diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
index 76e82209f0..fc100d6ad6 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -4,6 +4,7 @@ import android.Manifest.permission
 import android.content.Context
 import android.util.Log
 import androidx.annotation.RequiresPermission
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.app.AppConfigInfo
@@ -533,4 +534,9 @@ class MoGoAutopilotProvider :
         Log.d(TAG, "---- sendStatusQueryReq ----")
         AdasManager.getInstance().sendStatusQueryReq()
     }
+
+    override fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
+        Log.d(TAG, "---- sendSweeperFuTianTaskCmd ----")
+        AdasManager.getInstance().sendRoboSweeperFuTianTaskCmd(fuTianTaskCmd)
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
index 2ad188b830..f36f3681d4 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.autopilot.adapter
 
-import android.util.*
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
@@ -45,7 +44,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
-import com.mogo.eagle.core.network.utils.*
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.common.ProtocolStatus
@@ -57,7 +55,6 @@ import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import prediction.Prediction
 import record_cache.RecordPanelOuterClass
-import rule_segement.MogoPointCloudOuterClass
 import system_master.SystemStatusInfo
 
 /**
@@ -162,7 +159,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
             //刹车
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
-
+            //清扫车（福田）清扫控制系统状态
+            vehicleState.sweeperFutianCleanSystemState?.also {
+                CallerAutopilotVehicleStateListenerManager.invokeSweeperFutianCleanSystemState(it)
+            }
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
         }
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
index ee651b95c2..6db47cdab3 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -4,6 +4,7 @@ import android.content.Context;
 import android.text.TextUtils;
 import android.util.Log;
 
+import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
@@ -23,6 +24,7 @@ import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import org.jetbrains.annotations.NotNull;
 
 import chassis.Chassis;
+import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
 
 public class MoGoHandAdasMsgManager implements
@@ -166,4 +168,9 @@ public class MoGoHandAdasMsgManager implements
     public void onAutopilotBrake(float brake) {
 
     }
+
+    @Override
+    public void onSweeperFutianCleanSystemState(VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index 0e254a00b2..99ea3ba91d 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -4,6 +4,7 @@ import android.content.*
 import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
+import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
@@ -81,6 +82,11 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         send(CanStatus(isCanEnabled()))
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 18bc7c28dc..1fb0bdf472 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -19,6 +19,7 @@ import androidx.core.content.ContextCompat
 import androidx.core.view.*
 import androidx.recyclerview.widget.LinearLayoutManager
 import chassis.Chassis
+import chassis.VehicleStateOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.AbsMogoApplication
@@ -1984,6 +1985,13 @@ class DebugSettingView @JvmOverloads constructor(
 
     }
 
+    /**
+     * 清扫车（福田）清扫控制系统状态
+     */
+    override fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState) {
+
+    }
+
     /**
      * 吐司提示
      */
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
index 67594f090e..7fe1bbbc7c 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -28,6 +28,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import org.jetbrains.annotations.NotNull;
 
 import chassis.Chassis;
+import chassis.VehicleStateOuterClass;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
@@ -170,6 +171,10 @@ public class SteeringWheelView extends ConstraintLayout {
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
 
+        @Override
+        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        }
+
         /**
          * @param brake 刹车
          */
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
index cc2d7aa78d..d8c2f8a433 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -24,6 +24,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import org.jetbrains.annotations.NotNull;
 
 import chassis.Chassis;
+import chassis.VehicleStateOuterClass;
 
 /**
  * @author Jing
@@ -123,6 +124,10 @@ public class TrafficDataView extends ConstraintLayout {
     }
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
+        @Override
+        public void onSweeperFutianCleanSystemState(@NonNull VehicleStateOuterClass.SweeperFuTianCleanSystemState cleanSystemState) {
+        }
+
         /**
          * 车辆转向灯
          * @param lightSwitch
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
index a360b916a5..340678071a 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.api.autopilot
 
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
@@ -205,4 +206,9 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
      * 主动查询工控机的各topic状态
      */
     fun sendStatusQueryReq()
+
+    /**
+     * 福田清扫车业务指令下发
+     */
+    fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd)
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
index 75bde9e46f..bc80cc6fd9 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
@@ -1,7 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import chassis.Chassis
-import mogo.telematics.pad.MessagePad
+import chassis.VehicleStateOuterClass
 
 /**
  * 车辆底盘 数据 回调监听
@@ -52,4 +52,9 @@ interface IMoGoAutopilotVehicleStateListener {
      * 刹车
      */
     fun onAutopilotBrake(brake: Float)
+
+    /**
+     * 清扫车（福田）清扫控制系统状态
+     */
+    fun onSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState)
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
index 7f3da3c452..5ef749755d 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.call.autopilot
 
 import android.os.SystemClock
+import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
@@ -263,4 +264,11 @@ object CallerAutoPilotManager {
     fun sendStatusQueryReq() {
         providerApi?.sendStatusQueryReq()
     }
+
+    /**
+     * 福田清扫车业务指令下发
+     */
+    fun sendSweeperFuTianTaskCmd(fuTianTaskCmd: SpecialVehicleTaskCmdOuterClass.RoboSweeperFuTianTaskCmd) {
+        providerApi?.sendSweeperFuTianTaskCmd(fuTianTaskCmd)
+    }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
index df4cd2c638..a704804633 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import androidx.annotation.Nullable
 import chassis.Chassis
+import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
@@ -132,6 +133,16 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * clean system state 清扫车（福田）清扫控制系统状态
+     */
+    fun invokeSweeperFutianCleanSystemState(cleanSystemState: VehicleStateOuterClass.SweeperFuTianCleanSystemState){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onSweeperFutianCleanSystemState(cleanSystemState)
+        }
+    }
+
 
     /**
      * 工控机时间回调