Merge remote-tracking branch 'origin/dev_robotaxi-d_241202_6.8.2' into dev_robobus-d_241202_6.8.4

# Conflicts: # OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt # OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt # OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/repository/db/MyDataBase.kt # gradle.properties
2024-12-18 18:15:36 +08:00
parent 8bef639bbc 69ca8d230c
commit 632ecf5ed0
45 changed files with 491 additions and 119 deletions
--- a/OCH/common/biz/src/main/java/com/mogo/och/biz/login/model/LoginModel.kt
+++ b/OCH/common/biz/src/main/java/com/mogo/och/biz/login/model/LoginModel.kt
@@ -116,6 +116,7 @@ object LoginModel {
            OchChainLogManager.writeChainLog("登录页面","获取验证码 mContext${mContext}")
        }else {
            mContext?.let {
+                OchChainLogManager.writeChainLog("登录页面","网络请求去获取验证码")
                OchCommonServiceManager.getPhoneCode(it, phone,
                    object : OchCommonServiceCallback<BaseData> {
                        override fun onSuccess(data: BaseData?) {
--- a/OCH/common/biz/src/main/java/com/mogo/och/biz/login/presenter/LoginPresenter.kt
+++ b/OCH/common/biz/src/main/java/com/mogo/och/biz/login/presenter/LoginPresenter.kt
@@ -49,7 +49,9 @@ class LoginPresenter(view: LoginFragment?) : Presenter<LoginFragment?>(view), IT


    fun getPhoneCode(phone:String){
+        OchChainLogManager.writeChainLog("登录页面","获取验证码${phone}")
        if(!LoginModel.hasInit()){
+            OchChainLogManager.writeChainLog("登录页面","LoginModel没有初始化去初始化")
            initListeners()
        }
        if (!RegexUtils.isMobileExact(phone)) {
--- a/OCH/common/biz/src/main/java/com/mogo/och/biz/login/ui/LoginFragment.kt
+++ b/OCH/common/biz/src/main/java/com/mogo/och/biz/login/ui/LoginFragment.kt
@@ -136,6 +136,7 @@ class LoginFragment : MvpFragment<LoginFragment?, LoginPresenter?>(), ILoginView
            continuousClick()
        }
        biz_actv_login_get_code.setOnClickListener {
+            OchChainLogManager.writeChainLog("登录页面","点击获取验证码")
            if(mPresenter==null){
                OchChainLogManager.writeChainLog("司机登录页面","mPresenter=${mPresenter}")
            }else{
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -65,14 +65,16 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene

    private var _autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
        if (oldValue != newValue) {
-            if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-                if(oldValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING){
-                    if(newValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
-                        ToastUtils.showLong(R.string.common_change2_autopilot2_manual)
-                    }
-                }else if(oldValue==IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING){
-                    if(newValue==IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE){
-                        ToastUtils.showLong(R.string.common_change2_pxjs_manual)
+            if (!FunctionBuildConfig.isDemoMode) {
+                if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                    if (oldValue == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+                        if (newValue == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
+                            ToastUtils.showLong(R.string.common_change2_autopilot2_manual)
+                        }
+                    } else if (oldValue == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
+                        if (newValue == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
+                            ToastUtils.showLong(R.string.common_change2_pxjs_manual)
+                        }
                    }
                }
            }
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/ILineCallback.java
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/ILineCallback.java
@@ -2,21 +2,59 @@ package com.mogo.och.bridge.autopilot.line;


 public interface ILineCallback {
+
+    /**
+     * 清除高精地图的轨迹线成功
+     */
    default void clearLineSuccess(){}

+    /**
+     * 高精地图上绘制轨迹线成功
+     */
    default void drawLineSuccess(){}

+    /**
+     * 高精地图上绘制轨迹线失败
+     */
    default void drawLineFail(){}

+    /**
+     * och 已向eye 发送启动自驾参数
+     */
    default void sendStartAutopilotSuccess(){}

+    /**
+     * 因为起始站点、自驾轨迹参数、线路信息变化导致的自驾orderId的变化
+     */
+    default void onAutopilotIdChange(String oldId,String newId){}
+
+
+    /**
+     * 启动自驾15s超时
+     */
    default void startAutopilotTimeOut(){}

+    /**
+     * 底盘收到启动自驾的指令
+     */
    default void sendStartAutopilotSuccessAck(){}

+    /**
+     * 底盘告知启动自驾失败
+     * @param startFailedCode 错误码
+     * @param startFailedMessage 错误信息
+     */
    default void startAutopilotFailure(String startFailedCode,String startFailedMessage){}

-    default void startAutopilotSuccess(){}
+    /**
+     * 自驾启动成功
+     * @param source 自驾成功来源
+     * @param autopilotId 当前启动自驾的id
+     */
+    default void startAutopilotSuccess(int source, String autopilotId){}

+    /**
+     * 距离站点小于15m后向底盘查询是否到站底盘反馈 已到站
+     */
    default void arrivedStationSuccessBySearch(){}
 }
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/line/LineManager.kt
@@ -82,6 +82,9 @@ object LineManager : CallerBase<ILineCallback>() {
        if (oldValue != newValue) {
            CallerEagleBaseFunctionCall4OchManager.setOchAutopilotOrderId(newValue)
            isFirstStartAutopilot = true
+            M_LISTENERS.forEach {
+                it.value.onAutopilotIdChange(oldValue,newValue)
+            }
            if(!AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)&&!AppIdentityModeUtils.isShuttle(FunctionBuildConfig.appIdentityMode)){
                val (start, end) = getStations()
                if(start!=null&&end!=null){
@@ -253,11 +256,11 @@ object LineManager : CallerBase<ILineCallback>() {
    }

    private fun setAutopilotControlParameters(){
-        getStationsWithLineAndContrai { start, end, lineInfo, contrai ->
+        getStationsWithLine { start, end, lineInfo ->
            val parameters = initAutopilotControlParameters()
            if (null == parameters) {
                e(M_BUS + TAG, "AutopilotControlParameters is empty.")
-                return@getStationsWithLineAndContrai
+                return@getStationsWithLine
            }
            d(M_BUS + TAG, "AutopilotControlParameters is update.")
            CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(parameters)
@@ -316,6 +319,9 @@ object LineManager : CallerBase<ILineCallback>() {

    fun initAutopilotControlParameters(): AutopilotControlParameters? {
        var parameters: AutopilotControlParameters? = null
+        getStationsWithLine { start, end, lineInfo ->
+            this.autopilotId =  "${lineInfo.lineId}_${start.siteId}_${end.siteId}_${lineInfo.orderId}"
+        }
        getStationsWithLineAndContrai { start, end, lineInfo, contrai ->
            parameters = AutopilotControlParameters()
            parameters?.routeID = lineInfo.lineId.toInt()
@@ -325,8 +331,7 @@ object LineManager : CallerBase<ILineCallback>() {
            parameters?.startLatLon = AutoPilotLonLat(start.lat, start.lon)
            parameters?.endLatLon = AutoPilotLonLat(end.lat, end.lon)
            parameters?.vehicleType = 10
-            autopilotId =  "${lineInfo.lineId}_${start.siteId}_${end.siteId}_${lineInfo.orderId}"
-            parameters?.orderId = autopilotId
+            parameters?.orderId = this.autopilotId
            parameters?.firstAutopilotFlag = isFirstStartAutopilot

            if (parameters?.autoPilotLine == null) {
@@ -519,6 +524,11 @@ object LineManager : CallerBase<ILineCallback>() {
        }
    }

+    /**
+     * @param source 0: och 通过自驾状态变化确定启动自驾成功
+     *               1: 通过can消息发送自驾状态确定启动自驾成功
+     *               2：通过FSM 反馈确定启动自驾成功
+     */
    fun triggerStartServiceEvent(send: Boolean,source:Int,type:String) {
        getStationsWithLine { start, end, lineInfo ->
            OchAutopilotAnalytics.triggerStartAutopilotEvent(
@@ -532,6 +542,11 @@ object LineManager : CallerBase<ILineCallback>() {
                type,
                source
            )
+            if(send){
+                M_LISTENERS.forEach {
+                    it.value.startAutopilotSuccess(source,autopilotId)
+                }
+            }
        }
    }

--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt
@@ -1,6 +1,7 @@
 package com.mogo.och.bridge.ui.autopilot

 import androidx.lifecycle.ViewModel
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
@@ -10,6 +11,8 @@ import com.mogo.och.bridge.autopilot.autopilot.IOchAutopilotStatusListener
 import com.mogo.och.bridge.autopilot.autopilot.OchAutoPilotStatusListenerManager
 import com.mogo.och.bridge.autopilot.line.ILineCallback
 import com.mogo.och.bridge.autopilot.line.LineManager
+import com.mogo.och.common.module.manager.beautifymode.BeautifyManager
+import com.mogo.och.common.module.manager.beautifymode.IBeautifyModeCallback
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
 import com.mogo.och.common.module.manager.loop.BizLoopManager
 import com.mogo.och.common.module.utils.RxUtils
@@ -21,7 +24,7 @@ import java.util.concurrent.atomic.AtomicBoolean
 * @since: 2022/12/15
 */
 class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallback,
-    IOchDebugAutopilotStatusListener {
+    IOchDebugAutopilotStatusListener, IBeautifyModeCallback {

    private val TAG = AutopilotStateModel::class.java.simpleName

@@ -29,12 +32,16 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb

    private val isPalyStartAni = AtomicBoolean(false)

+    // autopilotId 这个自驾id 启动成功过
+    private var lineId:String? = null
+

    override fun onCleared() {
        this.viewCallback = null
        AutopilotStateDebug.removeListener(TAG)
        OchAutoPilotStatusListenerManager.removeListener(TAG)
        LineManager.removeListener(TAG)
+        BeautifyManager.setStatusChangeListener(TAG,null)
    }

    fun setViewCallback(viewCallback: AutopilotStateCallback) {
@@ -42,6 +49,7 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb
        AutopilotStateDebug.addListener(TAG, this)
        OchAutoPilotStatusListenerManager.addListener(TAG, this)
        LineManager.addListener(TAG, this)
+        BeautifyManager.setStatusChangeListener(TAG,this)
    }

    override fun debugStatusChange(debugStatus: Boolean) {
@@ -93,51 +101,126 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb
        autopilotStateChange()
    }

-    private fun autopilotStateChange() {
-        // 正在起自驾过程中
-        // 自驾状态变化为非自驾状态
-        // 或者
-        // FSM 状态改为不能启动自驾
-        // 按照启动自驾失败计算
-        if (isPalyStartAni.get() &&
-            (!CallerAutoPilotControlManager.isCanStartAutopilot(false)
-                    || OchAutoPilotStatusListenerManager.autopilotState != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
-        ) {
-            OchChainLogManager.writeChainLog(
-                "自驾信息",
-                "正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾"
-            )
-            startAutopilotFail()
+    override fun dispatchStatus(typeEnum: BeautifyManager.ChangeTypeEnum) {
+        OchChainLogManager.writeChainLog("美化模式","美化模式发生变化:${typeEnum}")
+        autopilotStateChange()
+    }
+
+    override fun startAutopilotSuccess(
+        source: Int,
+        autopilotId: String?
+    ) {
+        LineManager.getLineInfo {
+            this.lineId = it.lineId.toString()
+        }
+        autopilotStateChange()
+        this.viewCallback?.startAutopilotSuccess()
+    }
+
+    override fun onAutopilotIdChange(oldId: String?, newId: String?) {
+        if(LineManager.lineInfos?.lineId.toString()==this.lineId){
            return
        }
-        BizLoopManager.runInMainThread {
-            OchChainLogManager.writeChainLog(
-                "自驾信息",
-                "自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${
-                    CallerAutoPilotControlManager.isCanStartAutopilot(false)
-                }"
-            )
-            when (OchAutoPilotStatusListenerManager.autopilotState) {
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可用 不可启动自驾
-                    this.viewCallback?.autopilotDisable()
-                }
+        this.lineId = null
+        autopilotStateChange()
+    }

-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
-                    if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
-                        this.viewCallback?.canStartAutopilot()
-                    } else {// 部分可用
-                        this.viewCallback?.autopilotDisable()
+    /**
+     * 1、自驾状态发生变化
+     * 2、能否启动自驾变化
+     * 3、FSM能否启动自驾变化
+     * 4、美化模式发生变化
+     * 5、启动自驾成功
+     * 6、自驾orderid发生变化
+     * 7、启动自驾超时失败
+     * 8、底盘明确告知启动自驾失败
+     * 9、启动自驾失败展示3s 失败后恢复新的状态
+     */
+    private fun autopilotStateChange(){
+        if (FunctionBuildConfig.isDemoMode) {
+            BizLoopManager.runInMainThread {
+                OchChainLogManager.writeChainLog(
+                    "自驾信息",
+                    "自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${
+                        CallerAutoPilotControlManager.isCanStartAutopilot(false)
+                    }"
+                )
+                if(lineId.isNullOrEmpty()){// 没有启动成功过
+                    when (OchAutoPilotStatusListenerManager.autopilotState) {
+                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可用 不可启动自驾
+                            this.viewCallback?.canStartAutopilot()
+                        }
+
+                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                            if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
+                                this.viewCallback?.canStartAutopilot()
+                            } else {// 部分可用
+                                this.viewCallback?.canStartAutopilot()
+                            }
+                        }
+
+                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自驾中
+                            this.viewCallback?.stopAutopilotAnimation()
+                            this.viewCallback?.inAutopilot()
+                        }
+
+                        IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {// 平行驾驶中
+                            this.viewCallback?.stopAutopilotAnimation()
+                            this.viewCallback?.inAutopilot()
+                        }
                    }
-                }
-
-                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自驾中
-                    this.viewCallback?.stopAutopilotAnimation()
+                }else{
                    this.viewCallback?.inAutopilot()
                }
+            }

-                IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {// 平行驾驶中
-                    this.viewCallback?.stopAutopilotAnimation()
-                    this.viewCallback?.inRemoteDriver()
+        }else {
+            // 正在起自驾过程中
+            // 自驾状态变化为非自驾状态
+            // 或者
+            // FSM 状态改为不能启动自驾
+            // 按照启动自驾失败计算
+            if (isPalyStartAni.get() &&
+                (!CallerAutoPilotControlManager.isCanStartAutopilot(false)
+                        || OchAutoPilotStatusListenerManager.autopilotState != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
+            ) {
+                OchChainLogManager.writeChainLog(
+                    "自驾信息",
+                    "正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾"
+                )
+                startAutopilotFail()
+                return
+            }
+
+            BizLoopManager.runInMainThread {
+                OchChainLogManager.writeChainLog(
+                    "自驾信息",
+                    "自驾状态:${OchAutoPilotStatusListenerManager.autopilotState} 能否启动自驾：${
+                        CallerAutoPilotControlManager.isCanStartAutopilot(false)
+                    }"
+                )
+                when (OchAutoPilotStatusListenerManager.autopilotState) {
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {// 不可用 不可启动自驾
+                        this.viewCallback?.autopilotDisable()
+                    }
+
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                        if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
+                            this.viewCallback?.canStartAutopilot()
+                        } else {// 部分可用
+                            this.viewCallback?.autopilotDisable()
+                        }
+                    }
+
+                    IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {// 自驾中
+                        this.viewCallback?.stopAutopilotAnimation()
+                        this.viewCallback?.inAutopilot()
+                    }
+
+                    IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {// 平行驾驶中
+                        this.viewCallback?.stopAutopilotAnimation()
+                        this.viewCallback?.inRemoteDriver()
+                    }
                }
            }
        }
@@ -159,7 +242,7 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb
     * 条件过滤完成 正式进入启动自驾状态
     */
    override fun sendStartAutopilotSuccess() {
-        OchChainLogManager.writeChainLog("自驾信息", "启动自驾成功")
+        OchChainLogManager.writeChainLog("自驾信息","发送启动自驾信息到底盘成功")
        BizLoopManager.runInMainThread {
            this.viewCallback?.startAutopilotAnimation()
            isPalyStartAni.set(true)
@@ -187,8 +270,14 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb
        }
    }

-    private fun startAutopilotFail() {
-        BizLoopManager.runInMainThread {
+    /**
+     * 1、正在起自驾过程中、自驾状态变化切为非自驾状态或者FSM 状态改为不能启动自驾
+     * 2、debug状态下5s后自动按照失败计算
+     * 3、超时失败
+     * 4、底盘明确告知启动失败
+     */
+    private fun startAutopilotFail(){
+        BizLoopManager.runInMainThread{
            this.viewCallback?.stopAutopilotAnimation()
            this.viewCallback?.startAutopilotFail()
            this.isPalyStartAni.set(false)
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/socket/lan/LanSocketManagerJava.java
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/socket/lan/LanSocketManagerJava.java
@@ -85,5 +85,8 @@ public class LanSocketManagerJava implements IReceivedMsgListener {
    }


+    @Override
+    public void onFusionColor(boolean fusionColor) {

+    }
 }
--- a/OCH/offline/driver/src/main/java/com/mogo/och/offline/model/OrderModel.java
+++ b/OCH/offline/driver/src/main/java/com/mogo/och/offline/model/OrderModel.java
@@ -184,6 +184,11 @@ public class OrderModel {

    private final IReceivedMsgListener mReceivedMsgListener =
            new IReceivedMsgListener() {
+                @Override
+                public void onFusionColor(boolean fusionColor) {
+
+                }
+
                @Override
                public void onDemoMode(boolean isDemoMode) {

--- a/OCH/shuttle/passenger_weaknet/src/main/res/m2/layout/shuttle_p_m2_fragment.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/m2/layout/shuttle_p_m2_fragment.xml
@@ -146,6 +146,39 @@
        app:layout_constraintBottom_toTopOf="@+id/video_fragment"
        app:layout_constraintEnd_toEndOf="parent" />

+    <!--  事件弹框  -->
+    <com.mogo.eagle.core.function.hmi.ui.v2n.RoadV2NEventWindowView
+        android:id="@+id/roadV2NEventWindowView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginBottom="-70dp"
+        android:layout_marginRight="14dp"
+        app:layout_constraintBottom_toTopOf="@+id/zv_msg_pop_bottom"
+        app:layout_constraintRight_toRightOf="parent"
+        android:visibility="gone"/>
+
+    <!--红绿灯提醒-->
+    <com.mogo.eagle.core.function.hmi.ui.notice.traffic.TrafficLightPromptView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginBottom="@dimen/dp_m_70"
+        app:layout_constraintBottom_toTopOf="@id/zv_msg_pop_bottom"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:promptUser="passenger_bus"
+        android:visibility="gone"
+        />
+
+    <!--融合红绿灯-->
+    <com.mogo.eagle.core.function.hmi.ui.widget.FusionTrafficLightView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/och_shadow_layout"
+        android:layout_marginTop="@dimen/dp_30"
+        app:fusionLightUser="passenger_bus"
+        android:visibility="gone"
+        />

    <TextView
        android:id="@+id/tv_shuttle_b2_p_version"
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/routingrunning/RoutingRunningModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/routingrunning/RoutingRunningModel.kt
@@ -5,6 +5,7 @@ import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.BaseData
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.och.CallerEagleBaseFunctionCall4OchManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
@@ -164,6 +165,9 @@ class RoutingRunningModel : ViewModel(), IDistanceListener {
        LineManager.setLineInfo(null)
        LineManager.setContraiInfo(null)
        LineManager.setStartAndEndStation(null,null)
+
+        CallerEagleBaseFunctionCall4OchManager.updateOrderStatus(false)
+
        // 设置灰度路线任务执行状态，切换模式时判断使用
        MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingPerformTask(TAG, false)

--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/routingselect/RoutingSelectModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/routingselect/RoutingSelectModel.kt
@@ -4,6 +4,7 @@ import androidx.lifecycle.ViewModel
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.storage.SharedPrefsMgr
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.och.CallerEagleBaseFunctionCall4OchManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
@@ -155,7 +156,7 @@ class RoutingSelectModel : ViewModel() {
        LineManager.setLineInfo(LineInfo(grayLineBean.lineId?:0L,grayLineBean.lineName?:"", orderId = "${data.taskId}"))
        LineManager.setContraiInfo(contrailBean.toContraiInfo())
        LineManager.setStartAndEndStation(grayLineBean.startSite?.toBusStationBean(),grayLineBean.endSite?.toBusStationBean())
-
+        CallerEagleBaseFunctionCall4OchManager.updateOrderStatus(true)

        viewCallback?.onStartGrayTaskAndQueryContrailSuccess(data)
        // Routing 从这里解析出经停信息，轨迹信息，并调用下载轨迹接口
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/PassBusStationEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/PassBusStationEventManager.kt
@@ -180,10 +180,7 @@ object PassBusStationEventManager : IMoGoChassisLocationWGS84Listener {
                                it.notifyDistance
                            ),
                            isDriverScreen,
-                            String.format(
-                                EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ROAD_BUS_STATION.poiType),
-                                it.notifyDistance
-                            ),
+                            EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ROAD_BUS_STATION.poiType),
                            UriUtils.res2Uri(
                                EventTypeEnumNew.getPoiTypeBg(
                                    EventTypeEnumNew.TYPE_USECASE_ROAD_BUS_STATION.poiType,
--- 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
@@ -212,7 +212,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
                    )
                )
            )
-            CallerHmiManager.warningV2X(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.content, EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.tts, isFromObu = false)
+            CallerHmiManager.warningV2X(EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.poiType, EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.content, EventTypeEnumNew.TYPE_USECASE_ID_IVP_RED.tts)
        }
    }

@@ -242,7 +242,7 @@ class RedLightWarningManager : IMoGoTrafficLightListener, IMoGoVipSetListener,
                    )
                )
            )
-            CallerHmiManager.warningV2X(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, content, tts, isFromObu = false)
+            CallerHmiManager.warningV2X(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType, content, tts)
        }
    }

--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
@@ -69,6 +69,7 @@ import mogo.v2x.MogoV2X
 import java.nio.charset.Charset
 import java.util.concurrent.CopyOnWriteArrayList
 import java.util.concurrent.CopyOnWriteArraySet
+import java.util.concurrent.TimeUnit
 import java.util.concurrent.atomic.AtomicBoolean

 object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
@@ -250,7 +251,7 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                        tts,
                        null,
                        ALERT_WARNING_TOP,
-                        isFromObu = false
+                        TimeUnit.SECONDS.toMillis(5)
                    )
                }
            }
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -159,8 +159,9 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                                    }
                                }
                            }
-                            val content = "发现前方${distance.toInt()}米${ if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "车道施工" else "车道事故" }"
-                            val tts = "$content, ${SkinResources.getInstance().getString(R.string.operation_platform_name)}提醒您小心行人及来车"
+                            val contentType = if (poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType) "道路施工" else "道路事故"
+                            val content = "前方${distance.toInt()}米有$contentType"
+                            val tts = "${SkinResources.getInstance().getString(R.string.operation_platform_name)}发现前方$contentType, 提醒您注意行人及来车"
                            V2XBizTrace.onAck(TAG, "绘制poi事件:$poiType")
                            saveMsgBox(
                                MsgBoxBean(
@@ -237,7 +238,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                }
                // 弹事件框
                val alertContent = String.format(EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType), distance.toInt())
-                val alertTts = String.format(EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType), distance.toInt())
+                val alertTts = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_OTHER_RETROGRADE_VEHICLE.poiType)
                CallerRoadV2NEventWindowListenerManager.showLiveVideo(
                    newEventId,
                    event.timestamp,
@@ -363,7 +364,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                }
                // 弹事件框
                val alertContent = String.format(EventTypeEnumNew.getAlarmContent(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType), distance.toInt())
-                val alertTts = String.format(EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType), distance.toInt())
+                val alertTts = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType)
                CallerRoadV2NEventWindowListenerManager.showLiveVideo(
                    data.eventId,
                    data.timestamp,
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/road/V2XRoadEventScenario.java
@@ -1,5 +1,6 @@
 package com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.road;

+import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.enums.CommunicationType;
 import com.mogo.eagle.core.data.enums.DataSourceType;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
@@ -133,7 +134,7 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
            );
            CallerHmiManager.INSTANCE.warningV2X(poiType, alarmText,
                    ttsText, this,WarningDirectionEnum.ALERT_WARNING_TOP,
-                    TimeUnit.SECONDS.toMillis(5), false);
+                    TimeUnit.SECONDS.toMillis(5), AIAssist.LEVEL2, false);
            //消息埋点
            V2XEventAnalyticsManager.INSTANCE.triggerV2XEvent(poiType,alarmText,ttsText, DataSourceType.AICLOUD, CommunicationType.V2N);
        }
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -9,6 +9,7 @@ import android.text.style.ForegroundColorSpan;
 import android.util.Log;
 import androidx.annotation.Nullable;

+import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.enums.CommunicationType;
 import com.mogo.eagle.core.data.enums.DataSourceType;
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
@@ -87,7 +88,7 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoChas
                CallerHmiManager.INSTANCE.warningV2X(v2xType + "",
                        getAlertContentForFrontWarning(mMarkerEntity), mMarkerEntity.getTts(),
                        this,getDirection(),
-                        TimeUnit.SECONDS.toMillis(5), false);
+                        TimeUnit.SECONDS.toMillis(5), AIAssist.LEVEL2, false);
                //消息埋点
                V2XEventAnalyticsManager.INSTANCE.triggerV2XEvent(v2xType,getAlertContentForFrontWarning(mMarkerEntity).toString(),
                        mMarkerEntity.getTts(), DataSourceType.AICLOUD, CommunicationType.V2N);
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/VipCarManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/VipCarManager.kt
@@ -271,7 +271,7 @@ class VipCarManager : IMogoOnMessageListener<VipMessage>, IMoGoTrafficLightListe
        CallerMsgBoxManager.saveMsgBox(
            MsgBoxBean(MsgBoxType.V2X, V2XMsg(v2xType, alertContent.toString(), ttsContent,CommunicationType.V2N.name))
        )
-        CallerHmiManager.warningV2X(v2xType, alertContent, ttsContent, isFromObu = false)
+        CallerHmiManager.warningV2X(v2xType, alertContent, ttsContent)
        V2XEventAnalyticsManager.triggerV2XEvent(v2xType, alertContent.toString(),
            ttsContent,DataSourceType.AICLOUD,CommunicationType.V2N)
    }
--- 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
@@ -31,6 +31,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListene
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.map.collect.IMoGoMapDataCollectProvider
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotCarConfigListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerIpcConnectStateToastManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudCertManager
@@ -56,6 +57,7 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.telematic.MogoProtocolMsg
 import com.mogo.telematic.MogoProtocolMsg.NORMAL_DATA
+import com.mogo.telematic.MogoProtocolMsg.SYNC_FUSION_COLOR_STATUS
 import com.mogo.telematic.MogoProtocolMsg.SYNC_MODE_STATUS
 import com.mogo.telematic.NSDNettyManager
 import com.mogo.telematic.client.listener.NettyClientListener
@@ -161,6 +163,7 @@ class MoGoAutopilotControlProvider :
                            override fun run() {
                                // 同步是否开启美化模式
                                setDemoMode(FunctionBuildConfig.isDemoMode)
+                                setFusionColor(FunctionBuildConfig.isFusionColor)
                                setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
                                msgHandler.synMsgToAllClients()
                            }
@@ -571,6 +574,32 @@ class MoGoAutopilotControlProvider :
        }
    }

+    /**
+     * 感知颜色绘制同步
+     */
+    override fun setFusionColor(isEnable: Boolean) {
+        // 同步给乘客端
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            val byteArray = if (isEnable) {
+                "1;${System.currentTimeMillis()}".toByteArray()
+            } else {
+                "0;${System.currentTimeMillis()}".toByteArray()
+            }
+            if (NSDNettyManager.getInstance().isServerStart) {
+                NSDNettyManager.getInstance()
+                    .sendMsgToAllClients(
+                        MogoProtocolMsg(
+                            SYNC_FUSION_COLOR_STATUS,
+                            byteArray.size,
+                            byteArray
+                        )
+                    )
+            } else {
+                CallerLogger.d("$M_D_C$TAG", "同步感知颜色绘制时司机端Server未启动！")
+            }
+        }
+    }
+
    override fun setIgnoreConditionDraw(isIgnore: Boolean) {
        // 同步给乘客端
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
--- 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
@@ -143,6 +143,8 @@ class MoGoAdasMsgConnectStatusListenerImpl :
                CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
                // 6.6.2 版本默认开启，与海江确认过，默认发盲区模式
                CallerAutoPilotControlManager.sendFusionMode(2)
+                CallerAutoPilotControlManager.sendV2iToPncCmd(FunctionBuildConfig.v2iToPNC)
+                CallerAutoPilotControlManager.sendV2nToPncCmd(FunctionBuildConfig.v2nTotalSwitch)
            }

            AdasConstants.IpcConnectionStatus.CONNECTING -> {
--- 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
@@ -20,6 +20,7 @@ import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.data.v2x.V2XEvent.RoadEventX
 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.setFusionColor
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
@@ -74,6 +75,9 @@ class TeleMsgHandler : IMsgHandler {
    @Volatile
    private var demoModeTime = 0L

+    @Volatile
+    private var fusionColorTime = 0L
+
    @Volatile
    private var timestamp = 0L

@@ -302,6 +306,27 @@ class TeleMsgHandler : IMsgHandler {
                    }
                }

+                MogoProtocolMsg.SYNC_FUSION_COLOR_STATUS -> {
+                    val content = String(it.body)
+                    if (content.contains(";")) {
+                        val strArr = content.split(";")
+                        if (strArr.size == 2) {
+                            val currTime = strArr[1].toLong()
+                            if (currTime > fusionColorTime) {
+                                val fusionColor = when (strArr[0]) {
+                                    "1" -> true
+                                    else -> false
+                                }
+                                CallerTelematicListenerManager.dispatchFusionColor(fusionColor)
+                                fusionColorTime = currTime
+                                invokeNettyConnResult("乘客屏收到 fusionColor为：${fusionColor}")
+                            } else {
+                                invokeNettyConnResult("乘客屏收到过时的fusionColor")
+                            }
+                        }
+                    }
+                }
+
                MogoProtocolMsg.REQ_MAC_ADDRESS -> {
                    val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
                    AppConfigInfo.plateNumber = carConfig.plateNumber
@@ -484,6 +509,7 @@ class TeleMsgHandler : IMsgHandler {
        val socketAddress = channel?.remoteAddress().toString()
        CallerLogger.d("${SceneConstant.M_D_C}$TAG", "Client ip is:${socketAddress}")
        setDemoMode(FunctionBuildConfig.isDemoMode)
+        setFusionColor(FunctionBuildConfig.isFusionColor)
        setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/StatusView.kt
@@ -29,6 +29,7 @@ internal class StatusView(private val model: StatusModel, ctx: Context): Constra
    private var observer: Observer<Pair<Status?, ArrayList<Status>>>? = null
    init {
        LayoutInflater.from(context).inflate(R.layout.layout_status_bar, this, true)
+        layoutTransition = null
        rv = findViewById(R.id.rv)
        init()
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
@@ -7,13 +7,18 @@ import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import androidx.core.content.ContextCompat
 import chassis.Chassis
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
 import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
@@ -44,7 +49,8 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null,
    defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), StatusManager.IStatusListener {
+) : ConstraintLayout(context, attrs, defStyleAttr), StatusManager.IStatusListener,
+    IViewControlListener {

    companion object {
        private const val TAG = "StartAutoPilotStatusView"
@@ -89,7 +95,7 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
    }

    private fun handleFSM(status: FSMStatus) {
-        Logger.d(TAG, "--- handleFSM ---FSMStatus: code=${status.state} isError=${status.isException()} ")
+        Logger.d(TAG, "--- handleFSM ---FSMStatus: code=${status.state} isError=${status.isException()} isDemoMode=${FunctionBuildConfig.isDemoMode}")
        val lastHasFSM = hasFSM.get()
        val newHasFSM = status.hasFSMModule()
        Logger.d(TAG, "--- handleFSM ---lastHasFSM=${lastHasFSM} newHasFSM=${newHasFSM}")
@@ -98,6 +104,11 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
        }
        hasFSM.set(newHasFSM)

+        if (FunctionBuildConfig.isDemoMode && status.isException()) {
+            // 美化模式下如果是异常的，修改成正常的
+            status.state = FSMStateCode.ExistNormal
+        }
+
        when (status.state) {
            FSMStateCode.UnKnown -> {
                fSMStatusLayout?.setOnClickListener(null)
@@ -145,9 +156,15 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
    }

    private fun handleWithoutFSM(status: Status) {
-        val isError =
+        var isError =
            status.isException() && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
-        Logger.d(TAG, "--- handleWithoutFSM ---${status::class.simpleName}: $isError")
+        Logger.d(TAG, "--- handleWithoutFSM --- isError=${status::class.simpleName}: $isError isDemoMode=${FunctionBuildConfig.isDemoMode}")
+
+        if (FunctionBuildConfig.isDemoMode && isError) {
+            // 美化模式下如果是异常的，修改成正常的
+            isError = false
+        }
+
        when (status) {
            is GearStatus -> {
                val position = try {
@@ -224,6 +241,34 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
        }
    }

+    /**
+     * 处理无FSM模块时 && 美化模式时
+     */
+    private fun handleWithoutFSMDemoMode() {
+        Logger.d(TAG, "--- handleWithoutFSMDemoMode ---")
+        UiThreadHandler.post {
+            tv_gear?.isEnabled = false
+            iv_accelerator?.isSelected = false
+            iv_brake?.isSelected = false
+            iv_double_flash?.isSelected = false
+            iv_steer?.isSelected = false
+            withoutFSMStatusLayout?.background =
+                ContextCompat.getDrawable(
+                    context,
+                    R.drawable.icon_no_fsm_status_bg_normal
+                )
+            notifyStatus(false)
+        }
+    }
+
+    /**
+     * 处理有FSM模块时 && 美化模式时
+     */
+    private fun handleFSMDemoMode() {
+        Logger.d(TAG, "--- handleFSMDemoMode ---")
+        handleFSM(FSMStatus(FSMStateCode.ExistNormal, listOf("正常")))
+    }
+
    private fun notifyStatus(isError: Boolean) {
        Logger.d(TAG, "--- notifyStatus ---: $isError")
        statusChangedListeners.values.forEach { itx ->
@@ -238,11 +283,27 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        StatusManager.addListener(TAG, this)
+        CallerHmiViewControlListenerManager.addListener(TAG,this)
    }

    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
        StatusManager.removeListener(TAG)
+        CallerHmiViewControlListenerManager.removeListener(TAG)
+    }
+
+    override fun updateFuncMode(tag: String, boolean: Boolean) {
+        if(tag == FUNC_MODE_DEMO){
+            Logger.i(TAG, "updateFuncMode: tag=$tag value=$boolean")
+            if (FunctionBuildConfig.isDemoMode) {
+                // 构建数据，强制刷新成正常的状态
+                if (hasFSM.get()) {
+                    handleFSMDemoMode()
+                } else {
+                    handleWithoutFSMDemoMode()
+                }
+            }
+        }
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
@@ -151,7 +151,7 @@ class MoGoHmiProvider : IMoGoHmiProvider {
     * 不展示顶部弹窗，其它保留
     */
    @Synchronized
-    override fun warningV2X(v2xType: String, alertContent: CharSequence?, ttsContent: String?, listener: IMoGoWarningStatusListener?, direction: WarningDirectionEnum, expireTime: Long, isFromObu: Boolean) {
+    override fun warningV2X(v2xType: String, alertContent: CharSequence?, ttsContent: String?, listener: IMoGoWarningStatusListener?, direction: WarningDirectionEnum, expireTime: Long, newLevel: Int, isFromObu:Boolean) {
        if (isFromObu) {
            // 修改: 只有来自obu的事件这样处理
            //30秒内同一个事件只出现一次  TODO 临时添加，后面宏宇统一在数据中心处理
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/BusPassengerMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/BusPassengerMsgBoxBubbleView.kt
@@ -54,7 +54,7 @@ class BusPassengerMsgBoxBubbleView @JvmOverloads constructor(
    override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean){
        UiThreadHandler.post({
            if(category == MsgCategory.NOTICE){
-                if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
+                if(msgBoxList.type == MsgBoxType.NOTICE
                    || msgBoxList.type == MsgBoxType.OBU || msgBoxList.type == MsgBoxType.OPERATION){
                    MsgBoxConfig.noticeList.add(msgBoxList)
                    if(isShowData){
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MBoxBubbleView.kt
@@ -57,7 +57,7 @@ class MBoxBubbleView @JvmOverloads constructor(
    override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
        UiThreadHandler.post({
            if(category == MsgCategory.NOTICE){
-                if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
+                if(msgBoxList.type == MsgBoxType.NOTICE
                    || msgBoxList.type == MsgBoxType.OBU || msgBoxList.type == MsgBoxType.OPERATION){
                    MsgBoxConfig.noticeList.add(msgBoxList)
                    if(isShowData){
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
@@ -54,7 +54,7 @@ class MMsgBoxBubbleView @JvmOverloads constructor(
    override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
        UiThreadHandler.post({
            if(category == MsgCategory.NOTICE){
-                if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
+                if(msgBoxList.type == MsgBoxType.NOTICE
                    || msgBoxList.type == MsgBoxType.OBU || msgBoxList.type == MsgBoxType.OPERATION){
                    update(msgBoxList)
                }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
@@ -445,6 +445,7 @@ class OperatePanelLayout : LinearLayout {
                    FunctionBuildConfig.isFusionColor = isChecked //6.6.2版本基于运营需求-产品设计-v2i进pnc,感知目标颜色替换
                    FunctionBuildConfig.fusionMode = 2
                    CallerAutoPilotControlManager.sendFusionMode(2)
+                    CallerAutoPilotControlManager.setFusionColor(isChecked)
                    CallerHmiViewControlListenerManager.invokeFuncMode(IViewControlListener.FUNC_FUSION_COLOR,isChecked)
                    CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
                    hmiAction("V2I场景进PNC, ", isChecked)
--- 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
@@ -75,6 +75,7 @@ import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.setting.ISopSettingListener
+import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener
 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.CallerAutopilotIdentifyListenerManager
@@ -97,6 +98,7 @@ import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuInfoListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerMoGoUiSettingManager
 import com.mogo.eagle.core.function.call.setting.CallerSopSettingManager
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog
@@ -360,7 +362,8 @@ internal class DebugSettingView @JvmOverloads constructor(
    IMoGoChassisStatesListener,
    IMoGoSweeperFutianCleanSystemListener,
    IMoGoObuInfoListener,
-    ISopSettingListener, IViewControlListener, IMoGoCloudListener, IBindStateChangeListener {
+    ISopSettingListener, IViewControlListener, IMoGoCloudListener, IBindStateChangeListener,
+    IReceivedMsgListener {

    companion object {
        private const val TAG = "DebugSettingView"
@@ -469,6 +472,8 @@ internal class DebugSettingView @JvmOverloads constructor(

        CallerHmiViewControlListenerManager.addListener(TAG, this)

+        CallerTelematicListenerManager.addListener(TAG, this)
+
        //添加 业务配置监听
        CallerDevaToolsFuncConfigListenerManager.registerDevaToolsFuncConfigListener(
            FuncBizConfig.FOUNDATION, TAG, true, this
@@ -513,6 +518,9 @@ internal class DebugSettingView @JvmOverloads constructor(
        CallerSopSettingManager.removeListener(TAG)

        CallerHmiViewControlListenerManager.removeListener(TAG)
+
+        CallerTelematicListenerManager.removeListener(TAG)
+
        DevicesManager.removeBindStateChangeListener(TAG)
        // 移除 业务配置监听
        CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener(
@@ -946,6 +954,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        btnDrawFusion.isChecked = FunctionBuildConfig.isFusionColor
        btnDrawFusion.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.isFusionColor = isChecked
+            CallerAutoPilotControlManager.setFusionColor(isChecked)
        }

        // 演示模式,上一次勾选的数据
@@ -2714,6 +2723,13 @@ internal class DebugSettingView @JvmOverloads constructor(
        tbCarAperture.isChecked = status
    }

+    override fun onFusionColor(fusionColor: Boolean) {
+        super.onFusionColor(fusionColor)
+        ThreadUtils.runOnUiThread {
+            btnDrawFusion.isChecked = FunctionBuildConfig.isFusionColor
+        }
+    }
+
    override fun updateFuncMode(tag: String, boolean: Boolean) {
        super.updateFuncMode(tag, boolean)
        if (tag == FUNC_MODE_DEMO) {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt
@@ -56,11 +56,6 @@ object TrackerSourceFilterHelper {
    }

    fun getDefaultColor(data: TrackedObject): String {
-        if (isTaxi(FunctionBuildConfig.appIdentityMode) &&
-            isPassenger(FunctionBuildConfig.appIdentityMode)
-        ) {
-            return ""
-        }
        var color = ""
        if (!FunctionBuildConfig.isDrawUnknownIdentifyData
            && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt
@@ -237,7 +237,7 @@ class RoadCrossRoamView @JvmOverloads constructor(
                    SkinResources.getInstance().getString(R.string.operation_platform_name)
                }为您提供路口全息影像，助力出行"
            }
-            AIAssist.getInstance(context).speakTTSVoice(disStr)
+            AIAssist.getInstance(context).speakTTSVoiceWithLevel(disStr, AIAssist.NEW_LEVEL_2)
        }
        CallerHmiViewControlListenerManager.invokeV2XEvent(View.VISIBLE, TAG)
        CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD)
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -113,7 +113,7 @@ object FunctionBuildConfig {
     */
    @Volatile
    @JvmField
-    var isFusionColor = false
+    var isFusionColor = true

    /**
     * 是否开启obu rv预警感知物融合功能 , 仅大理，烟台交付项目
@@ -360,14 +360,14 @@ object FunctionBuildConfig {
     */
    @Volatile
    @JvmField
-    var v2nNewLinkedToPNC = false
+    var v2nNewLinkedToPNC = true

    /**
     * 是否开启V2I场景进PNC的开关，开关默认关闭
     */
    @Volatile
    @JvmField
-    var v2iToPNC = false
+    var v2iToPNC = true

    @Volatile
    @JvmField
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
@@ -464,7 +464,7 @@ enum class EventTypeEnumNew(
       "通过公交站",
        poiTypeSrcVr = R.drawable.icon_v2x_bus_station_driver,
        content = "前方%s米有公交站",
-        tts = "前方%s米有公交站，${SkinResources.getInstance().getString(R.string.operation_platform_name)}提醒您小心右侧行人及来车"
+        tts = "${SkinResources.getInstance().getString(R.string.operation_platform_name)}发现前方公交站，提醒您注意右侧行人及来车"
    ),
    TYPE_ATTENTION_CONFLUENCE(
        44.toString(),
@@ -517,8 +517,8 @@ enum class EventTypeEnumNew(
        "100062",
        "他车倒车/逆行",
        poiTypeSrcVr = R.drawable.icon_v2x_other_retrograde_vehicle_driver,
-        content = "前方%s米有车辆异常倒车或逆行",
-        tts = "前方%s米有车辆异常倒车或逆行，${SkinResources.getInstance().getString(R.string.operation_platform_name)}提醒您注意观察小心通过"
+        content = "前方%s米有他车倒车或逆行",
+        tts = "${SkinResources.getInstance().getString(R.string.operation_platform_name)}发现前方有异常车辆，提醒您注意观察 小心通过"
    ),
    TYPE_SOCKET_ROAD_GREE_WAVE(
        "100063",
@@ -532,7 +532,7 @@ enum class EventTypeEnumNew(
        "行人横穿",
        poiTypeSrcVr = View.NO_ID,
        content = "前方%s米有行人/非机动车横穿",
-        tts = "前方%s米有行人/非机动车横穿，${SkinResources.getInstance().getString(R.string.operation_platform_name)}提醒您提前减速,注意观察,小心通过"
+        tts = "${SkinResources.getInstance().getString(R.string.operation_platform_name)}发现前方有行人或非机动车横穿，提醒您注意观察，小心通过"
    ),
    TYPE_ERROR(
        0.toString(),
@@ -821,14 +821,15 @@ enum class EventTypeEnumNew(
                FOURS_ICE.poiType -> R.raw.v2x_daolujiebing
                FOURS_PONDING.poiType -> R.raw.v2x_daolujishui
                GHOST_PROBE.poiType -> R.raw.v2x_guzhangqiuzhu
-                TYPE_SOCKET_ROAD_SHIGONG.poiType -> if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) R.raw.shigong_passenger else R.raw.v2x_shigong_warning
+                TYPE_SOCKET_ROAD_SHIGONG.poiType -> R.raw.v2x_shigong_warning
                TYPE_SOCKET_ROAD_JINGZHI.poiType -> R.raw.v2x_zhangai
                TYPE_SOCKET_ROAD_SHIGU.poiType -> {
-                    if (AppIdentityModeUtils.isTaxiPassenger(FunctionBuildConfig.appIdentityMode)) {
-                        R.raw.v2x_shigu_sanjiaopai
-                    } else {
-                        R.raw.taxi_sanjiaopai
-                    }
+//                    if (AppIdentityModeUtils.isTaxiPassenger(FunctionBuildConfig.appIdentityMode)) {
+//                        R.raw.v2x_shigu_sanjiaopai
+//                    } else {
+//                        R.raw.taxi_sanjiaopai
+//                    }
+                    R.raw.taxi_sanjiaopai
                }
                TYPE_SOCKET_ROAD_CONGESTION.poiType -> R.raw.v2x_yongdu
                TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType -> if (FunctionBuildConfig.skinMode != 0) TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE_CROSS.traffic3DIconId else TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE_CROSS.traffic3DNightIconId
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -164,6 +164,12 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
     */
    fun setDemoMode(isEnable: Boolean)

+    /**
+     * 融合颜色
+     * 司机屏同步给乘客屏
+     */
+    fun setFusionColor(isEnable: Boolean)
+
    /**
     * 是否忽略条件直接绘制
     * 司机屏同步给乘客屏
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
@@ -25,7 +25,7 @@ interface IMoGoHmiProvider :IProvider{
    /**
     * 不展示顶部弹窗，其它保留
     */
-    fun warningV2X(v2xType: String, alertContent: CharSequence?, ttsContent: String?, listener: IMoGoWarningStatusListener?, direction: WarningDirectionEnum, expireTime: Long, isFromObu: Boolean)
+    fun warningV2X(v2xType: String, alertContent: CharSequence?, ttsContent: String?, listener: IMoGoWarningStatusListener?, direction: WarningDirectionEnum, expireTime: Long, newLevel: Int, isFromObu:Boolean)

    /**
     * 展示指定方位上的红框预警
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/telematic/IReceivedMsgListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/telematic/IReceivedMsgListener.kt
@@ -1,9 +1,11 @@
 package com.mogo.eagle.core.function.api.telematic

 interface IReceivedMsgListener {
-    fun onReceivedMsg(type: Int, byteArray: ByteArray)
+    fun onReceivedMsg(type: Int, byteArray: ByteArray){}

    fun onReceivedServerSn(sn: String?) {}

    fun onDemoMode(isDemoMode: Boolean) {}
+
+    fun onFusionColor(fusionColor: Boolean){}
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -355,6 +355,12 @@ object CallerAutoPilotControlManager {
        }
    }

+    fun setFusionColor(isEnable: Boolean){
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            providerApi?.setFusionColor(isEnable)
+        }
+    }
+
    /**
     * 是否忽略条件直接绘制
     * 司机屏同步给乘客屏
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
@@ -4,6 +4,7 @@ import android.content.Context
 import android.view.View
 import android.view.ViewGroup
 import com.alibaba.android.arouter.launcher.ARouter
+import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.biz.dispatch.DispatchAdasAutoPilotLocReceiverBean
 import com.mogo.eagle.core.data.biz.notice.NoticeNormalData
 import com.mogo.eagle.core.data.biz.notice.NoticeTrafficStylePushData
@@ -50,7 +51,8 @@ object CallerHmiManager {
        listenerIMoGo: IMoGoWarningStatusListener? = null,
        direction: WarningDirectionEnum = ALERT_WARNING_NON,
        expireTime: Long = 5000L,
-        isFromObu: Boolean,
+        newLevel: Int = AIAssist.LEVEL2,
+        isFromObu :Boolean = false
    ) {
        hmiProviderApi?.warningV2X(
            v2xType,
@@ -59,6 +61,7 @@ object CallerHmiManager {
            listenerIMoGo,
            direction,
            expireTime,
+            newLevel,
            isFromObu
        )
    }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/telematic/CallerTelematicListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/telematic/CallerTelematicListenerManager.kt
@@ -57,4 +57,21 @@ object CallerTelematicListenerManager: CallerBase<IReceivedMsgListener>() {
            }
        }
    }
+
+    fun dispatchFusionColor(fusionColor: Boolean) {
+        if (fusionColor != FunctionBuildConfig.isFusionColor) {
+            FunctionBuildConfig.isFusionColor = fusionColor
+            M_LISTENERS.forEach {
+                val listener = it.value
+                try {
+                    listener.onFusionColor(fusionColor)
+                } catch (e: Exception) {
+                    e.printStackTrace()
+                    Log.e(TAG, "转发感知颜色出现异常：${e.message}")
+                }
+            }
+        }
+    }
+
+
 }
--- a/core/mogo-core-res/src/main/res/values/operate_panel_config.xml
+++ b/core/mogo-core-res/src/main/res/values/operate_panel_config.xml
@@ -8,10 +8,10 @@
    <bool name="v2n_total_switch">true</bool>

    <!--    是否是V2N新链路(云->工控机->App)-->
-    <bool name="v2n_new_linked">false</bool>
+    <bool name="v2n_new_linked">true</bool>

    <!--   V2N场景进PNC -->
-    <bool name="v2n_new_linked_to_pnc">false</bool>
+    <bool name="v2n_new_linked_to_pnc">true</bool>

    <!--    是否开启绿波通行, 默认关闭 -->
    <bool name="v2n_green_wave">false</bool>
@@ -26,7 +26,7 @@
    <bool name="v2i_weakness_traffic">false</bool>

    <!--    是否开启V2I场景进PNC -->
-    <bool name="v2i_from_pnc">false</bool>
+    <bool name="v2i_from_pnc">true</bool>

    <!--    是否开启v2v总开关 -->
    <bool name="v2v_total_switch">false</bool>
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/voice/AIAssist.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/voice/AIAssist.java
@@ -24,10 +24,11 @@ public class AIAssist {

    private static volatile AIAssist sInstance;

-    public static final int LEVEL0 = 3;//P0
-    public static final int LEVEL1 = 2;//P1
-    public static final int LEVEL2 = 1;//P2
-    public static final int LEVEL3 = 0;//P3
+    public static final int LEVEL0 = 4;//P0
+    public static final int LEVEL1 = 3;//P1
+    public static final int NEW_LEVEL_2 = 2;// P2
+    public static final int LEVEL2 = 1;//P3
+    public static final int LEVEL3 = 0;//P4

    private IMogoTTS mTTS;
    private IGlobalTtsCallback mTTSCallback;
@@ -144,7 +145,7 @@ public class AIAssist {
    }

    /**
-     * 等级由低到高为0、1、2、3，分别对应p3、p2、p1、p0
+     * 等级由低到高为0、1、2、3、4，分别对应p4、p3、p2、p1、p0(已更新)
     *
     * @param text
     * @param level
@@ -159,7 +160,7 @@ public class AIAssist {
     * 支持多语言的Tts
     *
     * @param ttsEntity: 多语言Entity
-     * @param level:     等级由低到高为0、1、2、3，分别对应p3、p2、p1、p0
+     * @param level:     等级由低到高为0、1、2、3、4，分别对应p4、p3、p2、p1、p0(已更新)
     * @param callback
     */
    public void speakMultiLangTTSWithLevel(MultiLangTtsEntity ttsEntity, int level, IMogoTTSCallback callback) {
--- a/gradle.properties
+++ b/gradle.properties
@@ -64,21 +64,21 @@ bytex.ASM_API=ASM7
 LOGLIB_VERSION=1.10.18
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.7.42
+MOGO_NETWORK_VERSION=1.4.7.58
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.7.42
+MOGO_PASSPORT_VERSION=1.4.7.58
 # 长链接
-MOGO_SOCKET_VERSION=1.4.7.42
+MOGO_SOCKET_VERSION=1.4.7.58
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.7.42
+MOGO_REALTIME_VERSION=1.4.7.58
 # 直播推流
-MOGO_LIVE_VERSION=1.4.7.42
+MOGO_LIVE_VERSION=1.4.7.58
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.7.42
+MOGO_TRAFFICLIVE_VERSION=1.4.7.58
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.7.42
+MOGO_LOCATION_VERSION=1.4.7.58
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.7.42
+MOGO_TELEMATIC_VERSION=1.4.7.58
 # 动态换肤SDK
 MOGO_SKIN_VERSION=1.4.7.49.19
 ######## MogoAiCloudSDK Version ########
--- a/tts/tts-iflytek/src/main/java/com/mogo/tts/iflytek/IFlyTekTts.kt
+++ b/tts/tts-iflytek/src/main/java/com/mogo/tts/iflytek/IFlyTekTts.kt
@@ -234,6 +234,9 @@ class IFlyTekTts : IMogoTTS, InitListener {
                    d(TAG, "插入消息：$ttsEntity,level为：$ttsLevel")
                    insertTts(ttsEntity, ttsLevel)
                    return
+                } else if (ttsLevel == 2) {
+                    d(TAG, "已有p2级别在播报，新内容直接丢弃!")
+                    return
                } else {
                    // 打断并合成新的
                    stopTts()
@@ -252,6 +255,8 @@ class IFlyTekTts : IMogoTTS, InitListener {
                        d(TAG, "===================")
                        d(TAG, "插入消息：$ttsEntity,level为：$ttsLevel")
                        insertTts(ttsEntity, ttsLevel)
+                    } else if (ttsLevel == 2) {
+                        d(TAG, "已有高级别在播报，新内容直接丢弃!")
                    }
                    return
                }
--- a/tts/tts-pad/src/main/java/com/mogo/tts/pad/PadTTS.java
+++ b/tts/tts-pad/src/main/java/com/mogo/tts/pad/PadTTS.java
@@ -413,7 +413,10 @@ public class PadTTS implements IMogoTTS, VoiceClient.VoiceCmdCallBack {
                    CallerLogger.d(TAG, "插入消息：" + ttsEntity + ",level为：" + ttsLevel);
                    insertTts(ttsEntity, ttsLevel);
                    return;
-                } else {
+                } else if (ttsLevel == 2) {
+                    CallerLogger.d(TAG, "已有p2级别在播报，新内容直接丢弃!");
+                    return;
+                }  else {
                    // 打断并合成新的
                    stopTts();
                    CallerLogger.d(TAG, "非Level1同级别打断!");
@@ -431,6 +434,8 @@ public class PadTTS implements IMogoTTS, VoiceClient.VoiceCmdCallBack {
                        CallerLogger.d(TAG, "===================");
                        CallerLogger.d(TAG, "插入消息：" + ttsEntity + ",level为：" + ttsLevel);
                        insertTts(ttsEntity, ttsLevel);
+                    } else if (ttsLevel == 2) {
+                        CallerLogger.d(TAG, "已有高级别在播报，新内容直接丢弃!");
                    }
                    return;
                }