diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
index 93f2d426bf..12c407c763 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
@@ -6,7 +6,6 @@ import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
@@ -24,7 +23,7 @@ import java.util.ArrayList;
  * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
  * 目前定的是3秒回调一次
  */
-public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener, IMoGoParallelDrivingActionsListener {
+public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener {
 
     private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
 
@@ -89,8 +88,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次
         CallerAutopilotActionsListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutopilotStatisticsListenerManager.INSTANCE.addListener(TAG,this);
-        //map3.6.0且是东风或者红旗的时候返回
-        CallerParallelDrivingActionsListenerManager.INSTANCE.addListener(TAG,this);
     }
 
     private void releaseListeners() {
@@ -115,7 +112,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
 
         }
     }
-
     @Override
     public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) {
         if (statistics == null) return;
@@ -129,20 +125,6 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         }
     }
 
-    @Override
-    public void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
-        if (unableParallelDrivingReasons != null && getMapVersion() >= 30600) {
-            //刹车变化回调
-            Logger.d(TAG,"onParallelDrivingAbility = " + isParallelDrivingAbility +
-                    " unableParallelDrivingReasons =" +  unableParallelDrivingReasons.toString());
-            if (unableParallelDrivingReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
-                    && unableParallelDrivingReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
-                failureCallback.brakeStatusChanged(isParallelDrivingAbility);
-            }
-
-        }
-    }
-
     private int getMapVersion(){
         return ParseVersionUtils.parseVersion(true, CallerAutoPilotStatusListenerManager.INSTANCE.getDockerVersion());
     }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
index 25c61b6c7f..580cee3f6d 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
@@ -283,12 +283,12 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
         findViewById<View>(R.id.test_bar_route)?.setOnClickListener {
             testRouteInfoUpload()
         }
-        findViewById<View>(R.id.test_brake)?.setOnClickListener {
-            TaxiTaskModel.handleBrakeStatusChange(false)
-        }
-        findViewById<View>(R.id.test_resume_brake)?.setOnClickListener {
-            TaxiTaskModel.handleBrakeStatusChange(true)
-        }
+//        findViewById<View>(R.id.test_brake)?.setOnClickListener {
+//            TaxiTaskModel.handleBrakeStatusChange(false)
+//        }
+//        findViewById<View>(R.id.test_resume_brake)?.setOnClickListener {
+//            TaxiTaskModel.handleBrakeStatusChange(true)
+//        }
         findViewById<View>(R.id.test_parallel_driver)?.setOnClickListener {
             stopAutoStartAutopilot()
         }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
index c02256f181..b9c0a1276a 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
@@ -117,18 +117,14 @@ class TaxiCurrentTaskFragment : BaseFragment(),
             TAG,
             "hasCurrentTask  = $hasCurrentTask"
         )
-        try {
-            if (hasCurrentTask) {
-                noTaskData.visibility = View.GONE
-                mCurrentTaskLayout.visibility = View.VISIBLE
-            } else {
-                noTaskData.visibility = View.VISIBLE
-                noOrderDataTv.text = "暂无进行中订单"
-                mCurrentTaskLayout.visibility = View.GONE
-                taskOtherInfo.text = "距离 -- 公里, 用时 -- 分钟"
-            }
-        } catch (e: NullPointerException) { //可能会出现订单信息已经轮询回来，但进行中页面控件还未初始化完成的情况
-            TaxiTaskModel.clearCurrentOCHOrder()
+        if (hasCurrentTask) {
+            noTaskData.visibility = View.GONE
+            mCurrentTaskLayout.visibility = View.VISIBLE
+        } else {
+            noTaskData.visibility = View.VISIBLE
+            noOrderDataTv.text = "暂无进行中订单"
+            mCurrentTaskLayout.visibility = View.GONE
+            taskOtherInfo.text = "距离 -- 公里, 用时 -- 分钟"
         }
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
index a2e1d7f630..22ff483477 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
@@ -88,6 +88,7 @@ import system_master.SsmInfo
 import system_master.SystemStatusInfo
 import java.util.concurrent.ConcurrentHashMap
 import java.util.concurrent.TimeUnit
+import kotlin.math.ceil
 
 /**
  * @author: wangmingjun
@@ -270,6 +271,7 @@ object TaxiTaskModel {
 
             override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {}
             override fun onAutopilotStatusResponse(state: Int) {
+                i(TAG, "onAutopilotStatusResponse autopilotsState= $state")
                 if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_RUNNING，meaning=自动驾驶中")
                     mADASStatusCallback?.onAutopilotRunning()
@@ -442,8 +444,8 @@ object TaxiTaskModel {
             }
 
             override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
-                //刹车: true 松开, false 踩下
-                handleBrakeStatusChange(isBrakeAvailable)
+                //刹车: true 松开, false 踩下 2020.9.23刹车需求暂时下掉
+//                handleBrakeStatusChange(isBrakeAvailable)
             }
         }
 
@@ -724,6 +726,7 @@ object TaxiTaskModel {
                                     listener.onTaskWithOrderDataChanged(null)
                                 }
                             }
+                            clearCurrentOCHOrder()
                             return
                         }
 
@@ -856,7 +859,7 @@ object TaxiTaskModel {
                                 val listener = it.value
                                 listener.onOrderTripInfoChanged(
                                     data.data.mileage,
-                                    data.data.duration.toInt()
+                                    ceil(data.data.duration.toDouble()).toInt() //向上取整
                                 )
                             }
                         }
@@ -1329,18 +1332,14 @@ object TaxiTaskModel {
      * 清除任务订单信息
      */
     fun clearCurrentOCHOrder() {
-        mCurrentTaskWithOrder = null
-        mDriveToNearestStationTask = null
         clearAutopilotControlParameters()
-        TaxiTrajectoryManager.getInstance().syncTrajectoryInfo()
-        SharedPrefsMgr.getInstance(mContext).remove(TaxiUnmannedConst.SP_KEY_OCH_TAXI_ORDER)
         isRestartAutopilot = false
         if (FunctionBuildConfig.isDemoMode) {
             // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false
             CallerAutoPilotControlManager.setIgnoreConditionDraw(false)
             CallerAutoPilotControlManager.setIPCDemoMode(false)
-            d(TAG, "美化模式-ignore：置为false（已完成or清除当前订单）")
+            d(TAG, "美化模式-ignore：置为false（已完成or清除当前任务）")
         }
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
index a2f0feb736..e8fb6519b9 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/MapMakerManager.kt
@@ -30,24 +30,24 @@ object MapMakerManager {
                     .anchor(0.5f, 0.5f)
                     .set3DMode(true)
                     .isUseGps(true)
-                    .controlAngle(true)
+                    .controlAngle(false)
                     .icon3DRes(resourceId)
                     .latitude(lat)
                     .longitude(lon)
-            val mapUIController =
-                CallerMapUIServiceManager.getMapUIController()
-            if (mapUIController != null) {
-                val centerLine =
-                    mapUIController.getCenterLineInfo(
-                        lon, lat, -1f
-                    )
-                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致
-                    val angle = centerLine.angle
-                    if (angle != null) {
-                        builder.rotate(angle.toFloat())
-                    }
-                }
-            }
+//            val mapUIController =
+//                CallerMapUIServiceManager.getMapUIController()
+//            if (mapUIController != null) {
+//                val centerLine =
+//                    mapUIController.getCenterLineInfo(
+//                        lon, lat, -1f
+//                    )
+//                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致
+//                    val angle = centerLine.angle
+//                    if (angle != null) {
+//                        builder.rotate(angle.toFloat())
+//                    }
+//                }
+//            }
             val overlayManager =
                 CallerMapUIServiceManager.getOverlayManager()
             overlayManager?.showOrUpdatePoint(builder.build())
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
index 09a3044e16..646b94ab4e 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
@@ -57,6 +57,7 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:text="Mock刹车"
+                android:visibility="gone"
                 android:textSize="12sp" />
 
             <Button
@@ -64,6 +65,7 @@
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:text="Mock松开刹车"
+                android:visibility="gone"
                 android:textSize="12sp" />
 
             <Button
diff --git a/config.gradle b/config.gradle
index a1248e8a96..3d2c35ab87 100644
--- a/config.gradle
+++ b/config.gradle
@@ -89,7 +89,7 @@ ext {
 
             // obu sdk
             obusdk                       : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
-            mogoobu                      : 'com.mogo.support.obu:mogo-obu:1.1.1',
+            mogoobu                      : 'com.mogo.support.obu:mogo-obu:1.1.2',
 
             // google
             googlezxing                  : "com.google.zxing:core:3.3.3",
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index 65d5554a51..62d5defef4 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.adapter
 
-import android.util.Log
 import bag_manager.BagManagerOuterClass
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
@@ -164,9 +163,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         vehicleState: VehicleStateOuterClass.VehicleState?
     ) {
         if (vehicleState != null) {
-            Log.i(
-                "xfk",
-                "底盘 onVehicleState 刹车=${vehicleState.brake}")
             //转向灯数据
             CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(vehicleState.light)
             //刹车灯数据
@@ -256,9 +252,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
             }
             chassisStates.brakeSystemStates?.let {
-                Log.i(
-                    "xfk",
-                    "底盘 onVehicleState 刹车=${it.brakePedalResponsePosition}")
                 //刹车
                 CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
             }
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
index 424c033cc7..ab8c5c3f1f 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.datacenter.obu
 
 import android.content.Context
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.enums.CommunicationType
 import com.mogo.eagle.core.data.enums.DataSourceType
@@ -62,25 +63,25 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
     }
 
     override fun onMoGoObuRsiWarning(rsiWarningData: ObuScene.RsiWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuDcRsiWarning(rsiWarningData)
         }
     }
 
     override fun onMoGoObuRsmWarning(rsmWarningData: ObuScene.RsmWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuDcRsmWarning(rsmWarningData)
         }
     }
 
     override fun onMoGoObuSpatWarning(spatWarningData: ObuScene.SpatWarningData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuDcSpatWarning(spatWarningData)
         }
     }
 
     override fun onMoGoObuMapMath(mapMatchData: ObuScene.MapMatchData) {
-        if (HmiBuildConfig.isShowObuV2iView) {
+        if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
             onMogoObuMapMath(mapMatchData)
         }
     }
@@ -561,7 +562,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
 
             }
             1 -> { //闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if(HmiBuildConfig.isShowObuV2iView){
+                if(FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView){
                     if (HmiBuildConfig.isShowRunRedLightView) {
                         if (!isShowRunRedLight) {
                             isShowRunRedLight = true
@@ -594,7 +595,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             }
 
             2 -> { //绿波通行引导 V2I_RLVW_VIOLATION_TYPE_NO_VIOLATION 一个绿灯周期只显示一次
-                if (HmiBuildConfig.isShowGreenWaveView) {
+                if (FunctionBuildConfig.v2xMainSwitch && FunctionBuildConfig.v2nMainSwitch && HmiBuildConfig.isShowGreenWaveView) {
                     if (!isShowGreenWave) {
                         isShowGreenWave = true
                         CallerLogger.d(
@@ -602,14 +603,14 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                             "MogoObuDcCombineManager 绿波通行引导 --------> speed_min = ${currentLight.suggestMinSpeed} --speed_max = ${currentLight.suggestMaxSpeed}"
                         )
                         var minSpeedTemp = Math.round(currentLight.suggestMinSpeed * 3.6)
-                        var maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
+                        val maxSpeedTemp = Math.round(currentLight.suggestMaxSpeed * 3.6)
                         if (minSpeedTemp == maxSpeedTemp) {
                             minSpeedTemp -= 5
                         }
 
                         val maxSpeed = currentLight.suggestMaxSpeed
                         if (maxSpeed > 0) {
-                            var currentSpeed =
+                            val currentSpeed =
                                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().gnssSpeed.toDouble()
                             if (currentSpeed > 0) {
                                 ttsContentNew =
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
index 1b42daf359..ac55e5cfb9 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -346,7 +346,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
          * 红绿灯预警信息 CvxIvpThreatIndInfo
          */
         override fun onObuSpatWarning(data: ObuScene.SpatWarningData) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 handlerTrafficLight(
                     data.warningType,
                     data.status,
@@ -359,7 +359,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
          * RSI预警信息 onMogoObuRsiWarning（交通标志预警（前方限速、前方学校等等），交通事件预警（前方拥堵、前方积水等等））
          */
         override fun onObuRsiWarning(data: ObuScene.RsiWarningData) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 if (data.warningMsgList != null && data.warningMsgList.size > 0) {
                     var alertContent = ""
                     var ttsContent = ""
@@ -632,7 +632,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
                 "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
                 "onMogoObuRsmWarning ------> ${data?.toString()}"
             )
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 if (HmiBuildConfig.isShowObuWeaknessTrafficView) {
                     // 交通参与者类型 0x0:未知 UNKNOWN | 1机动车  2:非机动车 NON_MOTOR | 3:行人 PEDESTRIAN 4:obu
                     if (data != null && data.participant != null) {
@@ -725,7 +725,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
          * 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
          */
         override fun onObuMapMath(data: ObuScene.MapMatchData?) {
-            if (HmiBuildConfig.isShowObuV2iView) {
+            if (FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView) {
                 if (data != null) {
                     CallerLogger.d(
                         "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
@@ -1042,7 +1042,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
 
             }
             1 -> {//闯红灯 V2I_RLVW_VIOLATION_TYPE_RUNNING_RED_LIGHT 一个红灯周期只显示一次
-                if(HmiBuildConfig.isShowObuV2iView){
+                if(FunctionBuildConfig.v2xMainSwitch && HmiBuildConfig.isShowObuV2iView){
                     if (HmiBuildConfig.isShowRunRedLightView) {
                         if (!isShowRunRedLight) {
                             isShowRunRedLight = true
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/BagManagerListAdapter.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/BagManagerListAdapter.kt
index 381aefa746..e8b1f34210 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/BagManagerListAdapter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/biz/adapter/BagManagerListAdapter.kt
@@ -96,10 +96,12 @@ class BagManagerListAdapter: RecyclerView.Adapter<RecyclerView.ViewHolder>() {
                             //已上报
                             holder.tvBagReportStatus.text = "已上报"
                             holder.tvBagReportStatus.setBackgroundResource(R.drawable.bag_reported_button_bg)
+                            holder.tvBagReportStatus.isClickable = false
                         }else{
                             //未上报
                             holder.tvBagReportStatus.text = "上报"
                             holder.tvBagReportStatus.setBackgroundResource(R.drawable.bag_report_button_bg)
+                            holder.tvBagReportStatus.isClickable = true
                             holder.tvBagReportStatus.setOnClickListener {
                                 bagClickListener?.uploadBI(bagInfoEntity)
                             }
@@ -127,11 +129,15 @@ class BagManagerListAdapter: RecyclerView.Adapter<RecyclerView.ViewHolder>() {
                     holder.tvBagSize.text = "${bagSize}G"
 
                     //时间
-                    bagInfoEntity.timestamp?.let { time->
-                        val hour = time.substring(8,10)
-                        val min = time.substring(10,12)
-                        val second = time.substring(12,14)
-                        holder.tvBagTime.text = "${hour}:${min}:${second}"
+                    bagInfoEntity.timestamp.let { time->
+                        try {
+                            val hour = time.substring(8,10)
+                            val min = time.substring(10,12)
+                            val second = time.substring(12,14)
+                            holder.tvBagTime.text = "${hour}:${min}:${second}"
+                        }catch (e: Exception){
+                            e.printStackTrace()
+                        }
                     }
                 }
             }
diff --git 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
index e530ef6e2c..c887f5020f 100644
--- 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
@@ -382,7 +382,12 @@ internal class SOPSettingView @JvmOverloads constructor(
         }
 
         //自车光圈
-        scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        if(FunctionBuildConfig.isDrawPointCloudData){
+            //如果点云效果是打开的，则自车光圈也跟随打开
+            scCarAperture.isChecked = true
+        }else{
+            scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+        }
         scCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
             CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
             hmiAction("SOP 是否展示自车光圈，",isChecked)
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
index 9f022ffb9e..49b6c17ac4 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
@@ -30,14 +30,10 @@ import system_master.SystemStatusInfo;
 
 public class MogoRouteOverlayManager implements
         IMoGoPlanningTrajectoryListener,
-        IMoGoAutopilotStatusListener,
         IMoGoChassisLocationGCJ02Listener {
     private static volatile MogoRouteOverlayManager sInstance;
     private static final String TAG = "Route";
 
-    private final AtomicBoolean isArriveAtStation = new AtomicBoolean(false);
-    private final AtomicInteger autopilotMode = new AtomicInteger(0);
-
     private final LinkedList<List<MessagePad.TrajectoryPoint>> queue = new LinkedList<>();
 
     private MogoRouteOverlayManager() {
@@ -46,7 +42,6 @@ public class MogoRouteOverlayManager implements
 
     public void init() {
         CallerPlanningTrajectoryListenerManager.INSTANCE.addListener(TAG, this);
-        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
         CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 20,this);
     }
 
@@ -75,14 +70,16 @@ public class MogoRouteOverlayManager implements
         if (gnssInfo == null) {
             return;
         }
-        Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autopilotMode.get() + ", isArriveAtStation: " + isArriveAtStation.get());
-        if (isArriveAtStation.get() && autopilotMode.get() != 2) {
+        int autoPilotState = CallerAutoPilotStatusListenerManager.INSTANCE.getState();
+        boolean isArriveAtStation = CallerAutoPilotStatusListenerManager.INSTANCE.isArriveAtStation();
+        Log.d(TAG, "-- onChassisLocationGCJ02 -- 1 ---" + ":auto-mode:" + autoPilotState + ", isArriveAtStation: " + isArriveAtStation);
+        if (isArriveAtStation && autoPilotState != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
-        Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autopilotMode.get() + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
+        Log.d(TAG, "-- onChassisLocationGCJ02 -- 2 ---" + "auto-mode:" + autoPilotState + ", isDemoMode:" + FunctionBuildConfig.isDemoMode + ", force:" + FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView);
         boolean force = FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView || FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
-        if (!force && autopilotMode.get() != 2) {
+        if (!force && autoPilotState != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
@@ -96,66 +93,4 @@ public class MogoRouteOverlayManager implements
             }
         }
     }
-
-    @Override
-    public void onAutopilotStatusResponse(int state) {
-        if (state == 2) {
-            isArriveAtStation.set(false);
-        }
-        Log.d(TAG, "-- onAutopilotStatusResponse  ---: state:" + state);
-        this.autopilotMode.set(state);
-    }
-
-    @Override
-    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
-    }
-
-    @Override
-    public void onAutopilotArriveAtStation(MessagePad.ArrivalNotification arrivalNotification) {
-        Log.d(TAG, "-- onAutopilotArriveAtStation  --- 1 ---");
-        if (arrivalNotification == null) {
-            return;
-        }
-        Log.d(TAG, "-- onAutopilotArriveAtStation  --- 2 ---");
-        if(!HdMapBuildConfig.isMapLoaded){
-            return;
-        }
-        Log.d(TAG, "-- onAutopilotArriveAtStation  --- 3 ---");
-        if (!isArriveAtStation.get()) {
-            isArriveAtStation.set(true);
-        }
-    }
-
-
-    @Override
-    public void onAutopilotSNRequest() {
-
-    }
-
-    @Override
-    public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
-
-    }
-
-    @Override
-    public void onAutopilotIpcConnectStatusChanged(int status, @androidx.annotation.Nullable String reason) {
-    }
-
-    @Override
-    public void onAutopilotStatusRespByQuery(@NonNull SystemStatusInfo.StatusInfo status) {
-    }
-
-    @Override
-    public void onSystemStatus(@NonNull SsmInfo.SsmStatusInf statusInf) {
-    }
-
-    @Override
-    public void onAutopilotRouteLineId(long lineId) {
-
-    }
-
-    @Override
-    public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
-    }
-
 }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
index 030332407f..afe5bf3a52 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
@@ -70,6 +70,12 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
     @Volatile
     var autopilotControlParameters: AutopilotControlParameters? = null
 
+    /**
+     * 是否到站
+     */
+    @Volatile
+    var isArriveAtStation: Boolean = false
+
     override fun toString(): String {
         return "connectIP=$connectIP, connectPort=$connectPort, " +
                 "connectStatus=$connectStatus, connectDescribe=$connectStatusDescribe, version=$version, dockVersion=$dockVersion," +
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index 70ef154e84..9f614cc914 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -34,6 +34,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
 
     private var autopilotState: Int by Delegates.observable(0) { _, oldValue, newValue ->
         if (oldValue != newValue) {
+            fixAtStationState(newValue)
             M_LISTENERS.forEach {
                 val listener = it.value
                 listener.onAutopilotStatusResponse(newValue)
@@ -41,6 +42,19 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         }
     }
 
+    private fun fixAtStationState(autoPilotMode: Int) {
+        if (autoPilotMode == 2) {
+            //自驾状态下，将到站状态置为false
+            mAutopilotStatusInfo.isArriveAtStation = false
+        } else {
+            //其它状态下, 将到站状态置为false
+            val arriveAtStation = mAutopilotStatusInfo.isArriveAtStation
+            if (arriveAtStation) {
+                mAutopilotStatusInfo.isArriveAtStation = false
+            }
+        }
+    }
+
     private var dockerV: String by Delegates.observable("") { _, oldValue, newValue ->
         if (!oldValue.contentEquals(newValue)) {
             M_LISTENERS.forEach {
@@ -105,6 +119,8 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
 
     fun getAutoPilotReportMessageContent(): String = autoPilotMessageContent
 
+    fun isArriveAtStation(): Boolean = mAutopilotStatusInfo.isArriveAtStation
+
     /**
      * 通过Gnss定位更新来同步更新自动驾驶状态
      */
@@ -156,6 +172,7 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
      */
     @Synchronized
     fun invokeArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+        mAutopilotStatusInfo.isArriveAtStation = true
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotArriveAtStation(arrivalNotification)
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
index a5ee26bf19..8eb8870760 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.call.autopilot
 
-import android.util.Log
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
@@ -18,7 +17,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     init {
         isAutopilotAbility = false
         unableAutopilotReasons = disconnectedReason()
-//        printLog("初始化")
     }
 
     private fun disconnectedReason(): ArrayList<UnableLaunchReason> {
@@ -54,7 +52,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
             this.isAutopilotAbility = isConnected
             unableAutopilotReasons = if (isConnected) null else disconnectedReason()
             notification()
-//            printLog("更新数据 连接状态变更")
         }
     }
 
@@ -62,9 +59,6 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
     fun invokeAutopilotAbility(
         isAutopilotAbility: Boolean, unableAutopilotReasons: ArrayList<UnableLaunchReason>?
     ) {
-        Log.i(
-            "xfk",
-            "CallerAutopilotActionsListenerManager invokeAutopilotAbility=${CallerAutopilotActionsListenerManager.isAutopilotAbility} ${(if (CallerAutopilotActionsListenerManager.unableAutopilotReasons == null) null else CallerAutopilotActionsListenerManager.unableAutopilotReasons.toString())}")
         if (isConnected) {
             var isEquals: Boolean = true
             if (unableAutopilotReasons != null && this.unableAutopilotReasons != null) {
@@ -73,41 +67,22 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
                     this.unableAutopilotReasons?.let { old ->
                         old.sortWith(compareBy(UnableLaunchReason::hashCode));
                         isEquals = onw.toTypedArray() contentEquals old.toTypedArray()
-//                        Log.i(
-//                            "ddd",
-//                            "都不为null时=${isEquals}=${this.isAutopilotAbility} ${(if (this.unableAutopilotReasons == null) null else this.unableAutopilotReasons.toString())}"
-//                        )
                     }
                 }
             } else isEquals =
                 !(unableAutopilotReasons != null || this.unableAutopilotReasons != null)
-//            Log.i(
-//                "ddd",
-//                " 两个List是否相同=${isEquals} 新是否能启动自驾=${isAutopilotAbility} 老是否能启动自驾=${this.isAutopilotAbility} 新List是否为空=${unableAutopilotReasons == null} 老List是否为空=${this.unableAutopilotReasons == null}"
-//            )
             if (this.isAutopilotAbility != isAutopilotAbility || !isEquals) {
                 this.isAutopilotAbility = isAutopilotAbility
                 this.unableAutopilotReasons = unableAutopilotReasons
                 notification()
-//                printLog("更新数据")
             }
         }
     }
 
     private fun notification() {
-        Log.i(
-            "xfk",
-            "CallerAutopilotActionsListenerManager 通知=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}")
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotAbility(isAutopilotAbility, unableAutopilotReasons)
         }
     }
-
-//    fun printLog(tag: String) {
-//        Log.i(
-//            "xfk",
-//            "${tag}=${isAutopilotAbility} ${(if (unableAutopilotReasons == null) null else unableAutopilotReasons.toString())}"
-//        )
-//    }
 }
\ No newline at end of file