diff --git a/app/src/main/java/com/mogo/launcher/MogoApplication.java b/app/src/main/java/com/mogo/launcher/MogoApplication.java
index a84d792e64..b21ec92c05 100644
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -32,6 +32,7 @@ import com.mogo.utils.ProcessUtils;
 import com.mogo.utils.UiThreadHandler;
 import com.mogo.utils.logger.LogLevel;
 import com.mogo.utils.logger.Logger;
+import com.mogo.utils.storage.SharedPrefsMgr;
 import com.squareup.leakcanary.LeakCanary;
 import com.zhidao.boot.persistent.lib.PersistentManager;
 import com.zhidao.mogo.module.left.panel.LeftPanelConst;
@@ -141,7 +142,7 @@ public class MogoApplication extends AbsMogoApplication {
         DebugConfig.setNeedLoadGuideModule( BuildConfig.IS_NEED_LOAD_GUIDE_MODULE );
         DebugConfig.setNeedHideAdasWhenShare( BuildConfig.IS_NEED_HIDE_ADAS_WHEN_SHARE );
         DebugConfig.setNeedUploadCoordinatesInTime( BuildConfig.IS_NEED_UPLOAD_COORDINATES_IN_TIME );
-//        DebugConfig.setObuType( BuildConfig.OBU_TYPE );
+        DebugConfig.setObuType(SharedPrefsMgr.getInstance(this).getInt("OBU_TYPE", DebugConfig.OBU_TYPE_CIDI));
     }
 
     @Override
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
index ee43f05a07..5c3f9f57c1 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
@@ -90,6 +90,11 @@ public class DebugConfig {
      */
     public static final int OBU_TYPE_HUALI = 2;
 
+    /**
+     * 大唐高鸿obu 11.11国展
+     */
+    public static final int OBU_TYPE_GOHIGH = 3;
+
     /**
      * 获取网络环境类型
      *
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
index 4da4fe8182..baefe740bc 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -4,15 +4,18 @@ import android.content.Intent;
 import android.graphics.Rect;
 import android.os.Bundle;
 import android.os.Handler;
+import android.os.SystemClock;
 import android.text.TextUtils;
 import android.util.TypedValue;
 import android.view.LayoutInflater;
 import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewGroup;
+import android.widget.Button;
 import android.widget.ImageButton;
 import android.widget.EditText;
 import android.widget.ImageView;
+import android.widget.RadioButton;
 import android.widget.TextView;
 
 import androidx.annotation.NonNull;
@@ -207,6 +210,8 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
 
     private TextView seekHelpNum;
 
+    private View debugPanel;
+
     private AdasNoticeHelper adasNoticeHelper = new AdasNoticeHelper();
     private CameraLiveNoticeHelper mCameraLiveNoticeHelper = new CameraLiveNoticeHelper();
 
@@ -234,6 +239,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
 
         seekHelpGroup = findViewById(R.id.module_ext_id_seek_help_notice_group);
         seekHelpNum = findViewById(R.id.module_ext_id_seek_help_notice_number);
+        debugPanel = findViewById(R.id.debugPanel);
 
         NoMapTopViewShaderHelper.getInstance().initShaderView(findViewById(R.id.module_ext_id_top_container_shader));
 
@@ -472,20 +478,41 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
             }
         });
 
+        debugPanel.setOnClickListener(view -> {
+            if (SystemClock.elapsedRealtime() - lastDebugPanelClickTime > 1000) {
+                debugPanelClickCount = 1;
+            }else{
+                debugPanelClickCount++;
+            }
+
+            lastDebugPanelClickTime = SystemClock.elapsedRealtime();
+
+            if (debugPanelClickCount == 10) {
+                // show panel
+                debugPanelGroup.setVisibility(View.VISIBLE);
+            }
+
+        });
+
+        initDebugPanel();
+
     }
 
+    private int debugPanelClickCount = 0;
+    private long lastDebugPanelClickTime = 0;
+
     private EditText etTimes;
     private Group groupFix;
 
     private void enterVrMode(){
-        tvEnterVrMode.setVisibility(View.GONE);
+//        tvEnterVrMode.setVisibility(View.GONE);
         mMove2CurrentLocation.setVisibility(View.GONE);
         mUploadRoadCondition.setVisibility(View.GONE);
         mWeatherContainer.setVisibility(View.GONE);
         mMsgContainer.setVisibility(View.GONE);
         groupUserHead.setVisibility(View.GONE);
 
-        tvExitVrMode.setVisibility(View.VISIBLE);
+//        tvExitVrMode.setVisibility(View.VISIBLE);
         TopViewAnimHelper.getInstance().enterVrMode();
         TopViewNoLinkageAnimHelper.getInstance().enterVrMode();
         mNaviInfo = vrModeNavInfoView;
@@ -497,14 +524,14 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
 
     private void exitVrMode(){
         EntranceViewHolder.getInstance().forceHideNoticeView();
-        tvEnterVrMode.setVisibility(View.VISIBLE);
+//        tvEnterVrMode.setVisibility(View.VISIBLE);
         mMove2CurrentLocation.setVisibility(View.VISIBLE);
         mUploadRoadCondition.setVisibility(View.VISIBLE);
         groupUserHead.setVisibility(View.VISIBLE);
 //        mWeatherContainer.setVisibility(View.VISIBLE);
 //        mMsgContainer.setVisibility(View.VISIBLE);
 
-        tvExitVrMode.setVisibility(View.GONE);
+//        tvExitVrMode.setVisibility(View.GONE);
         TopViewAnimHelper.getInstance().exitVrMode();
         TopViewNoLinkageAnimHelper.getInstance().exitVrMode();
         mNaviInfo = animNavInfoView;
@@ -1219,4 +1246,68 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
     public void onLocationChanged(MogoLocation location) {
         vrModeNavInfoView.refreshCurrentSpeed((int) (location.getSpeed() * 3.6F));
     }
+
+
+    private Group debugPanelGroup;
+    private ImageButton ibDebugPanelClose;
+    private Button btnOpenLog,btnCloseLog,btnOpenV2XPanel;
+    private RadioButton rbCidi,rbHuali, rbGohigh;
+    private void initDebugPanel() {
+        debugPanelGroup = findViewById(R.id.groupDebugPanel);
+        ibDebugPanelClose = findViewById(R.id.ibDebugPanelClose);
+        btnOpenLog = findViewById(R.id.btnOpenLog);
+        btnCloseLog = findViewById(R.id.btnCloseLog);
+        btnOpenV2XPanel = findViewById(R.id.btnOpenV2xPanel);
+        rbCidi = findViewById(R.id.rbCidiObu);
+        rbHuali = findViewById(R.id.rbHualiObu);
+        rbGohigh = findViewById(R.id.rbGoHighObu);
+
+        ibDebugPanelClose.setOnClickListener(v -> debugPanelGroup.setVisibility(View.GONE));
+
+        btnOpenLog.setOnClickListener(v->{
+            Intent intent = new Intent("com.mogo.ACTION");
+            intent.putExtra("oper", 1);
+            getContext().sendBroadcast(intent);
+            debugPanelGroup.setVisibility(View.GONE);
+        });
+
+        btnCloseLog.setOnClickListener(v -> {
+            Intent intent = new Intent("com.mogo.ACTION");
+            intent.putExtra("oper", 2);
+            getContext().sendBroadcast(intent);
+            debugPanelGroup.setVisibility(View.GONE);
+        });
+
+        btnOpenV2XPanel.setOnClickListener(v -> {
+            Intent intent = new Intent("com.v2x.test_panel_control");
+            intent.putExtra("TextPanelOpenStatus", true);
+            getContext().sendBroadcast(intent);
+            debugPanelGroup.setVisibility(View.GONE);
+        });
+
+        switch (DebugConfig.getObuType()) {
+            case DebugConfig.OBU_TYPE_CIDI:
+                rbCidi.setChecked(true);
+                break;
+            case DebugConfig.OBU_TYPE_HUALI:
+                rbHuali.setChecked(true);
+                break;
+            default:
+                rbGohigh.setChecked(true);
+                break;
+        }
+
+        rbCidi.setOnClickListener(v -> exchangeObuType(DebugConfig.OBU_TYPE_CIDI));
+        rbHuali.setOnClickListener(v -> exchangeObuType(DebugConfig.OBU_TYPE_HUALI));
+        rbGohigh.setOnClickListener(v -> exchangeObuType(DebugConfig.OBU_TYPE_GOHIGH));
+
+    }
+
+    private void exchangeObuType(int obuType) {
+        SharedPrefsMgr.getInstance(getContext()).putInt("OBU_TYPE", obuType);
+        DebugConfig.setObuType(obuType);
+        Intent intent = new Intent("com.mogo.launcher.v2x.action.EXCHANGE_OBU_TYPE");
+        intent.putExtra("obuType", obuType);
+        getContext().sendBroadcast(intent);
+    }
 }
diff --git a/modules/mogo-module-extensions/src/main/res/layout/include_debug_panel.xml b/modules/mogo-module-extensions/src/main/res/layout/include_debug_panel.xml
new file mode 100644
index 0000000000..560df074ee
--- /dev/null
+++ b/modules/mogo-module-extensions/src/main/res/layout/include_debug_panel.xml
@@ -0,0 +1,140 @@
+<?xml version="1.0" encoding="utf-8"?>
+<merge 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"
+    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">
+
+    <View
+        android:id="@+id/debugPanelBg"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:background="#88000000" />
+
+    <ImageButton
+        android:id="@+id/ibDebugPanelClose"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="20dp"
+        android:layout_marginEnd="20dp"
+        android:background="@drawable/module_common_close_selector"
+        app:layout_constraintRight_toRightOf="@id/debugPanelBg"
+        app:layout_constraintTop_toTopOf="@id/debugPanelBg" />
+
+
+    <TextView
+        android:id="@+id/tvLogSetTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="20dp"
+        android:layout_marginTop="20dp"
+        android:text="LOG SET"
+        android:textColor="#fff"
+        android:textSize="30sp"
+        app:layout_constraintLeft_toLeftOf="@id/debugPanelBg"
+        app:layout_constraintTop_toTopOf="@id/debugPanelBg" />
+
+    <Button
+        android:id="@+id/btnOpenLog"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="20dp"
+        android:text="打开日志"
+        android:textColor="#fff"
+        android:textSize="20sp"
+        app:layout_constraintLeft_toLeftOf="@id/tvLogSetTitle"
+        app:layout_constraintTop_toBottomOf="@id/tvLogSetTitle" />
+
+    <Button
+        android:id="@+id/btnCloseLog"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="20dp"
+        android:layout_marginTop="20dp"
+        android:text="关闭日志"
+        android:textColor="#fff"
+        android:textSize="20sp"
+        app:layout_constraintLeft_toRightOf="@id/btnOpenLog"
+        app:layout_constraintTop_toBottomOf="@id/tvLogSetTitle" />
+
+    <TextView
+        android:id="@+id/tvV2xSetTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="20dp"
+        android:text="V2X SET"
+        android:textColor="#fff"
+        android:textSize="30sp"
+        app:layout_constraintLeft_toLeftOf="@id/tvLogSetTitle"
+        app:layout_constraintTop_toBottomOf="@id/btnOpenLog" />
+
+    <Button
+        android:id="@+id/btnOpenV2xPanel"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="20dp"
+        android:text="打开V2X面板"
+        android:textColor="#fff"
+        android:textSize="20sp"
+        app:layout_constraintLeft_toLeftOf="@id/tvV2xSetTitle"
+        app:layout_constraintTop_toBottomOf="@id/tvV2xSetTitle" />
+    <TextView
+        android:id="@+id/tvObuSetTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="20dp"
+        android:text="OBU SET (设置完成后需要重启)"
+        android:textColor="#fff"
+        app:layout_constraintLeft_toLeftOf="@id/btnOpenV2xPanel"
+        app:layout_constraintTop_toBottomOf="@id/btnOpenV2xPanel"
+        android:textSize="30sp" />
+
+    <RadioGroup
+        android:id="@+id/rgObuSet"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="20dp"
+        android:orientation="horizontal"
+        app:layout_constraintLeft_toLeftOf="@id/tvObuSetTitle"
+        app:layout_constraintTop_toBottomOf="@id/tvObuSetTitle">
+
+        <RadioButton
+            android:id="@+id/rbCidiObu"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:checked="true"
+            android:text="Cidi\n(北小营)"
+            android:textColor="#fff"
+            android:textSize="20sp" />
+
+        <Space
+            android:layout_width="20dp"
+            android:layout_height="wrap_content" />
+
+        <RadioButton
+            android:id="@+id/rbHualiObu"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="华砺智行\n(苏州)"
+            android:textColor="#fff"
+            android:textSize="20sp" />
+
+        <Space
+            android:layout_width="20dp"
+            android:layout_height="wrap_content" />
+
+        <RadioButton
+            android:id="@+id/rbGoHighObu"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="大唐高鸿\n(11.11国展)"
+            android:textColor="#fff"
+            android:textSize="20sp" />
+    </RadioGroup>
+    <androidx.constraintlayout.widget.Group
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:id="@+id/groupDebugPanel"
+        android:visibility="gone"
+        tools:visibility="visible"
+        app:constraint_referenced_ids="btnCloseLog,btnOpenLog,btnOpenV2xPanel,tvObuSetTitle,tvLogSetTitle,tvV2xSetTitle,rgObuSet,ibDebugPanelClose,debugPanelBg" />
+</merge>
\ No newline at end of file
diff --git a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
index b1610caf4c..a5fa25e1ed 100644
--- a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
+++ b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
@@ -219,6 +219,7 @@
         android:layout_marginBottom="@dimen/module_ext_enter_vr_mode_margin_bottom"
         android:background="@drawable/module_ext_dw_upload_road_condition_bkg"
         android:gravity="center"
+        android:visibility="gone"
         android:text="VR"
         android:textColor="#fff"
         android:textSize="@dimen/module_ext_enter_vr_mode_text_size"
@@ -352,4 +353,9 @@
         android:visibility="gone"
         app:constraint_referenced_ids="etTimes,btnFix" />
 
+    <include
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        layout="@layout/include_debug_panel" />
+
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance_no_map.xml b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance_no_map.xml
index 198630bc6f..4203beedc3 100644
--- a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance_no_map.xml
+++ b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance_no_map.xml
@@ -295,4 +295,8 @@
         android:visibility="gone"
         app:constraint_referenced_ids="btnShowDrawableTipNoSize,btnShowDrawableTip,btnShowTextTip,btnDebugCtrlNaviView,btnDebugCtrlSubView,btnDebugCtrlTopView,btnDebugAddBottomLayerView" />
 
+    <include
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        layout="@layout/include_debug_panel" />
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_extensions.xml b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_extensions.xml
index d2f8f84db5..5cb5722d03 100644
--- a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_extensions.xml
+++ b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_extensions.xml
@@ -8,15 +8,15 @@
         android:id="@+id/module_ext_id_weather_container"
         android:layout_width="wrap_content"
         android:layout_height="@dimen/module_ext_height"
+        android:layout_marginStart="@dimen/module_ext_weather_margin_start"
         android:background="@drawable/module_ext_shadow_bkg"
         android:gravity="center"
         android:paddingStart="@dimen/module_ext_weather_container_paddingLeft"
         android:paddingEnd="@dimen/module_ext_weather_container_paddingRight"
         android:visibility="invisible"
-        app:layout_goneMarginLeft="@dimen/module_ext_notice_margin_start"
-        app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintLeft_toRightOf="@+id/module_ext_id_msg"
-        android:layout_marginStart="@dimen/module_ext_weather_margin_start"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_goneMarginLeft="@dimen/module_ext_notice_margin_start"
         tools:visibility="visible">
 
         <ImageView
@@ -61,9 +61,9 @@
             android:id="@+id/module_ext_id_msg_counter"
             android:layout_width="@dimen/module_ext_msg_counter_width"
             android:layout_height="@dimen/module_ext_msg_counter_height"
+            android:layout_alignParentRight="true"
             android:background="@drawable/module_ext_drawable_msg_bkg"
             android:gravity="center"
-            android:layout_alignParentRight="true"
             android:textColor="#FFFFFF"
             android:textSize="@dimen/module_ext_msg_counter_textSize"
             tools:text="···" />
@@ -73,26 +73,35 @@
         android:id="@+id/ivUserHeadBoard"
         android:layout_width="@dimen/module_ext_user_avator_board_size"
         android:layout_height="@dimen/module_ext_user_avator_board_size"
-        android:background="@drawable/model_ext_default_user_head_board"
-        android:layout_marginRight="@dimen/module_common_shadow_width_pos"
         android:layout_marginTop="@dimen/module_common_shadow_width_pos"
+        android:layout_marginRight="@dimen/module_common_shadow_width_pos"
+        android:background="@drawable/model_ext_default_user_head_board"
         app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent"/>
+        app:layout_constraintTop_toTopOf="parent" />
 
     <ImageView
         android:id="@+id/ivUserHeadImg"
         android:layout_width="@dimen/module_ext_user_avator_size"
         android:layout_height="@dimen/module_ext_user_avator_size"
         android:src="@drawable/model_ext_default_user_head"
-        tools:visibility="visible"
+        app:layout_constraintBottom_toBottomOf="@id/ivUserHeadBoard"
         app:layout_constraintLeft_toLeftOf="@id/ivUserHeadBoard"
-        app:layout_constraintTop_toTopOf="@id/ivUserHeadBoard"
         app:layout_constraintRight_toRightOf="@id/ivUserHeadBoard"
-        app:layout_constraintBottom_toBottomOf="@id/ivUserHeadBoard"/>
+        app:layout_constraintTop_toTopOf="@id/ivUserHeadBoard"
+        tools:visibility="visible" />
 
     <androidx.constraintlayout.widget.Group
+        android:id="@+id/groupUserHead"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:id="@+id/groupUserHead"
         app:constraint_referenced_ids="ivUserHeadBoard,ivUserHeadImg" />
+
+    <View
+        android:id="@+id/debugPanel"
+        android:layout_width="48dp"
+        android:layout_height="48dp"
+        android:layout_marginTop="@dimen/dp_200"
+        android:background="#00000000"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
 </merge>
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt
index b07105f7d9..fc9d239f03 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/ObuManager.kt
@@ -20,18 +20,22 @@ class ObuManager {
 
     private lateinit var obu: IObu
     private lateinit var context: Context
+    private var listener:IObuCallback? = null
+
     fun init(context: Context) {
-        Logger.d(TAG, "init=======")
+        Logger.d(TAG, "init=======${DebugConfig.getObuType()}")
         this.context = context
-        obu = if (DebugConfig.getObuType() == DebugConfig.OBU_TYPE_CIDI) {
-            CidiObu()
-        } else {
-            HualiObu()
+        obu = when (DebugConfig.getObuType()) {
+            DebugConfig.OBU_TYPE_CIDI -> CidiObu()
+            DebugConfig.OBU_TYPE_HUALI -> HualiObu()
+            else -> NetCarObu()
         }
-        obu.init()
+        obu.init(context)
+
     }
 
     fun registerObuDataChangedListener(listener: IObuCallback?) {
+        this.listener = listener
         if (listener != null) {
             obu.registerObuCallback(listener)
             if(DebugConfig.isUseMockObuData() ) {
@@ -41,5 +45,9 @@ class ObuManager {
         }
     }
 
+    fun resetObuType(obuType: Int) {
+        Logger.d(TAG, "resetObuType: $obuType")
+        obu.release()
+    }
 
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt
index 2f8639b00c..8f451349d9 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/BaseObu.kt
@@ -1,11 +1,16 @@
 package com.zhidao.mogo.module.obu.obu
 
+import android.content.Context
+
 abstract class BaseObu : IObu {
     var callback: IObuCallback? = null
-    override fun init() {
+    override fun init(context: Context) {
     }
 
     override fun registerObuCallback(callback: IObuCallback) {
         this.callback = callback
     }
+
+    override fun release() {
+    }
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt
index 4ad82e0df4..4b6b561093 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/CidiObu.kt
@@ -1,5 +1,6 @@
 package com.zhidao.mogo.module.obu.obu
 
+import android.content.Context
 import android.os.Handler
 import android.os.Message
 import com.mogo.commons.debug.DebugConfig
@@ -26,8 +27,8 @@ class CidiObu : BaseObu(), Handler.Callback, OnMessageReceiveListener {
     }
 
     private val handler = Handler(this)
-    override fun init() {
-        super.init()
+    override fun init(context: Context) {
+        super.init(context)
         // 初始化sdk，注册数据回调等信息
         V2xController.getInstance().setMessageReceiveListener(this)
         V2xController.getInstance().init()
@@ -120,4 +121,11 @@ class CidiObu : BaseObu(), Handler.Callback, OnMessageReceiveListener {
         }
         return false
     }
+
+    override fun release() {
+        super.release()
+        handler.removeMessages(MSG_MONITOR_OBU_STATUS)
+        V2xController.getInstance().setMessageReceiveListener(null)
+        V2xController.getInstance().release()
+    }
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt
index 222ab6d9da..aa94006777 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/HualiObu.kt
@@ -1,5 +1,6 @@
 package com.zhidao.mogo.module.obu.obu
 
+import android.content.Context
 import android.os.Handler
 import android.os.SystemClock
 import android.util.ArrayMap
@@ -62,8 +63,8 @@ class HualiObu : BaseObu(), IUdpSocketCallback {
 
     private val handler = Handler()
 
-    override fun init() {
-        super.init()
+    override fun init(context: Context) {
+        super.init(context)
         socketManager.connect(IP_ADDRESS, PORT)
         Logger.d(TAG, "init")
     }
@@ -308,4 +309,9 @@ class HualiObu : BaseObu(), IUdpSocketCallback {
     private fun convertTwoUnSignInt(byteArray: ByteArray): Int =
             (byteArray[0].toInt() shl 24) or (byteArray[1].toInt() and 0xFF) or (byteArray[2].toInt() shl 8) or (byteArray[3].toInt() and 0xFF)
 
+    override fun release() {
+        super.release()
+        socketManager.release()
+    }
+
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt
index 7e99c1c6c5..b6e20c5f8e 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/IObu.kt
@@ -1,5 +1,7 @@
 package com.zhidao.mogo.module.obu.obu
 
+import android.content.Context
+
 /**
  * Obu基本方法
  * @author tongchenfei
@@ -8,11 +10,15 @@ interface IObu {
     /**
      * 初始化
      */
-    fun init()
+    fun init(context: Context)
 
     /**
      * 注册数据回调
      */
     fun registerObuCallback(callback: IObuCallback)
 
+    /**
+     * release
+     */
+    fun release()
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/NetCarObu.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/NetCarObu.kt
new file mode 100644
index 0000000000..e7678145bf
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/obu/NetCarObu.kt
@@ -0,0 +1,236 @@
+package com.zhidao.mogo.module.obu.obu
+
+import android.content.Context
+import android.os.Handler
+import android.os.Message
+import com.mogo.utils.logger.Logger
+import com.mogo.utils.network.utils.GsonUtil
+import com.zhidao.mogo.module.obu.ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY
+import com.zhidao.mogo.module.obu.ObuConstant.TYPE_ROAD_USER_COLLISION_WARNING
+import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo
+import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo
+import com.zhidao.mogo.module.obu.socket.IUdpSocketStatusCallback
+import com.zhidao.mogo.module.obu.socket.UdpSocketManager
+import org.json.JSONObject
+
+/**
+ * 大唐高鸿obu
+ *
+ * @author tongchenfei
+ */
+class NetCarObu : BaseObu(), IUdpSocketStatusCallback, Handler.Callback {
+    companion object {
+        const val TAG = "NetCarObu"
+        const val MSG_SEND_ACTIVATION_MSG = 1001
+        const val MSG_RECONNECT = 1002
+        const val SEND_ACTIVATION_MSG_DELAY = 4 * 1000L
+        const val RECONNECT_DELAY = 10_000L
+        const val TARGET_IP = "192.168.118.104"
+        const val TARGET_PORT = 50500
+    }
+
+    private lateinit var socketManager: UdpSocketManager
+
+    private val handler = Handler(this)
+
+    override fun init(context: Context) {
+        super.init(context)
+        Logger.d(TAG, "NetCar obu init")
+        socketManager = UdpSocketManager(context = context, useDefaultAddress = true, callback = this)
+    }
+
+    override fun isReady() {
+        Logger.d(TAG, "udp is ready")
+        // 1. 向obu注册
+        sendRegisterMsg()
+    }
+
+    private var unique: String = ""
+
+    override fun onMessageReceived(msg: ByteArray) {
+        val response = String(msg)
+        val json = JSONObject(response)
+        Logger.d(TAG, "收到消息: $json")
+        when (json.optInt("tag")) {
+            1002 -> {
+                // 查询状态成功，准备注册
+                socketManager.defaultAddress?.let {
+                    socketManager.sendMsgTo(GsonUtil.jsonFromObject(Request(2001, NcsRegisteredData(it.ip, it.port))), TARGET_IP, TARGET_PORT)
+                    startReconnectTiming()
+                }
+            }
+            2002 -> {
+                // 响应注册
+                val rsp = json.optInt("rsp", -1)
+                if (rsp == 0) {
+                    // 注册成功, 等待激活
+                    unique = json.optString("unique", "")
+                    startActivationTiming()
+                }
+            }
+            2004 -> {
+                // 响应解除注册
+                val rsp = json.optInt("rsp", -1)
+                if (rsp == 0) {
+                    // 解除注册成功
+                    socketManager.release()
+                }
+            }
+            2006 -> {
+                // 响应激活
+                val rsp = json.optInt("rsp", -1)
+                if (rsp != 0) {
+                    // 激活失败，需要重新激活
+                    sendActivationMsg()
+                } else {
+                    // 激活成功，重新计时
+                    startActivationTiming()
+                }
+            }
+            2104 -> {
+                // 红绿灯倒数秒数上报（车速引导）
+                val dataJson = json.optJSONObject("data")
+                if (dataJson != null) {
+//                    val lightInfo = dataJson.optJSONObject("phase")
+                    val lightInfoArray = dataJson.optJSONArray("phase")
+
+                    if (lightInfoArray != null && lightInfoArray.length() > 0) {
+                        Logger.d(TAG, "lightInfo: $lightInfoArray")
+                        val lightInfo = lightInfoArray.getJSONObject(0)
+
+                        val trafficLightInfo = MogoObuTrafficLightInfo()
+                        val color = lightInfo.optInt("color")
+                        if (color in 1..3) {
+                            // 有效颜色数据
+                            trafficLightInfo.lightStatus = when (color) {
+                                2 -> "R"
+                                3 -> "Y"
+                                else -> "G"
+                            }
+                            trafficLightInfo.surplusTime = lightInfo.optInt("time", 0).toString()
+                            callback?.onTrafficLightInfoCallback(trafficLightInfo)
+
+//                            val end = lightInfo.optInt("guide_speed_max", -1)
+//                            val start = lightInfo.optInt("guide_speed_min", -1)
+//                            if (start != -1 && end != -1) {
+//                                val eventInfo = MogoObuEventInfo()
+//                                eventInfo.mogoEventId = TYPE_OPTIMAL_SPEED_ADVISORY
+//                                eventInfo.describe = "前方路口，建议车速 $start 到 $end km/h"
+//                                callback?.let {
+//                                    handler.post {
+//                                        it.onEventInfoCallback(eventInfo)
+//                                    }
+//                                }
+//                            }
+
+                        }
+                    } else {
+                        Logger.e(TAG, "红绿灯数据为空")
+                    }
+                } else {
+                    Logger.e(TAG, "红绿灯数据为data空")
+                }
+            }
+            2105 -> {
+                // 事件上报
+                val event = json.optJSONObject("data")
+                if (event != null) {
+                    val type = event.optInt("type", 0) % 100000
+                    Logger.d(TAG, "事件id，取模后: $type")
+                    if (type == 4012) {
+                        // 前方行人预警
+                        val eventInfo = MogoObuEventInfo()
+                        eventInfo.mogoEventId = TYPE_ROAD_USER_COLLISION_WARNING
+                        handler.post {
+                            callback?.onEventInfoCallback(eventInfo)
+                        }
+                    } else if (type == 3005) {
+                        // 红绿灯变灯提醒
+                        val eventInfo = MogoObuEventInfo()
+                        eventInfo.type = "vip变灯提醒"
+                        eventInfo.typeCode = "vip变灯提醒"
+                        eventInfo.describe = "将为您变灯，vip车辆可优先通行"
+                        handler.post {
+                            callback?.onEventInfoCallback(eventInfo)
+                        }
+                    }
+                } else {
+                    Logger.e(TAG, "事件数据为空")
+                }
+            }
+        }
+    }
+
+    private fun sendRegisterMsg() {
+        socketManager.defaultAddress?.let {
+            socketManager.sendMsgTo(GsonUtil.jsonFromObject(Request<NcsRegisteredData>(2001, NcsRegisteredData(it.ip, it.port))), TARGET_IP, TARGET_PORT)
+            startReconnectTiming()
+        }
+    }
+
+    /**
+     * 开启激活计时
+     */
+    private fun startActivationTiming() {
+        handler.removeMessages(MSG_SEND_ACTIVATION_MSG)
+        handler.removeMessages(MSG_RECONNECT)
+        handler.sendEmptyMessageDelayed(MSG_SEND_ACTIVATION_MSG, SEND_ACTIVATION_MSG_DELAY)
+    }
+
+    private fun startReconnectTiming() {
+        handler.removeMessages(MSG_RECONNECT)
+        handler.sendEmptyMessageDelayed(MSG_RECONNECT, RECONNECT_DELAY)
+    }
+
+    /**
+     * 发送激活数据
+     */
+    private fun sendActivationMsg() {
+        Logger.d(TAG, "准备发送激活消息====")
+        socketManager.sendMsgTo(GsonUtil.jsonFromObject(NcsActivationRequest(unique = unique)), TARGET_IP, TARGET_PORT)
+        startReconnectTiming()
+    }
+
+    override fun handleMessage(msg: Message): Boolean {
+        return when (msg.what) {
+            MSG_SEND_ACTIVATION_MSG -> {
+                sendActivationMsg()
+                true
+            }
+            MSG_RECONNECT -> {
+                if (!handler.hasMessages(MSG_SEND_ACTIVATION_MSG)) {
+                    // 没有等待激活，就进行重试
+                    Logger.d(TAG, "准备重连===")
+                    sendRegisterMsg()
+                }
+                true
+            }
+            else -> false
+        }
+    }
+
+    val firstMsg = "{\"tag\":1001}"
+
+    override fun release() {
+        super.release()
+        // 解除注册
+        socketManager.sendMsgTo(GsonUtil.jsonFromObject(NcsUnRegisteredRequest(unique = unique)), TARGET_IP, TARGET_PORT)
+    }
+
+    data class Request<T>(val tag: Int, val data: T)
+
+    /**
+     * 注册请求data
+     */
+    data class NcsRegisteredData(val ip: String, val port: Int)
+
+    /**
+     * 解注册请求request
+     */
+    data class NcsUnRegisteredRequest(val tag: Int = 2003, val unique: String)
+
+    /**
+     * 激活请求
+     */
+    data class NcsActivationRequest(val tag: Int = 2005, val unique: String)
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/ISocketMsgCallback.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/ISocketMsgCallback.kt
new file mode 100644
index 0000000000..946686c74d
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/ISocketMsgCallback.kt
@@ -0,0 +1,13 @@
+package com.zhidao.mogo.module.obu.socket
+
+/**
+ * udp 数据回调
+ */
+interface ISocketMsgCallback {
+    /**
+     * udp过来的字节码数据，目前已知数据类型就是ByteArray
+     *
+     * @param msg udp发过来的数据
+     */
+    fun onMessageReceived(msg: ByteArray)
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/IUdpSocketStatusCallback.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/IUdpSocketStatusCallback.kt
new file mode 100644
index 0000000000..9f9f6e9895
--- /dev/null
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/IUdpSocketStatusCallback.kt
@@ -0,0 +1,11 @@
+package com.zhidao.mogo.module.obu.socket
+
+/**
+ * udp状态回调
+ */
+interface IUdpSocketStatusCallback:ISocketMsgCallback {
+    /**
+     * udp连接准备完毕，指的是准备好接收数据了
+     */
+    fun isReady()
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleSocketManager.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleSocketManager.kt
index 2dc2236e6c..827d3fd68e 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleSocketManager.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/SimpleSocketManager.kt
@@ -72,4 +72,9 @@ class SimpleSocketManager(private val callback: IUdpSocketCallback? = null) {
     fun sendMessage(msg: String) {
         Logger.d(TAG, "暂不支持发送消息")
     }
+
+    fun release(){
+        socket?.close()
+        dataCacheHandler.looper.quitSafely()
+    }
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt
index c9b2ff594b..a126510637 100644
--- a/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt
+++ b/modules/mogo-module-obu/src/main/java/com/zhidao/mogo/module/obu/socket/UdpSocketManager.kt
@@ -1,9 +1,13 @@
 package com.zhidao.mogo.module.obu.socket
 
+import android.content.Context
+import android.net.wifi.WifiManager
 import android.os.Handler
 import android.os.HandlerThread
 import android.util.ArrayMap
+import com.mogo.utils.NetworkUtils
 import com.mogo.utils.logger.Logger
+import java.lang.Thread.sleep
 import java.net.DatagramPacket
 import java.net.DatagramSocket
 import java.net.InetAddress
@@ -12,9 +16,11 @@ import java.util.concurrent.Executors
 /**
  * udp socket 管理类，统一管理udp socket数据接收和发送
  */
-class UdpSocketManager(private val callback: IUdpSocketCallback? = null) {
+class UdpSocketManager(val context: Context? = null, useDefaultAddress: Boolean = false, private val callback: IUdpSocketStatusCallback? = null) {
     companion object {
         const val TAG = "Mogo-UdpSocketManager"
+        const val DEFAULT_PORT = 50501
+        const val DEFAULT_IP = "192.168.8.169"
     }
 
     private val socketMap = ArrayMap<SimpleAddress, DatagramSocket>()
@@ -23,20 +29,66 @@ class UdpSocketManager(private val callback: IUdpSocketCallback? = null) {
     private val dataCacheThread = HandlerThread("obu-data-cache")
     private val dataCacheHandler: Handler
 
+    var defaultAddress:SimpleAddress? = null
+
     init {
         dataCacheThread.start()
         dataCacheHandler = Handler(dataCacheThread.looper)
+        if (useDefaultAddress) {
+            // 获取连接的wifi的ip地址
+            if (context == null) {
+                throw IllegalArgumentException("do not find context at constructor")
+            }else{
+//                defaultAddress = SimpleAddress(DEFAULT_IP, DEFAULT_PORT)
+//                receiveMsgFrom(DEFAULT_IP, DEFAULT_PORT)
+                if (NetworkUtils.isConnectedWifi(context)) {
+                    // 已经判定连接到了wifi
+                    generateDefaultAddress()
+                }else{
+                    // 还没连接到wifi，需要等待，此处采用每隔一秒检查一次，不用再注册相关监听广播
+                    dataCacheHandler.post {
+                        while (!NetworkUtils.isConnectedWifi(context)) {
+                            sleep(1000)
+                        }
+                        // 已经连接到wifi
+                        generateDefaultAddress()
+                    }
+                }
+            }
+        }
     }
 
     @Volatile
     private var isConnected = false
 
     fun sendMsgTo(msg: String, ip: String, port: Int) {
+        Logger.d(TAG, "sendMsg: $msg to $ip:$port")
         isConnected = true
         val address = SimpleAddress(ip, port)
         socketExecutor.execute(UdpSenderRunnable(address, msg))
     }
 
+    /**
+     * 仅获取连接wifi后的ip地址，使用默认端口进行数据接收
+     */
+    private fun generateDefaultAddress(){
+        context?.let {
+            val wifiManager = it.getSystemService(Context.WIFI_SERVICE) as WifiManager
+            val wifiInfo = wifiManager.connectionInfo
+            val ip = intIp2StringIp(wifiInfo.ipAddress)
+            Logger.d(TAG, "获取到本机ip地址: $ip")
+            defaultAddress = SimpleAddress(ip, DEFAULT_PORT)
+            // 生成了默认地址，开始准备接受数据
+            receiveMsgFrom(ip, DEFAULT_PORT)
+        }
+    }
+
+    private fun intIp2StringIp(ip: Int):String {
+        return "${ip and 0xff}.${(ip shr 8) and 0xff}.${(ip shr 16) and 0xff}.${(ip shr 24) and 0xff}"
+    }
+
+    private var isReady = false
+
     fun receiveMsgFrom(ip: String, port: Int) {
         isConnected = true
         val address = SimpleAddress(ip, port)
@@ -78,6 +130,10 @@ class UdpSocketManager(private val callback: IUdpSocketCallback? = null) {
                 if (socket.isClosed) {
                     break
                 }
+                if (!isReady) {
+                    isReady = true
+                    callback?.isReady()
+                }
                 Logger.d(TAG, "准备接受消息====$address")
                 socket.receive(packet)
                 val msg = ByteArray(buffer.size)
@@ -91,4 +147,5 @@ class UdpSocketManager(private val callback: IUdpSocketCallback? = null) {
 
     }
 
+
 }
\ No newline at end of file
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
index 72141cfbdf..176931f222 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
@@ -1,7 +1,9 @@
 package com.mogo.module.v2x;
 
+import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
+import android.content.IntentFilter;
 import android.os.Handler;
 import android.os.Message;
 import android.os.SystemClock;
@@ -67,19 +69,24 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
 
     private static final int MSG_HIDE_TRAFFIC_LIGHT = 1001;
     private static final long DEFAULT_HIDE_TRAFFIC_LIGHT_DELAY = 1500L;
-    private Handler handler = new Handler(this);
+    private final Handler handler = new Handler(this);
+    private final ObuTypeExchangeReceiver obuTypeExchangeReceiver = new ObuTypeExchangeReceiver();
+    private ObuManager obuManager;
 
     public void init(Context context) {
         Logger.d(MODULE_NAME, "obuManager初始化--");
-        ObuManager obuManager = new ObuManager();
+        obuManager = new ObuManager();
         obuManager.init(context);
         obuManager.registerObuDataChangedListener(this);
+
+        IntentFilter filter = new IntentFilter("com.mogo.launcher.v2x.action.EXCHANGE_OBU_TYPE");
+        context.registerReceiver(obuTypeExchangeReceiver, filter);
     }
 
     /**
      * 用来处理30秒内不重复播报的情况
      */
-    private Map<String, Long> intervalMap = new ArrayMap<>();
+    private final Map<String, Long> intervalMap = new ArrayMap<>();
 
     private int parseObuEvent(String type) {
         switch (type) {
@@ -99,7 +106,7 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
         }
     }
 
-    private MogoLocation[] historyPath = new MogoLocation[2];
+    private final MogoLocation[] historyPath = new MogoLocation[2];
 
     private float computeCarAngle(MogoLocation location) {
         float angle = 0f;
@@ -177,7 +184,7 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
         }
 //        int eventType = parseObuEvent(info.getTypeCode());
         int eventType = info.getMogoEventId();
-        if (eventType == ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY&& DebugConfig.getObuType() == DebugConfig.OBU_TYPE_CIDI) {
+        if (eventType == ObuConstant.TYPE_OPTIMAL_SPEED_ADVISORY && DebugConfig.getObuType() == DebugConfig.OBU_TYPE_CIDI) {
             // 加一个容错机制，如果已经驶过绿波车速路口，那么再收到绿波车速obu事件，就不再上报
             MogoLocation currentLocation = V2XLocationListener.getInstance().getLastCarLocation();
             double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
@@ -192,7 +199,7 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
                 return;
             }
         }
-        if (SystemClock.elapsedRealtime() - last > DEFAULT_INTERVAL_TIME||DebugConfig.getObuType() == DebugConfig.OBU_TYPE_HUALI) {
+        if (SystemClock.elapsedRealtime() - last > DEFAULT_INTERVAL_TIME || DebugConfig.getObuType() == DebugConfig.OBU_TYPE_HUALI) {
             // 距离上次记录超过三十秒，继续相关逻辑，如果不超过三十秒，忽略此次事件
             // 华砺智行obu暂时去掉此判断
             intervalMap.put(info.getTypeCode(), SystemClock.elapsedRealtime());
@@ -254,17 +261,17 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
                 default:
                     break;
             }
-        }else{
-            Logger.d(TAG,"未超过时限，不展示事件");
+        } else {
+            Logger.d(TAG, "未超过时限，不展示事件");
         }
     }
 
     @Override
-    public void onLocationInfoCallback( MogoObuLocationInfo locationInfo) {
+    public void onLocationInfoCallback(MogoObuLocationInfo locationInfo) {
         if (ObuConfig.useObuLocation) {
             MogoLocation currentLocation = new MogoLocation();
 
-            double coor[] = CoordinateUtils.transformFromWGSToGCJ( locationInfo.getLat(), locationInfo.getLon() );
+            double coor[] = CoordinateUtils.transformFromWGSToGCJ(locationInfo.getLat(), locationInfo.getLon());
 
             currentLocation.setLatitude(coor[0]);
             currentLocation.setLongitude(coor[1]);
@@ -287,4 +294,12 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
             sendTrafficLightStatusToAdas(CALL_ADAS_SHOW_TRAFFIC_LIGHT, trafficLightInfo);
         }
     }
+
+    class ObuTypeExchangeReceiver extends BroadcastReceiver {
+        @Override
+        public void onReceive(Context context, Intent intent) {
+            int obuType = intent.getIntExtra("obuType", DebugConfig.OBU_TYPE_CIDI);
+            obuManager.resetObuType(obuType);
+        }
+    }
 }