diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
new file mode 100644
index 0000000000..8304f7a6af
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
@@ -0,0 +1,180 @@
+package com.mogo.och.sweeper.view
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.constraintlayout.widget.ConstraintLayout
+import chassis.Chassis.GearPosition
+import chassis.Chassis.LightSwitch
+import chassis.ChassisStatesOuterClass.BMSSystemStates
+import chassis.ChassisStatesOuterClass.SweeperFuTianTaskSystemStates
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
+import com.mogo.eagle.core.function.api.v2x.LimitingVelocityListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager.addListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager.removeListener
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.setProxyTrafficLightView
+import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager.addListener
+import com.mogo.eagle.core.function.call.v2x.CallLimitingVelocityListenerManager.removeListener
+import com.mogo.eagle.core.function.hmi.ui.widget.TapPositionView
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.och.sweeper.R
+import planning.RoboSweeperTaskIndexOuterClass
+import kotlin.math.abs
+
+class SweeperTrafficDataView : ConstraintLayout {
+    private var tapPositionView //方向盘
+            : TapPositionView? = null
+    private var speedImage //速度图标
+            : ImageView? = null
+    private var speedTextView //速度值
+            : TextView? = null
+    private var sweeperTurnSignal //转向灯
+            : TurnSignalView? = null
+    private var sweeperLimitingVelocity //限速
+            : SweeperLimitingVelocityView? = null
+    private var tvBattery //电量百分比展示
+            : TextView? = null
+    private var ivBgWaterWarning //水位预警背景图
+            : ImageView? = null
+    private var ivWater //水位图标
+            : ImageView? = null
+    private var trafficLight //红绿灯
+            : SweeperTrafficLightView? = null
+
+    constructor(context: Context) : super(context) {}
+    constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+        initView(context)
+    }
+
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
+
+    private fun initView(context: Context) {
+        LayoutInflater.from(context).inflate(R.layout.sweeper_traffic_data, this)
+        tapPositionView = findViewById(R.id.sweeperTrafficPosition)
+        speedImage = findViewById(R.id.sweeperSpeedImage)
+        speedTextView = findViewById(R.id.sweeperSpeedText)
+        sweeperTurnSignal = findViewById(R.id.sweeperTurnSignal)
+        sweeperLimitingVelocity = findViewById(R.id.sweeperLimitingVelocity)
+        tvBattery = findViewById(R.id.tvBattery)
+        ivBgWaterWarning = findViewById(R.id.sweeperIvBgWaterWarning)
+        ivWater = findViewById(R.id.sweeperIvWater)
+        trafficLight = findViewById(R.id.sweeperTrafficLight)
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        addListener(TAG, mIMoGoAutopilotVehicleStateListener)
+        //增加限速监听
+        addListener(TAG, limitingVelocityListener)
+        setProxyTrafficLightView(trafficLight!!)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        removeListener(mIMoGoAutopilotVehicleStateListener)
+        removeListener(limitingVelocityListener)
+    }
+
+    private val mIMoGoAutopilotVehicleStateListener: IMoGoAutopilotVehicleStateListener = object : IMoGoAutopilotVehicleStateListener {
+        override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {}
+        override fun onSweeperFutianCleanSystemState(cleanSystemState: SweeperFuTianTaskSystemStates) {
+            if (cleanSystemState.hasSecuCleanWaterTankLow()) { //清水箱水位低不能清洗作业报警信号
+                ivBgWaterWarning?.visibility = VISIBLE
+                ivWater?.isSelected = true
+            } else {
+                ivBgWaterWarning?.visibility = GONE
+                ivWater?.isSelected = false
+            }
+        }
+
+        override fun onBMSSystemStates(bmsSystemStates: BMSSystemStates) {
+            tvBattery?.text = String.format("%s%", bmsSystemStates.bmsSoc)
+        }
+
+        /**
+         * 车辆转向灯
+         * @param lightSwitch
+         */
+        override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
+            //转向灯状态 0是正常 1是左转 2是右转
+            if (lightSwitch != null) {
+                d(TAG, "车辆转向灯:$lightSwitch")
+                if (lightSwitch.number == 1) {
+                    sweeperTurnSignal?.showLeftSignal()
+                } else if (lightSwitch.number == 2) {
+                    sweeperTurnSignal?.showRightSignal()
+                } else {
+                    sweeperTurnSignal?.showDirection()
+                }
+            }
+        }
+
+        /**
+         * 刹车灯
+         * @param brakeLight
+         */
+        override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
+            d(TAG, "刹车灯:$brakeLight")
+        }
+
+        /**
+         * 方向盘转向角 左+右-
+         * @param steering
+         */
+        override fun onAutopilotSteeringData(steering: Float) {
+            var steering = steering
+            d(TAG, "steering原始值====$steering")
+            if (abs(steering) < 1) {
+                steering = 0f
+            }
+            d(TAG, "steering忽略小数点后====" + steering.toInt())
+        }
+
+        /**
+         * 档位
+         * @param gear
+         */
+        override fun onAutopilotGearData(gear: GearPosition) {
+            d(TAG, "司机屏档位$gear")
+            ThreadUtils.runOnUiThread {
+                tapPositionView?.updateWithGear(gear)
+            }
+        }
+
+        override fun onAutopilotDataException(timestamp: Long) {}
+        override fun onAutopilotAcc(carAcc: Float) {}
+        override fun onAutopilotBrake(brake: Float) {
+            d(TAG, "刹车:$brake")
+        }
+
+        override fun onAutopilotThrottle(throttle: Float) {
+            d(TAG, "油门:$throttle")
+        }
+    }
+
+    /**
+     * 限速监听
+     */
+    private val limitingVelocityListener: LimitingVelocityListener = object : LimitingVelocityListener {
+        override fun onLimitingVelocityChange(limitingVelocity: Int) {
+            //设置限速
+            sweeperLimitingVelocity!!.updateLimitingSpeed(limitingVelocity)
+        }
+    }
+
+    /**
+     * 速度设置
+     */
+    fun updateSpeedWithValue(newSpeed: Int) {
+        speedTextView?.text = newSpeed.toString()
+        speedImage?.setBackgroundResource(if (newSpeed > 60) R.drawable.sweeper_traffic_data_speed_warning else R.drawable.sweeper_bg_traffic_data_speed)
+    }
+
+    companion object {
+        private const val TAG = "SweeperTrafficDataView"
+    }
+}
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