Merge branch 'dev_arch_opt_3.0' into dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0

# Conflicts: # OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/presenter/BaseBusPassengerPresenter.java # OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperOrderModel.java # app/src/main/AndroidManifest.xml
2023-02-02 21:01:24 +08:00
parent 15df79ff01 d032e77f6e
commit 49397cdc8b
123 changed files with 1161 additions and 931 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -130,7 +130,7 @@ class DispatchAutoPilotManager private constructor() :
                AutopilotControlParameters.AutoPilotLonLat(it.endLat, it.endLon)
            currentAutopilot.vehicleType = 10
            CallerLogger.d(SceneConstant.Companion.M_DISPATCH + TAG, "开启自动驾驶====$currentAutopilot")
-            CallerAutoPilotManager.startAutoPilot(currentAutopilot)
+            CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
        }
    }

--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/redlightwarning/RedLightWarningManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/redlightwarning/RedLightWarningManager.kt
@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_IVP_G
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.V2I
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.map.MogoLatLng
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
@@ -26,7 +27,6 @@ import com.mogo.eagle.core.utilcode.util.LocationUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.MogoTrafficLightManager
 import com.zhjt.service_biz.BizConfig
-import mogo.telematics.pad.MessagePad
 import kotlin.math.abs
 import kotlin.math.ceil
 import kotlin.math.floor
@@ -44,7 +44,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
    // 是否已进入到路口(停止线处)
    private var isEnter = false

-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null

    companion object {

@@ -100,7 +100,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
        // 路口100m闯红灯预警
        mLocation?.let {
            // 单位m/s
-            val speed = it.vehicleSpeed
+            val speed = it.gnssSpeed
            // 车停止或者速度非常慢，可能返回负数或者很小的值，需要过滤
            CallerLogger.d("$M_V2X$TAG", "speed is:$speed")
            if (speed <= 2.5f) return// 小于等于9km/h不处理
@@ -277,7 +277,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
        CallerChassisLocationGCJ20ListenerManager.removeListener(TAG)
    }

-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
        gnssInfo?.let {
            mLocation = it
        }
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
@@ -3,6 +3,7 @@ package com.mogo.eagle.function.biz.v2x.trafficlight.core
 import android.content.Context
 import android.os.Handler
 import android.os.Looper
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
@@ -15,7 +16,6 @@ import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandl
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_CROSS_ROAD
 import com.mogo.eagle.function.biz.v2x.trafficlight.core.TrafficLightThreadHandler.Companion.MSG_WHAT_STOP_SEARCH_TRAFFIC_LIGHT
 import com.mogo.eagle.function.biz.v2x.trafficlight.network.TrafficLightNetWorkModel
-import mogo.telematics.pad.MessagePad

 class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {

@@ -30,7 +30,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {

    private var mContext: Context? = null
    private val trafficLightNetWorkModel = TrafficLightNetWorkModel()
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
    private var roadIDResult: RoadIDResult? = null
    private var trafficLightResult: TrafficLightResult? = null

@@ -174,7 +174,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
        trafficLightResult = null
    }

-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
        gnssInfo?.let {
            mLocation = it
            checkOutOfRange()
--- a/core/function-impl/mogo-core-function-datacenter/build.gradle
+++ b/core/function-impl/mogo-core-function-datacenter/build.gradle
@@ -57,6 +57,7 @@ dependencies {
    implementation rootProject.ext.dependencies.mogoaicloudtelematic

    implementation rootProject.ext.dependencies.mogoobu
+    implementation rootProject.ext.dependencies.amapnavi3dmap

    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
        implementation rootProject.ext.dependencies.mogo_core_data
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
@@ -4,6 +4,7 @@ import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.datacenter.IDataCenterProvider
+import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher

@Route(path = MogoServicePaths.PATH_DATA_CENTER_MODULE)
 class DataCenterProvider: IDataCenterProvider {
@@ -12,7 +13,7 @@ class DataCenterProvider: IDataCenterProvider {
        get() = "DataCenterProvider"

    override fun init(context: Context?) {
-
+        MoGoLocationDispatcher.initListener()
    }

    override fun onDestroy() {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -21,7 +21,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LO
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.toTrafficLightDetail
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotProvider
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasListenerImpl
 import com.mogo.eagle.core.function.datacenter.autopilot.adapter.MoGoAdasMsgConnectStatusListenerImpl
@@ -67,8 +67,9 @@ import java.util.concurrent.TimeUnit
 * @date 2021/9/22 8:43 下午
 */
@Route(path = MogoServicePaths.PATH_AUTO_PILOT)
-class MoGoAutopilotProvider :
-    IMoGoAutopilotProvider, IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
+class MoGoAutopilotControlProvider :
+    IMoGoAutopilotControlProvider,
+    IMoGoMapDataCollectProvider.OnMapCollectCmdListener,
    IMoGoAutopilotCarConfigListener {
    private val TAG = "MoGoAutoPilotProvider"
    private var mContext: Context? = null
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -45,8 +45,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListen
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
@@ -135,10 +133,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
            clientPkFileName = "sn"
    )
    override fun onGnssInfo(header: MessagePad.Header, gnssInfo: MessagePad.GnssInfo) {
-        // WGS84坐标系高精度位置信息
-        invokeChassisLocationWGS84(gnssInfo)
-        // GCJ02高德坐标系位置信息
-        invokeChassisLocationGCJ02(gnssInfo)
+        CallerChassisGnssListenerManager.invokeChassisGnssListener(gnssInfo)
+
        if (gnssInfo != null) {
            if (1 == FunctionBuildConfig.gpsProvider) {
                // 同步给MAP地图
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -5,7 +5,7 @@ import com.mogo.commons.debug.DebugConfig.*
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -52,13 +52,13 @@ class MoGoAdasMsgConnectStatusListenerImpl :
            // 同步SN给工控机
            syncBasicInfoToAutopilot()
            //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)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
            //当连接状态是关闭美化模式时，同步给工控机
            if (!FunctionBuildConfig.isDemoMode) {
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(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)
+            CallerAutoPilotControlManager.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) {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.datacenter.autopilot.server

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

 /**
@@ -26,6 +26,6 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
    }

    override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
-        CallerAutoPilotManager.sendTrafficLightData(trafficLightResult)
+        CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
    }
 }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
@@ -8,9 +8,9 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -174,7 +174,7 @@ class TeleMsgHandler : IMsgHandler {

    private fun queryCarConfig() {
        invokeNettyConnResult("乘客屏请求司机屏向工控机查询配置信息")
-        CallerAutoPilotManager.getCarConfig()
+        CallerAutoPilotControlManager.getCarConfig()
    }

    override fun handleClientConn2Server(channel: Channel?) {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/IMoGoLocationListener.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/IMoGoLocationListener.kt
@@ -1,16 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.location
-
-import com.mogo.eagle.core.data.enums.DataSourceType
-import mogo.telematics.pad.MessagePad
-
-/**
- * 位置回调监听
- */
-interface IMoGoLocationListener {
-    /**
-     * 位置改变回调用
-     * @param gnssInfo 位置信息
-     * @param sourceType 数据来源
-     */
-    fun onLocationChanged(gnssInfo: MessagePad.GnssInfo, sourceType: DataSourceType)
-}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
@@ -0,0 +1,176 @@
+package com.mogo.eagle.core.function.datacenter.location
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.location.AMapLocationClient
+import com.amap.api.location.AMapLocationClientOption
+import com.amap.api.location.AMapLocationListener
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGnssListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import com.mogo.eagle.core.utilcode.util.CoordinateTransform
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.eagle.core.utilcode.util.Utils
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 融合定位服务，这里同时监听多来源的位置信息，并支持修改频率
+ *
+ * @author donghongyu
+ */
+object MoGoLocationDispatcher :
+    IMoGoChassisGnssListener,
+    AMapLocationListener {
+
+    private val TAG = "MoGoLocationManager"
+
+    private var mCityCode: String? = null
+    private var mapLocation: AMapLocation? = null
+
+    /**
+     * 最后一次工控机GNSS返回更新的位置
+     */
+    private var lastGnssLocation: MogoLocation = MogoLocation()
+
+    /**
+     * 最后一次高德定位返回的位置信息
+     */
+    private var lastGaoDeLocation: MogoLocation = MogoLocation()
+
+    fun initListener() {
+        // 高德SDK隐私政策
+        AMapLocationClient.updatePrivacyShow(Utils.getApp(), true, true)
+        AMapLocationClient.updatePrivacyAgree(Utils.getApp(), true)
+
+        try {
+            val mLocationClient = AMapLocationClient(Utils.getApp())
+
+            //初始化定位参数
+            //声明mLocationOption对象
+            val mLocationOption = AMapLocationClientOption()
+            //设置定位监听
+            mLocationClient.setLocationListener(this)
+            //设置定位模式为高精度模式，Battery_Saving为低功耗模式，Device_Sensors是仅设备模式
+            mLocationOption.locationMode = AMapLocationClientOption.AMapLocationMode.Hight_Accuracy
+            //设置定位间隔,单位毫秒,默认为2000ms
+            mLocationOption.interval = 1000
+            //设置定位参数
+            mLocationClient.setLocationOption(mLocationOption)
+            // 启动定位监听
+            mLocationClient.startLocation()
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+
+        // 初始化监听订阅工控机位置信息
+        CallerChassisGnssListenerManager.addListener(TAG, this)
+    }
+
+    override fun onChassisGnss(gnssInfo: MessagePad.GnssInfo) {
+        // 更新GNSS 信息
+        lastGnssLocation.gnssInfo = gnssInfo
+        lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            lastGnssLocation.cityName = it.city
+            lastGnssLocation.cityCode = it.cityCode
+            lastGnssLocation.provider = it.provider
+            lastGnssLocation.address = it.address
+            lastGnssLocation.district = it.district
+            lastGnssLocation.province = it.province
+            lastGnssLocation.adCode = it.adCode
+            lastGnssLocation.locationDetail = it.locationDetail
+            lastGnssLocation.poiName = it.poiName
+            lastGnssLocation.aoiName = it.aoiName
+            lastGnssLocation.street = it.street
+            lastGnssLocation.streetNum = it.streetNum
+            lastGnssLocation.description = it.description
+            lastGnssLocation.buildingId = it.buildingId
+            lastGnssLocation.floor = it.floor
+            lastGnssLocation.errorCode = it.errorCode
+            lastGnssLocation.errorInfo = it.errorInfo
+        }
+
+        // WGS84坐标系高精度位置信息
+        CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+            lastGnssLocation,
+            DataSourceType.TELEMATIC
+        )
+        // GCJ02高德坐标系位置信息
+        CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+            lastGnssLocation,
+            DataSourceType.TELEMATIC
+        )
+    }
+
+    /**
+     * 高德地图位置改变回调
+     * @param aMapLocation 位置信息
+     */
+    override fun onLocationChanged(aMapLocation: AMapLocation) {
+        mapLocation = aMapLocation
+        // 更新GNSS 信息
+
+
+        // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
+        mapLocation?.let {
+            // 转换 GCJ02-->WGS84 坐标
+            val wgs84Location =
+                CoordinateTransform.GCJ02ToWGS84(it.longitude, it.latitude)
+
+            lastGaoDeLocation.longitude = wgs84Location[0]
+            lastGaoDeLocation.latitude = wgs84Location[1]
+            lastGaoDeLocation.heading = it.bearing.toDouble()
+            lastGaoDeLocation.gnssSpeed = it.speed
+            lastGaoDeLocation.altitude = it.altitude
+            lastGaoDeLocation.satelliteTime = it.time
+            lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()
+
+            lastGaoDeLocation.cityName = it.city
+            lastGaoDeLocation.cityCode = it.cityCode
+            lastGaoDeLocation.provider = it.provider
+            lastGaoDeLocation.address = it.address
+            lastGaoDeLocation.district = it.district
+            lastGaoDeLocation.province = it.province
+            lastGaoDeLocation.adCode = it.adCode
+            lastGaoDeLocation.locationDetail = it.locationDetail
+            lastGaoDeLocation.poiName = it.poiName
+            lastGaoDeLocation.aoiName = it.aoiName
+            lastGaoDeLocation.street = it.street
+            lastGaoDeLocation.streetNum = it.streetNum
+            lastGaoDeLocation.description = it.description
+            lastGaoDeLocation.buildingId = it.buildingId
+            lastGaoDeLocation.floor = it.floor
+            lastGaoDeLocation.errorCode = it.errorCode
+            lastGaoDeLocation.errorInfo = it.errorInfo
+        }
+
+        // 计算最后一次工控机同步的定位是否超时，如果超时则切换为高德地图定位,暂定超过30秒需要切换
+        if (TimeUtils.getNowMills() - lastGnssLocation.lastReceiveTime > 30000) {
+            // WGS84坐标系高精度位置信息
+            CallerChassisLocationWGS84ListenerManager.invokeChassisLocationWGS84(
+                lastGaoDeLocation,
+                DataSourceType.MAP
+            )
+            // GCJ02高德坐标系位置信息
+            CallerChassisLocationGCJ20ListenerManager.invokeChassisLocationGCJ02(
+                lastGaoDeLocation,
+                DataSourceType.MAP
+            )
+        }
+
+        // 本地SP缓存城市Code
+        val cityCode = aMapLocation.cityCode
+        if (cityCode != null && cityCode.isNotEmpty()) {
+            mCityCode = aMapLocation.cityCode
+            SharedPrefsMgr.getInstance(AbsMogoApplication.getApp())
+                .putString(SharedPrefsConstants.LOCATION_CITY_CODE, cityCode)
+        }
+
+    }
+}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt
@@ -1,71 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.location
-
-import com.mogo.eagle.core.data.enums.DataSourceType
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.api.obu.IMoGoObuLocationWGS84Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.function.call.base.CallerBase
-import com.mogo.eagle.core.utilcode.util.TimeUtils
-import com.mogo.support.obu.model.MogoObuHvBasicsData
-import mogo.telematics.pad.MessagePad
-
-/**
- * 融合定位服务，这里同时监听多来源的位置信息，并支持修改频率
- *
- * @author donghongyu
- */
-object MoGoLocationManager :
-    CallerBase<IMoGoLocationListener>(),
-    IMoGoChassisLocationWGS84Listener,
-    IMoGoObuLocationWGS84Listener {
-
-    private val TAG = "MoGoLocationManager"
-
-    init {
-        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-    }
-
-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
-        M_LISTENERS.forEach {
-            val tag = it.key
-            // 获取数据监听需要的HZ
-            val hz = M_LISTENERS_HZ[tag]
-            if (hz != null && hz > 0) {
-                val hzTime = (1.0 / hz.toDouble()) * 1000
-                // 获取最后一次回调的时间
-                val hzLastSendTime = M_LISTENERS_HZ_LAST_SEND_TIME[tag]
-                if (hzLastSendTime != null && hzLastSendTime > 0) {
-                    // 计算是否进入下一次回调周期
-                    val nowTime = TimeUtils.getNowMills()
-                    if (nowTime - hzLastSendTime > hzTime) {
-                        syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-                    }
-                } else {
-                    syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-                }
-            } else {
-                syncLocationCallback(tag, it, gnssInfo, DataSourceType.TELEMATIC)
-            }
-        }
-    }
-
-    /**
-     * 向订阅位置信息的发出定位信息
-     */
-    private fun syncLocationCallback(
-        tag: String,
-        it: Map.Entry<String, IMoGoLocationListener>,
-        gnssInfo: MessagePad.GnssInfo,
-        sourceType: DataSourceType
-    ) {
-        // 记录最后一次回调时间
-        M_LISTENERS_HZ_LAST_SEND_TIME[tag] = TimeUtils.getNowMills()
-        val listener = it.value
-        listener.onLocationChanged(gnssInfo, sourceType)
-    }
-
-    override fun onObuLocationWGS84(data: MogoObuHvBasicsData) {
-
-    }
-
-}
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/README.md
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/README.md
@@ -3,15 +3,20 @@
 ##### 位置回调：融合工控机、OBU、高德地图

 ```kotlin
-// 注册监听位置变换
-MoGoLocationManager.addListener(Companion.functionName, object : IMoGoLocationListener {
-    override fun onLocationChanged(
-        gnssInfo: MessagePad.GnssInfo,
-        sourceType: DataSourceType
-    ) {
+// 注册监听位置变换,唯一标记，要接受数据的HZ，回掉监听
+CallerChassisLocationWGS84ListenerManager.addListener(Companion.functionName, 20,object :IMoGoChassisLocationWGS84Listener{
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        TODO("Not yet implemented")
    }
 })
 // 设置数据回调频率，单位HZ，1HZ的周期是1秒；50HZ的周期是1/50=0.02秒；10HZ的周期是1/10=0.1秒。
-MoGoLocationManager.setListenerHz(Companion.functionName, 20)
+CallerChassisLocationWGS84ListenerManager.setListenerHz(Companion.functionName, 20)
+
+// 注册监听位置变换,唯一标记，要接受数据的HZ，回掉监听
+CallerChassisLocationGCJ20ListenerManager.addListener(Companion.functionName, 20,object :IMoGoChassisLocationGCJ02Listener{
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation) {
+        TODO("Not yet implemented")
+    }
+})
+
 ```
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/AIDataCollectWindow.kt
@@ -10,11 +10,12 @@ import android.widget.RadioButton
 import android.widget.TextView
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
@@ -27,7 +28,6 @@ import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import record_cache.RecordPanelOuterClass
 import java.util.*

@@ -119,7 +119,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
        // 添加 ADAS车辆状态&定位 监听
        CallerChassisLocationWGS84ListenerManager.addListener(this.hashCode().toString(), this)
        //开始录制AI数据采集Bag包
-        CallerAutoPilotManager.recordPackage(
+        CallerAutoPilotControlManager.recordPackage(
            99,
            Random(SystemClock.elapsedRealtime()).nextInt(),
            20,
@@ -353,7 +353,7 @@ class AIDataCollectWindow constructor(activity: Activity) : View.OnTouchListener
        fun closeWindow()
    }

-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        latitude = gnssInfo.latitude
        longitude = gnssInfo.longitude
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/BadCaseConfigView.kt
@@ -11,7 +11,7 @@ import androidx.recyclerview.widget.GridLayoutManager
 import com.mogo.eagle.core.data.badcase.RecordTypeEntity
 import com.mogo.eagle.core.data.badcase.TopicEntity
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
@@ -206,7 +206,7 @@ internal class BadCaseConfigView @JvmOverloads constructor(
        super.onAttachedToWindow()
        CallerAutopilotRecordListenerManager.addListener(TAG, this)
        //获取数据采集录制模式配置列表
-        CallerAutoPilotManager.getBadCaseConfig(0, 0, listOf())
+        CallerAutoPilotControlManager.getBadCaseConfig(0, 0, listOf())
        recordTypesList.add(RecordTypeEntity(0,"自定义", arrayListOf()))
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseListDialog.java
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseListDialog.java
@@ -11,7 +11,7 @@ import androidx.recyclerview.widget.RecyclerView;

 import com.mogo.eagle.core.data.badcase.RecordCaseEntity;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.zhjt.mogo_core_function_devatools.R;
@@ -77,7 +77,7 @@ public class CaseListDialog extends Dialog implements IMoGoAutopilotRecordListen
        super.onAttachedToWindow();
        CallerAutopilotRecordListenerManager.INSTANCE.addListener(TAG, this);
        //获取数据采集录制模式配置列表
-        CallerAutoPilotManager.INSTANCE.getBadCaseConfig(0, 0,new ArrayList<>());
+        CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(0, 0,new ArrayList<>());
    }

    @Override
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/CaseTopicListDialog.java
@@ -17,7 +17,7 @@ import androidx.recyclerview.widget.RecyclerView;
 import com.mogo.eagle.core.data.badcase.RecordTypeEntity;
 import com.mogo.eagle.core.data.badcase.TopicEntity;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
@@ -69,7 +69,7 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
        init();
        initEvent();
        //获取所有Topic
-        CallerAutoPilotManager.INSTANCE.getBadCaseConfig(1, 0, new ArrayList<>());
+        CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(1, 0, new ArrayList<>());
        if (recordType != null) {
            tvCaseName.setText(recordType.getDesc());
            if (recordType.getTopicsList().size() > 0) {
@@ -160,7 +160,7 @@ public class CaseTopicListDialog extends Dialog implements IMoGoAutopilotRecordL
        });
        tvSave.setOnClickListener(v -> {
            if (recordType != null) {
-                Boolean success = CallerAutoPilotManager.INSTANCE.getBadCaseConfig(2, recordType.getId(), addTopicList);
+                Boolean success = CallerAutoPilotControlManager.INSTANCE.getBadCaseConfig(2, recordType.getId(), addTopicList);
                if (Boolean.TRUE.equals(success)) {
                    ToastUtils.showShort("Topic设置成功");
                    if (recordType.getId() == 0) {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/InitiativeBadCaseWindow.kt
@@ -14,11 +14,12 @@ import android.widget.TextView
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.badcase.RecordCaseEntity
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
@@ -35,7 +36,6 @@ import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad
 import record_cache.RecordPanelOuterClass
 import java.io.File
 import java.util.*
@@ -347,7 +347,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
            mWindowManager!!.addView(mFloatLayout, mWindowParams)
            //开启录包
            if (recordCaseEntity != null) {
-                CallerAutoPilotManager.recordPackage(
+                CallerAutoPilotControlManager.recordPackage(
                    recordCaseEntity.caseId,
                    Random(SystemClock.elapsedRealtime()).nextInt(),
                    BadCaseConfig.totalDuration,
@@ -355,7 +355,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
                    recordCaseEntity.topicList
                )
            } else {
-                CallerAutoPilotManager.recordPackage(
+                CallerAutoPilotControlManager.recordPackage(
                    BadCaseConfig.type, Random(SystemClock.elapsedRealtime()).nextInt(),
                    BadCaseConfig.totalDuration, BadCaseConfig.previousDuration
                )
@@ -394,7 +394,7 @@ class InitiativeBadCaseWindow constructor(activity: Activity) : View.OnTouchList
        fun closeWindow()
    }

-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        latitude = gnssInfo.latitude
        longitude = gnssInfo.longitude
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/PassiveBadCaseWindow.kt
@@ -15,6 +15,7 @@ import android.widget.TextView
 import com.google.android.flexbox.FlexboxLayout
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.RecordBagMsg
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
@@ -34,7 +35,6 @@ import com.zhjt.mogo_core_function_devatools.badcase.record.RecordManager
 import kotlinx.coroutines.GlobalScope
 import kotlinx.coroutines.launch
 import me.jessyan.autosize.utils.AutoSizeUtils
-import mogo.telematics.pad.MessagePad
 import org.greenrobot.eventbus.EventBus
 import java.io.File

@@ -380,9 +380,9 @@ class PassiveBadCaseWindow constructor(activity: Activity) : View.OnTouchListene
        fun closeWindow()
    }

-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
-        latitude = gnssInfo?.latitude
-        longitude = gnssInfo?.longitude
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
+        latitude = gnssInfo.latitude
+        longitude = gnssInfo.longitude
    }

 }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcatch/MogoLogCatchManager.kt
@@ -15,7 +15,7 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_FULL_LOG
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
 import com.mogo.eagle.core.function.api.map.deva.IMoGoMapDevaProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -220,7 +220,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
        Logger.init(LogLevel.DEBUG)
        MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = true
        MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowNetDebugLog = true
-        CallerAutoPilotManager.setEnableLog(true)
+        CallerAutoPilotControlManager.setEnableLog(true)
    }

    /**
@@ -230,7 +230,7 @@ object MogoLogCatchManager : IMogoOnMessageListener<RemoteLogPushContent>, Handl
        Logger.init(if (DebugConfig.isDebug()) LogLevel.DEBUG else LogLevel.OFF)
        MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowDebugLog = false
        MoGoAiCloudClient.getInstance().aiCloudClientConfig.isShowNetDebugLog = false
-        CallerAutoPilotManager.setEnableLog(false)
+        CallerAutoPilotControlManager.setEnableLog(false)
    }

    override fun onError(errorCount: Int) {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -41,7 +41,7 @@ internal class CanImpl(ctx: Context) :
    private val state: AtomicInteger by lazy { AtomicInteger(Int.MIN_VALUE) }

    override fun onCreate() {
-        send(CanStatus(CallerAutoPilotManager.isConnected()))
+        send(CanStatus(CallerAutoPilotControlManager.isConnected()))

        CallerChassisAccStateListenerManager.addListener(TAG, this)
        CallerChassisBrakeStateListenerManager.addListener(TAG, this)
@@ -60,7 +60,7 @@ internal class CanImpl(ctx: Context) :

    private fun isCanEnabled(): Boolean {
        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
-        return CallerAutoPilotManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
+        return CallerAutoPilotControlManager.isConnected() && code != "EHW_CAN" && (state.get() == Int.MIN_VALUE || state.get() == 0)
    }


--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/ipc/IpcImpl.kt
@@ -28,7 +28,7 @@ internal class IpcImpl(ctx: Context): IFlow<IpcStatus>(ctx), IMoGoAutopilotStatu
    }

    private fun checkAndSend() {
-        send(IpcStatus(CallerAutoPilotManager.isConnected()))
+        send(IpcStatus(CallerAutoPilotControlManager.isConnected()))
    }

    override fun onDestroy() {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/rtk/RTKImpl.kt
@@ -2,9 +2,10 @@ package com.zhjt.mogo_core_function_devatools.status.flow.rtk

 import android.content.Context
 import android.util.Log
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -15,7 +16,6 @@ import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.Job
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
-import mogo.telematics.pad.MessagePad.GnssInfo
 import system_master.SystemStatusInfo.HealthInfo
 import system_master.SystemStatusInfo.StatusInfo
 import java.util.concurrent.atomic.AtomicBoolean
@@ -42,7 +42,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
        CallerLogger.d("$M_DEVA$TAG", "-- onCreate --")
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
-        if (CallerAutoPilotManager.isConnected()) {
+        if (CallerAutoPilotControlManager.isConnected()) {
            check()
        }
    }
@@ -53,7 +53,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
        }
        check?.takeIf { it.isActive }?.cancel()
        launch(Dispatchers.Unconfined) {
-            CallerAutoPilotManager.sendStatusQueryReq()
+            CallerAutoPilotControlManager.sendStatusQueryReq()
            delay(5000)
            isOldVersion.set(true)
        }.also {
@@ -74,18 +74,18 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu

    override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
        super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
+        if (!CallerAutoPilotControlManager.isConnected()) {
            CallerLogger.d("$M_DEVA$TAG", "工控机断开了....")
            healthInfo.set(null)
            send(RTKStatus("", -1))
        }

-        if (CallerAutoPilotManager.isConnected() && check == null && !isOldVersion.get()) {
+        if (CallerAutoPilotControlManager.isConnected() && check == null && !isOldVersion.get()) {
             check()
        }
    }

-    override fun onChassisLocationWGS84(gnssInfo: GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        if (isOldVersion.get()) {
            if (isRTKEnabled()) {
                send(RTKStatus("RTK", 0))
@@ -103,7 +103,7 @@ internal class RTKImpl(ctx: Context): IFlow<RTKStatus>(ctx), IMoGoAutopilotStatu
    private fun isRTKEnabled(): Boolean {
        val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
        val gnssInfo = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-        return CallerAutoPilotManager.isConnected() && (
+        return CallerAutoPilotControlManager.isConnected() && (
                code != "EHW_RTK" &&
                        code != "EHW_GNSS" &&
                        code != "ESYS_RTK_STATUS_FAULT" &&
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
@@ -40,7 +40,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi

    override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
        super.onAutopilotIpcConnectStatusChanged(status, reason)
-        if (!CallerAutoPilotManager.isConnected()) {
+        if (!CallerAutoPilotControlManager.isConnected()) {
            old = UNKNOWN
            send(TracingStatus(UNKNOWN))
        }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/model/StatusModel.kt
@@ -19,7 +19,7 @@ internal class StatusModel : ViewModel() {

        const val TAG = "StatusModel"
        val DEFAULTS = Pair(null, ArrayList<Status>().also {
-            it += IpcStatus(CallerAutoPilotManager.isConnected())
+            it += IpcStatus(CallerAutoPilotControlManager.isConnected())
            it += CanStatus(false)
            it += TracingStatus(UNKNOWN)
            it += RTKStatus("", -1)
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/SyncConfig.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/SyncConfig.kt
@@ -7,7 +7,7 @@ import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -51,7 +51,7 @@ object SyncConfig {
            else -> {
            }
        }
-        AppConfigInfo.teleTimeStamp = CallerAutoPilotManager.getTeleTimeStamp()
+        AppConfigInfo.teleTimeStamp = CallerAutoPilotControlManager.getTeleTimeStamp()
        logOutConfig(AppConfigInfo)
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
@@ -31,9 +31,8 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoHmiProvider
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
@@ -51,7 +50,6 @@ import com.mogo.eagle.core.function.hmi.ui.setting.CameraLiveView.Companion.came
 import com.mogo.eagle.core.function.hmi.ui.setting.IPCReportWindow
 import com.mogo.eagle.core.function.hmi.ui.setting.ToolsView.Companion.toolsView
 import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
-import com.mogo.eagle.core.function.hmi.ui.widget.DemoModeView
 import com.mogo.eagle.core.function.hmi.ui.widget.StatusBarView
 import com.mogo.eagle.core.function.main.DisplayEffectsHelper
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
@@ -216,7 +214,7 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                        SharedPrefsMgr.getInstance(it)
                            .putLong("roadwork", System.currentTimeMillis() / 1000)
                    }
-                    CallerAutoPilotManager.sendTripInfo(5, "", "", "", false)
+                    CallerAutoPilotControlManager.sendTripInfo(5, "", "", "", false)
                }
            }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxBubbleAdapter.kt
@@ -12,7 +12,7 @@ import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
@@ -95,7 +95,7 @@ class DriverMsgBoxBubbleAdapter(private val activity: Activity) : RecyclerView.A
                    holder.tvBubbleReceiveTime.text = TimeUtils.millis2String(it[position].timestamp,getHourMinFormat())
                    var resultStr = "类型："
                    for (result in reportEntity.resultList){
-                        resultStr = "${resultStr}${CallerAutoPilotManager.getReportResultDesc(result)}"
+                        resultStr = "${resultStr}${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                    }
                    holder.tvBubbleReportType.text = resultStr
                    holder.clReportLayout.setOnClickListener {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt
@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
@@ -133,7 +133,7 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                    var resultStr = "类型："
                    for (result in reportEntity.resultList) {
                        resultStr =
-                            "${resultStr}${CallerAutoPilotManager.getReportResultDesc(result)}"
+                            "${resultStr}${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                    }
                    holder.tvReportTypeNormal.text = resultStr
                    holder.tvReportTypeOpen.text = resultStr
@@ -141,7 +141,7 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                    var actionStr = ""
                    for (action in reportEntity.actionsList) {
                        actionStr =
-                            "${actionStr}${CallerAutoPilotManager.getReportActionDesc(action)}"
+                            "${actionStr}${CallerAutoPilotControlManager.getReportActionDesc(action)}"
                    }
                    holder.tvReportActionOpen.text = "建议操作：$actionStr"
                    holder.tvStatusSelect.setOnClickListener {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/traffic/NoticeTrafficDialog.kt
@@ -19,7 +19,7 @@ import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo
 import com.mogo.eagle.core.data.notice.NoticeTrafficStyleInfo.NoticeTrafficAccountInfo
 import com.mogo.eagle.core.data.notice.NoticeTrafficStylePushData
 import com.mogo.eagle.core.data.notice.NoticeValue
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.startAutoPilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.startAutoPilot
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager.bizProvider
--- 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
@@ -38,6 +38,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.gnss.AccelerationEntity
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.data.report.ReportEntity
 import com.mogo.eagle.core.function.api.autopilot.*
@@ -120,7 +121,7 @@ internal class DebugSettingView @JvmOverloads constructor(
    private var logViewAttach = false

    private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
-    private var mGnssInfo: MessagePad.GnssInfo? = null
+    private var mGnssInfo: MogoLocation? = null

    private var accelerationFloatWindow: AccelerationFloatWindow? = null
    private var accelerationList = arrayListOf<AccelerationEntity>()
@@ -220,7 +221,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        Timer().schedule(timerTaskRefresh, Date(), 300)
        if (AppConfigInfo.isConnectAutopilot && (AppConfigInfo.plateNumber.isNullOrEmpty() || AppConfigInfo.iPCMacAddress.isNullOrEmpty())) {
            //查询工控机基础配置信息
-            CallerAutoPilotManager.getCarConfig()
+            CallerAutoPilotControlManager.getCarConfig()
        }
    }

@@ -594,10 +595,10 @@ internal class DebugSettingView @JvmOverloads constructor(
                "demoMode",
                DemoModeView(context)
            )
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
            if (!FunctionBuildConfig.isDemoMode) {
                //关闭美化模式时，通知工控机
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
            }
            tbIsDrawAutopilotTrajectoryData.isEnabled = !FunctionBuildConfig.isDemoMode
            if (!FunctionBuildConfig.isDemoMode) {
@@ -615,7 +616,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode
        //雨天模式
        tbIsRainMode.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setRainMode(isChecked)
+            CallerAutoPilotControlManager.setRainMode(isChecked)
            FunctionBuildConfig.isRainMode = isChecked
        }
        //雨天模式按钮只在司机屏生效，乘客屏不显示
@@ -634,7 +635,7 @@ internal class DebugSettingView @JvmOverloads constructor(

        //重启工控机所有节点
        btnIpcReboot.onClick {
-            CallerAutoPilotManager.sendIpcReboot()
+            CallerAutoPilotControlManager.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
@@ -773,7 +774,7 @@ internal class DebugSettingView @JvmOverloads constructor(

        // 模拟自动驾驶中
        tbChangeAutoPilotStatus.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setControlAutopilotCarAuto(isChecked)
+            CallerAutoPilotControlManager.setControlAutopilotCarAuto(isChecked)
        }
        when {
            AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) -> {
@@ -794,7 +795,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        }

        //初始化ADAS日志开关状态
-        tbADASLog.isChecked = CallerAutoPilotManager.isEnableLog()
+        tbADASLog.isChecked = CallerAutoPilotControlManager.isEnableLog()

        //查看上报历史列表
        tbReportMore.setOnCheckedChangeListener { _, isChecked ->
@@ -915,7 +916,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        btnConnectServerIp.setOnClickListener {
            val ip = etConnectServerIp.text.toString()
            if (!ip.isNullOrEmpty()) {
-                CallerAutoPilotManager.connectSpecifiedServer(ip)
+                CallerAutoPilotControlManager.connectSpecifiedServer(ip)
            }
        }

@@ -982,7 +983,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        btnSetAutopilotIP.setOnClickListener {
            val autoPilotIp = etAutopilotIP.text.toString()
            if (autoPilotIp.isNotEmpty()) {
-                CallerAutoPilotManager.resetIpAddress(autoPilotIp)
+                CallerAutoPilotControlManager.resetIpAddress(autoPilotIp)
            } else {
                ToastUtils.showShort("请输入正确的IP地址")
            }
@@ -990,7 +991,7 @@ internal class DebugSettingView @JvmOverloads constructor(

        //断开与工控机的连接
        btnDisconnectIpc.setOnClickListener {
-            CallerAutoPilotManager.disconnectIpc()
+            CallerAutoPilotControlManager.disconnectIpc()
        }

        /**
@@ -1000,32 +1001,32 @@ internal class DebugSettingView @JvmOverloads constructor(
            val recordTimeStr = etInputRecordTime.text?.toString()
            try {
                if (recordTimeStr.isNullOrEmpty()) {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                }
                val recordTime = recordTimeStr?.toInt()
                if (recordTime != null && recordTime > 0) {
-                    CallerAutoPilotManager.recordPackage(recordTime)
+                    CallerAutoPilotControlManager.recordPackage(recordTime)
                } else {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                }
            } catch (e: Exception) {
-                CallerAutoPilotManager.recordPackage()
+                CallerAutoPilotControlManager.recordPackage()
            }
        }
        btnRecordBag.onClick {
            val recordTimeStr = etInputRecordBagTime.text?.toString()
            try {
                if (recordTimeStr.isNullOrEmpty()) {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                }
                val recordTime = recordTimeStr?.toInt()
                if (recordTime != null && recordTime > 0) {
-                    CallerAutoPilotManager.recordPackage(recordTime)
+                    CallerAutoPilotControlManager.recordPackage(recordTime)
                } else {
-                    CallerAutoPilotManager.recordPackage()
+                    CallerAutoPilotControlManager.recordPackage()
                }
            } catch (e: Exception) {
-                CallerAutoPilotManager.recordPackage()
+                CallerAutoPilotControlManager.recordPackage()
            }
        }

@@ -1193,9 +1194,9 @@ internal class DebugSettingView @JvmOverloads constructor(
         */
        tbADASLog.setOnCheckedChangeListener { _, isChecked ->
            if (isChecked) {
-                CallerAutoPilotManager.setEnableLog(true)
+                CallerAutoPilotControlManager.setEnableLog(true)
            } else {
-                CallerAutoPilotManager.setEnableLog(false)
+                CallerAutoPilotControlManager.setEnableLog(false)
            }
        }

@@ -1519,7 +1520,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        tvAppVersionNameKey.text = "鹰眼版本名：${AppUtils.getAppVersionName()}"

        tvAutopilotProtocolVersionInfo.text =
-            "Autopilot协议版本：${CallerAutoPilotManager.getProtocolVersion()}"
+            "Autopilot协议版本：${CallerAutoPilotControlManager.getProtocolVersion()}"
        if (AppConfigInfo.protocolVersionNumber == 0) {
            tvIpcProtocolVersionInfo.text = "工控机协议版本：未知"
        } else {
@@ -1825,7 +1826,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        }
    }

-    override fun onChassisLocationWGS84(gnssInfo: MessagePad.GnssInfo) {
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        mGnssInfo = gnssInfo
        //实时加速度列表
        ThreadUtils.runOnUiThread {
@@ -1904,14 +1905,14 @@ internal class DebugSettingView @JvmOverloads constructor(
                var resultStr = "result:"
                for (result in it.resultList) {
                    resultStr =
-                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                        "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                }
                tvReportResult.text = resultStr

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

@@ -2010,14 +2011,14 @@ internal class DebugSettingView @JvmOverloads constructor(
                var resultStr = "result:"
                for (result in it.resultList) {
                    resultStr =
-                        "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                        "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                }
                tvReportResult.text = resultStr

                var actionStr = "action:"
                for (action in it.actionsList) {
                    actionStr =
-                        "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                        "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                }
                tvReportActions.text = actionStr
                if ("error" == it.level) {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/IPCReportAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/IPCReportAdapter.kt
@@ -6,7 +6,7 @@ import android.view.ViewGroup
 import android.widget.TextView
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.hmi.R
 import me.jessyan.autosize.AutoSizeCompat

@@ -37,13 +37,13 @@ class IPCReportAdapter: RecyclerView.Adapter<IPCReportAdapter.IPCReportHolder>()
                holder.tvReportTimeContent.text = it.time
                var resultStr = "发生异常"
                for (result in it.resultList){
-                    resultStr = "${resultStr}-${CallerAutoPilotManager.getReportResultDesc(result)}"
+                    resultStr = "${resultStr}-${CallerAutoPilotControlManager.getReportResultDesc(result)}"
                }
                holder.tvReportResultContent.text = resultStr
                holder.tvReportMsgContent.text = it.msg
                var actionStr = ""
                for (action in it.actionsList){
-                    actionStr = "${actionStr}-${CallerAutoPilotManager.getReportActionDesc(action)}"
+                    actionStr = "${actionStr}-${CallerAutoPilotControlManager.getReportActionDesc(action)}"
                }
                holder.tvReportActionContent.text = actionStr
            }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ReportListAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/ReportListAdapter.kt
@@ -9,7 +9,7 @@ import android.view.ViewGroup
 import android.widget.TextView
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.report.ReportEntity
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.hmi.R

 /**
@@ -45,12 +45,12 @@ class ReportListAdapter(context: Context) :
                holder.tvReportCode.text = "code:${it.code}"
                var resultStr = "result:"
                for (result in it.resultList) {
-                    resultStr = "$resultStr$result${CallerAutoPilotManager.getReportResultDesc(result)}  "
+                    resultStr = "$resultStr$result${CallerAutoPilotControlManager.getReportResultDesc(result)}  "
                }
                holder.tvReportResult.text = resultStr
                var actionStr = "action:"
                for (action in it.actionsList) {
-                    actionStr = "$actionStr$action${CallerAutoPilotManager.getReportActionDesc(action)}  "
+                    actionStr = "$actionStr$action${CallerAutoPilotControlManager.getReportActionDesc(action)}  "
                }
                holder.tvReportActions.text = actionStr

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -10,7 +10,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
@@ -49,7 +49,7 @@ internal class SOPSettingView @JvmOverloads constructor(
        //绕障类功能开关
        tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
        tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.sendDetouring(isChecked)
+            CallerAutoPilotControlManager.sendDetouring(isChecked)
            FunctionBuildConfig.isDetouring = isChecked
        }

@@ -161,10 +161,10 @@ internal class SOPSettingView @JvmOverloads constructor(
        tbDemoMode.setOnCheckedChangeListener { _, _ ->
            FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
            CallerHmiManager.updateStatusBarLeftView(FunctionBuildConfig.isDemoMode, "demoMode", DemoModeView(context))
-            CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
            if (!FunctionBuildConfig.isDemoMode) {
                //关闭美化模式时，通知工控机
-                CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
            }
        }
        //只在司机端设置美化模式开关功能
@@ -177,7 +177,7 @@ internal class SOPSettingView @JvmOverloads constructor(
        tbRainMode.isChecked = FunctionBuildConfig.isRainMode
        //雨天模式
        tbRainMode.setOnCheckedChangeListener { _, isChecked ->
-            CallerAutoPilotManager.setRainMode(isChecked)
+            CallerAutoPilotControlManager.setRainMode(isChecked)
            FunctionBuildConfig.isRainMode = isChecked
        }
        //雨天模式按钮只在司机屏生效，乘客屏不显示
@@ -227,7 +227,7 @@ internal class SOPSettingView @JvmOverloads constructor(
        }
        btnSpeedSet.setOnClickListener {
            val isSuccess =
-                CallerAutoPilotManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
+                CallerAutoPilotControlManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
            if (isSuccess == true) {
                ToastUtils.showShort("变道绕障的目标障碍物速度阈值设置成功")
            } else {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/switch/DemoModeHiddenSwitch.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/switch/DemoModeHiddenSwitch.kt
@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.View
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.ui.widget.DemoModeView
@@ -25,10 +25,10 @@ class DemoModeHiddenSwitch(context: Context, attrs: AttributeSet?) : View(contex
                        "demoMode",
                        DemoModeView(context)
                    )
-                    CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
+                    CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
                    if (!FunctionBuildConfig.isDemoMode) {
                        //关闭美化模式时，通知工控机
-                        CallerAutoPilotManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
+                        CallerAutoPilotControlManager.setIPCDemoMode(FunctionBuildConfig.isDemoMode)
                    }
                }
            }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
@@ -7,7 +7,6 @@ import android.graphics.Color
 import android.graphics.drawable.ColorDrawable
 import android.os.Process
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.FrameLayout
@@ -18,10 +17,9 @@ import com.mogo.eagle.core.data.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.temp.EventLogout
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.utils.KeyBoardUtil
 import com.mogo.eagle.core.function.msgbox.MsgBoxConfig
@@ -77,7 +75,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
                    }
                    else -> {
                        // 设置自动驾驶速度
-                        val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speed)
+                        val isSuccess = CallerAutoPilotControlManager.setAutoPilotSpeed(speed)
                        when {
                            isSuccess -> {
                                ToastUtils.showShort("车速设置成功，立即生效")
@@ -110,7 +108,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
        }

        if (AppConfigInfo.isConnectAutopilot) {
-            CallerAutoPilotManager.getCarConfig()
+            CallerAutoPilotControlManager.getCarConfig()
        }
 //        if (maxAcceleration > 0) {
 //            tvAcceleration.text = "加速度 $maxAcceleration m/s²"
@@ -142,7 +140,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(

        //速度确认
        tvSureModify.setOnClickListener {
-            val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
+            val isSuccess = CallerAutoPilotControlManager.setAutoPilotSpeed(speedLimit)
            when {
                isSuccess -> {
                    //速度显示
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/AutoPilotStatusView.kt
@@ -8,7 +8,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lat
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getCurWgs84Lon
@@ -85,7 +85,7 @@ class AutoPilotStatusView constructor(
            AutopilotControlParameters.AutoPilotLonLat(26.819716071924688, 112.57715442110867)
        currentAutopilot.vehicleType = 10

-        CallerAutoPilotManager.startAutoPilot(currentAutopilot)
+        CallerAutoPilotControlManager.startAutoPilot(currentAutopilot)
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt
@@ -9,7 +9,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.function.hmi.R
@@ -68,7 +68,7 @@ class CheckSystemView @JvmOverloads constructor(
                        else {
                            //确认重启
                            CallerLogger.d("$M_HMI$TAG", "reboot confirm")
-                            CallerAutoPilotManager.setIPCReboot()
+                            CallerAutoPilotControlManager.setIPCReboot()
                        }
                    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
@@ -5,12 +5,12 @@ import android.graphics.Color
 import android.util.AttributeSet
 import android.view.Gravity
 import android.widget.FrameLayout
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import mogo.telematics.pad.MessagePad
 import java.util.*

 /**
@@ -29,7 +29,7 @@ class SpeedPanelView @JvmOverloads constructor(

    var mContext: Context
    var mSpeedChartView: SpeedChartView
-    var mLatLng: MessagePad.GnssInfo? = null
+    var mLatLng: MogoLocation? = null
    var mSpeedLimit = 60

    private val timer by lazy {
@@ -77,7 +77,7 @@ class SpeedPanelView @JvmOverloads constructor(
        timer.schedule(task, Date(), 200)
    }

-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
        gnssInfo?.let {
            mLatLng = gnssInfo
        }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
@@ -24,7 +24,7 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.mofang.MfConstants;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
@@ -351,7 +351,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                        if (isShowToast) {
                            ToastUtils.showShort("方块 单击C ← 向左变道 ");
                        }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft();
                    }
                }
                return true;
@@ -372,7 +372,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                        if (isShowToast) {
                            ToastUtils.showShort("方块 单击D → 向右变道 ");
                        }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight();
                    }
                }
                return true;
@@ -384,14 +384,14 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                        if (isShowToast) {
                            ToastUtils.showShort("方块 长按E 鸣笛 ");
                        }
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1);
                        if (timerHorn == null) {
                            timerHorn = new Timer();
                        }
                        timerHorn.schedule(new TimerTask() {
                            @Override
                            public void run() {
-                                CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                                CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2);
                                timerHorn = null;
                            }
                        }, 500);
@@ -404,7 +404,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                        if (isShowToast) {
                            ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
                        }
-                        CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
                    }
                }
                return true;
@@ -425,7 +425,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                timerAcc.schedule(new TimerTask() {
                    @Override
                    public void run() {
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
                    }
                }, 0, 500);
            }
@@ -434,7 +434,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                timerAcc.cancel();
                timerAcc = null;
            }
-            CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
+            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
        }
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/PassengerLauncherActivity.java
@@ -20,13 +20,12 @@ import android.widget.FrameLayout;
 import androidx.annotation.Nullable;

 import com.alibaba.android.arouter.launcher.ARouter;
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentManager;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
@@ -300,7 +299,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                    isCombinationKey = false;
                    if ((pressCUpTime - startPressTime) < 300) {
                        ToastUtils.showShort("方块 单击C ← 向左变道 ");
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneLeft();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneLeft();
                    }
                }
                return true;
@@ -318,7 +317,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                    isCombinationKey = false;
                    if ((pressDUpTime - startPressTime) < 300) {
                        ToastUtils.showShort("方块 单击D → 向右变道 ");
-                        CallerAutoPilotManager.INSTANCE.sendOperatorChangeLaneRight();
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorChangeLaneRight();
                    }
                }

@@ -329,14 +328,14 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                    if (!isCombinationKey) {
                        if ((pressEDownTime - startPressTime) > 1900) {
                            ToastUtils.showShort("方块 长按E 鸣笛 ");
-                            CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(1);
+                            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(1);
                            if (timerHorn == null) {
                                timerHorn = new Timer();
                            }
                            timerHorn.schedule(new TimerTask() {
                                @Override
                                public void run() {
-                                    CallerAutoPilotManager.INSTANCE.sendOperatorSetHorn(2);
+                                    CallerAutoPilotControlManager.INSTANCE.sendOperatorSetHorn(2);
                                    timerHorn = null;
                                }
                            }, 500);
@@ -348,7 +347,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                    isCombinationKey = false;
                    if ((pressEUpTime - startPressTime) < 300) {
                        ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
-                        CallerAutoPilotManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
+                        CallerAutoPilotControlManager.INSTANCE.startAutoPilot(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getAutopilotControlParameters());
                    }
                }

@@ -372,7 +371,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                timerAcc.schedule(new TimerTask() {
                    @Override
                    public void run() {
-                        CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
+                        CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(accelerated);
                    }
                }, 0, 500);
            }
@@ -381,7 +380,7 @@ public class PassengerLauncherActivity extends MainActivity implements IMogoInte
                timerAcc.cancel();
                timerAcc = null;
            }
-            CallerAutoPilotManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
+            CallerAutoPilotControlManager.INSTANCE.sendOperatorSetAcceleratedSpeed(acc);
        }
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java
@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.business;
 import androidx.annotation.Nullable;

 import com.mogo.eagle.core.data.enums.DataSourceType;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
@@ -13,8 +14,6 @@ import java.util.Objects;
 import java.util.Timer;
 import java.util.TimerTask;

-import mogo.telematics.pad.MessagePad;
-
 /**
 * 限速
 *
@@ -24,7 +23,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener

    private final static String TAG = "SpeedLimitDataManager";
    private static volatile SpeedLimitDataManager instance;
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;

    private SpeedLimitDataManager() {
    }
@@ -41,7 +40,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener
    }

    @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
        mLocation = gnssInfo;
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/collect/MoGoMapDataCollectProvider.kt
@@ -8,16 +8,18 @@ import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
-import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.zhidaoauto.map.operational.open.GatherApi
 import com.zhidaoauto.map.operational.open.GatherParams
 import com.zhidaoauto.map.operational.open.abs.OnTaskListener
-import mogo.telematics.pad.MessagePad.GnssInfo
 import record_cache.RecordPanelOuterClass
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.CopyOnWriteArrayList
@@ -168,14 +170,14 @@ class MoGoMapDataCollectProvider : IMoGoMapDataCollectProvider, OnTaskListener,
        }
    }

-    override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
        val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
        executor.get()?.updateLocation(
            location.longitude,
            location.latitude,
            location.altitude,
-            location.bearing,
-            location.speed,
+            location.heading.toFloat(),
+            location.gnssSpeed,
            false)
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
@@ -5,6 +5,7 @@ import androidx.annotation.Nullable;

 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener;
@@ -65,7 +66,7 @@ public class MogoRouteOverlayManager implements
    }

    @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
        if (gnssInfo == null) {
            return;
        }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapFragment.kt
@@ -8,10 +8,10 @@ import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths
-import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.CenterLine
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.api.map.hd.IMoGoMapFragmentProvider
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.business.MapPointCloudSubscriber
@@ -19,29 +19,21 @@ import com.mogo.eagle.core.function.business.SpeedLimitDataManager
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
 import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showBrakeLight
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showTurnLight
 import com.mogo.eagle.core.function.call.map.CallerHDMapManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
-import com.mogo.eagle.core.function.datacenter.location.IMoGoLocationListener
-import com.mogo.eagle.core.function.datacenter.location.MoGoLocationManager
-import com.mogo.eagle.core.function.overview.InfStructureManager
-import com.mogo.eagle.core.function.overview.InfStructureManager.savePlanningData
-import com.mogo.eagle.core.function.overview.obtainViewModel
-import com.mogo.eagle.core.function.overview.vm.OverViewModel
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.map.IMogoMap
 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
-import mogo.telematics.pad.MessagePad

 /**
 * @author donghongyu
@@ -54,8 +46,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
        MapView,
        IMoGoMapFragmentProvider,
        IMoGoSkinModeChangeListener,
-        IMoGoLocationListener,
-        IMoGoPlanningRottingListener,
+        IMoGoChassisLocationWGS84Listener,
        IMoGoChassisLamplightListener {

    private var mMogoMapView: MogoMapView? = null
@@ -113,8 +104,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
        }
        // 添加换肤监听
        CallerSkinModeListenerManager.addListener(Companion.functionName, this)
-        CallerPlanningRottingListenerManager.addListener(Companion.functionName, this)
-        MoGoLocationManager.addListener(Companion.functionName, this)
+        CallerChassisLocationWGS84ListenerManager.addListener(Companion.functionName, this)
        CallerChassisLamplightListenerManager.addListener(Companion.functionName, this)
    }

@@ -200,15 +190,6 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
        MogoRouteOverlayManager.getInstance().init()
        MapPointCloudSubscriber.instance
        SpeedLimitDataManager.getInstance().start()
-
-        // TODO GD地图业务需要与高精地图业务拆开 --- 扶风
-        queryInfStructure()
-    }
-
-    private fun queryInfStructure() {
-        val viewModel = this.obtainViewModel(OverViewModel::class.java)
-        viewModel.infStructuresMap.observe(this.viewLifecycleOwner) { t -> InfStructureManager.saveData(t) }
-        viewModel.fetchInfStructures()
    }

    override fun getUIController(): IMogoMapUIController {
@@ -217,8 +198,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),

    override fun onDestroyView() {
        CallerSkinModeListenerManager.removeListener(Companion.functionName)
-        CallerPlanningRottingListenerManager.removeListener(Companion.functionName)
-        MoGoLocationManager.removeListener(Companion.functionName)
+        CallerChassisLocationWGS84ListenerManager.removeListener(Companion.functionName)
        CallerChassisLamplightListenerManager.removeListener(Companion.functionName)

        if (mMogoMapView != null) {
@@ -334,11 +314,6 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
    override val functionName: String
        get() = functionName

-    // TODO 全览模式需要自己监听 --- 扶风
-    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
-        UiThreadHandler.post { savePlanningData(globalPathResp!!.wayPointsList) }
-    }
-
    private var turnLightTimes = 0
    private var isOnTurnLight = false
    private var turnLight = 0
@@ -346,8 +321,8 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
    private var isShowTurnLight = false
    private var brakeLight = -1

-    override fun onLocationChanged(gnssInfo: MessagePad.GnssInfo,sourceType: DataSourceType) {
-        // 跟新地图控件
+    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
+        // 更新地图控件
        mMogoMapView?.setExtraGPSData(gnssInfo)

        if (gnssInfo != null) {
@@ -364,6 +339,7 @@ class MapFragment : MvpFragment<MapView?, MapPresenter?>(),
        }
    }

+
    override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
        //can数据转发  转向灯状态 0是正常 1是左转 2是右转
        if (lightSwitch != null) {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/overview/view/OverMapView.kt
@@ -19,9 +19,10 @@ import com.amap.api.maps.model.*
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.Infrastructure
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.getGlobalPath
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showVideoDialog
@@ -83,7 +84,7 @@ class OverMapView @JvmOverloads constructor(
    // 绘制轨迹线的集合
    private val textureList: MutableList<BitmapDescriptor?> = ArrayList()
    private val texIndexList: MutableList<Int> = ArrayList()
-    private var mLocation: MessagePad.GnssInfo? = null
+    private var mLocation: MogoLocation? = null
    private var isFirstLocation = true
    var mCustomMapStyleOptions: CustomMapStyleOptions? = null
    var currMarkerList: ArrayList<Marker>? = null
@@ -269,12 +270,14 @@ class OverMapView @JvmOverloads constructor(
             * 室内某个bag包自动驾驶启动8s后返回
             */
            override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
-                Log.d(TAG, "onAutopilotRotting")
-                handlePlanningData(globalPathResp!!.wayPointsList)
+                globalPathResp?.let {
+                    handlePlanningData(it.wayPointsList)
+                }
            }
        }

-    fun handlePlanningData(locationList: List<MessagePad.Location>) {
+    fun handlePlanningData(locationList: List<MessagePad.Location>?) {
+        if (locationList.isNullOrEmpty()) return
        val list: List<MessagePad.Location> = locationList
        // 转成高德坐标系并存储
        updateRoutePoints(list, mContext!!)
@@ -493,7 +496,7 @@ class OverMapView @JvmOverloads constructor(
     *
     * @param location
     */
-    private fun drawCarMarker(location: MessagePad.GnssInfo?) {
+    private fun drawCarMarker(location: MogoLocation?) {
        if (location == null) return
        if (mCarMarker != null) {
            val currentLatLng = LatLng(location.latitude, location.longitude)
@@ -568,7 +571,7 @@ class OverMapView @JvmOverloads constructor(
        }
    }

-    override fun onChassisLocationGCJ02(gnssInfo: MessagePad.GnssInfo?) {
+    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
        mLocation = gnssInfo
        lonLat = Pair(gnssInfo!!.longitude, gnssInfo.latitude)
        drawCarMarker(gnssInfo)
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
@@ -31,6 +31,7 @@ import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.Infrastructure;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
@@ -92,7 +93,7 @@ public class AMapCustomView
    private List<BitmapDescriptor> textureList = new ArrayList<>();
    private List<Integer> texIndexList = new ArrayList<>();

-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;
    private boolean isFirstLocation = true;
    CustomMapStyleOptions mCustomMapStyleOptions;

@@ -224,11 +225,14 @@ public class AMapCustomView
        @Override
        public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) {
            Log.d(TAG, "onAutopilotRotting");
-            handlePlanningData(globalPathResp.getWayPointsList());
+            if (globalPathResp != null) {
+                handlePlanningData(globalPathResp.getWayPointsList());
+            }
        }
    };

    public void handlePlanningData(List<MessagePad.Location> locationList) {
+        if (locationList == null || locationList.size() == 0) return;
        List list = locationList;
        // 转成高德坐标系并存储
        MarkerDrawerManager.INSTANCE.updateRoutePoints(list, mContext);
@@ -456,7 +460,7 @@ public class AMapCustomView
     *
     * @param location
     */
-    private void drawCarMarker(MessagePad.GnssInfo location) {
+    private void drawCarMarker(MogoLocation location) {
        if (location == null) return;
        if (mCarMarker != null) {
            LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
@@ -534,7 +538,7 @@ public class AMapCustomView
    }

    @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
        mLocation = gnssInfo;
        MarkerDrawerManager.INSTANCE.setLonLat(new Pair(gnssInfo.getLongitude(), gnssInfo.getLatitude()));
        drawCarMarker(gnssInfo);
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/OverviewMapFragment.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/OverviewMapFragment.java
@@ -13,7 +13,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.constants.MoGoFragmentPaths;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.map.R;
 import com.mogo.eagle.core.function.overview.InfStructureManager;
@@ -117,7 +117,7 @@ public class OverviewMapFragment extends BaseFragment
    public void onActivityCreated(@Nullable Bundle savedInstanceState) {
        super.onActivityCreated(savedInstanceState);
        // 主动查一次全局路径规划的数据
-        CallerAutoPilotManager.INSTANCE.getGlobalPath();
+        CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
        queryV2XEvents();
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
@@ -32,6 +32,7 @@ import com.amap.api.maps.model.PolylineOptions;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager;
 import com.mogo.eagle.core.function.map.R;
@@ -47,8 +48,6 @@ import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;

-import mogo.telematics.pad.MessagePad;
-
 /**
 * 小地图的方向View
 *
@@ -75,7 +74,7 @@ public class SmallMapDirectionView
    private Polyline mPolyline;
    private CameraUpdate mCameraUpdate;
    private Context mContext;
-    private MessagePad.GnssInfo mLocation;
+    private MogoLocation mLocation;

    public SmallMapDirectionView(Context context) {
        this(context, null);
@@ -179,7 +178,7 @@ public class SmallMapDirectionView
    }

    @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
        if (gnssInfo == null) {
            return;
        }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapFragment.java
@@ -17,7 +17,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
 import com.mogo.eagle.core.function.api.map.smp.IMogoSmallMapProvider;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
 import com.mogo.eagle.core.function.map.R;
@@ -143,7 +143,7 @@ public class SmallMapFragment extends BaseFragment
            clearPolyline();
        }else if (tempStatus  == 1 && autoPilotStatus == 0){
            CallerLogger.INSTANCE.i(M_MAP + TAG, "onAutopilotStatusResponse:getGlobalPath");
-            CallerAutoPilotManager.INSTANCE.getGlobalPath();
+            CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
        }
        autoPilotStatus = tempStatus;
    }
--- a/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
+++ b/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
@@ -29,9 +29,9 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.call.analytics.AnalyticsManager
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
@@ -46,7 +46,6 @@ import com.mogo.eagle.core.utilcode.util.TimeUtils
 import com.rousetime.android_startup.AndroidStartup
 import com.zhjt.service.chain.ChainLog
 import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
-import mogo.telematics.pad.MessagePad.GnssInfo

 class HttpDnsStartUp : AndroidStartup<Boolean>() {

@@ -293,10 +292,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
                CallerChassisLocationGCJ20ListenerManager.addListener(
                    TAG,
                    object : IMoGoChassisLocationGCJ02Listener {
-
-                        override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
-                            CallerMapLocationListenerManager.getCurrentLocation()?.let { loc ->
-                                MogoLocationInfoServices.getInstance().provideLocation(loc)
+                        override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+                            mogoLocation?.let {
+                                MogoLocationInfoServices.getInstance().provideLocation(mogoLocation)
                            }
                        }
                    },
--- 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
@@ -1,47 +1,53 @@
 package com.mogo.eagle.core.function.v2x.events

-import android.content.*
-import android.os.*
-import android.util.*
-import androidx.localbroadcastmanager.content.*
-import com.mogo.cloud.passport.*
+import android.content.Context
+import android.content.Intent
+import android.os.Handler
+import android.os.Looper
+import android.util.Log
+import androidx.localbroadcastmanager.content.LocalBroadcastManager
+import com.mogo.cloud.passport.IMoGoTokenCallback
+import com.mogo.cloud.passport.MoGoAiCloudClient
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.HostConst
 import com.mogo.commons.module.ServiceConst.CARD_TYPE_ROAD_CONDITION
-import com.mogo.eagle.core.data.enums.EventTypeEnumNew
-import com.mogo.eagle.core.data.enums.EventTypeHelper
-import com.mogo.commons.network.*
+import com.mogo.commons.network.ParamsUtil
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_CODE_CLOUD_V2N
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CLOUD_V2N
-import com.mogo.eagle.core.data.enums.*
-import com.mogo.eagle.core.data.map.*
+import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.enums.EventTypeEnumNew
+import com.mogo.eagle.core.data.enums.EventTypeHelper
+import com.mogo.eagle.core.data.enums.TrafficTypeEnum
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
 import com.mogo.eagle.core.data.map.entity.MarkerShowEntity
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
-import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
-import com.mogo.eagle.core.data.traffic.*
-import com.mogo.eagle.core.function.api.autopilot.*
-import com.mogo.eagle.core.function.api.hmi.warning.*
-import com.mogo.eagle.core.function.api.map.listener.*
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.function.call.hmi.*
-import com.mogo.eagle.core.function.call.map.*
+import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
-import com.mogo.eagle.core.function.v2x.events.alarm.*
-import com.mogo.eagle.core.function.v2x.events.bridge.*
+import com.mogo.eagle.core.function.v2x.events.alarm.V2XAlarmServer
+import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi.context
-import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.*
-import com.mogo.eagle.core.function.v2x.events.manager.*
-import com.mogo.eagle.core.function.v2x.events.receiver.*
-import com.mogo.eagle.core.function.v2x.events.scenario.impl.*
-import com.mogo.eagle.core.function.v2x.events.utils.*
-import com.mogo.eagle.core.function.v2x.events.utils.MapUtils
+import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.BROADCAST_SCENE_EXTRA_KEY
+import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.BROADCAST_SCENE_HANDLER_ACTION
+import com.mogo.eagle.core.function.v2x.events.receiver.SceneBroadcastReceiver
+import com.mogo.eagle.core.function.v2x.events.scenario.impl.V2XScenarioManager
+import com.mogo.eagle.core.function.v2x.events.utils.TrackUtils
+import com.mogo.eagle.core.function.v2x.events.utils.toRoadMarker
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.config.V2XConfig
@@ -51,27 +57,35 @@ import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.road.V2XEventServiceApi
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
-import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.eagle.core.utilcode.util.Utils
-import com.mogo.map.marker.*
+import com.mogo.map.marker.IMogoMarker
+import com.mogo.map.marker.IMogoMarkerClickListener
 import com.mogo.map.marker.MogoMarkersHandler.Companion.mogoMarkersHandler
-import com.shuyu.gsyvideoplayer.*
-import com.shuyu.gsyvideoplayer.cache.*
-import com.shuyu.gsyvideoplayer.model.*
-import com.shuyu.gsyvideoplayer.player.*
-import com.shuyu.gsyvideoplayer.utils.*
-import com.zhjt.service.chain.*
+import com.shuyu.gsyvideoplayer.GSYVideoManager
+import com.shuyu.gsyvideoplayer.cache.CacheFactory
+import com.shuyu.gsyvideoplayer.cache.ProxyCacheManager
+import com.shuyu.gsyvideoplayer.model.VideoOptionModel
+import com.shuyu.gsyvideoplayer.player.IjkPlayerManager
+import com.shuyu.gsyvideoplayer.player.PlayerFactory
+import com.shuyu.gsyvideoplayer.utils.GSYVideoType
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
 import io.reactivex.schedulers.Schedulers
-import kotlinx.coroutines.*
-import kotlinx.coroutines.android.*
-import mogo.telematics.pad.MessagePad.GnssInfo
-import tv.danmaku.ijk.media.player.*
-import java.util.concurrent.*
-import java.util.concurrent.atomic.*
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.android.asCoroutineDispatcher
+import kotlinx.coroutines.cancel
+import kotlinx.coroutines.launch
+import tv.danmaku.ijk.media.player.IjkMediaPlayer
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.atomic.AtomicBoolean


 object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback, IV2XCallback {
@@ -116,13 +130,6 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
    private fun registerListener() {
        V2XManager.addCallback(this)
        CallerChassisLocationGCJ20ListenerManager.addListener(TAG, this)
-        mogoMarkersHandler.registerMarkerClickListener(CARD_TYPE_ROAD_CONDITION,
-            object : IMogoMarkerClickListener {
-                override fun onMarkerClicked(marker: IMogoMarker?): Boolean {
-                    handleRoadConditionMarkerClick(marker)
-                    return super.onMarkerClicked(marker)
-                }
-            })
    }

    private fun unRegisterListener() {
@@ -131,63 +138,6 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
        mogoMarkersHandler.unregisterMarkerClickListener(CARD_TYPE_ROAD_CONDITION)
    }

-    private fun handleRoadConditionMarkerClick(marker: IMogoMarker?) {
-        //点击的marker的具体数据
-        val exploreWay = extractFromMarker(marker)
-        exploreWay?.let {
-            val item = it.items[0]
-            val path = item.url
-            if (path.contains(".mp4")) {
-                initVideo()
-            }
-
-            val roadEventEntity = V2XRoadEventEntity()
-            roadEventEntity.noveltyInfo = exploreWay
-            roadEventEntity.poiType = it.poiType
-            roadEventEntity.expireTime = 20000 //地理位置
-            //地理位置
-            val location = it.location
-            roadEventEntity.location = location
-
-            val v2XMessageEntity: V2XMessageEntity<V2XRoadEventEntity> =
-                V2XMessageEntity<V2XRoadEventEntity>()
-            v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
-            v2XMessageEntity.isShowState = true
-            v2XMessageEntity.isOnlyShow = true
-            v2XMessageEntity.isNeedAddLine = false
-            v2XMessageEntity.content = roadEventEntity
-            val intent = Intent(BROADCAST_SCENE_HANDLER_ACTION)
-            intent.putExtra(BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity)
-            LocalBroadcastManager.getInstance(context()).sendBroadcast(intent)
-            //埋点
-            TrackUtils.trackV2XMarkerClick(2)
-        }
-    }
-
-    private fun initVideo() {
-        PlayerFactory.setPlayManager(IjkPlayerManager::class.java)
-        CacheFactory.setCacheManager(ProxyCacheManager::class.java)
-        val list = mutableListOf<VideoOptionModel>()
-        list.add(VideoOptionModel(IjkMediaPlayer.OPT_CATEGORY_PLAYER, "enable-accurate-seek", 1))
-        list.add(VideoOptionModel(IjkMediaPlayer.OPT_CATEGORY_PLAYER, "videotoolbox", 0))
-        GSYVideoManager.instance().optionModelList = list
-        GSYVideoType.enableMediaCodec()
-        GSYVideoType.enableMediaCodecTexture()
-    }
-
-    private fun extractFromMarker(marker: IMogoMarker?): MarkerExploreWay? {
-        if (marker == null) {
-            return null
-        }
-        if (marker.getObject() is MarkerShowEntity) {
-            val showEntity = marker.getObject() as MarkerShowEntity
-            if (showEntity.bindObj is MarkerExploreWay) {
-                return showEntity.bindObj as MarkerExploreWay
-            }
-        }
-        return null
-    }
-
    override fun onChassisLocationGCJ02(gnssInfo: GnssInfo?) {
        val location = CallerMapLocationListenerManager.getCurrentLocation() ?: return
        BridgeApi.location.set(location)
@@ -208,14 +158,13 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
            val min = if (EventTypeEnumNew.isCloudSocketEvent(v2XRoadEventEntity.poiType)) 0 else 5
            CallerLogger.d(
                "$M_V2X$TAG",
-                "--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.speed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
+                "--- trigger show before ---:data=>[${location.longitude}, ${location.latitude}, ${location.gnssSpeed}], distance: $distance, minDistance: $min, poiType: ${v2XRoadEventEntity.poiType}"
            )
            if (distance >= min) {
                CallerLogger.d(
                    "$M_V2X$TAG",
                    "--- trigger show ---:poiType:" + v2XRoadEventEntity.poiType
                )
-                TrackUtils.trackV2xRoadProduceEvent(1)
                val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
                v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
                v2XMessageEntity.content = v2XRoadEventEntity
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/alarm/V2XAlarmServer.java
@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.v2x.events.alarm;

-import android.util.Log;
-
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.MarkerLocation;
@@ -51,7 +49,7 @@ public class V2XAlarmServer {
                    if (poiLocation == null) {
                        continue;
                    }
-                    if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getBearing())) {
+                    if (isOutOfRange(poiLocation.getLon(), poiLocation.getLat(), currentLocation.getLongitude(), currentLocation.getLatitude(), currentLocation.getHeading())) {
                        iterator.remove();
                    }
                }
@@ -75,7 +73,7 @@ public class V2XAlarmServer {
                                }
                            }
                            // 2、道路事件方向与当前行驶方向角度偏差《20度以内
-                            double carBearing = currentLocation.getBearing();
+                            double carBearing = currentLocation.getHeading();
                            double eventBearing = eventLocation.getAngle();
                            double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
                            Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
@@ -86,7 +84,7 @@ public class V2XAlarmServer {
                                        currentLocation.getLatitude(),
                                        eventLocation.getLon(),
                                        eventLocation.getLat(),
-                                        (int) currentLocation.getBearing()
+                                        (int) currentLocation.getHeading()
                                );

                                Logger.d(TAG, "eventAngle:" + eventAngle);
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/consts/MoGoV2XServicePaths.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/consts/MoGoV2XServicePaths.java
@@ -13,11 +13,6 @@ import androidx.annotation.Keep;
 */
@Keep
 public class MoGoV2XServicePaths {
-    /**
-     * V2X 状态管理
-     */
-    @Keep
-    public static final String PATH_V2X_STATUS_MANAGER = "/v2xStatusManager/api";

    /**
     * V2X 道路事件POI点
@@ -25,11 +20,6 @@ public class MoGoV2XServicePaths {
    @Keep
    public static final String PATH_V2X_MARKER_MANAGER = "/v2xMarkerManager/api";

-    /**
-     * V2X 道路事件与车辆的连接线
-     */
-    @Keep
-    public static final String PATH_V2X_POLYLINE_MANAGER = "/v2xPolylineManager/api";

    /**
     * V2X 道路事件与车辆的连接线
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/consts/V2XConst.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/consts/V2XConst.java
@@ -9,10 +9,6 @@ package com.mogo.eagle.core.function.v2x.events.consts;
 */
 public class V2XConst {

-    /**
-     * V2X面板名称
-     */
-    public static final String MODULE_NAME = "V2X_UI";

    /**
     * V2X 场景广播 Action
@@ -28,23 +24,10 @@ public class V2XConst {
    public static final String BROADCAST_SCENE_ACTION = "com.v2x.scene_local_broadcast";


-    /**
-     * V2X 埋点
-     */
-    public static final String V2X_ROAD_SHOW = "v2x_road_show";
    public static final String V2X_ROAD_PRODUCE = "v2x_road_produce";
+
    public static final String LAUNCHER_ICON_CLICK = "Launcher_Icon_Click";

-    /**
-     * V2X 地图上发出警告的POI
-     */
-    public static final String V2X_EVENT_ALARM_POI = "V2X_EVENT_ALARM_POI";
-
-    /*
-     *V2X 车路云前方预警-识别物
-     * */
-    public static final String V2X_FRONT_WARNING_MARKER = "V2X_FRONT_WARNING_MARKER";
-
    /**
     * V2X预警日志tag
     */
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/remove/MarkerRemoveManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/remove/MarkerRemoveManager.kt
@@ -4,13 +4,14 @@ import android.os.Handler
 import android.os.HandlerThread
 import android.util.Log
 import com.mogo.cloud.commons.utils.CoordinateUtils
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ20ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.map.marker.IMogoMarker
 import com.mogo.map.overlay.IMogoPolyline
 import kotlinx.coroutines.Runnable
-import mogo.telematics.pad.MessagePad.GnssInfo
-import java.util.LinkedList
+import java.util.*
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.atomic.AtomicBoolean
 import java.util.concurrent.atomic.AtomicReference
@@ -83,7 +84,7 @@ object MarkerRemoveManager {
                }
                Log.d(TAG, "--- checkTask --- 3 ---")
                val toRemove = toRemoveMakers.iterator()
-                val carLoc = AtomicReference<GnssInfo>()
+                val carLoc = AtomicReference<MogoLocation>()
                while (toRemove.hasNext()) {
                    val marker = toRemove.next()
                    if (carLoc.get() == null) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt
@@ -45,7 +45,7 @@ class V2XAiRoadEventMarker {
                if (polygons.size > 0) {
                    val l2 = entity.noveltyInfo?.location ?: return
                    v2xLocation.set(MogoLocation().also {
-                        it.longitude = l2.lon; it.latitude = l2.lat; it.bearing = l2.angle.toFloat()
+                        it.longitude = l2.lon; it.latitude = l2.lat; it.heading = l2.angle
                    })

                    val options = MogoPolylineOptions()
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -7,8 +7,11 @@ import android.text.Spannable;
 import android.text.SpannableStringBuilder;
 import android.text.style.ForegroundColorSpan;
 import android.util.Log;
+
 import androidx.annotation.Nullable;
+
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
+import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
 import com.mogo.eagle.core.data.msgbox.MsgBoxType;
@@ -19,14 +22,13 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
 import com.mogo.eagle.core.function.v2x.events.scenario.impl.AbsV2XScenario;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+
 import java.math.BigDecimal;
 import java.util.Locale;
 import java.util.concurrent.TimeUnit;

-import mogo.telematics.pad.MessagePad;
-
 /**
 * @author liujing
 * @description 车路云—场景预警-V1.0  前车/行人/摩托车/盲区碰撞预警
@@ -128,7 +130,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoChas
    }

    @Override
-    public void onChassisLocationGCJ02(@Nullable MessagePad.GnssInfo gnssInfo) {
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
        sV2XWarningMarker.onCarLocationChanged2(gnssInfo);
    }

--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
@@ -3,32 +3,33 @@ package com.mogo.eagle.core.function.v2x.events.scenario.scene.warning;
 import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_STOP_LINE_DATA;
 import static com.mogo.eagle.core.data.constants.DataTypes.TYPE_MARKER_CLOUD_WARN_DATA;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_V2X;
+
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.module.status.MogoStatusManager;
+import com.mogo.commons.utils.Trigonometric;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.data.v2x.DrawLineInfo;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
-import com.mogo.eagle.core.data.v2x.DrawLineInfo;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoPersonWarnPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoStopPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.manager.IMoGoWarnPolylineManager;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
+import com.mogo.eagle.core.function.v2x.internal.data.V2XLocation;
+import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.overlay.IMogoPolyline;
-import com.mogo.commons.utils.Trigonometric;
-import com.mogo.eagle.core.function.v2x.internal.data.V2XLocation;
-import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget;
+
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.Objects;
-import mogo.telematics.pad.MessagePad;

 /**
 * @author liujing
@@ -52,7 +53,7 @@ public class V2XWarningMarker implements IV2XMarker {
     * */
    private MogoLatLng middleLocationInStopLine = new MogoLatLng(0, 0);
    private static long showTime = 6000;
-    private float bearing;
+    private double bearing;
    private boolean hasStopLines = false;

    @Override
@@ -75,7 +76,7 @@ public class V2XWarningMarker implements IV2XMarker {
        if (location == null) {
            return;
        }
-        bearing = location.getBearing();
+        bearing = location.getHeading();

        if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null) {
            hasStopLines = mCloundWarningInfo.getStopLines().size() > 0;
@@ -428,7 +429,7 @@ public class V2XWarningMarker implements IV2XMarker {
    }

    //线随车动
-    public void onCarLocationChanged2(MessagePad.GnssInfo latLng) {
+    public void onCarLocationChanged2(MogoLocation latLng) {
        carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
        if (MogoStatusManager.getInstance().isVrMode() && !isSelfLineClear) {
            if (mCloundWarningInfo != null) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/TrackUtils.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/TrackUtils.java
@@ -1,36 +0,0 @@
-package com.mogo.eagle.core.function.v2x.events.utils;
-
-import com.mogo.commons.analytics.AnalyticsUtils;
-import com.mogo.eagle.core.function.v2x.events.consts.V2XConst;
-import java.util.HashMap;
-import java.util.Map;
-
-/**
- * 统计埋点工具
- */
-public class TrackUtils {
-    /**
-     * @param type type=1 短距离角度匹配
-     *             type=2 历史轨迹匹配
-     */
-    public static void trackV2xRoadProduceEvent(int type) {
-        try {
-            Map<String, Object> properties = new HashMap<>();
-            properties.put("type", type);
-            AnalyticsUtils.track(V2XConst.V2X_ROAD_PRODUCE, properties);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    public static void trackV2XMarkerClick(int type) {
-        try {
-            Map<String, Object> properties = new HashMap<>();
-            properties.put("type", type);
-            AnalyticsUtils.track(V2XConst.LAUNCHER_ICON_CLICK, properties);
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-}
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/V2XManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/V2XManager.kt
@@ -10,7 +10,7 @@ import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerResponse
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.internal.http.V2XRefreshModel
 import com.mogo.eagle.core.function.v2x.internal.http.callback.IV2XRefreshCallback
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 import com.mogo.eagle.core.function.v2x.internal.socket.*
 import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_401012
 import com.mogo.eagle.core.function.v2x.internal.socket.V2XMessageListener_401018
@@ -86,12 +86,12 @@ object V2XManager {
     * @param config 相关配置类
     */
    fun init(config: V2XConfig) {
-        Logger.d(TAG, "-- init --")
+        V2XLogger.d(TAG, "-- init --")
        if (V2XManager.config.get() != null) {
            throw IllegalStateException("V2XManager has been initialized, don't initialize repeatably.")
        }
        V2XManager.config.set(config)
-        Logger.loggable = config.loggable
+        V2XLogger.loggable = config.loggable
    }

    /**
@@ -104,28 +104,28 @@ object V2XManager {
     *  3.短链[V2XRefreshModel.querySnapshot]定时轮循,轮循时长取[V2XConfig.durationForTriggerRefresh]
     */
    fun start() {
-        Logger.d(TAG, "-- start --")
+        V2XLogger.d(TAG, "-- start --")
        val config = config.get() ?: throw IllegalStateException("V2XManager has not been initialized, please invoke V2XManager#init(config: X2XConfig) firstly.")
        if (started.get()) {
-            Logger.d(TAG, "-- has been started --")
+            V2XLogger.d(TAG, "-- has been started --")
            return
        }
        if (config.aiCloudConfig.sn?.isBlank() == true) {
-            Logger.e(TAG, "sn is null or blank, please ensure sn exists and then invoke V2XManager#start() again.")
+            V2XLogger.e(TAG, "sn is null or blank, please ensure sn exists and then invoke V2XManager#start() again.")
            cbs.forEach {
                it.onFail("sn is null or blank, please ensure sn exists and then invoke V2XManager#start() again.")
            }
            return
        }
        if (config.aiCloudConfig.token?.isBlank() == true) {
-            Logger.e(TAG, "token is null or blank, please ensure token exists and then invoke V2Manager#start() again.")
+            V2XLogger.e(TAG, "token is null or blank, please ensure token exists and then invoke V2Manager#start() again.")
            cbs.forEach {
                it.onFail("token is null or blank, please ensure token exists and then invoke V2Manager#start() again.")
            }
            return
        }
        if (started.compareAndSet(false, true)) {
-            Logger.d(TAG, "-- start real --")
+            V2XLogger.d(TAG, "-- start real --")
            SocketManager.getInstance().init(config.context,0.0,0.0)
            SocketManager.getInstance().registerOnMessageListener(401012, V2XMessageListener_401012(cbs))
            SocketManager.getInstance().registerOnMessageListener(401018, V2XMessageListener_401018(cbs))
@@ -160,12 +160,12 @@ object V2XManager {
     * 3. 取消短链定时轮循任务
     */
    fun stop() {
-        Logger.d(TAG, "-- stop --")
+        V2XLogger.d(TAG, "-- stop --")
        if (config.get() == null) {
            throw IllegalStateException("V2XManager has not been initialized, please invoke V2XManager#init(config: X2XConfig) firstly.")
        }
        if (started.compareAndSet(true, false)) {
-            Logger.d(TAG, "-- stop real --")
+            V2XLogger.d(TAG, "-- stop real --")
            SocketManager.getInstance().release()
            handler.removeCallbacks(refreshTask)
            lastLatitude.set(0.0)
@@ -178,7 +178,7 @@ object V2XManager {
     * @param cb 要添加的回调接口
     */
    fun addCallback(cb: IV2XCallback) {
-        Logger.d(TAG, "-- addCallback --")
+        V2XLogger.d(TAG, "-- addCallback --")
        if (cbs.contains(cb)) {
            return
        }
@@ -190,7 +190,7 @@ object V2XManager {
     * @param cb 要移除的回调接口
     */
    fun removeCallback(cb: IV2XCallback) {
-        Logger.d(TAG, "-- removeCallback --")
+        V2XLogger.d(TAG, "-- removeCallback --")
        if (!cbs.contains(cb)) {
            return
        }
@@ -209,7 +209,7 @@ object V2XManager {
        if (!started.get()) {
            return
        }
-        Logger.d(TAG, "--- onLocationChanged --[longitude: $longitude, latitude: $latitude]")
+        V2XLogger.d(TAG, "--- onLocationChanged --[longitude: $longitude, latitude: $latitude]")
        realLongitude.set(longitude)
        realLatitude.set(latitude)
        val oldLon = lastLongitude.get()
@@ -217,14 +217,14 @@ object V2XManager {
        var update = false
        try {
            if (oldLon == 0.0 || oldLat == 0.0) {
-                Logger.d(TAG, "--- onLocationChanged -- first --[longitude: $longitude, latitude: $latitude]")
+                V2XLogger.d(TAG, "--- onLocationChanged -- first --[longitude: $longitude, latitude: $latitude]")
                handler.removeCallbacks(refreshTask)
                handler.post(refreshTask)
                update = true
                return
            }
            if (DistanceUtils.calculateLineDistance(oldLon, oldLat, longitude, latitude) >= config.get().distanceForTriggerRefresh) {
-                Logger.d(TAG, "--- onLocationChanged -- trigger --[longitude: $longitude, latitude: $latitude]")
+                V2XLogger.d(TAG, "--- onLocationChanged -- trigger --[longitude: $longitude, latitude: $latitude]")
                handler.removeCallbacks(refreshTask)
                handler.post(refreshTask)
                update = true
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/data/V2XMarkerCardResult.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/data/V2XMarkerCardResult.kt
@@ -436,6 +436,17 @@ class V2XMarkerExploreWay: Serializable {

    var coordinateType: Int? = null

+    /**
+     * polygon字段，用来表示事件围栏
+     */
+    var polygon: List<V2XLocation>? = null
+
+
+    /**
+     * 事件的高精坐标
+     */
+    var gpsLocation: V2XLocation? = null
+
    override fun toString(): String {
        return "V2XMarkerExploreWay(infoId=$infoId, type=$type, poiType=$poiType, sn=$sn, location=$location, direction=$direction, canLive=$canLive, fileType=$fileType, addr=$addr, generateTime=$generateTime, cityName=$cityName, distance=$distance, userInfo=$userInfo, items=$items, uploadType=$uploadType, isFabulous=$isFabulous, infoCheckNode=$infoCheckNode, coordinateType=$coordinateType)"
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/logger/V2XLogger.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/logger/V2XLogger.kt
@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.v2x.internal.logger

 import android.util.Log

-internal object Logger {
+internal object V2XLogger {

    var loggable: Boolean = false

--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_401012.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_401012.kt
@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerCardResult
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger

 internal class V2XMessageListener_401012(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XMarkerCardResult> {

@@ -16,10 +16,10 @@ internal class V2XMessageListener_401012(val cbs: Iterable<IV2XCallback>?): IMog
            return
        }
        if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_401012：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401012：message is null!")
            return
        }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_401012:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401012:$data")
        cbs?.forEach {
            it.onAck(V2XEvent.Road(data = data))
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_401018.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_401018.kt
@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger

 internal class V2XMessageListener_401018(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XWarningTarget> {

@@ -16,10 +16,10 @@ internal class V2XMessageListener_401018(val cbs: Iterable<IV2XCallback>?): IMog
            return
        }
        if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_401018：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401018：message is null!")
            return
        }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_401018:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_401018:$data")
        cbs?.forEach {
            it.onAck(V2XEvent.Warning(data = data))
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_402000.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_402000.kt
@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.data.V2XOptimalRoute
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger

 internal class V2XMessageListener_402000(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XOptimalRoute> {

@@ -16,10 +16,10 @@ internal class V2XMessageListener_402000(val cbs: Iterable<IV2XCallback>?): IMog
            return
        }
        if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_402000：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_402000：message is null!")
            return
        }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_402000:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_402000:$data")
        cbs?.forEach {
            it.onAck(V2XEvent.OptimalRoute(data = data))
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_404000.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_404000.kt
@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.data.V2XAdvanceWarning
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger

 internal class V2XMessageListener_404000(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XAdvanceWarning> {

@@ -16,10 +16,10 @@ internal class V2XMessageListener_404000(val cbs: Iterable<IV2XCallback>?): IMog
            return
        }
        if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_404000：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_404000：message is null!")
            return
        }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_404000:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_404000:$data")
        cbs?.forEach {
            it.onAck(V2XEvent.ForwardsWarning(data = data))
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_503000.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_503000.kt
@@ -4,7 +4,7 @@ import com.mogo.cloud.socket.IMogoCloudSocketOnMessageListener
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent.RoadAI
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger
 import roadwork.Road.RW_PB

 internal class V2XMessageListener_503000(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<RW_PB> {
@@ -16,10 +16,10 @@ internal class V2XMessageListener_503000(val cbs: Iterable<IV2XCallback>?): IMog
            return
        }
        if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_503000：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_503000：message is null!")
            return
        }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_503000:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_503000:$data")
        cbs?.forEach {
            it.onAck(RoadAI(data = data))
        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_70001.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/socket/V2XMessageListener_70001.kt
@@ -5,7 +5,7 @@ import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.data.V2XRoadXData
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
-import com.mogo.eagle.core.function.v2x.internal.logger.Logger
+import com.mogo.eagle.core.function.v2x.internal.logger.V2XLogger

 internal class V2XMessageListener_70001(val cbs: Iterable<IV2XCallback>?): IMogoCloudSocketOnMessageListener<V2XRoadXData> {

@@ -16,10 +16,10 @@ internal class V2XMessageListener_70001(val cbs: Iterable<IV2XCallback>?): IMogo
            return
        }
        if (data == null) {
-            Logger.i(V2XManager.TAG, "V2XMessageListener_70001：message is null!")
+            V2XLogger.i(V2XManager.TAG, "V2XMessageListener_70001：message is null!")
            return
        }
-        Logger.i(V2XManager.TAG, "V2XMessageListener_70001:$data")
+        V2XLogger.i(V2XManager.TAG, "V2XMessageListener_70001:$data")
        cbs?.forEach {
            it.onAck(V2XEvent.RoadEventX(data = data))
        }