMIZATIONS);
+        intent.setData(Uri.parse("package:" + context.getPackageName()));
+        context.startActivity(intent);
+    }
+
+    /**
+     * 是否忽略计费网络限制
+     * 后台运行时网络限制
+     *
+     * @param context
+     * @return
+     */
+
+    public boolean isIgnoringMeteredNetworkRestrictions(Context context) {
+        ConnectivityManager connMgr = (ConnectivityManager) context.getSystemService(Context.CONNECTIVITY_SERVICE);
+        // 检查设备是否在计费网络
+//        if (connMgr.isActiveNetworkMetered()) {
+        // Checks user’s Data Saver settings.
+        switch (connMgr.getRestrictBackgroundStatus()) {
+            case ConnectivityManager.RESTRICT_BACKGROUND_STATUS_ENABLED:
+                // 用户已为此应用启用流量节省程序。应用应努力限制前台流量消耗，并妥善处理后台流量消耗限制。
+                Log.i("Permission", "用户已为此应用启用流量节省程序。应用应努力限制前台流量消耗，并妥善处理后台流量消耗限制。");
+                return false;
+            case ConnectivityManager.RESTRICT_BACKGROUND_STATUS_WHITELISTED:
+                // 用户已启用流量节省程序，但应用在白名单中。应用应努力限制前台和后台流量消耗。
+                Log.i("Permission", "用户已启用流量节省程序，但应用在白名单中。应用应努力限制前台和后台流量消耗。");
+                return false;
+            case ConnectivityManager.RESTRICT_BACKGROUND_STATUS_DISABLED:
+                // 流量节省程序已停用。
+                Log.i("Permission", "流量节省程序已停用。");
+                return true;
+        }
+//        } else {
+//            // 设备不在计费网络，为所欲为
+//            Log.i("Permission","设备不在计费网络，为所欲为");
+//            return true;
+//        }
+        Log.i("dddd", "其他");
+        return false;
+    }
+
+    /**
+     * 除非应用的核心功能受到不利影响，否则 Google Play 政策禁止应用请求直接豁免 Android 6.0+ 中的电源管理功能（低电耗模式和应用待机模式）
+     */
+    public static void requestAddDataSaverWhite(Context context) {
+//        ConnectivityManager connMgr = (ConnectivityManager) context.getSystemService(Context.CONNECTIVITY_SERVICE);
+//        if (connMgr != null && connMgr.getRestrictBackgroundStatus() == ConnectivityManager.RESTRICT_BACKGROUND_STATUS_ENABLED) {
+        Intent intent = new Intent(Settings.ACTION_IGNORE_BACKGROUND_DATA_RESTRICTIONS_SETTINGS);
+        intent.setData(Uri.parse("package:" + context.getPackageName()));
+        context.startActivity(intent);
+//        }
+    }
+
+    /**
+     * 是否允许长时间后台运行
+     *
+     * @param context 上下文
+     * @return
+     */
+    public boolean isPermissionLongBackgroundRunning(Context context) {
+        return isIgnoringBatteryOptimizations(context) && isIgnoringMeteredNetworkRestrictions(context);
+    }
+}
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/java/com/zhidao/support/adas/high/permission/dialog/PermissionLongBackgroundRunningDialog.java b/libraries/mogo-adas-backgrounder-permission/src/main/java/com/zhidao/support/adas/high/permission/dialog/PermissionLongBackgroundRunningDialog.java
new file mode 100644
index 0000000000..853c043a76
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/java/com/zhidao/support/adas/high/permission/dialog/PermissionLongBackgroundRunningDialog.java
@@ -0,0 +1,41 @@
+package com.zhidao.support.adas.high.permission.dialog;
+
+import android.os.Bundle;
+
+import androidx.annotation.Nullable;
+import androidx.appcompat.app.AppCompatActivity;
+
+import com.zhidao.support.adas.high.permission.R;
+
+/**
+ * 数据用量及电池优化 权限申请
+ * 高版本Android系统会针对熄屏、休眠或后台 对电池WiFi等进行优化，长时间网络可能会断开连接
+ */
+public class PermissionLongBackgroundRunningDialog extends AppCompatActivity {
+    @Override
+    protected void onCreate(@Nullable Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        overridePendingTransition(R.anim.dialog_in, R.anim.dialog_out);
+        setContentView(R.layout.dialog_adas_permission_long_background_running);
+//        //设置弹出窗口与屏幕对齐
+//        Window win = this.getWindow();
+//        int density = (int) (getResources().getDisplayMetrics().density + 0.5f);
+////设置内边距，这里设置为10dp
+//        win.getDecorView().setPadding(10 * density, 10 * density, 10 * density, 10 * density);
+//        WindowManager.LayoutParams lp = win.getAttributes();
+////设置窗口宽度
+//        lp.width = WindowManager.LayoutParams.MATCH_PARENT;
+////设置窗口高度
+//        lp.height = WindowManager.LayoutParams.WRAP_CONTENT;
+////设置Dialog位置
+//        lp.gravity = Gravity.TOP;
+//        win.setAttributes(lp);
+    }
+
+    @Override
+    public void finish() {
+        super.finish();
+        //在此时设置转场动画
+        overridePendingTransition(R.anim.dialog_out, R.anim.dialog_in);
+    }
+}
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/res/anim/dialog_in.xml b/libraries/mogo-adas-backgrounder-permission/src/main/res/anim/dialog_in.xml
new file mode 100644
index 0000000000..f50618256d
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/res/anim/dialog_in.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<set xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <translate
+        android:duration="300"
+        android:fromYDelta="50%"
+        android:toYDelta="100%" />
+
+    <alpha
+        android:duration="300"
+        android:fromAlpha="0"
+        android:toAlpha="1" />
+
+</set>
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/res/anim/dialog_out.xml b/libraries/mogo-adas-backgrounder-permission/src/main/res/anim/dialog_out.xml
new file mode 100644
index 0000000000..8134cd1490
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/res/anim/dialog_out.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<set xmlns:android="http://schemas.android.com/apk/res/android">
+
+    <translate
+        android:duration="300"
+        android:fromYDelta="50%"
+        android:toYDelta="0" />
+
+    <alpha
+        android:duration="300"
+        android:fromAlpha="0"
+        android:toAlpha="1" />
+
+</set>
diff --git a/app_ipc_monitoring/src/main/res/drawable/bg_float.xml b/libraries/mogo-adas-backgrounder-permission/src/main/res/drawable/bg_adas_dialog.xml
similarity index 87%
rename from app_ipc_monitoring/src/main/res/drawable/bg_float.xml
rename to libraries/mogo-adas-backgrounder-permission/src/main/res/drawable/bg_adas_dialog.xml
index eeb2ab95b9..cbfb69f454 100644
--- a/app_ipc_monitoring/src/main/res/drawable/bg_float.xml
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/res/drawable/bg_adas_dialog.xml
@@ -3,7 +3,7 @@
     <solid android:color="#FAFFFFFF" />
     <stroke
         android:width="0.8dp"
-        android:color="#A140E0D0" />
+        android:color="#81666666" />
     <!-- 圆角 -->
     <corners android:radius="6dp" />
 </shape>
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/res/layout/dialog_adas_permission_long_background_running.xml b/libraries/mogo-adas-backgrounder-permission/src/main/res/layout/dialog_adas_permission_long_background_running.xml
new file mode 100644
index 0000000000..63b16efa72
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/res/layout/dialog_adas_permission_long_background_running.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:background="@drawable/bg_adas_dialog"
+    android:orientation="vertical">
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="由于系统默认启动了电池优化功能，此功会影响熄屏或休眠后网络连接"
+        android:textColor="#000000" />
+</LinearLayout>
\ No newline at end of file
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/res/values/strings.xml b/libraries/mogo-adas-backgrounder-permission/src/main/res/values/strings.xml
new file mode 100644
index 0000000000..50b092d93d
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/res/values/strings.xml
@@ -0,0 +1,3 @@
+<resources>
+    <string name="app_name">adas-backgrounder-permission</string>
+</resources>
diff --git a/libraries/mogo-adas-backgrounder-permission/src/main/res/values/styles.xml b/libraries/mogo-adas-backgrounder-permission/src/main/res/values/styles.xml
new file mode 100644
index 0000000000..e90d3cb772
--- /dev/null
+++ b/libraries/mogo-adas-backgrounder-permission/src/main/res/values/styles.xml
@@ -0,0 +1,21 @@
+<resources>
+
+    <style name="PermissionLongBackgroundRunningDialogStyle" parent="Theme.AppCompat.Dialog">
+        <!--设置dialog的背景-->
+        <item name="android:windowBackground">@android:color/transparent</item>
+        <!--设置Dialog的windowFrame框为无-->
+        <item name="android:windowFrame">@null</item>
+        <!--设置无标题-->
+        <item name="windowActionBar">false</item>
+        <item name="windowNoTitle">true</item>
+        <!--是否浮现在activity之上-->
+        <item name="android:windowIsFloating">true</item>
+        <!--是否半透明-->
+        <item name="android:windowIsTranslucent">true</item>
+        <!--设置窗口内容不覆盖-->
+        <item name="android:windowContentOverlay">@null</item>
+        <!--背景是否模糊显示-->
+        <item name="android:backgroundDimEnabled">true</item>
+    </style>
+
+</resources>
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 443c7589ea..0184d1fabf 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -40,13 +40,14 @@ enum MessageType
     MsgTypeTrajectoryDownloadReq = 0x10110; //轨迹下载请求
     MsgTypeStatusQueryReq = 0x10111; //状态查询请求
     MsgTypeStatusQueryResp = 0x10112; //状态查询应答
+    MsgTypeSetRainModeReq = 0x10113; //设置雨天模式
 }
 
 message Header
 {
     uint64 msgID = 1; //消息唯一id，自增
     MessageType msgType = 2; //消息类型
-    double timestamp = 3; //telematics消息发送时间, 单位：秒
+    double timestamp = 3; //消息发送时间, 单位：秒
     double sourceTimestamp = 4; //数据源消息发送时间, 单位：秒
 }
 
@@ -298,6 +299,7 @@ message TrafficLightData
     int32 arrowNo = 8; //当前车道对应地面要素转向
     int32 flashYellow = 9; //黄灯总时间
     TrafficLightDetail laneDetail = 10; //灯态具体信息
+    uint64 timestamp =11;//当前卫星时间, 单位: ms
 }
 
 // message definition for MsgTypeWarn
@@ -337,5 +339,9 @@ message StatusQueryReq
 // message definition for MsgTypeStatusQueryResp
 // refer to system_status_info.proto
 
-
+// message definition for MsgTypeSetRainModeReq
+message SetRainModeReq
+{
+    uint32 enable = 1; //1: enable, 0: disable
+}
 
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 d5fb5363e1..8e18ccceb7 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
@@ -3,21 +3,21 @@ syntax = "proto2";
 package system_master;
 
 enum SystemState {
-    SYS_STARTING = 0;
-    SYS_RUNNING = 1;
-    SYS_EXITING = 2;
-    SYS_FAULT = 3;
-    PILOT_READY = 4;
-    AUTO_PILOT_STARTING = 5;
-    AUTO_PILOT_RUNNING = 6;
-    REMOTE_PILOT_STARTING = 7;
-    REMOTE_PILOT_RUNNING = 8;
+    SYS_STARTING = 0;                 //系统正在启动
+    SYS_RUNNING = 1;                  //系统运行中
+    SYS_EXITING = 2;                  //系统正在关闭 例如重启
+    SYS_FAULT = 3;                    //系统异常
+    PILOT_READY = 4;                  //自动驾驶准备就绪，轨迹下载完成，可以开始自动驾驶
+    AUTO_PILOT_STARTING = 5;          //正在开始自动驾驶 自动驾驶命令已下发，正在启动中
+    AUTO_PILOT_RUNNING = 6;           //自动驾驶运行中
+    REMOTE_PILOT_STARTING = 7;        //平行驾驶启动中
+    REMOTE_PILOT_RUNNING = 8;         //平行驾驶运行中
 }
 
 enum HealthState {
-    NORMAL = 0;
-    FAULT = 1;
-    UNKNOW = 2;
+    NORMAL = 0;//正常
+    FAULT = 1;//异常
+    UNKNOW = 2;//未知
 }
 
 message HealthInfo{
@@ -29,19 +29,19 @@ message HealthInfo{
 
 message TopicInfo{
     optional string name = 1;       //topic name
-    optional int32 hz = 2;          
+    optional int32 hz = 2;          //Topic发送的频率
     // optional int32 max_delay = 3;   //unit： msec
 }
 
 message DropTopic{
-    required int32 sum = 1;         //dropped topic sum
+    required int32 sum = 1;         //dropped topic sum  有多少个Topic掉帧
     repeated TopicInfo topic = 2;
 }
 
 
 message StatusInfo {
     required SystemState sys_state=1;        // 当前消息状态
-    repeated HealthInfo health_info=2;       // 健康检查状态信息 
+    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
 }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index 9183294300..84fc8dfe2d 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -61,11 +61,15 @@ import okio.ByteString;
  */
 public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnectListener, IPCFixationIPHelper.IIPCFixationIPListener, DispatchHandler.OnDispatchHandlerListener {
     private static final String TAG = AdasChannel.class.getSimpleName();
+    private static final String THREAD_NAME_DISPATCH_EVENT = "IPCEventDispatchHandler";//除点云单独拆分线程以外都是用此名称
+    private static final String THREAD_NAME_DISPATCH_POINT_CLOUD = "IPCPointCloudDispatchHandler";
+    private static final String THREAD_NAME_DISPATCH_PARSE_POINT_CLOUD = "IPCParsePointCloudDispatchHandler";//解析点云线程 地图支持后将会删除
     private FpgaSocket mSocket;
     private RawUnpack rawUnpack;//业务数据拆包
     private RawPack rawPack;//数据打包
     private DispatchHandler dispatchHandler;//分发
-    private DispatchHandler dispatchHandlerPointCloud;//点云分发
+    private DispatchHandler dispatchHandlerPointCloud;//原始的点云数据分发
+    private DispatchHandler dispatchHandlerParsePointCloud;//解析过的点云数据分发 地图支持后将会删除
     private Timer checkCompatibilityTimer;//检查版本兼容性定时器 连接成功后5秒内等待工控机发送配置信息
     /**
      * 与工控机链接状态
@@ -78,10 +82,6 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     public static final boolean isUseQueue = false;
 
-    /**
-     * 本通道是否启用分发线程 收发和分发拆分成两个线程
-     */
-    public static final boolean ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER = true;
 
     /**
      * 消息工厂
@@ -156,11 +156,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         rawPack = new RawPack();
         //消息工厂
         myMessageFactory = new MyMessageFactory();
-        //司机端以及启用线程分发时
-        if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
-            dispatchHandler = new DispatchHandler(this);
-            dispatchHandlerPointCloud = new DispatchHandler(this);
-        }
+        //启用线程分发
+        dispatchHandler = new DispatchHandler(THREAD_NAME_DISPATCH_EVENT, this);
+        dispatchHandlerPointCloud = new DispatchHandler(THREAD_NAME_DISPATCH_POINT_CLOUD, this);
+        dispatchHandlerParsePointCloud = new DispatchHandler(THREAD_NAME_DISPATCH_PARSE_POINT_CLOUD, this);
     }
 
     /**
@@ -267,16 +266,15 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                         ReceiveTimeoutManager.getInstance().refreshLast(header.getTimestamp());
 //                    CupidLogUtils.w("--->websocket byte read header = " + messageType.toString());
                     //判断是否是司机屏幕，是否切换分发线程
-                    if (!adasOptions.isClient() && ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
-                        if (header.getMsgType() == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
-                            if (dispatchHandlerPointCloud != null)
-                                dispatchHandlerPointCloud.sendRawMessage(raw);
-                        } else {
-                            if (dispatchHandler != null)
-                                dispatchHandler.sendRawMessage(raw);
+                    if (header.getMsgType() == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
+                        if (dispatchHandlerPointCloud != null) {
+                            dispatchHandlerPointCloud.sendRawMessage(raw);
                         }
+                        if (dispatchHandlerParsePointCloud != null)
+                            dispatchHandlerParsePointCloud.sendRawMessage(raw);
                     } else {
-                        dispatchRaw(raw);
+                        if (dispatchHandler != null)
+                            dispatchHandler.sendRawMessage(raw);
                     }
                 } else {
                     callError(raw.getProtocolStatus(), byteString.toByteArray());
@@ -288,37 +286,37 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         }
     }
 
-
     /**
      * 分发和解析
      *
      * @param raw
      */
-    private void dispatchRaw(RawData raw) {
-        try {
-            if (rawUnpack != null) {
-                if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
-                    MessagePad.Header header = raw.getHeader();
-                    MessagePad.MessageType messageType = header.getMsgType();
-                    IMsg iMsg = myMessageFactory.createMessage(messageType);
-                    if (iMsg == null) {
-                        callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
-                        return;
-                    }
-                    iMsg.handlerMsg(raw, mAdasListener);
-                } else {
-                    callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
-                }
-            }
-        } catch (Exception e) {
-            callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
-            CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
-        }
-    }
-
     @Override
-    public void onDispatchRaw(RawData raw) {
-        dispatchRaw(raw);
+    public void onDispatchRaw(String threadName, RawData raw) {
+        //分发点云原始数据
+        if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
+            mAdasListener.onPointCloud(raw.originalData.toByteArray());
+        } else {
+            try {
+                if (rawUnpack != null) {
+                    if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
+                        MessagePad.Header header = raw.getHeader();
+                        MessagePad.MessageType messageType = header.getMsgType();
+                        IMsg iMsg = myMessageFactory.createMessage(messageType);
+                        if (iMsg == null) {
+                            callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
+                            return;
+                        }
+                        iMsg.handlerMsg(raw, mAdasListener);
+                    } else {
+                        callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
+                    }
+                }
+            } catch (Exception e) {
+                callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
+                CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
+            }
+        }
     }
 
     private void callError(ProtocolStatus status, byte[] bytes) {
@@ -475,32 +473,44 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             adasConnectStatusListener.onConnectionIPCStatus(ipcConnectionStatus.get(), reason);
         }
         if (status == Constants.IPC_CONNECTION_STATUS.CONNECTED) {
-            if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
-                if (dispatchHandler != null) {
-                    dispatchHandler.start();
-                }
-                if (dispatchHandlerPointCloud != null) {
-                    dispatchHandlerPointCloud.start();
-                }
-            }
+            startDispatchHandler();
             startCheckCompatibility();
         } else {
             stopCheckCompatibility();
         }
         if (status == Constants.IPC_CONNECTION_STATUS.DISCONNECTED) {
             AdasManager.getInstance().setCarConfig(null);
-            if (ADAS_CHANNEL_IS_USE_DISPATCH_HANDLER) {
-                if (dispatchHandler != null) {
-                    dispatchHandler.stop();
-                }
-                if (dispatchHandlerPointCloud != null) {
-                    dispatchHandlerPointCloud.stop();
-                }
-            }
+            stopDispatchHandler();
         }
         CupidLogUtils.i(TAG, "工控机连接状态 status=" + status + " reason=" + reason);
     }
 
+    @Override
+    public void startDispatchHandler() {
+        if (dispatchHandler != null) {
+            dispatchHandler.start();
+        }
+        if (dispatchHandlerPointCloud != null) {
+            dispatchHandlerPointCloud.start();
+        }
+        if (dispatchHandlerParsePointCloud != null) {
+            dispatchHandlerParsePointCloud.start();
+        }
+    }
+
+    @Override
+    public void stopDispatchHandler() {
+        if (dispatchHandler != null) {
+            dispatchHandler.stop();
+        }
+        if (dispatchHandlerPointCloud != null) {
+            dispatchHandlerPointCloud.stop();
+        }
+        if (dispatchHandlerParsePointCloud != null) {
+            dispatchHandlerParsePointCloud.stop();
+        }
+    }
+
     /**
      * 检查兼容性
      */
@@ -794,12 +804,13 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * @param arrowNo     当前车道对应地面要素转向
      * @param flashYellow 黄灯总时间
      * @param laneDetail  灯态具体信息
+     * @param timestamp   当前卫星时间, 单位: ms
      * @return
      */
     @Override
     public boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude,
                                         @NonNull String heading, @NonNull String direction, int lightId, int laneNo,
-                                        int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail) {
+                                        int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail, long timestamp) {
         if (crossID == null) {
             crossID = "";
         }
@@ -821,6 +832,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         builder.setFlashYellow(flashYellow);
         if (laneDetail != null)
             builder.setLaneDetail(laneDetail);
+        builder.setTimestamp(timestamp);
         MessagePad.TrafficLightData req = builder.build();
         return sendWsMessage(MessageType.TYPE_SEND_TRAFFIC_LIGHT_DATA.typeCode, req.toByteArray());
     }
@@ -875,5 +887,21 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                 .build();
         return sendWsMessage(MessageType.TYPE_SEND_STATUS_QUERY_REQ.typeCode, req.toByteArray());
     }
+
+
+    /**
+     * 设置雨天模式
+     *
+     * @param enable 1: enable, 0: disable
+     * @return boolean
+     */
+    @Override
+    public boolean sendRainModeReq(int enable) {
+        MessagePad.SetRainModeReq req = MessagePad.SetRainModeReq
+                .newBuilder()
+                .setEnable(enable)
+                .build();
+        return sendWsMessage(MessageType.TYPE_SEND_SET_RAIN_MODE_REQ.typeCode, req.toByteArray());
+    }
 }
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
index 2a62193118..b1bcf17274 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -200,6 +200,20 @@ public class AdasManager implements IAdasNetCommApi {
         }
     }
 
+    @Override
+    public void startDispatchHandler() {
+        if (mChannel != null) {
+            mChannel.startDispatchHandler();
+        }
+    }
+
+    @Override
+    public void stopDispatchHandler() {
+        if (mChannel != null) {
+            mChannel.stopDispatchHandler();
+        }
+    }
+
     /**
      * 获取工控机链接配置
      *
@@ -365,11 +379,12 @@ public class AdasManager implements IAdasNetCommApi {
      * @param arrowNo     当前车道对应地面要素转向
      * @param flashYellow 黄灯总时间
      * @param laneDetail  灯态具体信息
+     * @param timestamp   当前卫星时间, 单位: ms
      * @return
      */
     @Override
-    public boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail) {
-        return mChannel != null && mChannel.sendTrafficLightData(crossID, latitude, longitude, heading, direction, lightId, laneNo, arrowNo, flashYellow, laneDetail);
+    public boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude, @NonNull String heading, @NonNull String direction, int lightId, int laneNo, int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail, long timestamp) {
+        return mChannel != null && mChannel.sendTrafficLightData(crossID, latitude, longitude, heading, direction, lightId, laneNo, arrowNo, flashYellow, laneDetail, timestamp);
     }
 
     /**
@@ -416,6 +431,17 @@ public class AdasManager implements IAdasNetCommApi {
         return mChannel != null && mChannel.sendStatusQueryReq();
     }
 
+    /**
+     * 设置雨天模式
+     *
+     * @param enable 1: enable, 0: disable
+     * @return boolean
+     */
+    @Override
+    public boolean sendRainModeReq(int enable) {
+        return mChannel != null && mChannel.sendRainModeReq(enable);
+    }
+
     /**
      * 获取工控机固定IP列表
      *
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
index 1ddceda5c3..363854d6c8 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -157,11 +157,12 @@ public interface IAdasNetCommApi {
      * @param arrowNo     当前车道对应地面要素转向
      * @param flashYellow 黄灯总时间
      * @param laneDetail  灯态具体信息
+     * @param timestamp   当前卫星时间, 单位: ms
      * @return boolean
      */
     boolean sendTrafficLightData(@NonNull String crossID, double latitude, double longitude,
                                  @NonNull String heading, @NonNull String direction, int lightId, int laneNo,
-                                 int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail);
+                                 int arrowNo, int flashYellow, MessagePad.TrafficLightDetail laneDetail, long timestamp);
 
     /**
      * 自动驾驶路径请求
@@ -195,6 +196,13 @@ public interface IAdasNetCommApi {
      */
     boolean sendStatusQueryReq();
 
+    /**
+     * 设置雨天模式
+     *
+     * @param enable 1: enable, 0: disable
+     * @return boolean
+     */
+    boolean sendRainModeReq(int enable);
     // TODO 需求暂停 待讨论
 //    boolean getRoutes();
 
@@ -206,6 +214,16 @@ public interface IAdasNetCommApi {
      */
     void decoderRaw(byte[] bytes);
 
+    /**
+     * 启动分发线程
+     */
+    void startDispatchHandler();
+
+    /**
+     * 停止分发线程
+     */
+    void stopDispatchHandler();
+
     /**
      * Log是否开启打印
      */
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 8525cae391..15e4327228 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
@@ -97,6 +97,13 @@ public interface OnAdasListener {
      */
     void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud);
 
+    /**
+     * 透传的点云数据
+     *
+     * @param pointCloud 原始数据 包括Header+pointCloud
+     */
+    void onPointCloud(byte[] pointCloud);
+
     /**
      * planning障碍物
      *
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 e26edeaa0d..2370b60d8d 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
@@ -42,7 +42,8 @@ public enum MessageType {
     TYPE_SEND_SYSTEM_CMD_REQ(MessagePad.MessageType.MsgTypeSystemCmdReq, "系统命令请求, 比如系统重启，启用新镜像"),
     TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ(MessagePad.MessageType.MsgTypeTrajectoryDownloadReq, "轨迹下载请求"),
     TYPE_SEND_STATUS_QUERY_REQ(MessagePad.MessageType.MsgTypeStatusQueryReq, "状态查询请求"),
-    TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答");
+    TYPE_RECEIVE_STATUS_QUERY_RESP(MessagePad.MessageType.MsgTypeStatusQueryResp, "状态查询应答"),
+    TYPE_SEND_SET_RAIN_MODE_REQ(MessagePad.MessageType.MsgTypeSetRainModeReq, "设置雨天模式");
 
     /**
      * 消息action code
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java
index dd173d2fb7..5c2f349a93 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/thread/DispatchHandler.java
@@ -11,31 +11,29 @@ import com.zhidao.support.adas.high.protocol.RawData;
 
 import java.lang.ref.WeakReference;
 
-import okio.ByteString;
-
 /**
  * 将WebSocket线程分发到工作线程
  */
 public class DispatchHandler {
     public static final int WHAT_DISPATCH_RAW = 0x01;//分发消息 what
-
-
+    private final String name;
+    private final OnDispatchHandlerListener listener;
     private HandlerThread mThread;
     private BaseHandler mBaseHandler;
-    private OnDispatchHandlerListener listener;
 
     public interface OnDispatchHandlerListener {
-        void onDispatchRaw(RawData raw);
+        void onDispatchRaw(String threadName, RawData raw);
     }
 
-    public DispatchHandler(@NonNull OnDispatchHandlerListener listener) {
-        this.listener = listener;
 
+    public DispatchHandler(String name, @NonNull OnDispatchHandlerListener listener) {
+        this.listener = listener;
+        this.name = name;
     }
 
     public void start() {
         if (mThread == null) {
-            mThread = new HandlerThread("IPCEventDispatchHandler");
+            mThread = new HandlerThread(name);
             mThread.start();
             initHandler(mThread.getLooper());
         }
@@ -72,7 +70,7 @@ public class DispatchHandler {
     protected void handleMessage(Message msg) {
         if (msg.what == WHAT_DISPATCH_RAW) {
             if (listener != null) {
-                listener.onDispatchRaw((RawData) msg.obj);
+                listener.onDispatchRaw(name, (RawData) msg.obj);
             }
         }
     }
diff --git a/settings.gradle b/settings.gradle
index f6bf16a6d6..ee421450e5 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -62,6 +62,7 @@ include ':libraries:mogo-map-api'
 include ':libraries:mogo-map'
 include ':libraries:mogo-adas'
 include ':libraries:mogo-adas-data'
+include ':libraries:mogo-adas-backgrounder-permission'
 
 // OLD业务模块
 include ':modules:mogo-module-common'