diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index 5471b06c29..150b401a24 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -4,9 +4,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
 import static com.mogo.och.bus.constant.BusConst.TIMER_START_AUTOPILOT_INTERVAL;
 
 import android.animation.ObjectAnimator;
-import android.content.Intent;
 import android.os.Bundle;
-import android.util.DisplayMetrics;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -21,12 +19,9 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.Group;
 
-import com.mogo.commons.AbsMogoApplication;
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
-import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.config.HmiBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
@@ -39,24 +34,20 @@ import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.widget.TrafficDataView;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.MogoMapUIController;
-import com.mogo.map.MogoMarkerManager;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.och.bus.R;
 import com.mogo.och.bus.bean.BusRoutesResult;
-import com.mogo.och.bus.constant.BusConst;
 import com.mogo.och.bus.model.BusOrderModel;
 import com.mogo.och.bus.util.BDRouteDataTestUtils;
 import com.mogo.och.bus.view.SlidePanelView;
 import com.mogo.och.common.module.utils.SoundPoolHelper;
 
 import org.greenrobot.eventbus.EventBus;
-import org.greenrobot.eventbus.ThreadMode;
 
 import java.util.Objects;
 
@@ -143,14 +134,16 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                 //切换地图的远近视图
                 if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isLongSight()
                         || MogoMapUIController.getInstance().getCurrentMapVisualAngle().isRoma()) {
-                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                    if(FunctionBuildConfig.isRomaMode){
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                    }
                     Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                     MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                     mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
                 } else if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isMediumSight()) {
-                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
                     if (FunctionBuildConfig.isRomaMode) {
-                        MogoMapUIController.getInstance().setRomaMode(1);
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
+                        MogoMapUIController.getInstance().setRomaMode(FunctionBuildConfig.romaModeStyle);
                     } else {
                         Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
                         MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
index be3d5debb4..0b0504f76e 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
@@ -130,14 +130,16 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
                 //视角切换
                 if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isLongSight()
                         || MogoMapUIController.getInstance().getCurrentMapVisualAngle().isRoma()) {
-                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                    if(FunctionBuildConfig.isRomaMode){
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                    }
                     Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                     MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                     mMapswitchBtn.setImageResource(R.drawable.taxi_p_switch_map_medium);
                 } else if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isMediumSight()) {
-                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
                     if (FunctionBuildConfig.isRomaMode) {
-                        MogoMapUIController.getInstance().setRomaMode(1);
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
+                        MogoMapUIController.getInstance().setRomaMode(FunctionBuildConfig.romaModeStyle);
                     } else {
                         Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
                         MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 9708f59da7..c74774fdb5 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -180,14 +180,16 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
                 try {
                     if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isLongSight()
                         || MogoMapUIController.getInstance().getCurrentMapVisualAngle().isRoma()) {
-                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                        if(FunctionBuildConfig.isRomaMode){
+                            CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                        }
                         Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
                     } else if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isMediumSight()) {
-                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
                         if (FunctionBuildConfig.isRomaMode) {
-                            MogoMapUIController.getInstance().setRomaMode(1);
+                            CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
+                            MogoMapUIController.getInstance().setRomaMode(FunctionBuildConfig.romaModeStyle);
                         } else {
                             Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
                             MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
diff --git a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
index f484c74f53..0f3a288a2d 100644
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
@@ -94,7 +94,7 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
 
     @Override
     public void modifyCarInfo(BindingcarCallBack callBack) {
-        BindingcarNetWorkManager.getInstance().modifyBindingcar(mAddress, mWidevineIDWithMd5, callBack, getScreenType());
+        BindingcarNetWorkManager.getInstance().modifyBindingcar(mContext, mAddress, mWidevineIDWithMd5, callBack, getScreenType());
     }
 
     private void driverScreen(String macAddress, String widevineIDWithMd5) {
diff --git a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java
index b687adde48..4f563ecc8a 100644
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/network/BindingcarNetWorkManager.java
@@ -80,7 +80,9 @@ public class BindingcarNetWorkManager {
                         if (info != null && info.getData() != null) {
                             CallerLogger.INSTANCE.d(M_BINDING + TAG, "getBindingcarInfo onNext info.getData() =" + info.getData().toString());
                             //根据车辆类型切换不同的车辆模型,只针对红旗做处理
-                            updateCarVrIconRes(info.getData().getBrandId());
+                            if (!SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.MAC_ADDRESS).equals(macAddress)) {
+                                updateCarVrIconRes(info.getData().getBrandId());
+                            }
                             switch (info.getData().getCompare()) {
                                 case "0":
                                     CallerHmiManager.INSTANCE.showBindingcarDialog();
@@ -93,6 +95,7 @@ public class BindingcarNetWorkManager {
                                     break;
                             }
                             SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.CAR_INFO, GsonUtils.toJson(info.getData()));
+                            SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.MAC_ADDRESS, macAddress);
                         }
                     }
 
@@ -112,7 +115,7 @@ public class BindingcarNetWorkManager {
      * 绑定和修改绑定车辆
      * mac: 48:b0:2d:3a:9c:19
      */
-    public void modifyBindingcar(String macAddress, String widevineIDWithMd5, BindingcarCallBack callBack, int screenType) {
+    public void modifyBindingcar(Context context, String macAddress, String widevineIDWithMd5, BindingcarCallBack callBack, int screenType) {
 //        String macAddress1 = "48:b0:2d:4d:33:40";
 //        String sn = "X2020220417KA94QIN";
         BindingcarRequest request = new BindingcarRequest(macAddress, widevineIDWithMd5, screenType);
@@ -130,7 +133,10 @@ public class BindingcarNetWorkManager {
                         if (info != null) {
                             callBack.callBackResult(info);
                             CallerLogger.INSTANCE.d(M_BINDING + TAG, "modifyBindingcar onNext code = " + info.code + "---msg = " + info.msg + "--info.toString() = " + info.toString());
-                            updateCarVrIconRes(info.getData().getBrandId());
+                            if (!SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.MAC_ADDRESS).equals(macAddress)) {
+                                updateCarVrIconRes(info.getData().getBrandId());
+                            }
+                            SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.MAC_ADDRESS, macAddress);
                         }
                     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt
index e30cd5c3fa..584acbe0ca 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt
@@ -86,9 +86,13 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor(
             if(isShowData){
                 CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
                 if(category == MsgCategory.RECORD_BAG){
-                    //弹出被动录包弹窗
-                    CallerDevaToolsManager.onReceiveBadCaseRecord(msgBoxBean,context as Activity,true)
-                }else{
+                    if(!FunctionBuildConfig.isDemoMode){
+                        //弹出被动录包弹窗
+                        CallerDevaToolsManager.onReceiveBadCaseRecord(msgBoxBean,context as Activity,true)
+                    }
+                } else if(category == MsgCategory.SYS_INFO){
+                    //todo 过滤MAP系统异常报警
+                } else{
                     clMsgBubbleLayout.visibility = View.VISIBLE
                     dataList.add(msgBoxBean)
                     driverMsgBoxBubbleAdapter?.setData(dataList)
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 8fe270ab24..ccbd434483 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
@@ -235,7 +235,10 @@ class DebugSettingView @JvmOverloads constructor(
         CallerAutopilotVehicleStateListenerManager.removeListener(TAG)
 
         // 移除 业务配置监听
-        CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener( FuncBizConfig.FOUNDATION, TAG)
+        CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener(
+            FuncBizConfig.FOUNDATION,
+            TAG
+        )
 
         if (logInfoView != null) {
             logInfoView!!.onEnterBackground()
@@ -577,7 +580,7 @@ class DebugSettingView @JvmOverloads constructor(
         }
 
         btnDrawFusion.isChecked = FunctionBuildConfig.isFusionColor
-        btnDrawFusion.setOnCheckedChangeListener{_, isChecked ->
+        btnDrawFusion.setOnCheckedChangeListener { _, isChecked ->
             FunctionBuildConfig.isFusionColor = isChecked
         }
 
@@ -587,7 +590,11 @@ class DebugSettingView @JvmOverloads constructor(
         // 演示模式
         tbIsDemoMode.setOnCheckedChangeListener { _, _ ->
             FunctionBuildConfig.isDemoMode = !FunctionBuildConfig.isDemoMode
-            CallerHmiManager.updateStatusBarLeftView(FunctionBuildConfig.isDemoMode, "demoMode", DemoModeView(context))
+            CallerHmiManager.updateStatusBarLeftView(
+                FunctionBuildConfig.isDemoMode,
+                "demoMode",
+                DemoModeView(context)
+            )
             CallerAutoPilotManager.setDemoMode(FunctionBuildConfig.isDemoMode)
             if (!FunctionBuildConfig.isDemoMode) {
                 //关闭美化模式时，通知工控机
@@ -645,7 +652,7 @@ class DebugSettingView @JvmOverloads constructor(
         }
 
         tbDrawRomaMode.isChecked = FunctionBuildConfig.isRomaMode
-        //云端感知绘制
+        //漫游模式开启控制
         tbDrawRomaMode.setOnCheckedChangeListener { _, isChecked ->
             FunctionBuildConfig.isRomaMode = isChecked
             if (!FunctionBuildConfig.isRomaMode) {
@@ -653,6 +660,19 @@ class DebugSettingView @JvmOverloads constructor(
             }
         }
 
+        tbRomaModeStyle.isChecked = FunctionBuildConfig.romaModeStyle == 1
+        //漫游模式选择
+        tbRomaModeStyle.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                FunctionBuildConfig.romaModeStyle = 1
+            } else {
+                FunctionBuildConfig.romaModeStyle = 0
+            }
+            if (FunctionBuildConfig.romaModeStyle != 1) {
+                tbRomaModeStyle.isChecked = false
+            }
+        }
+
         //重启工控机所有节点
         btnIpcReboot.onClick {
             CallerAutoPilotManager.sendIpcReboot()
@@ -1865,9 +1885,9 @@ class DebugSettingView @JvmOverloads constructor(
         mTrajectoryInfoSize = 0
         mRouteInfoSize = 0
 
-        if(FunctionBuildConfig.isDemoMode){
+        if (FunctionBuildConfig.isDemoMode) {
             tbIsDemoMode.text = "关闭美化模式"
-        }else{
+        } else {
             tbIsDemoMode.text = "开启美化模式"
         }
 
@@ -1956,7 +1976,7 @@ class DebugSettingView @JvmOverloads constructor(
         when (type) {
             BIZ_BEAUTY_MODE -> {
                 tbIsDemoMode.isClickable = !lock
-                val (left,top,right,bottom) = tbIsDemoMode.currentPadding()
+                val (left, top, right, bottom) = tbIsDemoMode.currentPadding()
                 if (lock) {
                     tbIsDemoMode.background =
                         resources.getDrawable(R.drawable.radio_button_lock_background)
@@ -1964,11 +1984,11 @@ class DebugSettingView @JvmOverloads constructor(
                     tbIsDemoMode.background =
                         resources.getDrawable(R.drawable.radio_button_normal_background_right)
                 }
-                tbIsDemoMode.setPadding(left,top,right,bottom)
+                tbIsDemoMode.setPadding(left, top, right, bottom)
             }
             BIZ_RAIN_MODE -> {
                 tbIsRainMode.isClickable = !lock
-                val (left,top,right,bottom) = tbIsRainMode.currentPadding()
+                val (left, top, right, bottom) = tbIsRainMode.currentPadding()
                 if (lock) {
                     tbIsRainMode.background =
                         resources.getDrawable(R.drawable.radio_button_lock_background)
@@ -1976,21 +1996,21 @@ class DebugSettingView @JvmOverloads constructor(
                     tbIsRainMode.background =
                         resources.getDrawable(R.drawable.radio_button_normal_background_right)
                 }
-                tbIsRainMode.setPadding(left,top,right,bottom)
+                tbIsRainMode.setPadding(left, top, right, bottom)
             }
             BIZ_WARNING_UPLOAD -> {
                 tbReportWarning.isClickable = !lock
-                val (left,top,right,bottom) = tbReportWarning.currentPadding()
+                val (left, top, right, bottom) = tbReportWarning.currentPadding()
                 if (lock) {
                     tbReportWarning.background =
                         resources.getDrawable(R.drawable.radio_button_lock_background)
                 } else {
                     tbReportWarning.background = null
                 }
-                tbReportWarning.setPadding(left,top,right,bottom)
+                tbReportWarning.setPadding(left, top, right, bottom)
             }
             BIZ_BAG_RECORD -> {
-                val (left,top,right,bottom) = btnRecordBag.currentPadding()
+                val (left, top, right, bottom) = btnRecordBag.currentPadding()
                 if (lock) {
                     btnRecordBag.isClickable = false
                     btnRecordBag.background =
@@ -2000,10 +2020,10 @@ class DebugSettingView @JvmOverloads constructor(
                     btnRecordBag.requestFocus()
                     btnRecordBag.background = null
                 }
-                btnRecordBag.setPadding(left,top,right,bottom)
+                btnRecordBag.setPadding(left, top, right, bottom)
             }
             BIZ_FULL_LOG -> {
-                val (left,top,right,bottom) = tbLogCatch.currentPadding()
+                val (left, top, right, bottom) = tbLogCatch.currentPadding()
                 if (lock) {
                     tbLogCatch.isClickable = false
                     tbLogCatch.background =
@@ -2013,7 +2033,7 @@ class DebugSettingView @JvmOverloads constructor(
                     tbLogCatch.requestFocus()
                     tbLogCatch.background = null
                 }
-                tbLogCatch.setPadding(left,top,right,bottom)
+                tbLogCatch.setPadding(left, top, right, bottom)
             }
         }
     }
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 6865374f1c..87f08bde14 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
@@ -188,11 +188,12 @@ class SOPSettingView @JvmOverloads constructor(
         tbObu.isChecked = CallerOBUManager.isConnected()
         tbObu.setOnCheckedChangeListener { _, isChecked ->
             if (!isChecked) {
-                if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-                    CallerOBUManager.resetObuIpAddress("192.168.1.199")
-                } else if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
-                    CallerOBUManager.resetObuIpAddress("192.168.8.199")
-                }
+                CallerOBUManager.resetObuIpAddress("192.168.1.199")
+//                if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
+//                    CallerOBUManager.resetObuIpAddress("192.168.1.199")
+//                } else if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
+//                    CallerOBUManager.resetObuIpAddress("192.168.8.199")
+//                }
             } else {
                 //断开链接
                 CallerOBUManager.disConnectObu()
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
index 012b4f7f38..57da422786 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
@@ -10,10 +10,8 @@ import android.os.Bundle;
 import android.os.Handler;
 import android.os.Process;
 import android.text.TextUtils;
-import android.util.Log;
 import android.view.KeyEvent;
 import android.widget.FrameLayout;
-
 import androidx.annotation.Nullable;
 
 import com.alibaba.android.arouter.launcher.ARouter;
@@ -25,7 +23,6 @@ import com.mogo.eagle.core.function.api.base.IMoGoFunctionProvider;
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
@@ -76,6 +73,11 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     private long pressEDownTime = 0;
     private long pressEUpTime = 0;
 
+    private int clickTime = 300; //单击
+    private int clickTimeInterval = 330;
+    private int longPressTime = 670;
+    private int longPressTimeInterval = 700;
+
 
     @Override
     protected void onCreate(@Nullable Bundle savedInstanceState) {
@@ -219,7 +221,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 if (event.getAction() == KeyEvent.ACTION_DOWN) {
                     pressADownTime = System.currentTimeMillis();
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent A down pressADownTime = " + pressADownTime + "---" + (pressADownTime - startPressTime) + "----isCombinationKey = " + isCombinationKey + "--pressBDownTime = " + pressBDownTime);
-                    if ((pressADownTime - startPressTime) > 360 && (pressADownTime - startPressTime) < 1300 && pressBDownTime > 0) {
+                    if ((pressADownTime - startPressTime) > clickTimeInterval && (pressADownTime - startPressTime) < longPressTime && pressBDownTime > 0) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 A 按AB组合 +1 ");
                         }
@@ -228,7 +230,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                     }
 
                     if (isCombinationKey != 3 && isCombinationKey != 1) {
-                        if ((pressADownTime - startPressTime) > 1320) {
+                        if ((pressADownTime - startPressTime) > longPressTimeInterval) {
                             if (isShowToast) {
                                 ToastUtils.showShort("方块 长按A -2 ");
                             }
@@ -239,7 +241,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 } else if (event.getAction() == KeyEvent.ACTION_UP) {
                     pressAUpTime = System.currentTimeMillis();
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent A up    pressAUpTime = " + pressAUpTime + "---" + (pressAUpTime - startPressTime) + "--pressBDownTime = " + pressBDownTime);
-                    if ((pressAUpTime - startPressTime) < 350 && isCombinationKey != 3) {
+                    if ((pressAUpTime - startPressTime) < clickTime && isCombinationKey != 3) {
                         isCombinationKey = 1;
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击A -1 ");
@@ -260,7 +262,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 if (event.getAction() == KeyEvent.ACTION_DOWN) {
                     pressBDownTime = System.currentTimeMillis();
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent B down pressBDownTime = " + pressBDownTime + "--差-" + (pressBDownTime - startPressTime) + "---isCombinationKey = " + isCombinationKey + "--pressADownTime = " + pressADownTime);
-                    if ((pressBDownTime - startPressTime) > 360 && (pressBDownTime - startPressTime) < 1300 && pressADownTime > 0) {
+                    if ((pressBDownTime - startPressTime) > clickTimeInterval && (pressBDownTime - startPressTime) < longPressTime && pressADownTime > 0) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 B 按AB组合 +1 ");
                         }
@@ -268,7 +270,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                         isCombinationKey = 3;
                     }
                     if (isCombinationKey != 3 && isCombinationKey != 1) {
-                        if ((pressBDownTime - startPressTime) > 1320) {
+                        if ((pressBDownTime - startPressTime) > longPressTimeInterval) {
                             if (isShowToast) {
                                 ToastUtils.showShort("方块 长按B 无操作 ");
                             }
@@ -278,7 +280,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 } else if (event.getAction() == KeyEvent.ACTION_UP) {
                     pressBUpTime = System.currentTimeMillis();
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent B up   pressBUpTime = " + pressBUpTime + "--差-" + (pressBUpTime - startPressTime) + "--pressADownTime = " + pressADownTime);
-                    if ((pressBUpTime - startPressTime) < 350 && isCombinationKey != 3) {
+                    if ((pressBUpTime - startPressTime) < clickTime && isCombinationKey != 3) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击B  0 ");
                         }
@@ -300,7 +302,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 if (event.getAction() == KeyEvent.ACTION_DOWN) {
                     pressCDownTime = System.currentTimeMillis();
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 长按C 无操作 time dif = " + (pressCDownTime - startPressTime));
-                    if ((pressCDownTime - startPressTime) > 1320) {
+                    if ((pressCDownTime - startPressTime) > longPressTimeInterval) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 长按C 无操作 ");
                         }
@@ -309,7 +311,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                     pressCUpTime = System.currentTimeMillis();
                     isPressEnd = false;
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 单击C ← 向左变道 time dif = " + (pressCUpTime - startPressTime));
-                    if ((pressCUpTime - startPressTime) < 350) {
+                    if ((pressCUpTime - startPressTime) < clickTime) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击C ← 向左变道 ");
                         }
@@ -321,7 +323,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 if (event.getAction() == KeyEvent.ACTION_DOWN) {
                     pressDDownTime = System.currentTimeMillis();
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 长按D 无操作 time dif = " + (pressDDownTime - startPressTime));
-                    if ((pressDDownTime - startPressTime) > 1320) {
+                    if ((pressDDownTime - startPressTime) > longPressTimeInterval) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 长按D 无操作 ");
                         }
@@ -330,7 +332,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                     pressDUpTime = System.currentTimeMillis();
                     isPressEnd = false;
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 单击D → 向右变道 time dif = " + (pressDUpTime - startPressTime));
-                    if ((pressDUpTime - startPressTime) < 350) {
+                    if ((pressDUpTime - startPressTime) < clickTime) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击D → 向右变道 ");
                         }
@@ -342,7 +344,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                 if (event.getAction() == KeyEvent.ACTION_DOWN) {
                     pressEDownTime = System.currentTimeMillis();
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "dispatchKeyEvent 方块 长按E 鸣笛 time dif = " + (pressEDownTime - startPressTime));
-                    if ((pressEDownTime - startPressTime) > 1320) {
+                    if ((pressEDownTime - startPressTime) > longPressTimeInterval) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 长按E 鸣笛 ");
                         }
@@ -362,7 +364,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
                     pressEUpTime = System.currentTimeMillis();
                     isPressEnd = false;
                     CallerLogger.INSTANCE.d(M_F + "MoFangManager", "方块 单击E 开启自动驾驶 time dif = " + (pressEUpTime - startPressTime));
-                    if ((pressEUpTime - startPressTime) < 350) {
+                    if ((pressEUpTime - startPressTime) < clickTime) {
                         if (isShowToast) {
                             ToastUtils.showShort("方块 单击E 开启自动驾驶 ");
                         }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index bef611254c..42d78ba369 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -278,6 +278,18 @@
                 android:textOn="关闭漫游模式"
                 android:textSize="@dimen/dp_24" />
 
+            <ToggleButton
+                android:id="@+id/tbRomaModeStyle"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启循迹漫游"
+                android:textOn="开启自由漫游"
+                android:textSize="@dimen/dp_24" />
+
             <ToggleButton
                 android:id="@+id/tbMojie"
                 android:layout_width="match_parent"
diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt
index a4de8e25d8..a4ab0a31ea 100644
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MoGoObuProvider.kt
@@ -21,8 +21,7 @@ class MoGoObuProvider : IMoGoObuProvider {
     private val TAG = "MoGoObuProvider"
 
     private var mContext: Context? = null
-    private val busObuIp = "192.168.8.199"
-    private val taxiObuIp = "192.168.1.199"
+    private val taxiObuIp = "192.168.1.199" //taxi和bus网段统一
 
     override val functionName: String
         get() = TAG
@@ -44,32 +43,14 @@ class MoGoObuProvider : IMoGoObuProvider {
         } else {
             mContext = context
             mContext?.let {
-                if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //bus 司机端
-                    val ipAddress =
-                        SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, busObuIp)
-
-                    //mogo obu
-                    MogoPrivateObuNewManager.INSTANCE.connectObu(
-                        it,
-                        ipAddress,
-                        CommonUtils.getIpAddressString()
-                    )
-
-                    //old obu
-                    MogoPrivateObuManager.INSTANCE.init(context, ipAddress)
-                } else if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) { //taxi 司机端和乘客端
-                    val ipAddress =
-                        SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
-                    //mogo obu
-                    MogoPrivateObuNewManager.INSTANCE.connectObu(
-                        it,
-                        ipAddress,
-                        CommonUtils.getIpAddressString()
-                    )
-
-                    //old obu
-                    MogoPrivateObuManager.INSTANCE.init(context, ipAddress)
-                }
+                val ipAddress =
+                    SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
+                //mogo obu
+                MogoPrivateObuNewManager.INSTANCE.connectObu(
+                    it,
+                    ipAddress,
+                    CommonUtils.getIpAddressString()
+                )
             }
         }
     }
diff --git a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
index e22a0d3f7e..c012b9f31e 100644
--- a/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-obu-mogo/src/main/java/com/mogo/eagle/core/function/obu/mogo/MogoPrivateObuNewManager.kt
@@ -18,6 +18,7 @@ import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Defa
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.TooClose
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.obu.CallerObuListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightDisappearManager
 import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallObuLimitingSpeedListenerManager
 import com.mogo.eagle.core.function.obu.mogo.utils.TrafficDataConvertUtilsNew
@@ -106,13 +107,6 @@ class MogoPrivateObuNewManager private constructor() {
                 mObuStatusInfo.obuStatus = true
                 CallerObuListenerManager.invokeListener(mObuStatusInfo)
                 mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU", true) }
-
-                //断开老obu
-                try {
-                    com.zhidao.support.obu.MogoObuManager.getInstance().disConnect()
-                } catch (e: Exception) {
-                    e.printStackTrace()
-                }
             }
         }
 
@@ -765,30 +759,35 @@ class MogoPrivateObuNewManager private constructor() {
         //  这里排除需要特殊定制的语音及文案外,其余的都可以使用 EventTypeEnumNew 提供的
         var alertContent: String = ""
         var ttsContent: String = ""
+        var saveAppId: String = ""
         var changeVisualAngle = false
         when (appId) {
-            //交叉路口碰撞预警
+            //前向碰撞预警
             MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType
             }
 
             //交叉路口碰撞预警
             MogoObuConstants.V2X_WARNING_TYPE.ICW.toString() -> {
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_ICW.poiType
             }
 
             //左转辅助预警
             MogoObuConstants.V2X_WARNING_TYPE.LTA.toString() -> {
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_LTA.poiType
             }
 
             //盲区预警
             MogoObuConstants.V2X_WARNING_TYPE.BSW.toString() -> {
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_BSW.poiType
                 if (
                     direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
                     direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
@@ -812,6 +811,7 @@ class MogoPrivateObuNewManager private constructor() {
             MogoObuConstants.V2X_WARNING_TYPE.LCW.toString() -> {
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_LCW.poiType
                 if (
                     direction == WarningDirectionEnum.ALERT_WARNING_LEFT ||
                     direction == WarningDirectionEnum.ALERT_WARNING_TOP_LEFT ||
@@ -833,12 +833,14 @@ class MogoPrivateObuNewManager private constructor() {
             MogoObuConstants.V2X_WARNING_TYPE.DNPW.toString() -> {
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_DNPW.poiType
             }
 
             //紧急制动预警
             MogoObuConstants.V2X_WARNING_TYPE.EBW.toString() -> {
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_EBW.poiType
             }
 
             //异常车辆提醒
@@ -847,6 +849,7 @@ class MogoPrivateObuNewManager private constructor() {
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType)
                 alertContent = String.format(alertContent, direction.desc)
                 ttsContent = String.format(ttsContent, direction.desc)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_AVW.poiType
             }
 
             //车辆失控预警
@@ -855,11 +858,13 @@ class MogoPrivateObuNewManager private constructor() {
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType)
                 alertContent = String.format(alertContent, direction.desc)
                 ttsContent = String.format(ttsContent, direction.desc)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_CLW.poiType
             }
             //车辆失控预警
             MogoObuConstants.V2X_WARNING_TYPE.EVW.toString() -> {
                 alertContent = EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
                 ttsContent = EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
+                saveAppId = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
             }
 
             // 这里处理固定的提示信息,包括了<紧急车辆提醒>
@@ -875,7 +880,7 @@ class MogoPrivateObuNewManager private constructor() {
             MogoObuConstants.STATUS.UPDATE -> {
                 CallerLogger.d(
                     "$M_OBU${MogoObuConst.TAG_MOGO_NEW_OBU}",
-                    "new handleSdkObu appId2 = $appId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
+                    "new handleSdkObu appId2 = $saveAppId --- level = $level ---ttsContent = $ttsContent --- alertContent = $alertContent --- direction = $direction"
                 )
                 if (level == 2 || level == 3) {
                     //不显示弹框，其它保留
@@ -883,7 +888,7 @@ class MogoPrivateObuNewManager private constructor() {
                         MsgBoxBean(
                             MsgBoxType.V2X,
                             V2XMsg(
-                                appId,
+                                saveAppId,
                                 alertContent,
                                 ttsContent
                             )
@@ -892,10 +897,10 @@ class MogoPrivateObuNewManager private constructor() {
                         }
                     )
                     CallerHmiManager.warningV2X(
-                        appId,
+                        saveAppId,
                         alertContent,
                         ttsContent,// 只有第一次才tts，防止更新的时候不断的提醒
-                        (appId + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
+                        (saveAppId + direction.direction),//使用当前事件类型+方向记录tag，当发生变化的时候关闭当前弹出新的
                         object : IMoGoWarningStatusListener {
                             override fun onShow() {
                                 super.onShow()
@@ -965,9 +970,7 @@ class MogoPrivateObuNewManager private constructor() {
                 isShowGreenWave = false
                 isShowRunRedLight = false
                 isYellowLight = false
-//                lightCountDownRed = 1
-//                lightCountDownGreen = 1
-//                lightCountDownYellow = 1
+                CallerObuTrafficLightDisappearManager.invokeObuTrafficLightDisappear()
             }
         }
     }
@@ -978,11 +981,6 @@ class MogoPrivateObuNewManager private constructor() {
     private var isShowGreenWave = false
     private var isShowRunRedLight = false
 
-//    private var lightCountDownRed : Int = 1
-//    private var lightCountDownGreen : Int = 1
-//    private var lightCountDownYellow : Int = 1
-
-
     /**
      * 修改红绿灯
      */
@@ -1051,15 +1049,9 @@ class MogoPrivateObuNewManager private constructor() {
                     if (minSpeedTemp == maxSpeedTemp) {
                         minSpeedTemp -= 5
                     }
-
                     val adviceSpeed = "$minSpeedTemp - $maxSpeedTemp"
                     val adviceSpeedTts = "$minSpeedTemp 到 $maxSpeedTemp"
 
-//                    val adviceSpeed =
-//                        "${Math.round(currentLight.suggestMinSpeed*3.6)} - ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
-//                    val adviceSpeedTts =
-//                        "${Math.round(currentLight.suggestMinSpeed*3.6)} 到 ${Math.round(currentLight.suggestMaxSpeed*3.6)}"
-
                     ttsContent =
                         String.format(
                             EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_IVP_GREEN.poiType),
@@ -1107,87 +1099,42 @@ class MogoPrivateObuNewManager private constructor() {
             }
             // 红灯
             2, 3 -> {
-//                if (!isGreenLight) { //只有不是是绿灯，才能展示跳转到红灯
                     if (!isRedLight) {
                         CallerHmiManager.disableWarningV2X(appId.toString())
                         isRedLight = true
                     }
                     isGreenLight = false
                     isYellowLight = false
-//                    lightCountDownYellow = 1
-//                    lightCountDownGreen = 1
-
                     CallerObuTrafficLightListenerManager.invokeObuTrafficLight(1)
                     val red = currentLight.countDown.toInt()
-//                    Log.e("lixp", " ----11--- red --------- = $red ----lightCountDownRed = $lightCountDownRed ----isGreenLight = $isGreenLight")
-//                    //记录当前红灯的上一帧的值 10,9,10
-//                    if (lightCountDownRed == 1) { //最后一个灯态是1
-//                        lightCountDownRed = red
-//                    }
-//
-//                    if (lightCountDownRed < red) { //10  9
-//                        return
-//                    }
-//                    lightCountDownRed = red
-//                    Log.e("lixp", " ----22--- red --------- = $red ----lightCountDownRed = $lightCountDownRed ----isGreenLight = $isGreenLight")
                     CallerHmiManager.changeCountdownRed(red)
-//                }
             }
 
             // 绿灯
             4, 5, 6 -> {
-//                if (!isYellowLight) { //只有不是黄灯的时候，才能跳转到绿灯
                     if (!isGreenLight) {
                         CallerHmiManager.disableWarningV2X(appId.toString())
                         isGreenLight = true
                     }
                     isRedLight = false
                     isYellowLight = false
-//                    lightCountDownRed = 1
-//                    lightCountDownYellow = 1
 
                     CallerObuTrafficLightListenerManager.invokeObuTrafficLight(3)
                     val green = currentLight.countDown.toInt()
-//                    Log.e("lixp", " ----11--- green --------- = $green ---lightCountDownGreen = $lightCountDownGreen ----isYellowLight = $isYellowLight")
-//                    if (lightCountDownGreen == 1) {
-//                        lightCountDownGreen = green
-//                    }
-//
-//                    if (lightCountDownGreen < green) {
-//                        return
-//                    }
-//                    lightCountDownGreen = green
-//                    Log.d("lixp", " ----22--- green --------- = $green ---lightCountDownGreen = $lightCountDownGreen ----isYellowLight = $isYellowLight")
                     CallerHmiManager.changeCountdownGreen(green)
-//                }
             }
 
             // 黄灯
             7, 8 -> {
-//                if (!isRedLight) { //黄灯只能跳转绿灯
                     if (!isYellowLight) {
                         isYellowLight = true
                     }
                     isRedLight = false
                     isGreenLight = false
-//                    lightCountDownRed = 1
-//                    lightCountDownGreen = 1
-
                     CallerHmiManager.disableWarningV2X(appId.toString())
                     CallerObuTrafficLightListenerManager.invokeObuTrafficLight(2)
                     val yellow = currentLight.countDown.toInt()
-//                    Log.e("lixp", " -----11-- yellow --------- = $yellow ---lightCountDownYellow = $lightCountDownYellow ----isYellowLight = $isYellowLight")
-//                    if (lightCountDownYellow == 1) {
-//                        lightCountDownYellow = yellow
-//                    }
-//
-//                    if (lightCountDownYellow < yellow) {
-//                        return
-//                    }
-//                    lightCountDownYellow = yellow
-//                    Log.d("lixp", " -----22-- yellow --------- = $yellow ---lightCountDownYellow = $lightCountDownYellow ----isYellowLight = $isYellowLight")
                     CallerHmiManager.changeCountdownYellow(yellow)
                 }
             }
-//        }
     }
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
index 03ca1b2c9d..3fa53c8834 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/trafficlight/core/TrafficLightDispatcher.kt
@@ -5,10 +5,12 @@ import android.os.Handler
 import android.util.Log
 import com.mogo.eagle.core.data.trafficlight.TrafficLightResult
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuTrafficLightDisapperListener
 import com.mogo.eagle.core.function.api.obu.IMoGoObuTrafficLightListener
 import com.mogo.eagle.core.function.api.trafficlight.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightDisappearManager
 import com.mogo.eagle.core.function.call.obu.CallerObuTrafficLightListenerManager
 import com.mogo.eagle.core.function.call.trafficlight.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.v2x.trafficlight.TrafficLightHMIManager
@@ -21,7 +23,7 @@ import perception.TrafficLightOuterClass.TrafficLight
  * @since: 2022/4/28
  */
 class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLightListener,
-    IMoGoObuTrafficLightListener {
+    IMoGoObuTrafficLightListener, IMoGoObuTrafficLightDisapperListener {
 
     companion object {
         const val TAG = "TrafficLightDispatcher"
@@ -50,6 +52,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
         //obu红绿灯数据
         CallerObuTrafficLightListenerManager.registerObuTrafficLightListener(TAG, this)
+        //obu红绿灯数据消失
+        CallerObuTrafficLightDisappearManager.registerObuTrafficLightListener(TAG, this)
     }
 
     /**
@@ -153,6 +157,10 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         CallerHmiManager.showWarningTrafficLight(light, 3)
     }
 
+    override fun onObuLightDisapper() {
+        hasObuLightStatus = false
+    }
+
     fun destroy() {
         //取消注册监听AI云获取红绿灯状态
         CallerTrafficLightListenerManager.unRegisterTrafficLightListener(TAG)
diff --git 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
index ffeb84a730..d623504d63 100644
--- 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
@@ -78,6 +78,15 @@ object FunctionBuildConfig {
     @JvmField
     var isRomaMode = true
 
+    /**
+     * 开启roma自由/循迹路线
+     * 0:自由模式
+     * 1:循迹模式
+     */
+    @Volatile
+    @JvmField
+    var romaModeStyle = 0
+
     /**
      * 是否开启感知物替换颜色功能
      * 默认关闭
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuTrafficLightDisapperListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuTrafficLightDisapperListener.kt
new file mode 100644
index 0000000000..a5297714cd
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuTrafficLightDisapperListener.kt
@@ -0,0 +1,12 @@
+package com.mogo.eagle.core.function.api.obu
+
+
+/**
+ * @author lixiaopeng
+ * @date 2022/1/30 10：28 下午
+ * OBU 灯态信息 消失
+ */
+interface IMoGoObuTrafficLightDisapperListener {
+
+    fun onObuLightDisapper()
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuTrafficLightListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuTrafficLightListener.kt
index 1b4be4e95c..de5b5aee6a 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuTrafficLightListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuTrafficLightListener.kt
@@ -11,5 +11,4 @@ interface IMoGoObuTrafficLightListener {
      * @param light 灯的信息
      */
     fun onObuTrafficLight(light: Int){}
-    
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
index a3c5cd7144..a078973f73 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
@@ -242,6 +242,7 @@ object CallerVisualAngleManager {
         PriorityQueue<Record>()
     }
 
+    @Volatile
     private var mLevel:Boolean = false
 
     fun updateLongSightLevel(level:Boolean){
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuTrafficLightDisappearManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuTrafficLightDisappearManager.kt
new file mode 100644
index 0000000000..6985c8501a
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuTrafficLightDisappearManager.kt
@@ -0,0 +1,61 @@
+package com.mogo.eagle.core.function.call.obu
+
+import com.mogo.eagle.core.function.api.obu.IMoGoObuTrafficLightDisapperListener
+import com.mogo.eagle.core.function.api.obu.IMoGoObuTrafficLightListener
+import java.util.concurrent.ConcurrentHashMap
+
+object CallerObuTrafficLightDisappearManager {
+
+    private val M_OBU_TRAFFIC_LIGHT_LISTENER: ConcurrentHashMap<String, IMoGoObuTrafficLightDisapperListener> =
+        ConcurrentHashMap()
+
+    /**
+     * 添加监听
+     * @param tag 标记，用来注销监听使用
+     * @param listener 监听回调
+     */
+    fun registerObuTrafficLightListener(
+        tag: String,
+        listener: IMoGoObuTrafficLightDisapperListener
+    ) {
+        if (M_OBU_TRAFFIC_LIGHT_LISTENER.containsKey(tag)) {
+            return
+        }
+        M_OBU_TRAFFIC_LIGHT_LISTENER[tag] = listener
+    }
+
+    /**
+     * 删除监听
+     * @param tag 标记，用来注销监听使用
+     */
+    fun unRegisterObuTrafficLightListener(tag: String) {
+        if (!M_OBU_TRAFFIC_LIGHT_LISTENER.containsKey(tag)) {
+            return
+        }
+        M_OBU_TRAFFIC_LIGHT_LISTENER.remove(tag)
+    }
+
+    /**
+     * 删除监听
+     * @param listener 要删除的监听对象
+     */
+//    fun unRegisterObuTrafficLightListener(listener: IMoGoObuTrafficLightListener) {
+//        if (!M_OBU_TRAFFIC_LIGHT_LISTENER.containsValue(listener)) {
+//            return
+//        }
+//        M_OBU_TRAFFIC_LIGHT_LISTENER.forEach {
+//            if (it.value == listener) {
+//                M_OBU_TRAFFIC_LIGHT_LISTENER.remove(it.key)
+//            }
+//        }
+//    }
+
+    fun invokeObuTrafficLightDisappear() {
+        M_OBU_TRAFFIC_LIGHT_LISTENER.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onObuLightDisapper()
+        }
+    }
+
+}
\ No newline at end of file