[sweeper运营&云控合并]feat: 增加运营面板的控制开关以及业务模式切换逻辑；feat：修改版本号V6.1.0；feat：增加业务模式切换的埋点；

2023-10-30 20:38:35 +08:00
parent 65a9d7cdb5
commit 6aa424c34e
16 changed files with 568 additions and 184 deletions
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/SweeperProvider.java
@@ -1,49 +1,67 @@
 package com.mogo.och.sweeper;


+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_SWEEPER;
+
+import android.annotation.SuppressLint;
 import android.content.Context;

+import androidx.annotation.NonNull;
 import androidx.fragment.app.Fragment;
 import androidx.fragment.app.FragmentActivity;
 import androidx.fragment.app.FragmentManager;

 import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.function.api.vehicle.IMoGoSweeperModeListener;
+import com.mogo.eagle.core.function.call.vehicle.CallerSweeperModeListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.vehicle.SweeperVehicleConfigUtils;
+import com.mogo.eagle.core.utilcode.util.AppUtils;
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.sweeper.cloud.fragment.SweeperCloudFragment;
 import com.mogo.och.sweeper.common.constant.SweeperConst;
+import com.mogo.och.sweeper.common.database.MyDataBase;
+import com.mogo.och.sweeper.common.util.SweeperAnalyticsManager;
 import com.mogo.och.sweeper.operate.fragment.SweeperOperateFragment;

 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;

+import io.reactivex.Observable;
+import io.reactivex.functions.Consumer;
+import io.reactivex.schedulers.Schedulers;
+
 /**
 * 清扫车业务实现入口
 *
 * @author tongchenfei
 */
@Route(path = SweeperConst.PATH)
-public class SweeperProvider implements IMogoOCH {
+public class SweeperProvider implements IMogoOCH, IMoGoSweeperModeListener {

    private static final String TAG = "SweeperProvider";

    private SweeperOperateFragment sweeperOperateFragment;
+    private SweeperCloudFragment sweeperCloudFragment;
    private int containerId;
    private FragmentActivity activity;

    @Override
    public void init(Context context) {
    }
-    private void showFragment() {
+
+    private void showOperateFragment() {
        FragmentManager supportFragmentManager = activity.getSupportFragmentManager();
        if (sweeperOperateFragment == null) {
            CallerLogger.d(TAG, "准备add fragment======");
            Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(sweeperOperateFragment.TAG);
-            if (fragmentByTag instanceof SweeperCloudFragment) {
+            if (fragmentByTag instanceof SweeperOperateFragment) {
                sweeperOperateFragment = (SweeperOperateFragment) fragmentByTag;
            } else {
                sweeperOperateFragment = new SweeperOperateFragment();
            }
-            if(!sweeperOperateFragment.isAdded()) {
+            if (!sweeperOperateFragment.isAdded()) {
                supportFragmentManager.beginTransaction().add(containerId, sweeperOperateFragment, sweeperOperateFragment.TAG).commitAllowingStateLoss();
            }
            return;
@@ -51,17 +69,39 @@ public class SweeperProvider implements IMogoOCH {
        CallerLogger.d(TAG, "准备show fragment");
        supportFragmentManager.beginTransaction().show(sweeperOperateFragment).commitAllowingStateLoss();
    }
+
+    private void showCloudFragment() {
+        FragmentManager supportFragmentManager = activity.getSupportFragmentManager();
+        if (sweeperCloudFragment == null) {
+            CallerLogger.d(TAG, "准备add fragment======");
+            Fragment fragmentByTag = supportFragmentManager.findFragmentByTag(sweeperCloudFragment.TAG);
+            if (fragmentByTag instanceof SweeperCloudFragment) {
+                sweeperCloudFragment = (SweeperCloudFragment) fragmentByTag;
+            } else {
+                sweeperCloudFragment = new SweeperCloudFragment();
+            }
+            if (!sweeperCloudFragment.isAdded()) {
+                supportFragmentManager.beginTransaction().add(containerId, sweeperCloudFragment, sweeperCloudFragment.TAG).commitAllowingStateLoss();
+            }
+            return;
+        }
+        CallerLogger.d(TAG, "准备show fragment");
+        supportFragmentManager.beginTransaction().show(sweeperCloudFragment).commitAllowingStateLoss();
+    }
+
    private void hideFragment() {
        if (sweeperOperateFragment != null) {
-            CallerLogger.d(TAG, "准备hide fragment");
+            CallerLogger.d(TAG, "准备hide operate fragment");
            activity.getSupportFragmentManager().beginTransaction().hide(sweeperOperateFragment).commitAllowingStateLoss();
+        } else if (sweeperCloudFragment != null) {
+            CallerLogger.d(TAG, "准备hide cloud fragment");
+            activity.getSupportFragmentManager().beginTransaction().hide(sweeperCloudFragment).commitAllowingStateLoss();
        }
-
+        CallerSweeperModeListenerManager.INSTANCE.removeListener(TAG);
    }

    @Override
    public void createCoverage(FragmentActivity activity, int containerId) {
-
    }

    @NotNull
@@ -75,14 +115,61 @@ public class SweeperProvider implements IMogoOCH {
    public Fragment createCoverage(@Nullable FragmentActivity fragmentActivity, @Nullable Integer integer) {
        this.containerId = integer;
        this.activity = fragmentActivity;
-        showFragment();
+
+        // 第一优先级：SP中缓存的当前模式（用户切换后会在SP中写入当前模式，切换完后清除，因为现在产品确认还不需要每次启动时首先使用用户上次选择的模式，目前优先还是使用gradle中默认配置的模式打开）
+        // 第二优先级：gradle中默认配置的当前模式（用户不进行切换时SP中没有配置，默认使用的gradle中默认当前模式）
+        CallerLogger.i(M_SWEEPER + TAG, "清扫车启动，当前业务模式：isSPCurrentSweeperOperateMode="
+                + SweeperVehicleConfigUtils.isSPCurrentSweeperOperateMode()
+                + ", isSPCurrentSweeperCloudMode=" + SweeperVehicleConfigUtils.isSPCurrentSweeperCloudMode());
+        if (SweeperVehicleConfigUtils.isSPCurrentSweeperOperateMode()) {
+            showOperateFragment();
+        } else if (SweeperVehicleConfigUtils.isSPCurrentSweeperCloudMode()) {
+            showCloudFragment();
+        } else if (SweeperVehicleConfigUtils.isDefaultSweeperOperateMode(FunctionBuildConfig.sweeperDefaultMode)) {
+            showOperateFragment();
+        } else if (SweeperVehicleConfigUtils.isDefaultSweeperCloudMode(FunctionBuildConfig.sweeperDefaultMode)) {
+            showCloudFragment();
+        } else {
+            // 默认云控模式
+            showCloudFragment();
+        }
+
+        CallerSweeperModeListenerManager.INSTANCE.addListener(TAG, this);
        return null;
    }

    @Override
    public void onDestroy() {
-       //若不调用finish, 设置中打开关闭UITouch,会造成och fragment 重叠
+        //若不调用finish, 设置中打开关闭UITouch,会造成och fragment 重叠
        if (activity == null) return;
        activity.finish();
    }
+
+    @SuppressLint("CheckResult")
+    @Override
+    public void onSweeperCurrentModeChanged(@NonNull String currentMode) {
+        // 日志、埋点
+        CallerLogger.i(M_SWEEPER + TAG, "切换清扫车业务模式，当前切换的模式：" + currentMode);
+        SweeperAnalyticsManager.getInstance().trackSweeperModeChangeEvent(currentMode);
+
+        Observable.just(currentMode)
+                .observeOn(Schedulers.io())
+                .subscribeOn(Schedulers.io())
+                .subscribe(new Consumer<String>() {
+                    @Override
+                    public void accept(String s) throws Exception {
+                        // 写入SP当前模式
+                        SweeperVehicleConfigUtils.setSPCurrentSweeperMode(currentMode);
+                        // 清除本地业务缓存数据
+                        MyDataBase.getInstance().getWeltDataDao().deleteAllWeltData();
+                        // 等清除完数据库数据后，重启App
+                        UiThreadHandler.postDelayed(new Runnable() {
+                            @Override
+                            public void run() {
+                                AppUtils.relaunchApp(true);
+                            }
+                        }, 1000L);
+                    }
+                });
+    }
 }
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/SweeperCloudFragment.kt
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/fragment/SweeperCloudFragment.kt
@@ -53,7 +53,7 @@ import kotlinx.coroutines.launch
 class SweeperCloudFragment : BaseSweeperCloudTabFragment<SweeperCloudFragment?, SweeperCloudPresenter?>() {

    companion object {
-        const val TAG = "SweeperFragment"
+        const val TAG = "SweeperCloudFragment"
    }

    private var mSubMutableList: MutableList<SubTaskInfo>? = null
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/constant/SweeperConst.kt
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/constant/SweeperConst.kt
@@ -54,6 +54,10 @@ class SweeperConst {
        const val EVENT_KEY_AP_UNABLE_START_REASON = "event_key_och_bus_ap_unable_start_reason"
        const val EVENT_PARAM_UNABLE_START_REASON = "unable_start_reason";

+        // 埋点Key: 切换清扫业务模式
+        const val EVENT_KEY_CHANGE_CURRENT_SWEEPER_MODE = "event_key_och_change_current_sweeper_mode"
+        const val EVENT_PARAM_CHANGE_CURRENT_SWEEPER_MODE_CURRENT_MODE = "event_param_och_change_current_sweeper_mode_current_mode"
+
        /**
         * 子任务起终点Marker类型
         */
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/util/SweeperAnalyticsManager.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/common/util/SweeperAnalyticsManager.java
@@ -146,4 +146,10 @@ public class SweeperAnalyticsManager {
        params.put(SweeperConst.EVENT_PARAM_UNABLE_START_REASON, reason);
        MogoAnalyticUtils.INSTANCE.track(SweeperConst.EVENT_KEY_AP_UNABLE_START_REASON, params);
    }
+
+    public void trackSweeperModeChangeEvent(String currentMode) {
+        HashMap<String, Object> params = new HashMap<>();
+        params.put(SweeperConst.EVENT_PARAM_CHANGE_CURRENT_SWEEPER_MODE_CURRENT_MODE, currentMode);
+        MogoAnalyticUtils.INSTANCE.track(SweeperConst.EVENT_KEY_CHANGE_CURRENT_SWEEPER_MODE, params);
+    }
 }
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/fragment/SweeperOperateFragment.kt
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/fragment/SweeperOperateFragment.kt
@@ -42,7 +42,7 @@ import kotlin.math.roundToInt
 class SweeperOperateFragment : BaseSweeperOperateTabFragment<SweeperOperateFragment?, SweeperOperatePresenter?>(), MenuPopWindow.OnMenuItemOnClickListener {

    companion object {
-        const val TAG = "SweeperFragment"
+        const val TAG = "SweeperOperateFragment"
    }

    private var mAdapter: TaskListAdapter? = null
--- a/app/script/functions/och.gradle
+++ b/app/script/functions/och.gradle
@@ -30,7 +30,7 @@ project.dependencies {
        } else if (isCurrentDriver("sweeperOperate")) {
            implementation project.project(':OCH:sweeper:driver')
        } else if (isCurrentDriver("sweeperCloud")) {
-            implementation project.project('OCH:sweeper:driver')
+            implementation project.project(':OCH:sweeper:driver')
        } else if (isCurrentDriver("taxiunmanned")) {
            implementation project.project(':OCH:taxi:unmanned-driver')
        } else if (isCurrentPassenger("taxiunmanned")) {
--- 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
@@ -14,40 +14,79 @@ import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.function.api.autopilot.IMoGoGetParamResponseListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
-import com.mogo.eagle.core.function.api.devatools.mofang.*
+import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangProvider
 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.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.setting.ISopSettingListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
-import com.mogo.eagle.core.function.call.devatools.*
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
-import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.call.setting.CallerSopSettingManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
+import com.mogo.eagle.core.function.call.vehicle.CallerSweeperModeListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.function.hmi.ui.tools.DockerRebootDialog
+import com.mogo.eagle.core.function.hmi.ui.tools.SweeperModeChangedConfirmDialog
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiAction
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.mogo.vehicle.SweeperVehicleConfigUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.bean.AdasParam
-import kotlinx.android.synthetic.main.view_sop_setting.view.*
+import kotlinx.android.synthetic.main.view_sop_setting.view.btnSpeedSet
+import kotlinx.android.synthetic.main.view_sop_setting.view.ivSpeedAdd
+import kotlinx.android.synthetic.main.view_sop_setting.view.ivSpeedReduce
+import kotlinx.android.synthetic.main.view_sop_setting.view.mfStatusLayout
+import kotlinx.android.synthetic.main.view_sop_setting.view.mfTest
+import kotlinx.android.synthetic.main.view_sop_setting.view.rgFusionMode
+import kotlinx.android.synthetic.main.view_sop_setting.view.scCarAperture
+import kotlinx.android.synthetic.main.view_sop_setting.view.scDemoMode
+import kotlinx.android.synthetic.main.view_sop_setting.view.scDrawPointCloudData
+import kotlinx.android.synthetic.main.view_sop_setting.view.scFaultSlowDown
+import kotlinx.android.synthetic.main.view_sop_setting.view.scGreenWaveSop
+import kotlinx.android.synthetic.main.view_sop_setting.view.scIPCReport
+import kotlinx.android.synthetic.main.view_sop_setting.view.scMarkingObstacles
+import kotlinx.android.synthetic.main.view_sop_setting.view.scNew360LookAround
+import kotlinx.android.synthetic.main.view_sop_setting.view.scNewV2NData
+import kotlinx.android.synthetic.main.view_sop_setting.view.scObstacleAvoidance
+import kotlinx.android.synthetic.main.view_sop_setting.view.scObu
+import kotlinx.android.synthetic.main.view_sop_setting.view.scObuV2vView
+import kotlinx.android.synthetic.main.view_sop_setting.view.scObuWeaknessTrafficSop
+import kotlinx.android.synthetic.main.view_sop_setting.view.scRainMode
+import kotlinx.android.synthetic.main.view_sop_setting.view.scRouteDynamicEffect
+import kotlinx.android.synthetic.main.view_sop_setting.view.scRunRedLightSop
+import kotlinx.android.synthetic.main.view_sop_setting.view.scShowBagRecordWindow
+import kotlinx.android.synthetic.main.view_sop_setting.view.scSpeedLimit
+import kotlinx.android.synthetic.main.view_sop_setting.view.scSweeperModeSwitch
+import kotlinx.android.synthetic.main.view_sop_setting.view.scTrafficLight
+import kotlinx.android.synthetic.main.view_sop_setting.view.scV2ISwitch
+import kotlinx.android.synthetic.main.view_sop_setting.view.scV2NSwitch
+import kotlinx.android.synthetic.main.view_sop_setting.view.scV2XSwitch
+import kotlinx.android.synthetic.main.view_sop_setting.view.scV2iPnc
+import kotlinx.android.synthetic.main.view_sop_setting.view.scV2nPnc
+import kotlinx.android.synthetic.main.view_sop_setting.view.scWeakNetSlowDown
+import kotlinx.android.synthetic.main.view_sop_setting.view.sopLayout
+import kotlinx.android.synthetic.main.view_sop_setting.view.tvSpeed
+import kotlinx.android.synthetic.main.view_sop_setting.view.tvSpeedThresholdTitle
 import mogo.telematics.pad.MessagePad

 /**
 * SOP设置窗口
 */
 internal class SOPSettingView @JvmOverloads constructor(
-    context: Context,
-    attrs: AttributeSet? = null,
-    defStyleAttr: Int = 0
+        context: Context,
+        attrs: AttributeSet? = null,
+        defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoDevaToolsFuncConfigListener,
-    IViewControlListener, IMoGoMoFangProvider.OnMoFangStatusListener,
-    IMoGoGetParamResponseListener, ISopSettingListener {
+        IViewControlListener, IMoGoMoFangProvider.OnMoFangStatusListener,
+        IMoGoGetParamResponseListener, ISopSettingListener {

    companion object {
        const val TAG = "SOPSettingView"
@@ -64,7 +103,7 @@ internal class SOPSettingView @JvmOverloads constructor(
    }

    private fun initView() {
-        sopLayout.setOnClickListener {  }
+        sopLayout.setOnClickListener { }
        //V2X消息设置
        v2xSetting()
        //地图效果类设置
@@ -78,50 +117,50 @@ internal class SOPSettingView @JvmOverloads constructor(
    /**
     * V2X消息设置
     */
-    private fun v2xSetting(){
+    private fun v2xSetting() {
        //V2X总开关
        scV2XSwitch.isChecked = FunctionBuildConfig.v2xMainSwitch
        scV2XSwitch.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.v2xMainSwitch = isChecked
-            hmiAction("SOP V2X总开关, ",isChecked)
-            Log.i(TAG,"SOP V2X总开关,$isChecked")
-            if(isChecked){
+            hmiAction("SOP V2X总开关, ", isChecked)
+            Log.i(TAG, "SOP V2X总开关,$isChecked")
+            if (isChecked) {
                //V2N总开关
                scV2NSwitch.isChecked = FunctionBuildConfig.v2nMainSwitch
-                hmiAction("SOP V2N总开关, ",FunctionBuildConfig.v2nMainSwitch)
-                Log.i(TAG,"SOP V2N总开关, ${FunctionBuildConfig.v2nMainSwitch}")
+                hmiAction("SOP V2N总开关, ", FunctionBuildConfig.v2nMainSwitch)
+                Log.i(TAG, "SOP V2N总开关, ${FunctionBuildConfig.v2nMainSwitch}")
                //V2I总开关
                scV2ISwitch.isChecked = HmiBuildConfig.isShowObuV2iView
-                hmiAction("SOP V2I总开关, ",HmiBuildConfig.isShowObuV2iView)
-                Log.i(TAG,"SOP V2I总开关, ${HmiBuildConfig.isShowObuV2iView}")
+                hmiAction("SOP V2I总开关, ", HmiBuildConfig.isShowObuV2iView)
+                Log.i(TAG, "SOP V2I总开关, ${HmiBuildConfig.isShowObuV2iView}")
                //V2V总开关
                scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
-                hmiAction("SOP V2V总开关, ",HmiBuildConfig.isShowObuV2vView)
-                Log.i(TAG,"SOP V2V总开关, ${HmiBuildConfig.isShowObuV2vView}")
+                hmiAction("SOP V2V总开关, ", HmiBuildConfig.isShowObuV2vView)
+                Log.i(TAG, "SOP V2V总开关, ${HmiBuildConfig.isShowObuV2vView}")
                //obu总开关
                scObu.isChecked = obuConnectStatus
-                hmiAction("SOP obu总开关, ",obuConnectStatus)
-                Log.i(TAG,"SOP obu总开关, $obuConnectStatus")
-                if(obuConnectStatus){
+                hmiAction("SOP obu总开关, ", obuConnectStatus)
+                Log.i(TAG, "SOP obu总开关, $obuConnectStatus")
+                if (obuConnectStatus) {
                    CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
                }
-            }else{
+            } else {
                //V2N总开关
                scV2NSwitch.isChecked = false
-                hmiAction("SOP V2N总开关, ",false)
-                Log.i(TAG,"SOP V2N总开关, false")
+                hmiAction("SOP V2N总开关, ", false)
+                Log.i(TAG, "SOP V2N总开关, false")
                //V2I总开关
                scV2ISwitch.isChecked = false
-                hmiAction("SOP V2I总开关, ",false)
-                Log.i(TAG,"SOP V2I总开关, false")
+                hmiAction("SOP V2I总开关, ", false)
+                Log.i(TAG, "SOP V2I总开关, false")
                //V2V总开关
                scObuV2vView.isChecked = false
-                hmiAction("SOP V2V总开关, ",false)
-                Log.i(TAG,"SOP V2V总开关, false")
+                hmiAction("SOP V2V总开关, ", false)
+                Log.i(TAG, "SOP V2V总开关, false")
                //obu总开关
                scObu.isChecked = false
-                hmiAction("SOP OBU控制总开关, ",false)
-                Log.i(TAG,"SOP OBU控制总开关, false")
+                hmiAction("SOP OBU控制总开关, ", false)
+                Log.i(TAG, "SOP OBU控制总开关, false")
                //断开链接
                CallerObuApiManager.disConnectObu()
            }
@@ -141,41 +180,41 @@ internal class SOPSettingView @JvmOverloads constructor(
        //绿波通行(默认关闭)
        scGreenWaveSop.isEnabled = FunctionBuildConfig.v2nMainSwitch
        scV2NSwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                //V2N新链路
                scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
-                hmiAction("SOP 是否是V2N新链路(云->工控机->App)",FunctionBuildConfig.isNewV2NData)
-                Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), ${FunctionBuildConfig.isNewV2NData}")
+                hmiAction("SOP 是否是V2N新链路(云->工控机->App)", FunctionBuildConfig.isNewV2NData)
+                Log.i(TAG, "SOP 是否是V2N新链路(云->工控机->App), ${FunctionBuildConfig.isNewV2NData}")
                //V2N场景进PNC
                scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
-                hmiAction("SOP V2N场景进PNC, ",FunctionBuildConfig.isV2NPnc)
-                Log.i(TAG,"SOP V2N场景进PNC, ${FunctionBuildConfig.isV2NPnc}")
+                hmiAction("SOP V2N场景进PNC, ", FunctionBuildConfig.isV2NPnc)
+                Log.i(TAG, "SOP V2N场景进PNC, ${FunctionBuildConfig.isV2NPnc}")
                CallerAutoPilotControlManager.sendV2nToPncCmd(FunctionBuildConfig.isV2NPnc)
                //绿波通行
                scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
-                hmiAction("SOP obu绿波通行, ",HmiBuildConfig.isShowGreenWaveView)
-                Log.i(TAG,"SOP obu绿波通行, ${HmiBuildConfig.isShowGreenWaveView}")
+                hmiAction("SOP obu绿波通行, ", HmiBuildConfig.isShowGreenWaveView)
+                Log.i(TAG, "SOP obu绿波通行, ${HmiBuildConfig.isShowGreenWaveView}")
                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
-            }else{
+            } else {
                //V2N新链路
                scNewV2NData.isChecked = false
-                hmiAction("SOP 是否是V2N新链路(云->工控机->App)",false)
-                Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App), false")
+                hmiAction("SOP 是否是V2N新链路(云->工控机->App)", false)
+                Log.i(TAG, "SOP 是否是V2N新链路(云->工控机->App), false")
                //V2N场景进PNC
                scV2nPnc.isChecked = false
-                hmiAction("SOP V2N场景进PNC, ",false)
-                Log.i(TAG,"SOP V2N场景进PNC, false")
+                hmiAction("SOP V2N场景进PNC, ", false)
+                Log.i(TAG, "SOP V2N场景进PNC, false")
                CallerAutoPilotControlManager.sendV2nToPncCmd(false)
                //绿波通行
                scGreenWaveSop.isChecked = false
-                hmiAction("SOP obu绿波通行, ",false)
-                Log.i(TAG,"SOP obu绿波通行, false")
+                hmiAction("SOP obu绿波通行, ", false)
+                Log.i(TAG, "SOP obu绿波通行, false")
                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "0".toByteArray())
            }
            scNewV2NData.isEnabled = isChecked
            scV2nPnc.isEnabled = isChecked
            scGreenWaveSop.isEnabled = isChecked
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
            FunctionBuildConfig.v2nMainSwitch = isChecked
@@ -188,41 +227,41 @@ internal class SOPSettingView @JvmOverloads constructor(
        scRunRedLightSop.isEnabled = HmiBuildConfig.isShowObuV2iView
        scObuWeaknessTrafficSop.isEnabled = HmiBuildConfig.isShowObuV2iView
        scV2ISwitch.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(isChecked){
+            if (isChecked) {
                //V2I场景进PNC
                scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
-                hmiAction("SOP V2I场景进PNC, ",FunctionBuildConfig.isV2IPnc)
-                Log.i(TAG,"SOP V2I场景进PNC,${FunctionBuildConfig.isV2IPnc}")
+                hmiAction("SOP V2I场景进PNC, ", FunctionBuildConfig.isV2IPnc)
+                Log.i(TAG, "SOP V2I场景进PNC,${FunctionBuildConfig.isV2IPnc}")
                CallerAutoPilotControlManager.sendV2iToPncCmd(FunctionBuildConfig.isV2IPnc)
                //闯红灯预警
                scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
-                hmiAction("SOP obu闯红灯预警, ",HmiBuildConfig.isShowRunRedLightView)
-                Log.i(TAG,"SOP obu闯红灯预警, ${HmiBuildConfig.isShowRunRedLightView}")
+                hmiAction("SOP obu闯红灯预警, ", HmiBuildConfig.isShowRunRedLightView)
+                Log.i(TAG, "SOP obu闯红灯预警, ${HmiBuildConfig.isShowRunRedLightView}")
                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
                //路侧弱势交通参与者
                scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
-                hmiAction("SOP obu弱势交通控制, ",HmiBuildConfig.isShowObuWeaknessTrafficView)
-                Log.i(TAG,"SOP obu弱势交通控制, ${HmiBuildConfig.isShowObuWeaknessTrafficView}")
-            }else{
+                hmiAction("SOP obu弱势交通控制, ", HmiBuildConfig.isShowObuWeaknessTrafficView)
+                Log.i(TAG, "SOP obu弱势交通控制, ${HmiBuildConfig.isShowObuWeaknessTrafficView}")
+            } else {
                //V2I场景进PNC
                scV2iPnc.isChecked = false
                CallerAutoPilotControlManager.sendV2iToPncCmd(false)
-                hmiAction("SOP V2I场景进PNC, ",false)
-                Log.i(TAG,"SOP V2I场景进PNC, false")
+                hmiAction("SOP V2I场景进PNC, ", false)
+                Log.i(TAG, "SOP V2I场景进PNC, false")
                //闯红灯预警
                scRunRedLightSop.isChecked = false
-                hmiAction("SOP obu闯红灯预警, ",false)
-                Log.i(TAG,"SOP obu闯红灯预警, false")
+                hmiAction("SOP obu闯红灯预警, ", false)
+                Log.i(TAG, "SOP obu闯红灯预警, false")
                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "0".toByteArray())
                //路侧弱势交通参与者
                scObuWeaknessTrafficSop.isChecked = false
-                hmiAction("SOP obu弱势交通控制, ",false)
-                Log.i(TAG,"SOP obu弱势交通控制, false")
+                hmiAction("SOP obu弱势交通控制, ", false)
+                Log.i(TAG, "SOP obu弱势交通控制, false")
            }
            scV2iPnc.isEnabled = isChecked
            scRunRedLightSop.isEnabled = isChecked
            scObuWeaknessTrafficSop.isEnabled = isChecked
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
            HmiBuildConfig.isShowObuV2iView = isChecked
@@ -231,22 +270,22 @@ internal class SOPSettingView @JvmOverloads constructor(
        //V2N新链路
        scNewV2NData.isChecked = FunctionBuildConfig.isNewV2NData
        scNewV2NData.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP 是否是V2N新链路(云->工控机->App)",isChecked)
-            Log.i(TAG,"SOP 是否是V2N新链路(云->工控机->App) ${isChecked}")
+            hmiAction("SOP 是否是V2N新链路(云->工控机->App)", isChecked)
+            Log.i(TAG, "SOP 是否是V2N新链路(云->工控机->App) ${isChecked}")
            FunctionBuildConfig.isNewV2NData = isChecked
        }

        //V2N场景进PNC
        scV2nPnc.isChecked = FunctionBuildConfig.isV2NPnc
-        scV2nPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+        scV2nPnc.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP V2N场景进PNC, ",isChecked)
-            Log.i(TAG,"SOP V2N场景进PNC, $isChecked")
+            hmiAction("SOP V2N场景进PNC, ", isChecked)
+            Log.i(TAG, "SOP V2N场景进PNC, $isChecked")
            CallerAutoPilotControlManager.sendV2nToPncCmd(isChecked)
            FunctionBuildConfig.isV2NPnc = isChecked
        }
@@ -254,11 +293,11 @@ internal class SOPSettingView @JvmOverloads constructor(
        //绿波通行(默认关闭)
        scGreenWaveSop.isChecked = HmiBuildConfig.isShowGreenWaveView
        scGreenWaveSop.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP obu绿波通行, ",isChecked)
-            Log.i(TAG,"SOP obu绿波通行, $isChecked")
+            hmiAction("SOP obu绿波通行, ", isChecked)
+            Log.i(TAG, "SOP obu绿波通行, $isChecked")
            HmiBuildConfig.isShowGreenWaveView = isChecked
            if (HmiBuildConfig.isShowGreenWaveView) {
                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_GREENWAVE_WARNING, "1".toByteArray())
@@ -269,12 +308,12 @@ internal class SOPSettingView @JvmOverloads constructor(

        //V2I场景进PNC
        scV2iPnc.isChecked = FunctionBuildConfig.isV2IPnc
-        scV2iPnc.setOnCheckedChangeListener{ compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+        scV2iPnc.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP V2I场景进PNC, ",isChecked)
-            Log.i(TAG,"SOP V2I场景进PNC, $isChecked")
+            hmiAction("SOP V2I场景进PNC, ", isChecked)
+            Log.i(TAG, "SOP V2I场景进PNC, $isChecked")
            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
            FunctionBuildConfig.isV2IPnc = isChecked
        }
@@ -282,11 +321,11 @@ internal class SOPSettingView @JvmOverloads constructor(
        //闯红灯预警(默认关闭)
        scRunRedLightSop.isChecked = HmiBuildConfig.isShowRunRedLightView
        scRunRedLightSop.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP obu闯红灯预警, ",isChecked)
-            Log.i(TAG,"SOP obu闯红灯预警, $isChecked")
+            hmiAction("SOP obu闯红灯预警, ", isChecked)
+            Log.i(TAG, "SOP obu闯红灯预警, $isChecked")
            HmiBuildConfig.isShowRunRedLightView = isChecked
            if (HmiBuildConfig.isShowRunRedLightView) {
                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.OBU_RUNREDLIGHT_WARNING, "1".toByteArray())
@@ -298,22 +337,22 @@ internal class SOPSettingView @JvmOverloads constructor(
        //路侧弱势交通参与者(默认开启)
        scObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
        scObuWeaknessTrafficSop.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP obu弱势交通控制, ",isChecked)
-            Log.i(TAG,"SOP obu弱势交通控制, $isChecked")
+            hmiAction("SOP obu弱势交通控制, ", isChecked)
+            Log.i(TAG, "SOP obu弱势交通控制, $isChecked")
            HmiBuildConfig.isShowObuWeaknessTrafficView = isChecked
        }

        //V2V总开关(默认关闭)
        scObuV2vView.isChecked = HmiBuildConfig.isShowObuV2vView
        scObuV2vView.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP obuV2V开关, ",isChecked)
-            Log.i(TAG,"SOP obuV2V开关, $isChecked")
+            hmiAction("SOP obuV2V开关, ", isChecked)
+            Log.i(TAG, "SOP obuV2V开关, $isChecked")
            HmiBuildConfig.isShowObuV2vView = isChecked
        }

@@ -321,11 +360,11 @@ internal class SOPSettingView @JvmOverloads constructor(
        obuConnectStatus = CallerObuApiManager.isConnected()
        scObu.isChecked = obuConnectStatus
        scObu.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP OBU控制总开关, ",isChecked)
-            Log.i(TAG,"SOP OBU控制总开关, $isChecked")
+            hmiAction("SOP OBU控制总开关, ", isChecked)
+            Log.i(TAG, "SOP OBU控制总开关, $isChecked")
            if (isChecked) {
                CallerObuApiManager.resetObuIpAddress(MogoObuConst.OBU_DEFAULT_IP)
            } else {
@@ -339,12 +378,12 @@ internal class SOPSettingView @JvmOverloads constructor(
    /**
     * 地图效果类设置
     */
-    private fun mapSetting(){
+    private fun mapSetting() {
        //危险障碍物颜色标记开关
        scMarkingObstacles.isChecked = FunctionBuildConfig.isPNCWarning
        scMarkingObstacles.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 危险障碍物颜色标记开关, ",isChecked)
-            Log.i(TAG,"SOP 危险障碍物颜色标记开关, $isChecked")
+            hmiAction("SOP 危险障碍物颜色标记开关, ", isChecked)
+            Log.i(TAG, "SOP 危险障碍物颜色标记开关, $isChecked")
            FunctionBuildConfig.isPNCWarning = isChecked
        }
        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
@@ -354,8 +393,8 @@ internal class SOPSettingView @JvmOverloads constructor(
        //引导线动态效果
        scRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
        scRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 引导线动态效果, ",isChecked)
-            Log.i(TAG,"SOP 引导线动态效果, $isChecked")
+            hmiAction("SOP 引导线动态效果, ", isChecked)
+            Log.i(TAG, "SOP 引导线动态效果, $isChecked")
            HmiBuildConfig.isShowRouteStrategy = isChecked
        }

@@ -364,40 +403,40 @@ internal class SOPSettingView @JvmOverloads constructor(
        scDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
        //是否渲染点云数据
        scDrawPointCloudData.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
            //打开点云效果时，如果自车光圈是关闭状态，则自动打开自车光圈（点云是跟随光圈的 默认没有光圈就不显示点云的）
-            if(isChecked && !FunctionBuildConfig.isDisplayAnimEnable){
+            if (isChecked && !FunctionBuildConfig.isDisplayAnimEnable) {
                scCarAperture.isChecked = true
-            }else{
+            } else {
                scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
            }
            CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
            FunctionBuildConfig.isDrawPointCloudData = isChecked
            CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
            CallerSopSettingManager.invokePointCloudListener(isChecked)
-            hmiAction("SOP 是否渲染点云数据, ",isChecked)
-            Log.i(TAG,"SOP 是否渲染点云数据, $isChecked")
+            hmiAction("SOP 是否渲染点云数据, ", isChecked)
+            Log.i(TAG, "SOP 是否渲染点云数据, $isChecked")
        }

        //自车光圈
-        if(FunctionBuildConfig.isDrawPointCloudData){
+        if (FunctionBuildConfig.isDrawPointCloudData) {
            //如果点云效果是打开的，则自车光圈也跟随打开
            FunctionBuildConfig.isDisplayAnimEnable = true
            scCarAperture.isChecked = true
            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(true)
-            hmiAction("SOP 是否展示自车光圈，",FunctionBuildConfig.isDisplayAnimEnable)
-            Log.i(TAG,"SOP 是否展示自车光圈，${FunctionBuildConfig.isDisplayAnimEnable}")
-        }else{
+            hmiAction("SOP 是否展示自车光圈，", FunctionBuildConfig.isDisplayAnimEnable)
+            Log.i(TAG, "SOP 是否展示自车光圈，${FunctionBuildConfig.isDisplayAnimEnable}")
+        } else {
            scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
        }
        scCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
            CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
            CallerSopSettingManager.invokeCarApertureListener(isChecked)
-            hmiAction("SOP 是否展示自车光圈，",isChecked)
-            Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
-            if(!compoundButton.isPressed){
+            hmiAction("SOP 是否展示自车光圈，", isChecked)
+            Log.i(TAG, "SOP 是否展示自车光圈，$isChecked")
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
            FunctionBuildConfig.isDisplayAnimEnable = isChecked
@@ -407,12 +446,12 @@ internal class SOPSettingView @JvmOverloads constructor(
    /**
     * 与车相关类设置
     */
-    private fun vehicleSetting(){
+    private fun vehicleSetting() {
        //绕障类功能
        scObstacleAvoidance.isChecked = FunctionBuildConfig.isDetouring
        scObstacleAvoidance.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 绕障类功能开关, ",isChecked)
-            Log.i(TAG,"SOP 绕障类功能开关, $isChecked")
+            hmiAction("SOP 绕障类功能开关, ", isChecked)
+            Log.i(TAG, "SOP 绕障类功能开关, $isChecked")
            CallerAutoPilotControlManager.sendDetouring(isChecked)
            FunctionBuildConfig.isDetouring = isChecked
        }
@@ -420,11 +459,11 @@ internal class SOPSettingView @JvmOverloads constructor(
        // 演示模式,上一次勾选的数据
        scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
        scDemoMode.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP 演示模式开关, ",!FunctionBuildConfig.isDemoMode)
-            Log.i(TAG,"SOP 演示模式开关, ${!FunctionBuildConfig.isDemoMode}")
+            hmiAction("SOP 演示模式开关, ", !FunctionBuildConfig.isDemoMode)
+            Log.i(TAG, "SOP 演示模式开关, ${!FunctionBuildConfig.isDemoMode}")
            FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
            CallerAutoPilotControlManager.setDemoMode(FunctionBuildConfig.isDemoMode)
            CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_DEMO, FunctionBuildConfig.isDemoMode)
@@ -442,11 +481,11 @@ internal class SOPSettingView @JvmOverloads constructor(
        // 雨天模式，上一次勾选的数据
        scRainMode.isChecked = FunctionBuildConfig.isRainMode
        scRainMode.setOnCheckedChangeListener { compoundButton, isChecked ->
-            if(!compoundButton.isPressed){
+            if (!compoundButton.isPressed) {
                return@setOnCheckedChangeListener
            }
-            hmiAction("SOP 雨天模式开关, ",isChecked)
-            Log.i(TAG,"SOP 雨天模式开关, $isChecked")
+            hmiAction("SOP 雨天模式开关, ", isChecked)
+            Log.i(TAG, "SOP 雨天模式开关, $isChecked")
            FunctionBuildConfig.isRainMode = isChecked
            CallerAutoPilotControlManager.setRainMode(isChecked)
            CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_MODE_RAIN, isChecked)
@@ -459,47 +498,47 @@ internal class SOPSettingView @JvmOverloads constructor(

        //弱网减速停车
        scWeakNetSlowDown.isChecked = FunctionBuildConfig.isWeakNetSlowDown
-        scWeakNetSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scWeakNetSlowDown.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.isWeakNetSlowDown = isChecked
            CallerAutoPilotControlManager.sendWeakNetSlowDown(isChecked)
-            hmiAction("SOP 弱网减速停车, ",isChecked)
-            Log.i(TAG,"SOP 弱网减速停车, $isChecked")
+            hmiAction("SOP 弱网减速停车, ", isChecked)
+            Log.i(TAG, "SOP 弱网减速停车, $isChecked")
        }

        //故障减速停车
        scFaultSlowDown.isChecked = FunctionBuildConfig.isFaultSlowDown
-        scFaultSlowDown.setOnCheckedChangeListener{_, isChecked ->
+        scFaultSlowDown.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.isFaultSlowDown = isChecked
            CallerAutoPilotControlManager.sendBreakdownSlowDown(isChecked)
-            hmiAction("SOP 故障减速停车, ",isChecked)
-            Log.i(TAG,"SOP 故障减速停车, $isChecked")
+            hmiAction("SOP 故障减速停车, ", isChecked)
+            Log.i(TAG, "SOP 故障减速停车, $isChecked")
        }
        //融合模式
        rgFusionMode.setOnCheckedChangeListener { _, p1 ->
-            when(p1){
+            when (p1) {
                //全融合模式
-                R.id.rbFullIntegration ->{
+                R.id.rbFullIntegration -> {
                    FunctionBuildConfig.fusionMode = 1
                }
                //盲区模式
-                R.id.rbBlind ->{
+                R.id.rbBlind -> {
                    FunctionBuildConfig.fusionMode = 2
                }
                //超视距模式
-                R.id.rbBeyondSight ->{
+                R.id.rbBeyondSight -> {
                    FunctionBuildConfig.fusionMode = 3
                }
                //透传模式
-                R.id.rbTransparent ->{
+                R.id.rbTransparent -> {
                    FunctionBuildConfig.fusionMode = 4
                }
                //纯路侧模式
-                R.id.rbPureRoad ->{
+                R.id.rbPureRoad -> {
                    FunctionBuildConfig.fusionMode = 5
                }
            }
-            hmiAction("SOP 融合模式, ",FunctionBuildConfig.fusionMode)
-            Log.i(TAG,"SOP 融合模式, ${FunctionBuildConfig.fusionMode}")
+            hmiAction("SOP 融合模式, ", FunctionBuildConfig.fusionMode)
+            Log.i(TAG, "SOP 融合模式, ${FunctionBuildConfig.fusionMode}")
            CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
        }
    }
@@ -507,12 +546,12 @@ internal class SOPSettingView @JvmOverloads constructor(
    /**
     * 其他类别开关设置
     */
-    private fun otherSetting(){
+    private fun otherSetting() {
        //红绿灯标识开关
        scTrafficLight.isChecked = !HmiBuildConfig.isShowTrafficLightView
        scTrafficLight.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 红绿灯标识开关, ",isChecked)
-            Log.i(TAG,"SOP 红绿灯标识开关, $isChecked")
+            hmiAction("SOP 红绿灯标识开关, ", isChecked)
+            Log.i(TAG, "SOP 红绿灯标识开关, $isChecked")
            if (isChecked) {
                CallerHmiManager.showTrafficLightView()
            } else {
@@ -523,22 +562,22 @@ internal class SOPSettingView @JvmOverloads constructor(
        //限速标识
        scSpeedLimit.isChecked = HmiBuildConfig.isShowLimitingVelocityView
        scSpeedLimit.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 限速标识开关, ",isChecked)
-            Log.i(TAG,"SOP 限速标识开关, $isChecked")
+            hmiAction("SOP 限速标识开关, ", isChecked)
+            Log.i(TAG, "SOP 限速标识开关, $isChecked")
            if (isChecked) {
                HmiBuildConfig.isShowLimitingVelocityView = true
-                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.VISIBLE)
+                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG, View.VISIBLE)
            } else {
                HmiBuildConfig.isShowLimitingVelocityView = false
-                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG,View.GONE)
+                CallerHmiViewControlListenerManager.invokeVisible(IViewControlListener.LimitingVelocityView_TAG, View.GONE)
            }
        }

        //异常上报提示
        scIPCReport.isChecked = FunctionBuildConfig.isReportWarning
        scIPCReport.setOnCheckedChangeListener { _, isChecked ->
-            hmiAction("SOP 是否开启异常上报, ",isChecked)
-            Log.i(TAG,"SOP 是否开启异常上报, $isChecked")
+            hmiAction("SOP 是否开启异常上报, ", isChecked)
+            Log.i(TAG, "SOP 是否开启异常上报, $isChecked")
            FunctionBuildConfig.isReportWarning = isChecked
        }

@@ -561,10 +600,52 @@ internal class SOPSettingView @JvmOverloads constructor(

        //是否展示被动触发的录包弹窗（自动驾驶下出现问题触发的录包）
        scShowBagRecordWindow.isChecked = FunctionBuildConfig.isShowBagRecordWindow
-        scShowBagRecordWindow.setOnCheckedChangeListener{_, isChecked ->
+        scShowBagRecordWindow.setOnCheckedChangeListener { _, isChecked ->
            FunctionBuildConfig.isShowBagRecordWindow = isChecked
-            hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
-            Log.i(TAG,"SOP 是否展示被动触发的录包弹窗, $isChecked")
+            hmiAction("SOP 是否展示被动触发的录包弹窗, ", isChecked)
+            Log.i(TAG, "SOP 是否展示被动触发的录包弹窗, $isChecked")
+        }
+
+        // 清扫车业务模式切换
+        scSweeperModeSwitch?.also { switchView ->
+            switchView.isChecked =
+                    if (SweeperVehicleConfigUtils.isSPExistCurrentSweeperModeConfig())
+                        SweeperVehicleConfigUtils.isSPCurrentSweeperCloudMode()
+                    else
+                        SweeperVehicleConfigUtils.isDefaultSweeperCloudMode(FunctionBuildConfig.sweeperDefaultMode)
+            if (!AppIdentityModeUtils.isSweeper(FunctionBuildConfig.appIdentityMode)) {
+                switchView.visibility = GONE
+            } else {
+                if (SweeperVehicleConfigUtils.isDefaultSweeperCanSwitchMode(FunctionBuildConfig.sweeperCanSwitchMode)) {
+                    switchView.isEnabled = true
+                    switchView.visibility = VISIBLE
+
+                    switchView.setOnCheckedChangeListener { buttonView, isChecked ->
+                        // isChecked==true 云控模式，isChecked==false 运营模式
+                        // 先弹框确认
+                        if(!buttonView.isPressed) return@setOnCheckedChangeListener
+                        context?.also { cxt ->
+                            val confirmDialog = SweeperModeChangedConfirmDialog(cxt)
+                            confirmDialog.setClickListener(object: SweeperModeChangedConfirmDialog.ClickListener {
+                                override fun confirm() {
+                                    CallerSweeperModeListenerManager.invokeSweeperModeListeners(
+                                            if (isChecked) SweeperVehicleConfigUtils.BUSINESS_MODE_CLOUD
+                                            else SweeperVehicleConfigUtils.BUSINESS_MODE_OPERATE
+                                    )
+                                }
+
+                                override fun cancel() {
+                                    buttonView.isChecked = !isChecked
+                                }
+                            })
+                            confirmDialog.showSweeperModeChangeConfirmDialog()
+                        }
+                    }
+                } else {
+                    switchView.isEnabled = false
+                    switchView.visibility = GONE
+                }
+            }
        }

        //变道绕障的目标障碍物速度阈值
@@ -576,7 +657,7 @@ internal class SOPSettingView @JvmOverloads constructor(
                FunctionBuildConfig.detouringSpeed--
                tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
            }
-            hmiAction("SOP 变道绕障的目标障碍物速度阈值",FunctionBuildConfig.detouringSpeed)
+            hmiAction("SOP 变道绕障的目标障碍物速度阈值", FunctionBuildConfig.detouringSpeed)
        }
        ivSpeedAdd.setOnClickListener {
            if (FunctionBuildConfig.detouringSpeed >= 7) {
@@ -585,17 +666,17 @@ internal class SOPSettingView @JvmOverloads constructor(
                FunctionBuildConfig.detouringSpeed++
                tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
            }
-            hmiAction("SOP 变道绕障的目标障碍物速度阈值",FunctionBuildConfig.detouringSpeed)
+            hmiAction("SOP 变道绕障的目标障碍物速度阈值", FunctionBuildConfig.detouringSpeed)
        }
        btnSpeedSet.setOnClickListener {
            val isSuccess =
-                CallerAutoPilotControlManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
+                    CallerAutoPilotControlManager.sendDetouringSpeed(FunctionBuildConfig.detouringSpeed.toDouble())
            if (isSuccess == true) {
                ToastUtils.showShort("变道绕障的目标障碍物速度阈值设置成功")
-                hmiAction("SOP 变道绕障的目标障碍物速度阈值设置","成功")
+                hmiAction("SOP 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")
-                hmiAction("SOP 变道绕障的目标障碍物速度阈值设置","失败")
+                hmiAction("SOP 变道绕障的目标障碍物速度阈值设置", "失败")
            }
        }

@@ -614,7 +695,7 @@ internal class SOPSettingView @JvmOverloads constructor(
            val mf = CallerDevaToolsManager.mofang()
            if (mf != null) {
                mfStatusLayout.setClickEnabled(true)
-                mfStatusLayout.setClickedTextAndTag(if (mf.isConnected()) "断开魔方连接" else "开始连接魔方", if (mf.isConnected()) 0 else  1)
+                mfStatusLayout.setClickedTextAndTag(if (mf.isConnected()) "断开魔方连接" else "开始连接魔方", if (mf.isConnected()) 0 else 1)
                mf.registerMoFangStatusListener(TAG, this)
                mfStatusLayout.setOnClickCallback {
                    val tag = it.tag as? Int
@@ -659,22 +740,22 @@ internal class SOPSettingView @JvmOverloads constructor(
        super.onAttachedToWindow()
        //添加 业务配置监听
        CallerDevaToolsFuncConfigListenerManager.registerDevaToolsFuncConfigListener(
-            FuncBizConfig.FOUNDATION, TAG, true, this
+                FuncBizConfig.FOUNDATION, TAG, true, this
        )
-        CallerHmiViewControlListenerManager.addListener(TAG,this)
+        CallerHmiViewControlListenerManager.addListener(TAG, this)
        CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
        //查询融合模式
        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.FUSION_MODE)
        //雨天、美化、点云设置同步
-        CallerSopSettingManager.addListener(TAG,this)
+        CallerSopSettingManager.addListener(TAG, this)
    }

    override fun updateFuncMode(tag: String, boolean: Boolean) {
        super.updateFuncMode(tag, boolean)
-        if(tag == FUNC_MODE_DEMO){
+        if (tag == FUNC_MODE_DEMO) {
            scDemoMode.isChecked = FunctionBuildConfig.isDemoMode
        }
-        if(tag == FUNC_MODE_RAIN){
+        if (tag == FUNC_MODE_RAIN) {
            scRainMode.isChecked = FunctionBuildConfig.isRainMode
        }
    }
@@ -696,9 +777,9 @@ internal class SOPSettingView @JvmOverloads constructor(
            //美化模式
            FuncBizConfig.BIZ_BEAUTY_MODE -> {
                scDemoMode.isClickable = !lock
-                if(lock){
+                if (lock) {
                    scDemoMode.visibility = View.INVISIBLE
-                }else{
+                } else {
                    scDemoMode.visibility = View.VISIBLE
                }
            }
@@ -781,31 +862,35 @@ internal class SOPSettingView @JvmOverloads constructor(
     * 工控机配置参数获取
     */
    override fun onGetParamResp(
-        header: MessagePad.Header,
-        getParamResp: MessagePad.SetParamReq,
-        adasParam: AdasParam
+            header: MessagePad.Header,
+            getParamResp: MessagePad.SetParamReq,
+            adasParam: AdasParam
    ) {
        //融合模式
        ThreadUtils.runOnUiThread {
            FunctionBuildConfig.fusionMode = adasParam.fusionMode
-            when(FunctionBuildConfig.fusionMode){
-                1->{
+            when (FunctionBuildConfig.fusionMode) {
+                1 -> {
                    //全融合模式
                    rgFusionMode.check(R.id.rbFullIntegration)
                }
-                2->{
+
+                2 -> {
                    //盲区模式
                    rgFusionMode.check(R.id.rbBlind)
                }
-                3->{
+
+                3 -> {
                    //超视距模式
                    rgFusionMode.check(R.id.rbBeyondSight)
                }
-                4->{
+
+                4 -> {
                    //透传模式
                    rgFusionMode.check(R.id.rbTransparent)
                }
-                5->{
+
+                5 -> {
                    //纯路侧模式
                    rgFusionMode.check(R.id.rbPureRoad)
                }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/SweeperModeChangedConfirmDialog.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/SweeperModeChangedConfirmDialog.kt
@@ -0,0 +1,51 @@
+package com.mogo.eagle.core.function.hmi.ui.tools
+
+import android.content.Context
+import android.widget.TextView
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+
+/**
+ * @author aibingbing
+ * @description 切换清扫车模式确认对话框
+ * @since: 2023/10/30
+ */
+class SweeperModeChangedConfirmDialog(context: Context) : BaseFloatDialog(context), LifecycleObserver {
+
+    private var modeChangeBtnConfirm: TextView? = null
+    private var modeChangeBtnCancel: TextView? = null
+    private var clickListener: ClickListener? = null
+
+    init {
+        setContentView(R.layout.dialog_sweeper_mode_change)
+        setCanceledOnTouchOutside(true)
+        modeChangeBtnConfirm = findViewById(R.id.tv_sweeper_mode_change_confirm)
+        modeChangeBtnCancel = findViewById(R.id.tv_sweeper_mode_change_cancel)
+
+        modeChangeBtnConfirm?.setOnClickListener {
+            clickListener?.confirm()
+            dismiss()
+        }
+        modeChangeBtnCancel?.setOnClickListener {
+            clickListener?.cancel()
+            dismiss()
+        }
+    }
+
+    fun setClickListener(clickListener: ClickListener) {
+        this.clickListener = clickListener
+    }
+
+    fun showSweeperModeChangeConfirmDialog() {
+        if (isShowing) {
+            return
+        }
+        show()
+    }
+
+    interface ClickListener {
+        fun confirm()
+        fun cancel()
+    }
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_sweeper_mode_change.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_sweeper_mode_change.xml
@@ -0,0 +1,90 @@
+<?xml version="1.0" encoding="utf-8"?>
+<com.mogo.eagle.core.widget.RoundConstraintLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="840dp"
+    android:layout_height="470dp"
+    android:background="@color/dialog_bg_color"
+    app:roundLayoutRadius="32dp"
+    >
+
+    <TextView
+        android:id="@+id/tv_sweeper_mode_change_title"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:text="@string/sweeper_mode_change_title"
+        android:textSize="56dp"
+        android:textColor="#FFFFFFFF"
+        android:layout_marginTop="50dp"
+        />
+
+    <TextView
+        android:id="@+id/tv_sweeper_mode_change_tips"
+        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/tv_sweeper_mode_change_title"
+        android:paddingStart="@dimen/dp_10"
+        android:paddingEnd="@dimen/dp_10"
+        android:text="@string/sweeper_mode_change_tips"
+        android:textColor="#FFFFFFFF"
+        android:textSize="43dp"
+        android:layout_marginTop="50dp"
+        />
+
+    <View
+        android:id="@+id/view_horizontal_line"
+        android:layout_width="match_parent"
+        android:layout_height="2dp"
+        android:background="#66B8BFE8"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tv_sweeper_mode_change_tips"
+        android:layout_marginTop="80dp"
+        />
+
+    <View
+        android:id="@+id/view_vertical_line"
+        android:layout_width="3dp"
+        android:layout_height="0dp"
+        android:background="#66B8BFE8"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line"
+        app:layout_constraintBottom_toBottomOf="parent"
+        />
+
+    <TextView
+        android:id="@+id/tv_sweeper_mode_change_confirm"
+        android:layout_width="400dp"
+        android:layout_height="100dp"
+        android:text="@string/confirm"
+        android:textColor="#FFFFFFFF"
+        android:textSize="46dp"
+        android:gravity="center"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/view_vertical_line"
+        />
+
+    <TextView
+        android:id="@+id/tv_sweeper_mode_change_cancel"
+        android:layout_width="400dp"
+        android:layout_height="100dp"
+        android:text="@string/cancel"
+        android:textColor="#FFFFFFFF"
+        android:textSize="46dp"
+        android:gravity="center"
+        app:layout_constraintTop_toBottomOf="@id/view_horizontal_line"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/view_vertical_line"
+        app:layout_constraintRight_toRightOf="parent"
+        />
+
+
+</com.mogo.eagle.core.widget.RoundConstraintLayout>
--- 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
@@ -588,6 +588,20 @@
                    android:layout_marginTop="@dimen/dp_25"
                    android:layout_marginBottom="@dimen/dp_10"
                    />
+                <!--清扫和业务模式切换开关（开-云控，关-运营）-->
+                <androidx.appcompat.widget.SwitchCompat
+                    android:id="@+id/scSweeperModeSwitch"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    app:layout_constraintLeft_toRightOf="@id/otherGuideLine"
+                    app:layout_constraintRight_toRightOf="parent"
+                    app:layout_constraintTop_toBottomOf="@id/scNew360LookAround"
+                    app:layout_constraintBottom_toBottomOf="parent"
+                    android:text="清扫云控业务"
+                    android:scaleY="1.2"
+                    android:scaleX="1.2"
+                    android:layout_marginTop="@dimen/dp_25"
+                    android:layout_marginBottom="@dimen/dp_10"/>

            </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
@@ -91,4 +91,7 @@
    <string name="parallel_drive_synchronizing">同步中...</string>
    <string name="parallel_drive_failure">请求失败</string>
    <string name="parallel_drive_exception">异常</string>
+    <!--清扫车模式切换-->
+    <string name="sweeper_mode_change_title">清扫业务模式切换提示</string>
+    <string name="sweeper_mode_change_tips">请确认是否要切换清扫业务（切换将自动重启APP）?</string>
 </resources>
--- 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
@@ -325,6 +325,6 @@ object FunctionBuildConfig {
     */
    @Volatile
    @JvmField
-    var sweeperCanSwitchMode = "true"
+    var sweeperCanSwitchMode = true

 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/vehicle/IMoGoSweeperModeListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/vehicle/IMoGoSweeperModeListener.kt
@@ -0,0 +1,9 @@
+package com.mogo.eagle.core.function.api.vehicle
+
+/**
+ * 清扫车业务模式
+ */
+interface IMoGoSweeperModeListener {
+
+    fun onSweeperCurrentModeChanged(currentMode: String)
+}
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/vehicle/CallerSweeperModeListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/vehicle/CallerSweeperModeListenerManager.kt
@@ -0,0 +1,17 @@
+package com.mogo.eagle.core.function.call.vehicle
+
+import com.mogo.eagle.core.function.api.vehicle.IMoGoSweeperModeListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 清扫车业务模式 模式变化 监听管理类
+ */
+object CallerSweeperModeListenerManager : CallerBase<IMoGoSweeperModeListener>() {
+
+    fun invokeSweeperModeListeners(currentMode: String) {
+        CallerSweeperModeListenerManager.M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperCurrentModeChanged(currentMode)
+        }
+    }
+}
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/vehicle/SweeperVehicleConfigUtils.kt
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/mogo/vehicle/SweeperVehicleConfigUtils.kt
@@ -7,14 +7,24 @@ import com.mogo.eagle.core.utilcode.util.SPUtils
 */
 object SweeperVehicleConfigUtils {
    // 业务模式（云控/运营）
-    private const val BUSINESS_MODE_OPERATE = "Operate"
-    private const val BUSINESS_MODE_CLOUD = "Cloud"
+    const val BUSINESS_MODE_OPERATE = "Operate"
+    const val BUSINESS_MODE_CLOUD = "Cloud"

    // 本地存储SP key
    private const val SP_KEY_SWEEPER_CURRENT_MODE = "key_sweeper_current_mode"

    /**
-     * 是否 默认清扫车营运模式
+     * 是否 能切换清扫车业务模式
+     *
+     * @param sweeperCanSwitchMode productFlavors 配置的默认值
+     */
+    @JvmStatic
+    fun isDefaultSweeperCanSwitchMode(sweeperCanSwitchMode: Boolean): Boolean {
+        return sweeperCanSwitchMode
+    }
+
+    /**
+     * 是否 默认清扫车运营模式
     *
     * @param sweeperDefaultMode productFlavors 配置的默认值
     * @return true - 是默认清扫车运营模式 false - 不是默认清扫车运营模式
@@ -36,7 +46,7 @@ object SweeperVehicleConfigUtils {
    }

    /**
-     * 保存 当前清扫业务模式到SP
+     * 保存 当前用户选择的清扫业务模式到SP
     */
    @JvmStatic
    fun setSPCurrentSweeperMode(sweeperCurrentMode: String) {
@@ -44,7 +54,15 @@ object SweeperVehicleConfigUtils {
    }

    /**
-     * 是否SP中存在 当前清扫业务模式的配置
+     * 移除 当前用户选择的清扫业务模式到SP
+     */
+    @JvmStatic
+    fun removeSPCurrentSweeperMode() {
+        SPUtils.getInstance().remove(SP_KEY_SWEEPER_CURRENT_MODE)
+    }
+
+    /**
+     * 是否SP中存在 当前用户选择的清扫业务模式的配置
     */
    @JvmStatic
    fun isSPExistCurrentSweeperModeConfig(): Boolean {
@@ -52,7 +70,7 @@ object SweeperVehicleConfigUtils {
    }

    /**
-     * 是否SP中 当前是运营业务模式
+     * 是否SP中 当前是用户选择的运营业务模式
     */
    @JvmStatic
    fun isSPCurrentSweeperOperateMode(): Boolean {
@@ -62,7 +80,7 @@ object SweeperVehicleConfigUtils {
    }

    /**
-     * 是否SP中 当前是云控业务模式
+     * 是否SP中 当前是用户选择的云控业务模式
     */
    @JvmStatic
    fun isSPCurrentSweeperCloudMode(): Boolean {
--- a/gradle.properties
+++ b/gradle.properties
@@ -173,6 +173,6 @@ CHARTER_DRIVER_VERSION=6.1.0
 # 包车模式乘客端端版本号
 CHARTER_PASSENGER_VERSION=5.1.0
 # 支持云控清扫车模式司机端版本号
-SWEEPERCLOUD_DRIVER_VERSION=3.2.0
+SWEEPERCLOUD_DRIVER_VERSION=6.1.0
 # 清扫车模式司机端版本号
-SWEEPEROPERATE_DRIVER_VERSION=3.1.0
+SWEEPEROPERATE_DRIVER_VERSION=6.1.0