Merge branch 'dev_robotaxi-d-app-module_2120_221017_2.12.0' into dev_robotaxi-d-app-module_2120_yyk_2.12.0

# Conflicts: # OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
2022-10-24 16:22:32 +08:00
parent 15aacad278 3401ff4e26
commit 4d0083968e
115 changed files with 3139 additions and 769 deletions
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -379,6 +379,16 @@ class MoGoAutopilotProvider :
        return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration)
    }

+    override fun recordPackage(
+        type: Int,
+        id: Int,
+        duration: Int,
+        bduration: Int,
+        topics: List<String>
+    ): Boolean {
+        return AdasManager.getInstance().startRecordPackage(id, duration, type, bduration, topics)
+    }
+
    override fun stopRecord(type: Int, id: Int): Boolean {
        return AdasManager.getInstance().stopRecordPackage(id, type)
    }
@@ -497,17 +507,43 @@ class MoGoAutopilotProvider :
    }

    /**
-     * 获取数据采集录制模式配置列表
+     * 绕障类功能开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
     */
-    override fun getBadCaseConfig() {
-        AdasManager.getInstance().sendRecordDataConfigReq()
+    override fun sendDetouring(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendDetouring(1)
+        }else{
+            AdasManager.getInstance().sendDetouring(0)
+        }
+    }
+
+    /**
+     * 变道绕障的目标障碍物速度阈值
+     * @param speed 速度阈值 m/s
+     * @return boolean
+     */
+    override fun sendDetouringSpeed(speed: Double): Boolean {
+        return AdasManager.getInstance().sendDetouringSpeed(speed)
+    }
+
+    /**
+     * 获取数据采集录制模式配置列表
+     * @param reqType           0: all,  1:获取当前所有topic列表, 2:配置需要预加载的topic组合
+     * @param recordType        0:不需要修改内置类型的topic组合, 1:需要修改内置类型的topic组合
+     * @param topicsNeedToCache
+     * @return boolean
+     */
+    override fun getBadCaseConfig(reqType: Int,recordType: Int,topicsNeedToCache: List<String>): Boolean{
+       return AdasManager.getInstance().sendRecordDataConfigReq(reqType, recordType, topicsNeedToCache)
    }

    /**
     * 向左变道
     */
    override fun sendOperatorChangeLaneLeft() {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneLeft -------> ")
        AdasManager.getInstance().sendOperatorCmdChangeLaneLeft()
    }

@@ -515,7 +551,6 @@ class MoGoAutopilotProvider :
     * 向右变道
     */
    override fun sendOperatorChangeLaneRight() {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorChangeLaneRight -------> ")
        AdasManager.getInstance().sendOperatorCmdChangeLaneRight()
    }

@@ -523,7 +558,6 @@ class MoGoAutopilotProvider :
     * 发送设置加速度 acc>0加速 acc<0减速 acc=0复位
     */
    override fun sendOperatorSetAcceleratedSpeed(cc: Double) {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetAcceleratedSpeed cc $cc ")
        AdasManager.getInstance().sendOperatorCmdSetAcceleratedSpeed(cc)
    }

@@ -531,10 +565,21 @@ class MoGoAutopilotProvider :
     * 鸣笛  value 1: honk 2: stop honking
     */
    override fun sendOperatorSetHorn(value: Double) {
-//        Log.d("liyz", "MoGoAutopilotProvider sendOperatorSetHorn value $value ")
        AdasManager.getInstance().sendOperatorCmdSetHorn(value)
    }

+    /**
+     * 行程信息
+     * @param type  事件类型, 1:行程开始, 2:行程结束, 3:出站, 4:进站, 5:城市占道施工预警
+     * @param lineName 路线名, for type 1, 2
+     * @param stopName 站点名, for type 3, 4
+     * @param isLastStop
+     * @return
+     */
+    override fun sendTripInfo(type: Int, lineName: String, stopName: String, isLastStop: Boolean) {
+        AdasManager.getInstance().sendTripInfoReq(type, lineName, stopName, isLastStop)
+    }
+
    /**
     * 发送工控机所有节点重启命令
     */
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -46,6 +46,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningAction
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager.invokeAutopilotTrajectory
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudListenerManager
+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.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
@@ -409,7 +410,9 @@ class MoGoAdasListenerImpl : OnAdasListener {
            header: MessagePad.Header?,
            config: MessagePad.RecordDataConfig?
    ) {
-
+        if(config!=null){
+            invokeAutopilotRecordConfig(config)
+        }
    }

    /**
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarApiService.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarApiService.java
@@ -22,8 +22,8 @@ public interface BindingcarApiService {
     * @return {@link BindingcarInfo}
     */
    @Headers("Content-Type:application/json;charset=UTF-8")
-    @POST("pad/selectPadByMac")
-    Observable<BindingcarInfo> getBindingcarInfo(@Header("access_token") String access_token, @Body RequestBody requestBody);
+    @POST("eagleEye-mis/cmdbapi/pad/selectPadByMac")
+    Observable<BindingcarInfo> getBindingcarInfo(/*@Header("access_token") String access_token,*/ @Body RequestBody requestBody);

    /**
     * 绑定和修改绑定车机
@@ -31,7 +31,7 @@ public interface BindingcarApiService {
     * @return {@link ModifyBindingcarInfo}
     */
    @Headers("Content-Type:application/json;charset=UTF-8")
-    @POST("pad/updatePadByMac")
-    Observable<ModifyBindingcarInfo> modifyBindingcarInfo(@Header("access_token") String access_token, @Body RequestBody requestBody);
+    @POST("eagleEye-mis/cmdbapi/pad/updatePadByMac")
+    Observable<ModifyBindingcarInfo> modifyBindingcarInfo(/*@Header("access_token") String access_token,*/ @Body RequestBody requestBody);

 }
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java
@@ -6,6 +6,7 @@ import android.util.Log;
 import com.mogo.commons.constants.SharedPrefsConstants;
 import com.mogo.eagle.core.data.bindingcar.BindingcarInfo;
 import com.mogo.eagle.core.data.bindingcar.ModifyBindingcarInfo;
+import com.mogo.eagle.core.function.BindHostConst;
 import com.mogo.eagle.core.function.api.bindingcar.BindingcarCallBack;
 import com.mogo.eagle.core.function.bindingcar.R;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
@@ -34,11 +35,10 @@ import okhttp3.RequestBody;
 public class BindingcarNetWorkManager {
    private static volatile BindingcarNetWorkManager requestNoticeManager;
    private final BindingcarApiService mBindingcarApiService;
-    private String token = "c4a2f30cebf64972bcd11577e1c07f86"; //中台做了接口适配，需要这个token
-    private static final String TAG = "BindingcarNetWorkManager";
+    private static final String TAG = "BindingcarNetManager";

    private BindingcarNetWorkManager() {
-        mBindingcarApiService = MoGoRetrofitFactory.getInstance(HostConst.BINDING_SN_HOST)
+        mBindingcarApiService = MoGoRetrofitFactory.getInstance(BindHostConst.getBaseUrl())
                .create(BindingcarApiService.class);
    }

@@ -60,11 +60,13 @@ public class BindingcarNetWorkManager {
     * @param macAddress mac地址
     */
    public void getBindingcarInfo(Context context, String macAddress, String widevineIDWithMd5, int screenType) {
-//        String macAddress = "48:b0:2d:3a:bc:78";
+//        String macAddress1 = "48:b0:2d:3a:bc:78";
+//        String macAddress1 = "48:b0:2d:4d:b9:63";
 //        String sn = "X20202203105S688HZ";
+
        BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType);
        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
-        mBindingcarApiService.getBindingcarInfo(token, requestBody)
+        mBindingcarApiService.getBindingcarInfo(requestBody)
                .subscribeOn(Schedulers.io())
                .observeOn(AndroidSchedulers.mainThread())
                .subscribe(new Observer<BindingcarInfo>() {
@@ -76,6 +78,7 @@ public class BindingcarNetWorkManager {
                    public void onNext(@NonNull BindingcarInfo info) {
                        if (info != null && info.getData() != null) {
                            CallerLogger.INSTANCE.d(TAG, "getBindingcarInfo onNext info.getData() =" + info.getData().toString());
+                            Log.d(TAG, "getBindingcarInfo onNext info.getData() =" + info.getData().toString());
                            if (info.getData().getCompare().equals("0")) {
                                CallerHmiManager.INSTANCE.showBindingcarDialog();
                            } else if (info.getData().getCompare().equals("3")) {
@@ -84,10 +87,12 @@ public class BindingcarNetWorkManager {
                                TipToast.shortTip("当前工控机没有入库");
                            }

-                            //根据车辆类型切换不同的车辆模型
+                            //根据车辆类型切换不同的车辆模型,只针对红旗做处理
 //                            if (info.getData().getVendor().equals("一汽红旗")) { //TODO
-//                                CallerHDMapManager.INSTANCE.changeCurrentIcon(R.raw.xiaobache);
-//                            } else if (info.getData().getVendor().equals("东风")) {
+//                                CallerHDMapManager.INSTANCE.changeCurrentIcon(R.raw.hq_h9);
+//                            }
+
+//                            else if (info.getData().getVendor().equals("东风汽车集团")) {
 //                                CallerHDMapManager.INSTANCE.changeCurrentIcon(R.raw.chuzuche);
 //                            } else if (info.getData().getVendor().equals("金旅星辰")) {
 //                                CallerHDMapManager.INSTANCE.changeCurrentIcon(R.raw.xiaobache);
@@ -118,7 +123,7 @@ public class BindingcarNetWorkManager {
    public void modifyBindingcar(String macAddress, String widevineIDWithMd5, BindingcarCallBack callBack, int screenType) {
        BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType);
        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
-        mBindingcarApiService.modifyBindingcarInfo(token, requestBody)
+        mBindingcarApiService.modifyBindingcarInfo(requestBody)
                .subscribeOn(Schedulers.io())
                .observeOn(AndroidSchedulers.mainThread())
                .subscribe(new Observer<ModifyBindingcarInfo>() {
@@ -130,6 +135,7 @@ public class BindingcarNetWorkManager {
                    public void onNext(@NonNull ModifyBindingcarInfo info) {
                        if (info != null) {
                            callBack.callBackResult(info);
+                            Log.d(TAG, "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString());
                            CallerLogger.INSTANCE.d(TAG, "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString());
                        }
                    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -36,7 +36,6 @@ class DevaToolsProvider : IDevaToolsProvider {

    override fun initBiz() {
        bizConfigCenter.init(mContext!!)
-        FuncConfigImpl.init()
        traceManager.init(mContext!!)
        MogoLogCatchManager.init(mContext!!)
    }
--- 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
@@ -252,8 +252,8 @@ defStyleAttr: Int = 0
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerAutopilotRecordListenerManager.addListener(TAG, this)
-         //获取数据采集录制模式配置列表
-         CallerAutoPilotManager.getBadCaseConfig()
+         //获取数据采集录制模式配置列表 TODO
+//         CallerAutoPilotManager.getBadCaseConfig()
     }

     override fun onDetachedFromWindow() {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/FuncConfigConst.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/FuncConfigConst.kt
@@ -20,6 +20,7 @@ import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_LCW
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_LIMIT_SPEED_SET
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_LTA
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_OPT_LINE
+import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_PNC_ACTIONS
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_RAIN_MODE
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_RTS
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_SLW
@@ -88,6 +89,7 @@ class FuncConfigConst {
            foundationSubList.add(SubBiz(BIZ_LIMIT_SPEED_SET, lock = false, state = true, dependNode = "", data = ""))
            foundationSubList.add(SubBiz(BIZ_BYPASS, lock = false, state = true, dependNode = "", data = ""))
            foundationSubList.add(SubBiz(BIZ_AUTOPILOT_LANE_SELECTION, lock = false, state = true, dependNode = "", data = ""))
+            foundationSubList.add(SubBiz(BIZ_PNC_ACTIONS, lock = false, state = true, dependNode = "", data = ""))
            businessList.add(Business(FOUNDATION,foundationSubList))

            return FuncConfig(0, AppUtils.getAppVersionCode(), getChannelCode(), getEnv(), businessList)
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/FuncConfigImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/funcconfig/FuncConfigImpl.kt
@@ -23,10 +23,7 @@ object FuncConfigImpl {
                    data: String?
                ) {
                    when (type) {
-                        BIZ_BEAUTY_MODE -> FunctionBuildConfig.isDemoMode = state
-                        BIZ_RAIN_MODE -> FunctionBuildConfig.isRainMode = state
-                        BIZ_WARNING_UPLOAD -> FunctionBuildConfig.isReportWarning = state
-                    }
+                        }
                }
            }
        )
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/gps/GpsImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/gps/GpsImpl.kt
@@ -49,9 +49,19 @@ internal class GpsImpl(ctx: Context): IFlow<GpsStatus>(ctx) {
        false
    }

+    private val onStateListener = object : IAppStateListener {
+
+        override fun onAppStateChanged(isForeground: Boolean) {
+            if (isForeground) {
+                send(isLocationEnabled(), isGrandFineLocation())
+            }
+        }
+    }
+

    override fun onCreate() {
        val isGranted = isGrandFineLocation()
+        AppStateManager.registerAppStateListener(onStateListener)
        send(isLocationEnabled(), isGranted)
        if (!isGranted) {
            PermissionUtils.requestAccessFineLocation(object : SimpleCallback {
@@ -88,6 +98,7 @@ internal class GpsImpl(ctx: Context): IFlow<GpsStatus>(ctx) {
        } catch (t: Throwable) {
            t.printStackTrace()
        }
+        AppStateManager.unRegisterAppStateListener(onStateListener)

    }
 }
--- 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
@@ -79,6 +79,7 @@ import com.mogo.eagle.core.function.hmi.ui.notice.NoticeNormalBannerView
 import com.mogo.eagle.core.function.hmi.ui.setting.DebugSettingView
 import com.mogo.eagle.core.function.hmi.ui.setting.IPCReportWindow
 import com.mogo.eagle.core.function.hmi.ui.setting.ReportListFloatWindow
+import com.mogo.eagle.core.function.hmi.ui.setting.SOPSettingView
 import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.AutoPilotAndCheckView
 import com.mogo.eagle.core.function.hmi.ui.tools.MaskView
@@ -127,6 +128,9 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
    private var mDebugSettingViewFloat: WarningFloat.Builder? = null
    private var mDebugSettingView: DebugSettingView? = null

+    //SOPSettingView
+    private var mSOPSettingViewFloat: WarningFloat.Builder? = null
+    private var mSOPSettingView: SOPSettingView? = null

    private var mNoticeFloat: WarningFloat.Builder? = null

@@ -447,6 +451,10 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                            dismissToolsFloatView()
                            CallerDevaToolsManager.showFeedbackView(it)
                        }
+
+                        override fun showSOPSettingView() {
+                            toggleSOPView()
+                        }
                    })
                }
                toolsViewFloat = WarningFloat.with(it)
@@ -660,6 +668,58 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
        }
    }

+
+    override fun toggleSOPView() {
+        activity?.let{
+            if(mSOPSettingViewFloat!= null){
+                WarningFloat.dismiss(mSOPSettingViewFloat!!.config.floatTag, false)
+                mSOPSettingViewFloat = null
+                mSOPSettingView = null
+            }else{
+                if (mSOPSettingView == null){
+                    mSOPSettingView = SOPSettingView(it)
+                }
+                var side = RIGHT
+                var gravity = Gravity.RIGHT
+                //调试窗默认靠右显示，Bus的乘客端右端有视图覆盖，调试窗靠左显示
+                if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode) &&
+                    AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
+                ) {
+                    side = LEFT
+                    gravity = Gravity.LEFT
+                }
+                mSOPSettingViewFloat = WarningFloat.with(it)
+                    .setTag("mSOPSettingView")
+                    .setLayout(mSOPSettingView!!)
+                    .setSidePattern(side)
+                    .setGravity(gravity, offsetY = 70)
+                    .setImmersionStatusBar(true)
+                    .setAnimator(object : DefaultAnimator() {
+                        override fun enterAnim(
+                            view: View,
+                            params: LayoutParams,
+                            windowManager: WindowManager,
+                            sidePattern: SidePattern
+                        ): Animator? =
+                            super.enterAnim(view, params, windowManager, sidePattern)
+                                ?.apply {
+                                    interpolator = OvershootInterpolator()
+                                }
+
+                        override fun exitAnim(
+                            view: View,
+                            params: LayoutParams,
+                            windowManager: WindowManager,
+                            sidePattern: SidePattern
+                        ): Animator? =
+                            super.exitAnim(view, params, windowManager, sidePattern)
+                                ?.setDuration(200)
+                    })
+                    .show()
+            }
+        }
+    }
+
    /**
     * 展示VR下V2X预警
     *
@@ -1415,29 +1475,27 @@ class MoGoHmiFragment : MvpFragment<MoGoHmiContract.View?, HmiPresenter?>(),
                            "EmArrow-1013",
                            "it code : ${it.code} ,  state : ${getAutoPilotStatusInfo().state}"
                        )
-                        if (getAutoPilotStatusInfo().state != STATUS_AUTOPILOT_RUNNING) {
-                            showWarningV2X(
-                                EventTypeEnum.TAKE_OVER_EVENT.poiType,
-                                EventTypeEnum.TAKE_OVER_EVENT.content,
-                                EventTypeEnum.TAKE_OVER_EVENT.tts,
-                                EventTypeEnum.TAKE_OVER_EVENT.poiType,
-                                object : IMoGoWarningStatusListener {
-                                    override fun onShow() {
-                                        Log.d("EmArrow-1013", "onShow")
-                                        takeOver = true
-                                        clTakeOverView.visibility = View.VISIBLE
-                                    }
+                        showWarningV2X(
+                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
+                            EventTypeEnum.TAKE_OVER_EVENT.content,
+                            EventTypeEnum.TAKE_OVER_EVENT.tts,
+                            EventTypeEnum.TAKE_OVER_EVENT.poiType,
+                            object : IMoGoWarningStatusListener {
+                                override fun onShow() {
+                                    Log.d("EmArrow-1013", "onShow")
+                                    takeOver = true
+                                    clTakeOverView.visibility = View.VISIBLE
+                                }

-                                    override fun onDismiss() {
-                                        Log.d("EmArrow-1013", "onDismiss")
-                                        takeOver = false
-                                        clTakeOverView.visibility = View.GONE
-                                    }
-                                },
-                                true,
-                                6000L
-                            )
-                        }
+                                override fun onDismiss() {
+                                    Log.d("EmArrow-1013", "onDismiss")
+                                    takeOver = false
+                                    clTakeOverView.visibility = View.GONE
+                                }
+                            },
+                            true,
+                            6000L
+                        )
                    }
                }
            }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/pnc/PncActionsView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/pnc/PncActionsView.kt
@@ -7,6 +7,8 @@ import androidx.appcompat.content.res.AppCompatResources
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.autopilot.pnc.PncActionsHelper
+import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_PNC_ACTIONS
+import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.FOUNDATION
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.data.trafficlight.currentRoadTrafficLight
 import com.mogo.eagle.core.data.trafficlight.isRed
@@ -19,6 +21,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningAction
 import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.zhjt.service_biz.BizConfig
 import kotlinx.android.synthetic.main.view_pnc_actions.view.*
 import mogo.telematics.pad.MessagePad

@@ -67,6 +70,7 @@ class PncActionsView @JvmOverloads constructor(
        }
    }

+    @BizConfig(FOUNDATION, "", BIZ_PNC_ACTIONS)
    override fun pncActions(planningActionMsg: MessagePad.PlanningActionMsg) {
        mAutoPilotStatusInfo?.let {
            if (it.state == STATUS_AUTOPILOT_RUNNING) {
--- 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
@@ -9,6 +9,7 @@ import android.graphics.Color
 import android.os.Build
 import android.text.Html
 import android.util.AttributeSet
+import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import androidx.annotation.RequiresApi
@@ -1857,7 +1858,6 @@ class DebugSettingView @JvmOverloads constructor(
    override fun updateBizData(type: String, state: Boolean, lock: Boolean, data: String?) {
        when (type) {
            BIZ_BEAUTY_MODE -> {
-                tbIsDemoMode.isClickable = !lock
                if(lock){
                    tbIsDemoMode.background = resources.getDrawable(R.drawable.radio_button_lock_background)
                }else{
@@ -1865,7 +1865,6 @@ class DebugSettingView @JvmOverloads constructor(
                }
            }
            BIZ_RAIN_MODE -> {
-                tbIsRainMode.isClickable = !lock
                if(lock){
                    tbIsRainMode.background = resources.getDrawable(R.drawable.radio_button_lock_background)
                }else{
@@ -1873,7 +1872,6 @@ class DebugSettingView @JvmOverloads constructor(
                }
            }
            BIZ_WARNING_UPLOAD -> {
-                tbReportWarning.isClickable = !lock
                if(lock){
                    tbReportWarning.background = resources.getDrawable(R.drawable.radio_button_lock_background)
                }else{
@@ -1882,20 +1880,16 @@ class DebugSettingView @JvmOverloads constructor(
            }
            BIZ_BAG_RECORD -> {
                if (lock) {
-                    btnRecordBag.isClickable = false
                    btnRecordBag.background = resources.getDrawable(R.drawable.radio_button_lock_background)
                } else {
-                    btnRecordBag.isClickable = true
                    btnRecordBag.requestFocus()
                    btnRecordBag.background = null
                }
            }
            BIZ_FULL_LOG -> {
                if (lock) {
-                    tbLogCatch.isClickable = false
                    tbLogCatch.background = resources.getDrawable(R.drawable.radio_button_lock_background)
                } else {
-                    tbLogCatch.isClickable = true
                    tbLogCatch.requestFocus()
                    tbLogCatch.background = null
                }
--- 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
@@ -0,0 +1,159 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.config.HmiBuildConfig
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.obu.CallerOBUManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.module.service.routeoverlay.RouteStrategy
+import kotlinx.android.synthetic.main.view_sop_setting.view.*
+
+/**
+ * SOP设置窗口
+ */
+class SOPSettingView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr){
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_sop_setting, this, true)
+        initView()
+    }
+
+    private fun initView() {
+        //绕障类功能开关
+        tbObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
+        tbObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
+            CallerAutoPilotManager.sendDetouring(isChecked)
+            FunctionBuildConfig.isDetouring = isChecked
+        }
+
+        //危险障碍物颜色标记开关
+        tbMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
+
+        }
+
+        //引导线动态效果
+        tbRouteDynamicEffect.isChecked =
+            AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) && !AppIdentityModeUtils.isBus(
+                FunctionBuildConfig.appIdentityMode
+            )
+        tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                RouteStrategy.enable(true)
+            } else {
+                RouteStrategy.enable(false)
+            }
+        }
+
+        //红绿灯标识
+        tbTrafficLight.isChecked = HmiBuildConfig.isShowTrafficLightView
+        tbTrafficLight.setOnCheckedChangeListener { _, isChecked ->
+            if(!isChecked){
+                HmiBuildConfig.isShowTrafficLightView = false
+            }else{
+                HmiBuildConfig.isShowTrafficLightView = true
+                CallerHmiManager.disableWarningTrafficLight()
+            }
+        }
+
+        //限速标识
+        tbSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
+        tbSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
+            if(isChecked){
+                HmiBuildConfig.isShowLimitingVelocityView = true
+            }else{
+                HmiBuildConfig.isShowLimitingVelocityView = false
+                CallerHmiManager.disableLimitingVelocity()
+            }
+        }
+
+        //自车感知到的他车碰撞预警
+        tbCollisionWarning.setOnCheckedChangeListener { buttonView, isChecked ->
+
+        }
+
+        // 演示模式,上一次勾选的数据
+        tbDemoMode.isChecked = FunctionBuildConfig.isDemoMode
+        // 演示模式
+        tbDemoMode.setOnCheckedChangeListener { _, isChecked ->
+            CallerAutoPilotManager.setDemoMode(isChecked)
+            if (!isChecked) {
+                //关闭美化模式时，通知工控机
+                CallerAutoPilotManager.setIPCDemoMode(isChecked)
+            }
+            FunctionBuildConfig.isDemoMode = isChecked
+        }
+        //只在司机端设置美化模式开关功能
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            tbDemoMode.visibility = View.GONE
+        }
+
+
+        // 雨天模式，上一次勾选的数据
+        tbRainMode.isChecked = FunctionBuildConfig.isRainMode
+        //雨天模式
+        tbRainMode.setOnCheckedChangeListener { _, isChecked ->
+            CallerAutoPilotManager.setRainMode(isChecked)
+            FunctionBuildConfig.isRainMode = isChecked
+        }
+        //雨天模式按钮只在司机屏生效，乘客屏不显示
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            tbRainMode.visibility = View.GONE
+        }
+
+        //OBU控制总开关
+        tbObu.isChecked = CallerOBUManager.isConnected()
+        tbObu.setOnCheckedChangeListener { _, isChecked ->
+            if(!isChecked){
+                if(AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)){
+                    CallerOBUManager.resetObuIpAddress("192.168.1.199")
+                }else if(AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)){
+                    CallerOBUManager.resetObuIpAddress("192.168.8.199")
+                }
+            }else{
+                //断开链接
+                CallerOBUManager.disConnectObu()
+            }
+        }
+
+        //变道绕障的目标障碍物速度阈值
+        tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
+        ivSpeedReduce.setOnClickListener {
+            if(FunctionBuildConfig.detouringSpeed<=3){
+                ToastUtils.showShort("阈值小可为3 m/s")
+            }else{
+                FunctionBuildConfig.detouringSpeed--
+                tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
+            }
+        }
+        ivSpeedAdd.setOnClickListener {
+            if(FunctionBuildConfig.detouringSpeed>=7){
+                ToastUtils.showShort("阈值最大可为7 m/s")
+            }else{
+                FunctionBuildConfig.detouringSpeed++
+                tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
+            }
+        }
+        btnSpeedSet.setOnClickListener {
+            val isSuccess = CallerAutoPilotManager.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{
+                ToastUtils.showShort("变道绕障的目标障碍物速度阈值设置失败")
+            }
+        }
+
+    }
+
+}
--- 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
@@ -59,15 +59,13 @@ class AutoPilotAndCheckView @JvmOverloads constructor(

    companion object {
        private var maxAcceleration: Double = 2.0
-        private var speedLimit: Double = 0.0
+        private var speedLimit: Int = 0
    }

    @SuppressLint("ClickableViewAccessibility")
    private fun initView() {
        background = ColorDrawable(Color.parseColor("#F0151D41"))
-        if (keyBoardUtil == null) {
-            keyBoardUtil = KeyBoardUtil(sKeyBoardView, etInputSpeed)
-        }
+
        keyBoardUtil?.setActionListener { inputContent ->
            inputContent.toIntOrNull()?.let { speed ->
                when {
@@ -76,10 +74,6 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
                        ToastUtils.showShort("超过最大限速值60，设置失败")
                    }
                    else -> {
-                        llSpeedPosition.background =
-                            resources.getDrawable(R.drawable.pilot_speed_bg)
-                        keyBoardUtil?.hideKeyboard()
-                        etInputSpeed.clearFocus()
                        // 设置自动驾驶速度
                        val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speed)
                        when {
@@ -94,13 +88,15 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
                }
            }
        }
-        KeyBoardUtil.hideSystemSoftKeyboard(context, etInputSpeed)
        ivCloseIcon.setOnClickListener {
            clickListener?.onClose(it)
        }
        rlKillLayout.setOnClickListener {
            killApp()
        }
+        sopLayout.setOnClickListener {
+            clickListener?.showSOPSettingView()
+        }
        viewCheckStatus.setOnClickListener {
            clickListener?.go2CheckPage()
        }
@@ -110,49 +106,60 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
        ivDebugFeedback.onClick {
            clickListener?.showFeedbackView()
        }
-        etInputSpeed.setOnFocusChangeListener { v, hasFocus ->
-            when {
-                hasFocus -> {
-                    llSpeedPosition.background =
-                        resources.getDrawable(R.drawable.pilot_speed_high_light_bg)
-                    if (keyBoardUtil == null) {
-                        keyBoardUtil = KeyBoardUtil(sKeyBoardView, etInputSpeed)
-                    }
-                    keyBoardUtil?.showKeyboard()
-                }
-                else -> llSpeedPosition.background =
-                    resources.getDrawable(R.drawable.pilot_speed_bg)
-            }
-        }
-        etInputSpeed.setOnTouchListener { v, event ->
-            var curTime = System.currentTimeMillis()
-            if (curTime - lastTime < 1000) {
-                return@setOnTouchListener true
-            }
-            if (!connectStatus) {
-                ToastUtils.showShort("设置车速失败，请启动域控制器")
-                keyBoardUtil?.hideKeyboard()
-                return@setOnTouchListener true
-            } else {
-                return@setOnTouchListener false
-            }
-        }
-        updateSpeedSettingViews()
+
        if (AppConfigInfo.isConnectAutopilot) {
            CallerAutoPilotManager.getCarConfig()
        }
-        if (maxAcceleration > 0) {
-            tvAcceleration.text = "加速度 $maxAcceleration m/s²"
-        }
+//        if (maxAcceleration > 0) {
+//            tvAcceleration.text = "加速度 $maxAcceleration m/s²"
+//        }
+        tvAcceleration.text = "每次调整车速±5km/h"
        if (speedLimit > 0) {
-            etInputSpeed.setText((speedLimit * 3.6).toInt().toString())
+            tvSpeed.text = speedLimit.toString()
+        }else{
+            tvSpeed.text = "0"
+        }
+        ivSpeedReduce.setOnClickListener {
+            if(speedLimit>=5){
+                speedLimit -= 5
+                //速度显示
+                val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
+                when {
+                    isSuccess -> {
+                        //速度显示
+                        tvSpeed.text = speedLimit.toString()
+                        ToastUtils.showShort("车速设置成功，立即生效")
+                    }
+                    else -> {
+                        ToastUtils.showShort("设置车速失败，请启动域控制器")
+                    }
+                }
+            }else{
+                ToastUtils.showShort("车速不能再减了")
+            }
+        }
+        ivSpeedAdd.setOnClickListener {
+            if(speedLimit<=55){
+                speedLimit += 5
+                //速度显示
+                val isSuccess = CallerAutoPilotManager.setAutoPilotSpeed(speedLimit)
+                when {
+                    isSuccess -> {
+                        //速度显示
+                        tvSpeed.text = speedLimit.toString()
+                        ToastUtils.showShort("车速设置成功，立即生效")
+                    }
+                    else -> {
+                        ToastUtils.showShort("设置车速失败，请启动域控制器")
+                    }
+                }
+            }else{
+                ToastUtils.showShort("车速不能再加了")
+            }
        }
-        initOchView()
-//        // 比如需要设置默认速度
-//        val speed = "30"
-//        etInputSpeed.setText(speed)
-//        etInputSpeed.setSelection(speed.length)

+
+        initOchView()
    }

    private fun initOchView() {
@@ -189,11 +196,6 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
        this.clickListener = clickListener
    }

-    private fun updateSpeedSettingViews() {
-        tvSpeedTitle.visibility = View.VISIBLE
-        llSpeedPosition.visibility = View.VISIBLE
-    }
-
    fun showAdUpgradeStatus(ipcUpgradeStateInfo: IPCUpgradeStateInfo) {
        systemVersionView?.showAdUpgradeStatus(ipcUpgradeStateInfo)
    }
@@ -220,16 +222,20 @@ class AutoPilotAndCheckView @JvmOverloads constructor(
        fun onClose(v: View)
        fun showDebugPanelView()
        fun showFeedbackView()
+        fun showSOPSettingView()
    }

    override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
        UiThreadHandler.post {
-            tvAcceleration?.let {
-                maxAcceleration = carConfigResp.maxAcceleration
-                speedLimit = carConfigResp.speedLimit
-                tvAcceleration.text = "加速度 ${carConfigResp.maxAcceleration} m/s²"
-                etInputSpeed.setText((carConfigResp.speedLimit * 3.6).toInt().toString())
-            }
+//            tvAcceleration?.let {
+//                maxAcceleration = carConfigResp.maxAcceleration
+//                speedLimit = carConfigResp.speedLimit
+////                tvAcceleration.text = "加速度 ${carConfigResp.maxAcceleration} m/s²"
+//                tvSpeed.text = (carConfigResp.speedLimit * 3.6).toInt().toString()
+//            }
+            maxAcceleration = carConfigResp.maxAcceleration
+            speedLimit = (carConfigResp.speedLimit * 3.6).toInt()
+            tvSpeed.text = speedLimit.toString()
        }
    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/PerspectiveSwitchView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/PerspectiveSwitchView.kt
@@ -32,18 +32,18 @@ class PerspectiveSwitchView @JvmOverloads constructor(
    override fun onClick(v: View?) {
        //切换地图的远近视图
        if (MogoMapUIController.getInstance().currentMapVisualAngle.isLongSight) {
-            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .visibleAllMarkers()
+//            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+//                .visibleAllMarkers()
            MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
            textSwitch.setText(R.string.module_map_model_normal)
        } else if (MogoMapUIController.getInstance().currentMapVisualAngle.isMediumSight) {
-            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS)
+//            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+//                .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS)
            MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
            textSwitch.setText(R.string.module_map_model_faster)
        } else {
-            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
-                .visibleAllMarkers()
+//            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+//                .visibleAllMarkers()
            MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
            textSwitch.setText(R.string.module_map_model_normal)
        }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
@@ -7,6 +7,7 @@ import android.view.View
 import android.widget.ImageView
 import android.widget.TextView
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.function.api.hmi.view.IViewTrafficLight
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -49,7 +50,9 @@ class SingleTrafficLightView @JvmOverloads constructor(
    override fun showWarningTrafficLight(checkLightId: Int,lightSource: Int) {
        super.showWarningTrafficLight(checkLightId,lightSource)
        mCurrentLightId = checkLightId
-        updateTrafficLightIcon(checkLightId,lightSource)
+        if(!HmiBuildConfig.isShowTrafficLightView){
+            updateTrafficLightIcon(checkLightId,lightSource)
+        }
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VipIdentificationView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VipIdentificationView.kt
@@ -26,12 +26,17 @@ class VipIdentificationView @JvmOverloads constructor(
    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        val lp = this.layoutParams as LayoutParams
-        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
-            lp.marginStart = resources.getDimension(R.dimen.module_vip_margin_left_bus).toInt()
-            lp.topMargin = resources.getDimension(R.dimen.module_vip_margin_top_bus).toInt()
+        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
+            && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            lp.marginStart = resources.getDimension(R.dimen.module_vip_margin_left_bus_passenger).toInt()
+            lp.topMargin = resources.getDimension(R.dimen.module_vip_margin_top_passenger).toInt()
+        } else if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)
+            && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            lp.marginStart = resources.getDimension(R.dimen.module_vip_margin_left_taxi_passenger).toInt()
+            lp.topMargin = resources.getDimension(R.dimen.module_vip_margin_top_passenger).toInt()
        } else {
-            lp.marginStart = resources.getDimension(R.dimen.module_vip_margin_left_taxi).toInt()
-            lp.topMargin = resources.getDimension(R.dimen.module_vip_margin_top_taxi).toInt()
+            lp.marginStart = resources.getDimension(R.dimen.module_vip_margin_left).toInt()
+            lp.topMargin = resources.getDimension(R.dimen.module_vip_margin_top).toInt()
        }
        this.layoutParams = lp
        invalidate()
--- 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
@@ -215,7 +215,6 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
        if (keyCode == KeyEvent.KEYCODE_VOLUME_UP) { //向上长按 开启自动驾驶
            long currentTime = System.currentTimeMillis() / (1000);
            long oldTime = SharedPrefsMgr.getInstance(getContext()).getLong("old_time_up", 0);
-//            Log.d("liyz", "time = " + (currentTime - oldTime));
            if (currentTime - oldTime > 6) {
                SharedPrefsMgr.getInstance(getContext()).putLong("old_time_up", System.currentTimeMillis() / 1000);
 //                ToastUtils.showShort("长按 ↑↑↑ 开启自动驾驶");
@@ -456,7 +455,6 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                Method isConnectedMethod = BluetoothDevice.class.getDeclaredMethod("isConnected", (Class[]) null);
                isConnectedMethod.setAccessible(true);
                boolean isConnected = (boolean) isConnectedMethod.invoke(device, (Object[]) null);
-//                Log.e("liyz", "showBondedDevice Name:" + device.getName() + " Mac:" + device.getAddress() + "---isConnected = " + isConnected);
                mAreadlyConnectedList.add(device);
                if (device.getName().equals("JX-05")) { //后面魔戒可能不使用了
                    SharedPrefsMgr.getInstance(getContext()).putString("BT_MAC", device.getAddress());
@@ -486,7 +484,6 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     * 主动连接最近的一次连接
     */
    private void connectBluetooth() {
-//        Log.d("liyz", "connectBluetooth ----> size() = " + mAreadlyConnectedList.size());
        if (mAreadlyConnectedList.size() > 0) {
            try {
                Method method = BluetoothDevice.class.getMethod("createBond");
@@ -498,7 +495,6 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                    }
                }

-//                Log.d("liyz", "connectBluetooth macAddress = " + macAddress + "---pos = " + pos);
                if (mAreadlyConnectedList.size() > pos && (pos >= 0)) {
                    method.invoke(mAreadlyConnectedList.get(pos));
                }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/moujie/BluetoothMonitorReceiver.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/moujie/BluetoothMonitorReceiver.java
@@ -45,13 +45,11 @@ public class BluetoothMonitorReceiver extends BroadcastReceiver {

                case BluetoothDevice.ACTION_ACL_CONNECTED:
 //                    Toast.makeText(context, "蓝牙设备已连接", Toast.LENGTH_SHORT).show();
-//                    Log.d("liyz", "蓝牙设备已连接 ----> ");
 //                    SharedPrefsMgr.getInstance(context).putBoolean("BLUETOOTH", true);
                    break;

                case BluetoothDevice.ACTION_ACL_DISCONNECTED:
 //                    SharedPrefsMgr.getInstance(context).putBoolean("BLUETOOTH", false);
-//                    Log.d("liyz", "蓝牙设备已断开 ----> ");
 //                    Toast.makeText(context, "蓝牙设备已断开", Toast.LENGTH_SHORT).show();
                    EventBus.getDefault().post(new ConnectBluetoothEvent());
                    break;
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/debug_icon_sop.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/debug_icon_sop.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_add.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_add.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_reduce.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_reduce.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_speed_add.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_speed_add.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_speed_reduce.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xxhdpi/icon_speed_reduce.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/fragment_hmi.xml
@@ -8,7 +8,7 @@

    <View
        android:id="@+id/viewShowDebugView"
-        android:layout_width="@dimen/dp_100"
+        android:layout_width="@dimen/dp_400"
        android:layout_height="@dimen/dp_100"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_auto_pilot_check.xml
@@ -43,6 +43,7 @@
                android:gravity="center_vertical"
                android:orientation="horizontal"
                app:layout_constraintEnd_toEndOf="parent"
+                app:layout_constraintHorizontal_bias="0.0"
                app:layout_constraintStart_toStartOf="@+id/tv_check_title"
                app:layout_constraintTop_toBottomOf="@+id/v_second_group">

@@ -144,6 +145,32 @@

            </LinearLayout>

+            <RelativeLayout
+                android:id="@+id/sopLayout"
+                android:layout_width="wrap_content"
+                android:layout_height="@dimen/dp_216"
+                android:layout_marginTop="@dimen/dp_90"
+                app:layout_constraintTop_toBottomOf="@id/checkLayout"
+                app:layout_constraintLeft_toLeftOf="@id/checkLayout">
+
+                <ImageView
+                    android:layout_width="150px"
+                    android:layout_height="150px"
+                    android:layout_centerHorizontal="true"
+                    android:background="@drawable/debug_icon_sop" />
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="42px"
+                    android:text="@string/debug_sop"
+                    android:textColor="@color/color_FFA7B6F0"
+                    android:textSize="32px"
+                    android:layout_alignParentBottom="true"
+                    android:layout_centerHorizontal="true"
+                    />
+
+            </RelativeLayout>
+
            <TextView
                android:id="@+id/tv_check_title"
                android:layout_width="84px"
@@ -164,7 +191,7 @@
                android:layout_marginTop="94px"
                android:background="@color/color_FF2966EC"
                app:layout_constraintStart_toStartOf="parent"
-                app:layout_constraintTop_toBottomOf="@id/checkLayout" />
+                app:layout_constraintTop_toBottomOf="@id/sopLayout" />

            <TextView
                android:id="@+id/tvSpeedTitle"
@@ -177,45 +204,53 @@
                android:textColor="@color/color_FFFFFF"
                android:textSize="42px"
                app:layout_constraintStart_toStartOf="parent"
-                app:layout_constraintTop_toBottomOf="@id/checkLayout" />
+                app:layout_constraintTop_toBottomOf="@id/sopLayout" />

-            <androidx.appcompat.widget.LinearLayoutCompat
-                android:id="@+id/llSpeedPosition"
-                android:layout_width="390px"
+            <ImageView
+                android:id="@+id/ivSpeedReduce"
+                android:layout_width="105px"
                android:layout_height="140px"
                android:layout_marginStart="113px"
                android:layout_marginTop="40px"
-                android:background="@drawable/pilot_speed_bg"
-                android:focusable="true"
-                android:focusableInTouchMode="true"
-                android:orientation="horizontal"
+                android:src="@drawable/icon_speed_reduce"
                app:layout_constraintStart_toStartOf="parent"
-                app:layout_constraintTop_toBottomOf="@id/tvSpeedTitle">
+                app:layout_constraintTop_toBottomOf="@id/tvSpeedTitle"
+                />

-                <androidx.appcompat.widget.AppCompatEditText
-                    android:id="@+id/etInputSpeed"
-                    android:layout_width="0dp"
-                    android:layout_height="match_parent"
-                    android:layout_marginStart="92px"
-                    android:layout_weight="1"
-                    android:background="@null"
-                    android:gravity="center"
-                    android:maxLength="3"
-                    android:maxLines="1"
-                    android:textColor="#FFFFFFFF"
-                    android:textSize="80px"
-                    tools:ignore="SpeakableTextPresentCheck" />
+            <TextView
+                android:id="@+id/tvSpeed"
+                android:layout_width="189px"
+                android:layout_height="140px"
+                app:layout_constraintTop_toTopOf="@id/ivSpeedReduce"
+                app:layout_constraintBottom_toBottomOf="@id/ivSpeedReduce"
+                app:layout_constraintLeft_toRightOf="@id/ivSpeedReduce"
+                android:background="#1E3062"
+                android:textColor="#FFFFFFFF"
+                android:textSize="80px"
+                android:gravity="center"
+                />

-                <TextView
-                    android:layout_width="93px"
-                    android:layout_height="53px"
-                    android:layout_gravity="center_vertical"
-                    android:layout_marginEnd="28px"
-                    android:text="km/h"
-                    android:textColor="@color/color_B3FFFFFF"
-                    android:textSize="38px" />
+            <ImageView
+                android:id="@+id/ivSpeedAdd"
+                android:layout_width="105px"
+                android:layout_height="140px"
+                app:layout_constraintTop_toTopOf="@id/tvSpeed"
+                app:layout_constraintBottom_toBottomOf="@id/tvSpeed"
+                app:layout_constraintLeft_toRightOf="@id/tvSpeed"
+                android:src="@drawable/icon_speed_add"
+                />

-            </androidx.appcompat.widget.LinearLayoutCompat>
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="km/h"
+                android:textColor="#FFFFFFFF"
+                android:textSize="38px"
+                app:layout_constraintTop_toTopOf="@id/ivSpeedAdd"
+                app:layout_constraintBottom_toBottomOf="@id/ivSpeedAdd"
+                app:layout_constraintLeft_toRightOf="@id/ivSpeedAdd"
+                android:layout_marginStart="40px"
+                />x`

            <TextView
                android:id="@+id/tvAcceleration"
@@ -226,7 +261,7 @@
                android:textColor="#A7B6F0"
                android:textSize="32px"
                app:layout_constraintStart_toStartOf="parent"
-                app:layout_constraintTop_toBottomOf="@id/llSpeedPosition" />
+                app:layout_constraintTop_toBottomOf="@id/ivSpeedReduce" />

            <View
                android:layout_width="14px"
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
@@ -0,0 +1,196 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="@dimen/dp_800"
+    android:layout_height="@dimen/dp_1100"
+    android:background="#FFFFFF">
+    <!--绕障类功能-->
+    <ToggleButton
+        android:id="@+id/tbObstacleAvoidance"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="开启绕障类功能"
+        android:textOn="关闭绕障类功能"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toTopOf="parent"
+        />
+    <!--危险障碍物颜色标记-->
+    <ToggleButton
+        android:id="@+id/tbMarkingObstacles"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="开启「危险障碍物颜色标记」"
+        android:textOn="关闭「危险障碍物颜色标记」"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbObstacleAvoidance"
+        />
+    <!--引导线动态效果-->
+    <ToggleButton
+        android:id="@+id/tbRouteDynamicEffect"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="开启「引导线动态效果」"
+        android:textOn="关闭「引导线动态效果」"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbMarkingObstacles"
+        />
+    <!--红绿灯标识-->
+    <ToggleButton
+        android:id="@+id/tbTrafficLight"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="隐藏红绿灯标识"
+        android:textOn="展示红绿灯标识"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbRouteDynamicEffect"
+        />
+    <!--限速标识-->
+    <ToggleButton
+        android:id="@+id/tbSpeedLimit"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="展示限速标识"
+        android:textOn="隐藏限速标识"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbTrafficLight"
+        />
+    <!--自车感知到的他车碰撞预警-->
+    <ToggleButton
+        android:id="@+id/tbCollisionWarning"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="开启「自车感知到的他车碰撞预警」"
+        android:textOn="关闭「自车感知到的他车碰撞预警」"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbSpeedLimit"
+        />
+
+    <ToggleButton
+        android:id="@+id/tbDemoMode"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="开启美化模式"
+        android:textOn="关闭美化模式"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbCollisionWarning"
+        />
+
+    <ToggleButton
+        android:id="@+id/tbRainMode"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="开启雨天模式"
+        android:textOn="关闭雨天模式"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbDemoMode"
+        />
+
+    <ToggleButton
+        android:id="@+id/tbObu"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_margin="@dimen/dp_10"
+        android:background="@drawable/radio_button_normal_background_right"
+        android:textColor="#000"
+        android:textOff="关闭OBU"
+        android:textOn="开启OBU"
+        android:textSize="@dimen/dp_24"
+        app:layout_constraintTop_toBottomOf="@id/tbRainMode"
+        />
+
+    <TextView
+        android:id="@+id/tvSpeedThresholdTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tbObu"
+        android:text="变道速度阈值："
+        android:textSize="18sp"
+        android:textColor="#1A1A1A"
+        android:layout_margin="10dp"
+        />
+
+    <ImageView
+        android:id="@+id/ivSpeedReduce"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toRightOf="@id/tvSpeedThresholdTitle"
+        app:layout_constraintTop_toTopOf="@id/tvSpeedThresholdTitle"
+        app:layout_constraintBottom_toBottomOf="@id/tvSpeedThresholdTitle"
+        android:src="@drawable/icon_reduce"
+        android:padding="10dp"
+        />
+
+    <TextView
+        android:id="@+id/tvSpeed"
+        android:layout_width="wrap_content"
+        android:layout_height="0dp"
+        app:layout_constraintTop_toTopOf="@id/ivSpeedReduce"
+        app:layout_constraintBottom_toBottomOf="@id/ivSpeedReduce"
+        app:layout_constraintLeft_toRightOf="@id/ivSpeedReduce"
+        android:textSize="18sp"
+        android:gravity="center"
+        android:background="@drawable/debug_setting_edit_bg"
+        android:paddingStart="10dp"
+        android:paddingEnd="10dp"
+        android:layout_marginTop="5dp"
+        android:layout_marginBottom="5dp"
+        />
+
+    <ImageView
+        android:id="@+id/ivSpeedAdd"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/tvSpeed"
+        app:layout_constraintBottom_toBottomOf="@id/tvSpeed"
+        app:layout_constraintLeft_toRightOf="@id/tvSpeed"
+        android:src="@drawable/icon_add"
+        android:padding="10dp"
+        />
+
+    <Button
+        android:id="@+id/btnSpeedSet"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/ivSpeedAdd"
+        app:layout_constraintBottom_toBottomOf="@id/ivSpeedAdd"
+        app:layout_constraintLeft_toRightOf="@id/ivSpeedAdd"
+        android:text="设置阈值"
+        android:layout_marginStart="10dp"
+        />
+
+    <View
+        android:layout_width="match_parent"
+        android:layout_height="1dp"
+        android:layout_margin="10dp"
+        android:background="#F0F0F0"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/btnSpeedSet"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -22,6 +22,7 @@
    <string name="check_vehicle_detection">车辆检测</string>
    <string name="debug_panel">调试面板</string>
    <string name="debug_panel_fb">录包设置</string>
+    <string name="debug_sop">运营面板</string>
    <string name="check_vehicle_speed_setting">车速设置</string>
    <string name="bus_operation_title">账户信息</string>
    <string name="check_system_operation">系统运行</string>
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt
@@ -54,5 +54,12 @@ class MoGoObuProvider : IMoGoObuProvider {

    }

+    override fun disConnect() {
+        MogoPrivateObuManager.INSTANCE.disConnectObu()
+    }
+
+    override fun isConnected(): Boolean {
+        return MogoPrivateObuManager.INSTANCE.isConnected()
+    }

 }
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuManager.kt
@@ -77,6 +77,14 @@ class MogoPrivateObuManager private constructor() {
        }
    }

+    fun disConnectObu(){
+        MogoObuManager.getInstance().disConnect()
+    }
+
+    fun isConnected(): Boolean{
+        return MogoObuManager.getInstance().isConnected
+    }
+
    private val mogoObuListener: OnMogoObuListener = object : OnMogoObuListener() {
        // OBU连接成功
        override fun onConnected() {
--- 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
@@ -483,6 +483,7 @@ object V2XEventManager : IMoGoMapLocationListener, IMoGoTokenCallback, IV2XCallb
                })
            }

+            AiRoadMarker.receive(Marker(this.roadwork?.center?.point?.lat ?: 0.0, this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0, null, null, null))
        }

 //    private fun buildRoadEntity(e: V2XMarkerExploreWay, extra: Map<String, Any>? = null): V2XRoadEventEntity { // 记录道路事件
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/impl/V2XScenarioManager.java
@@ -6,6 +6,7 @@ import android.content.Intent;

 import androidx.localbroadcastmanager.content.LocalBroadcastManager;

+import com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad.AiRoadMarker;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi;
 import com.mogo.eagle.core.function.v2x.events.consts.V2XConst;
@@ -62,6 +63,7 @@ public class V2XScenarioManager implements IV2XScenarioManager {
                        Intent intent = new Intent(V2XConst.BROADCAST_SCENE_ACTION);
                        intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
                        LocalBroadcastManager.getInstance(Utils.getApp()).sendBroadcast(intent);
+                        AiRoadMarker.INSTANCE.clear();
                        // 如果没有拿到之前的，根据类型分发
                        switch (v2XMessageEntity.getType()) {
                            case V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING:
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad
 import android.animation.*
 import android.content.*
 import android.graphics.*
+import android.os.*
 import android.view.animation.*
 import androidx.core.util.Pair
 import androidx.lifecycle.*
@@ -22,6 +23,7 @@ import com.mogo.map.overlay.*
 import com.mogo.module.common.entity.*
 import com.mogo.module.common.utils.*
 import io.netty.util.internal.*
+import java.lang.Runnable
 import java.util.*
 import java.util.concurrent.*
 import java.util.concurrent.atomic.*
@@ -49,6 +51,17 @@ object AiRoadMarker {
    private val START_COLOR = Color.parseColor("#002ABAD9")
    private val END_COLOR   = Color.parseColor("#66FF7A30")

+    private val handler by lazy {
+        Handler(Looper.getMainLooper())
+    }
+
+    private val checkExpiredTask = Runnable {
+        val marker = this@AiRoadMarker.marker.get()
+        if (marker != null) {
+            unMarker(marker)
+        }
+    }
+
    private val markers = ConcurrentSet<Marker>()

    private val options by lazy {
@@ -189,6 +202,7 @@ object AiRoadMarker {

    fun marker(marker: Marker, drawMarker: Boolean) {
        val location = carLocation.get() ?: return
+        this.marker.set(marker)
        //施工中心点前方的自车行驶方向上300米距离
        val l1 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(marker.poi_lon, marker.poi_lat, location.third.toFloat(), 300f)
        //施工中心点后方的自车行驶方向上300米距离
@@ -285,7 +299,7 @@ object AiRoadMarker {

    fun clear() {
        hideLine()
-//        V2XAiRoadEventMarker.removeMarkers(null)
+        V2XAiRoadEventMarker.removeMarkers(null)
    }

    fun restore() {
@@ -319,12 +333,31 @@ object AiRoadMarker {
        return degree < 90
    }

+    fun receive(marker: Marker) {
+        val cur = this.marker.get()
+        if (cur == marker) {
+            val poi = this.marker.get()
+            val car = this.carLocation.get()
+            if (poi != null && car != null) {
+                val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat)
+                if (distance < 300) {
+                    checkExpired()
+                }
+            }
+        }
+    }
+
+    private fun checkExpired() {
+        handler.removeCallbacks(checkExpiredTask)
+        handler.postDelayed(checkExpiredTask, 5000)
+    }
+
    data class Marker(
        val poi_lat: Double,
        val poi_lon: Double,
        val poi_angle: Double,
-        val polygon: List<androidx.core.util.Pair<Double, Double>>?,
-        var farthestPoint: androidx.core.util.Pair<Double, Double>? = null,
+        val polygon: List<Pair<Double, Double>>?,
+        var farthestPoint: Pair<Double, Double>? = null,
        var entity: V2XRoadEventEntity? = null
    ) {

--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
@@ -23,7 +23,7 @@ import java.util.Objects;
 public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {


-    private AiRoadMarker.Marker mMarker;
+    private static AiRoadMarker.Marker mMarker;

    @Override
    public void drawPOI(V2XRoadEventEntity entity) {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
@@ -120,8 +120,7 @@ class TrafficLightNetWorkModel {
            }
            loader {
                apiCall {
-                    MoGoRetrofitFactory.getInstanceNoCallAdapter("http://dzt-qa-city.zhidaozhixing.com")
-                        .create(TrafficLightApiService::class.java).changeLight(map)
+                    getNetWorkApi().changeLight(map)
                }
            }
            onSuccess {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/vip/VipCarManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/vip/VipCarManager.kt
@@ -245,9 +245,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
            v2xType, alertContent, ttsContent, tag,
            object : IMoGoWarningStatusListener {
                override fun onShow() {}
-                override fun onDismiss() {
-                    resetConditions()
-                }
+                override fun onDismiss() {}
            },
            true,
            5000L