Merge branch 'dev_arch_opt_3.0' into dev_robobus-m1-p-app-module_1.0.0_230112_1.0.0

2023-02-13 18:54:18 +08:00
parent 5ab6b9e9fb 21bde9d621
commit 9c8e35bfb2
55 changed files with 2091 additions and 1309 deletions
--- a/OCH/mogo-och-bus-passenger/src/jinlvvan/res/layout/bus_p_base_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/jinlvvan/res/layout/bus_p_base_fragment.xml
@@ -51,7 +51,7 @@
    <!--pnc行为决策-->
    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_height="@dimen/dp_100"
        android:layout_marginBottom="@dimen/dp_110"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
--- a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
+++ b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
@@ -63,7 +63,7 @@
    <!--pnc行为决策-->
    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_height="@dimen/dp_100"
        android:layout_marginBottom="@dimen/dp_110"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
--- a/OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml
+++ b/OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml
@@ -251,7 +251,7 @@
        <!--pnc行为决策-->
        <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
+            android:layout_height="@dimen/dp_100"
            android:layout_marginBottom="@dimen/dp_110"
            app:layout_constraintBottom_toBottomOf="parent"
            app:layout_constraintEnd_toEndOf="parent"
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
@@ -58,7 +58,7 @@
    <!--pnc行为决策-->
    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_height="@dimen/dp_100"
        android:layout_marginBottom="@dimen/dp_110"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
--- a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
@@ -49,7 +49,7 @@
    <!--pnc行为决策-->
    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_height="@dimen/dp_100"
        android:layout_marginBottom="@dimen/dp_110"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
--- a/OCH/mogo-och-taxi/src/main/res/layout/taxi_base_fragment.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/taxi_base_fragment.xml
@@ -120,7 +120,7 @@
    <!--pnc行为决策-->
    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_height="@dimen/dp_100"
        android:layout_marginBottom="@dimen/dp_110"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
@@ -19,7 +19,6 @@ import com.zhidao.adas.client.bean.ObuMap;
 import com.zhidao.adas.client.bean.ObuRsi;
 import com.zhidao.adas.client.bean.ObuRsm;
 import com.zhidao.adas.client.bean.ObuSpat;
-import com.zhidao.adas.client.bean.ObuWarningData;
 import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
 import com.zhidao.adas.client.bean.PlanningDecisionState;
@@ -131,7 +130,6 @@ public class DataDistribution {
    public final List<DataShow> listFSMFunctionStates = new ArrayList<>();
    public final List<DataShow> listRoboSweeperTaskIndex = new ArrayList<>();
    public final List<DataShow> listBagManagerCmd = new ArrayList<>();
-    public final List<DataShow> listObuWarningData = new ArrayList<>();
    public final List<DataShow> listObuSpat = new ArrayList<>();
    public final List<DataShow> listObuRsi = new ArrayList<>();
    public final List<DataShow> listObuRsm = new ArrayList<>();
@@ -159,7 +157,6 @@ public class DataDistribution {
    private long listFSMFunctionStatesSize = 0;
    private long listRoboSweeperTaskIndexSize = 0;
    private long listBagManagerCmdSize = 0;
-    private long listObuWarningDataSize = 0;
    private long listObuSpatSize = 0;
    private long listObuRsiSize = 0;
    private long listObuRsmSize = 0;
@@ -189,7 +186,6 @@ public class DataDistribution {
        listFSMFunctionStatesSize = 1;
        listRoboSweeperTaskIndexSize = 1;
        listBagManagerCmdSize = 1;
-        listObuWarningDataSize = 1;
        listObuSpatSize = 1;
        listObuRsiSize = 1;
        listObuRsmSize = 1;
@@ -246,14 +242,6 @@ public class DataDistribution {
            if (listener != null && Constants.TITLE.RECEIVE_PLANNING_DECISION_STATE.equals(listener.first)) {
                listener.second.onRefresh();
            }
-        } else if (data instanceof ObuWarningData) {
-            listObuWarningData.add(0, new DataShow(listObuWarningDataSize++, time + str));
-            if (listObuWarningData.size() > LIST_SIZE) {
-                listObuWarningData.remove(listObuWarningData.size() - 1);
-            }
-            if (listener != null && Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(listener.first)) {
-                listener.second.onRefresh();
-            }
        } else if (data instanceof ObuSpat) {
            listObuSpat.add(0, new DataShow(listObuSpatSize++, time + str));
            if (listObuSpat.size() > LIST_SIZE) {
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
@@ -134,9 +134,7 @@ public class InfoFragment extends BaseFragment {
            adapter.setData(DataDistribution.getInstance().listArrivalNotification);
        } else if (Constants.TITLE.RECEIVE_STATUS_QUERY_RESP.equals(title)) {
            adapter.setData(DataDistribution.getInstance().listStatusInfo);
-        } else if (Constants.TITLE.RECEIVE_OBU_WARNING_DATA.equals(title)) {
-            adapter.setData(DataDistribution.getInstance().listObuWarningData);
-        }else if (Constants.TITLE.RECEIVE_OBU_SPAT.equals(title)) {
+        } else if (Constants.TITLE.RECEIVE_OBU_SPAT.equals(title)) {
            adapter.setData(DataDistribution.getInstance().listObuSpat);
        } else if (Constants.TITLE.RECEIVE_OBU_RSI.equals(title)) {
            adapter.setData(DataDistribution.getInstance().listObuRsi);
@@ -144,7 +142,7 @@ public class InfoFragment extends BaseFragment {
            adapter.setData(DataDistribution.getInstance().listObuRsm);
        } else if (Constants.TITLE.RECEIVE_OBU_MAP.equals(title)) {
            adapter.setData(DataDistribution.getInstance().listObuMap);
-        }  else if (Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(title)) {
+        } else if (Constants.TITLE.RECEIVE_RECORD_DATA_CONFIG_RESP.equals(title)) {
            adapter.setData(DataDistribution.getInstance().listRecordDataConfig);
        } else if (Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP.equals(title)) {
            adapter.setData(DataDistribution.getInstance().listGlobalPathResp);
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -73,7 +73,6 @@ import com.zhidao.adas.client.bean.ObuMap;
 import com.zhidao.adas.client.bean.ObuRsi;
 import com.zhidao.adas.client.bean.ObuRsm;
 import com.zhidao.adas.client.bean.ObuSpat;
-import com.zhidao.adas.client.bean.ObuWarningData;
 import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
 import com.zhidao.adas.client.bean.PlanningDecisionState;
@@ -128,7 +127,6 @@ import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
 import io.netty.channel.Channel;
 import mogo.telematics.pad.MessagePad;
-import mogo.v2x.ObuWarningEvent;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
@@ -668,7 +666,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        titleFragmentData.add(Constants.TITLE.RECEIVE_GLOBAL_PATH_RESP);
        titleFragmentData.add(Constants.TITLE.RECEIVE_ARRIVAL_NOTIFICATION);
        titleFragmentData.add(Constants.TITLE.RECEIVE_STATUS_QUERY_RESP);
-        titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_WARNING_DATA);
        titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_SPAT);
        titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSI);
        titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSM);
@@ -1038,11 +1035,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
        DataDistribution.getInstance().addData(base);
    }

-    @Override
-    public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
-        ObuWarningData base = new ObuWarningData(header, obuWarningData, sdf);
-        DataDistribution.getInstance().addData(base);
-    }

    @Override
    public void onObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
@@ -172,7 +172,6 @@ public class Constants {
        String RECEIVE_WARN = MessageType.TYPE_RECEIVE_WARN.desc;
        String RECEIVE_ARRIVAL_NOTIFICATION = MessageType.TYPE_RECEIVE_ARRIVAL_NOTIFICATION.desc;
        String RECEIVE_STATUS_QUERY_RESP = MessageType.TYPE_RECEIVE_STATUS_QUERY_RESP.desc;
-        String RECEIVE_OBU_WARNING_DATA = MessageType.TYPE_RECEIVE_OBU_WARNING_DATA.desc;
        String RECEIVE_OBU_SPAT = "OBU SPAT信息";
        String RECEIVE_OBU_RSI = "OBU RSI信息";
        String RECEIVE_OBU_RSM = "OBU RSM信息";
--- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
+++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
@@ -69,7 +69,6 @@ import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
-import mogo.v2x.ObuWarningEvent;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
@@ -546,10 +545,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas

    }

-    @Override
-    public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
-
-    }

    @Override
    public void onObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
--- a/build.gradle
+++ b/build.gradle
@@ -35,7 +35,7 @@ buildscript {
        classpath 'com.mogo.cloud:systrace:1.0.1'
        classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.18'
        classpath 'com.mogo.sticky:service:1.0.8'
-        classpath 'io.github.knight-zxw:lancet-plugin:0.0.4'
+        classpath 'io.github.knight-zxw:lancet-plugin:0.0.4_mogo'

 //        classpath ("com.tencent.matrix:matrix-gradle-plugin:0.6.6") { changing = true }
    }
--- a/config.gradle
+++ b/config.gradle
@@ -93,7 +93,7 @@ ext {

            // obu sdk
            obusdk                       : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
-            mogoobu                      : 'com.mogo.support.obu:mogo-obu:1.1.0_beta0',
+            mogoobu                      : 'com.mogo.support.obu:mogo-obu:1.1.0_beta1',

            // google
            googlezxing                  : "com.google.zxing:core:3.3.3",
@@ -126,9 +126,6 @@ ext {
            mogocustommapoperational     : "com.zhidaoauto.map:operational:${MAP_SDK_OPERATION_VERSION}",

            modulemap                    : "com.mogo.module:module-map:${MOGO_MODULE_MAP_VERSION}",
-            chat                         : "com.mogo.module.carchatim:module-chat:${MOGO_MODULE_CHAT_VERSION}",
-            callchat                     : "com.mogo.module.carchatim:module-carchatting:${MOGO_MODULE_CARCHATTING_VERSION}",
-            callchatprovider             : "com.mogo.module.carchatim:module-carchatting-provider:${MOGO_MODULE_CARCHATTINGPROVIDER_VERSION}",

            // V2X
            moduleV2x                    : "com.mogo.module:module-v2x:${MOGO_MODULE_V2X_VERSION}",
@@ -220,7 +217,7 @@ ext {


            //========================= LancetX ===================
-            lancetx_runtime              : "io.github.knight-zxw:lancet-runtime:0.0.4",
+            lancetx_runtime              : "io.github.knight-zxw:lancet-runtime:0.0.4_mogo",

            //========================= autosize ======================
            androidautoSize          : 'com.github.JessYanCoding:AndroidAutoSize:v1.2.1',
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
@@ -26,7 +26,7 @@ class FuncBizProvider : IMoGoFuncBizProvider {
        noticeSocketManager.init(context)
        dispatchAutoPilotManager.init(context)
        cronTaskManager.startCronTask()
-
+        OverviewDb.getDb(context)
        MogoTrafficLightManager.INSTANCE.initServer(context)
        VipCarManager.INSTANCE.initServer(context)
 //        RedLightWarningManager.INSTANCE.listenTrafficLight()
@@ -75,10 +75,6 @@ class FuncBizProvider : IMoGoFuncBizProvider {
        OverViewDataManager.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().sn)
    }

-    override fun initOverViewDb(context: Context) {
-        OverviewDb.getDb(context)
-    }
-
    override fun onDestroy() {
        noticeSocketManager.release()
        dispatchAutoPilotManager.release()
--- a/core/function-impl/mogo-core-function-datacenter/build.gradle
+++ b/core/function-impl/mogo-core-function-datacenter/build.gradle
@@ -55,20 +55,18 @@ dependencies {
    implementation rootProject.ext.dependencies.androidxroomktx

    implementation rootProject.ext.dependencies.mogoaicloudtelematic
-
-    implementation rootProject.ext.dependencies.mogoobu
    implementation rootProject.ext.dependencies.amapnavi3dmap
+    implementation project(':libraries:mogo-obu')
+    implementation project(':libraries:mogo-adas')
+    implementation project(':libraries:mogo-adas-data')

    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
        implementation rootProject.ext.dependencies.mogo_core_utils
        implementation rootProject.ext.dependencies.mogo_core_function_call
-
-        implementation project(':libraries:mogo-adas')
        implementation rootProject.ext.dependencies.mogocommons
    } else {
        implementation project(':core:mogo-core-utils')
        implementation project(':core:mogo-core-function-call')
-        implementation project(':libraries:mogo-adas')
        implementation project(':foudations:mogo-commons')
    }
 }
--- 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
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/receiver/ObuTestNewObuReceiver.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/receiver/ObuTestNewObuReceiver.kt
@@ -47,11 +47,11 @@ class ObuTestNewObuReceiver : BroadcastReceiver() {
        val warningList = listOf(warningData1)
        warningMsg.warningData = warningList

-        val cvxHvInfoIndInfo = MogoObuRvWarningData(0, vehBasicsMsg, warningMsg)
+//        val cvxHvInfoIndInfo = MogoRvWarningData(0, vehBasicsMsg, warningMsg)

-        MogoPrivateObuNewManager.INSTANCE
-            .getMogoObuListener()
-            .onMogoObuRvWarning(cvxHvInfoIndInfo)
+//        MogoPrivateObuNewManager.INSTANCE
+//            .getMogoObuListener()
+//            .onGnssInfo(cvxHvInfoIndInfo)

    }

--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/receiver/ObuTestNewObuRsiReceiver.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/receiver/ObuTestNewObuRsiReceiver.kt
@@ -41,11 +41,11 @@ class ObuTestNewObuRsiReceiver : BroadcastReceiver() {

        val rsiWarningList = listOf(rsiWarning) //TODO

-        val cvxObuRsiInfo = MogoObuRsiWarningData(obuStatus, 1, rsiWarningList)
-
-        MogoPrivateObuNewManager.INSTANCE
-            .getMogoObuListener()
-            .onMogoObuRsiWarning(cvxObuRsiInfo)
+//        val cvxObuRsiInfo = MogoObuRsiWarningData(obuStatus, 1, rsiWarningList)
+//
+//        MogoPrivateObuNewManager.INSTANCE
+//            .getMogoObuListener()
+//            .onObuRsiWarning(cvxObuRsiInfo)

    }

--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/utils/TrafficDataConvertUtilsNew.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/utils/TrafficDataConvertUtilsNew.kt
@@ -4,6 +4,8 @@ import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
+import com.mogo.support.obu.ObuBase
+import com.mogo.support.obu.ObuScene
 import com.mogo.support.obu.model.MogoObuRsiWarningData
 import com.mogo.support.obu.model.MogoObuRsmWarningData
 import com.mogo.support.obu.model.MogoObuRvWarningData
@@ -20,18 +22,18 @@ object TrafficDataConvertUtilsNew {
    /**
     * OBU 远车 转换交通元素数据,是否需要
     */
-    fun cvxRvInfoIndInfo2TrafficData(info: MogoObuRvWarningData): TrafficData? {
-        if (info.vehBasicsMsg == null) {
+    fun cvxRvInfoIndInfo2TrafficData(info: ObuBase.VehicleBasics): TrafficData? {
+        if (info == null) {
            CallerLogger.e("$M_OBU$TAG", "cvxRvInfoIndInfo2TrafficData  数据转换异常，请检查参数是否齐全")
            return null
        }
        val trafficData = TrafficData()
        trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
-        trafficData.uuid = info.vehBasicsMsg.id
-        trafficData.lat = info.vehBasicsMsg.latitude
-        trafficData.lon = info.vehBasicsMsg.longitude
-        trafficData.heading = info.vehBasicsMsg.heading
-        trafficData.speed = info.vehBasicsMsg.speed
+        trafficData.uuid = info.id
+        trafficData.lat = info.latitude
+        trafficData.lon = info.longitude
+        trafficData.heading = info.heading
+        trafficData.speed = info.speed

        return trafficData
    }
@@ -39,25 +41,25 @@ object TrafficDataConvertUtilsNew {
    /**
     * OBU RSU道路事件预警信息 转换交通元素数据  标牌 为何要显示level
     */
-    fun cvxRtiThreatIndInfo2TrafficData(info: MogoObuRsiWarningData): TrafficData? {
-        if (info.warningMsg == null || info.warningMsg.size < 1 || info.warningMsg[0].position == null) {
+    fun cvxRtiThreatIndInfo2TrafficData(info: ObuScene.RsiWarningData): TrafficData? {
+        if (info.warningMsgList == null || info.warningMsgList.size < 1 || info.warningMsgList[0].position == null) {
            CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
            return null
        }
        val trafficData = TrafficData()
        trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_DAO_LU_SHI_GONG
-        trafficData.uuid = info.warningMsg[0].signSerialNum.toString()
-        trafficData.lat = info.warningMsg[0].position.latitude
-        trafficData.lon = info.warningMsg[0].position.longitude
-        trafficData.threatLevel = info.warningMsg[0].warningLevel
+        trafficData.uuid = info.warningMsgList[0].signSerialNum.toString()
+        trafficData.lat = info.warningMsgList[0].position.position.positionLatLon.latitude
+        trafficData.lon = info.warningMsgList[0].position.position.positionLatLon.longitude
+        trafficData.threatLevel = info.warningMsgList[0].warningLevel
        return trafficData
    }

    /**
     * OBU 预警事件 转换交通元素数据 他车预警
     */
-    fun cvxV2vThreatIndInfo2TrafficData(info: MogoObuRvWarningData): TrafficData? {
-        if (info == null || info.vehBasicsMsg == null || info.warningMsg == null) {
+    fun cvxV2vThreatIndInfo2TrafficData(info: ObuScene.RvWarningData): TrafficData? {
+        if (info?.vehBasicsMsg == null || info.warningMsg == null) {
            CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
            return null
        }
@@ -68,8 +70,8 @@ object TrafficDataConvertUtilsNew {
        trafficData.heading = info.vehBasicsMsg.heading
        trafficData.speed = info.vehBasicsMsg.speed
        // 判断车辆V2X预警级别，调整车辆颜色
-        if (info.warningMsg.warningData != null) {
-            trafficData.threatLevel = info.warningMsg.warningData[0].warningLevel
+        if (info.warningMsg.warningDataList != null) {
+            trafficData.threatLevel = info.warningMsg.warningDataList[0].warningLevel
        } else {
            trafficData.threatLevel = 1
        }
@@ -81,7 +83,7 @@ object TrafficDataConvertUtilsNew {
    /**
     * OBU 弱势交通参与者信息 转换交通元素数据
     */
-    fun cvxPtcThreatIndInfo2TrafficData(info: MogoObuRsmWarningData): TrafficData? {
+    fun cvxPtcThreatIndInfo2TrafficData(info: ObuScene.RsmWarningData): TrafficData? {
        if (info.participant == null) {
            CallerLogger.e("$M_OBU$TAG", "数据转换异常，请检查参数是否齐全")
            return null
@@ -121,8 +123,8 @@ object TrafficDataConvertUtilsNew {
        }

        // 判断车辆V2X预警级别，调整车辆颜色
-        if (info.warningMsg != null && info.warningMsg.warningData != null) {
-            trafficData.threatLevel = info.warningMsg.warningData[0].warningLevel
+        if (info.warningMsg != null && info.warningMsg.warningDataList != null) {
+            trafficData.threatLevel = info.warningMsg.warningDataList[0].warningLevel
        } else {
            trafficData.threatLevel = 1
        }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -136,7 +136,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
        super.onTrafficLightPlusSource(light, remain, lightSource)

        if (lightSource == DataSourceType.OBU) {
-            hasObuLightStatus = true //todo 会存在优先级高的数据没有回调，导致没有数据出现
+            hasObuLightStatus = true
        }

        CallerTrafficLightListenerManager.showTrafficLight(light, lightSource)
--- a/core/function-impl/mogo-core-function-devatools/build.gradle
+++ b/core/function-impl/mogo-core-function-devatools/build.gradle
@@ -84,6 +84,8 @@ dependencies {
    implementation rootProject.ext.dependencies.androidxrecyclerview
    implementation rootProject.ext.dependencies.flexbox
    implementation rootProject.ext.dependencies.androidautoSize
+    implementation rootProject.ext.dependencies.koomnative
+    implementation rootProject.ext.dependencies.koomxhook

    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
        implementation rootProject.ext.dependencies.mogo_core_utils
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -5,6 +5,8 @@ import android.content.Context
 import android.view.View
 import android.view.ViewGroup
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.EnvConfig
 import com.mogo.eagle.core.data.bindingcar.ModifyBindingcarInfo
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -16,10 +18,11 @@ import com.mogo.eagle.core.function.api.devatools.IDevaToolsProvider
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
-import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
 import com.zhjt.mogo_core_function_devatools.binding.BindingCarManager.Companion.bindingCarManager
+import com.zhjt.mogo_core_function_devatools.env.EnvChangeManager
 import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigCenter.Companion.bizConfigCenter
 import com.zhjt.mogo_core_function_devatools.funcconfig.FuncConfigImpl
+import com.zhjt.mogo_core_function_devatools.koom.KoomInitTask
 import com.zhjt.mogo_core_function_devatools.logcatch.MogoLogCatchManager
 import com.zhjt.mogo_core_function_devatools.mofang.MoFangManager.Companion.moFangManager
 import com.zhjt.mogo_core_function_devatools.monitor.MonitorManager
@@ -46,6 +49,9 @@ class DevaToolsProvider : IDevaToolsProvider {
    }

    override fun initBiz() {
+        if (DebugConfig.isDebug()) {
+            KoomInitTask.init(AbsMogoApplication.getApp())
+        }
        ttsManager.initTts(mContext!!) //todo
        //链路相关
        traceManager.init(mContext!!)
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/koom/KoomInitTask.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/koom/KoomInitTask.kt
@@ -1,4 +1,4 @@
-package com.mogo.eagle.core.function.main
+package com.zhjt.mogo_core_function_devatools.koom

 import android.app.Application
 import android.os.Build
--- a/core/function-impl/mogo-core-function-hmi/build.gradle
+++ b/core/function-impl/mogo-core-function-hmi/build.gradle
@@ -68,8 +68,7 @@ dependencies {

 //    debugImplementation rootProject.ext.dependencies.debugleakcanary
 //    releaseImplementation rootProject.ext.dependencies.releaseleakcanary
-
-    implementation rootProject.ext.dependencies.mogoobu
+    implementation project(':libraries:mogo-obu')
    implementation rootProject.ext.dependencies.arouter
    kapt rootProject.ext.dependencies.aroutercompiler

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
@@ -11,8 +11,8 @@ import android.view.animation.Animation
 import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import chassis.Chassis
+import com.mogo.eagle.core.function.api.map.angle.*
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Turning
 import com.mogo.eagle.core.function.hmi.R
 import kotlinx.android.synthetic.main.view_turn_light_status.view.*
 import kotlinx.coroutines.Dispatchers
@@ -55,7 +55,7 @@ class TurnLightViewStatus @JvmOverloads constructor(
            //根据左右进行显示和隐藏，实际要判断每个来的时间和频度
            when (directionLight) {
                Chassis.LightSwitch.LIGHT_LEFT -> { //左转向
-                    CallerVisualAngleManager.changeVisualAngle(Turning(true))
+                    CallerVisualAngleManager.changeAngle(Turning(true))
                    showNormalAnimation()
                    left_select_image.visibility = View.VISIBLE
                    right_select_image.visibility = View.GONE
@@ -63,7 +63,7 @@ class TurnLightViewStatus @JvmOverloads constructor(
                    setAnimation(left_select_image)
                }
                Chassis.LightSwitch.LIGHT_RIGHT -> { //右转向
-                    CallerVisualAngleManager.changeVisualAngle(Turning(true))
+                    CallerVisualAngleManager.changeAngle(Turning(true))
                    showNormalAnimation()
                    left_select_image.visibility = View.GONE
                    right_select_image.visibility = View.VISIBLE
@@ -71,7 +71,7 @@ class TurnLightViewStatus @JvmOverloads constructor(
                    setAnimation(right_select_image)
                }
                else -> { //消失
-                    CallerVisualAngleManager.changeVisualAngle(Turning(false))
+                    CallerVisualAngleManager.changeAngle(Turning(false))
                    animationDisappear()
                }
            }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -3,35 +3,23 @@ package com.mogo.eagle.core.function.main;
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;

 import android.annotation.SuppressLint;
-import android.app.NotificationManager;
 import android.content.Context;
 import android.os.Process;

-import androidx.annotation.Nullable;
-import androidx.core.app.NotificationCompat;
-
 import com.bytedance.boost_multidex.BoostMultiDex;
-import com.elegant.utils.UiThreadHandler;
 import com.mogo.cloud.socket.SocketBuildConfig;
 import com.mogo.commons.AbsMogoApplication;
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.MogoModule;
 import com.mogo.commons.module.MogoModulePaths;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
-import com.mogo.eagle.core.data.constants.MoGoConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.chat.biz.ChatConsts;
-import com.mogo.eagle.core.function.api.devatools.IMogoDevaToolsUpgradeListener;
-import com.mogo.eagle.core.function.call.biz.CallerFuncBizManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
-import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsUpgradeListenerManager;
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
 import com.mogo.eagle.core.function.msgbox.db.MsgBoxDb;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.AppLaunchTimeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.ProcessUtils;
 import com.mogo.eagle.core.utilcode.util.SPUtils;

@@ -41,7 +29,7 @@ import java.text.SimpleDateFormat;
 import java.util.Date;

 /**
- * 默认初始化一些基础服务配置  todo 分离 overView业务 和 msgBox去各自模块中 --- 扶风
+ * 默认初始化一些基础服务配置  todo 分离 msgBox去自己的模块中 --- 扶风
 */
 public abstract class MainMoGoApplication extends AbsMogoApplication {

@@ -61,10 +49,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        initTipToast();
        initModules();
        if (ProcessUtils.isMainProcess(this)) {
-            initOverviewDb();
-            if (DebugConfig.isDebug()) {
-                initKoom();
-            }
            clearMessageBoxTable();
            CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
        }
@@ -109,10 +93,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        }).start();
    }

-    private void initKoom() {
-        KoomInitTask.INSTANCE.init(this);
-    }
-
    /**
     * 初始化异常采集配置
     */
@@ -135,10 +115,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
        CallerDevaToolsManager.INSTANCE.init();
    }

-    private void initOverviewDb() {
-        CallerFuncBizManager.getBizProvider().initOverViewDb(this);
-    }
-
    private void initModules() {
        CallerLogger.INSTANCE.d(M_HMI + TAG, "initModules");
        // OBU 模块
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
@@ -2,7 +2,7 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    android:layout_width="wrap_content"
-    android:layout_height="@dimen/dp_100">
+    android:layout_height="wrap_content">

    <TextView
        android:id="@+id/tvHmiPncActions"
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/MoGoVisualAngleChangeProvider.kt
@@ -0,0 +1,306 @@
+package com.mogo.eagle.core.function.angle
+
+import android.content.*
+import android.os.*
+import android.util.*
+import androidx.lifecycle.*
+import androidx.lifecycle.Lifecycle.Event
+import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.eagle.core.data.config.*
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.data.map.*
+import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
+import com.mogo.eagle.core.function.api.map.angle.*
+import com.mogo.eagle.core.function.api.map.angle.Scene
+import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.map.*
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
+import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.eagle.core.utilcode.mogo.*
+import com.mogo.eagle.core.utilcode.mogo.logger.*
+import com.zhidaoauto.map.sdk.open.tools.*
+import kotlinx.coroutines.*
+import kotlinx.coroutines.android.*
+import java.util.*
+import java.util.concurrent.atomic.*
+
+@Route(path = MogoServicePaths.PATH_VISUAL_ANGLE)
+class MoGoVisualAngleChangeProvider: IMoGoVisualAngleChangeProvider {
+
+    override val functionName: String
+        get() = "VisualAngleChange"
+    
+    companion object {
+        const val TAG = "VisualAngleChange"
+    }
+
+    private val triggerLocation = AtomicReference<MogoLocation>()
+
+    private val distanceOfCarToStopLine = AtomicReference(0.0)
+
+    private val travelled by lazy { AtomicReference(0.0) }
+
+    /**
+     * 业务实体，不对外暴露
+     * @param target: 目标场景
+     * @param isDisplay: 是否正在展示
+     * @param triggerTime: 触发时间
+     */
+    private data class Record(val target: Scene, var isDisplay: Boolean = false, var triggerTime: Long): Comparable<Record> {
+        override fun compareTo(other: Record): Int {
+            //如果时间一样，优先级越高，越靠近堆顶
+            return other.target.priority - target.priority
+        }
+    }
+
+    private val queue by lazy {
+        PriorityQueue<Record>()
+    }
+
+    private val listener = object : OnRoadListener {
+        private val roadId = AtomicReference<String>()
+        private val triggerRoadId = AtomicReference<String>()
+
+        override fun onRoadIdInfo(roadId: String) {
+            this.roadId.set(roadId)
+            Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
+            val loc = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
+            var triggerClose = false
+            val distance = distanceOfCarToStopLine.get() +  5
+            if (hasCrossRoad && distance > 0) {
+                val prev = triggerLocation.get()
+                if (prev != null && loc != null) {
+                    travelled.set(MapTools.distance(loc.longitude, loc.latitude, prev.longitude, prev.latitude) + travelled.get())
+                    triggerLocation.set(loc)
+                }
+                val oldRoadId = triggerRoadId.get()
+                Log.d(TAG, "-- onRoadIdInfo --: travelled --: ${travelled.get()}")
+                if ((travelled.get() > distance) && oldRoadId != null && oldRoadId != roadId) {
+                    distanceOfCarToStopLine.set(0.0)
+                    hasCrossRoad = false
+                    triggerRoadId.set(null)
+                    travelled.set(0.0)
+                    triggerLocation.set(null)
+                    Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
+                    triggerClose = true
+                }
+            }
+            if (triggerClose) {
+                changeAngle(CrossRoad(false))
+            }
+        }
+
+
+        override fun onStopLineInfo(info: StopLine) {
+            Log.d(TAG, "-- onStopLineInfo --: ${info.distanceOfCarToStopLine}")
+            if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
+                hasCrossRoad = true
+                triggerRoadId.set(this.roadId.get())
+                distanceOfCarToStopLine.set(info.distanceOfCarToStopLine)
+                triggerLocation.set(CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02())
+                changeAngle(CrossRoad(true))
+            }
+        }
+    }
+
+    override fun init(context: Context?) {
+        if (Thread.currentThread() != Looper.getMainLooper().thread) {
+            scope.launch {
+                initListen(context)
+            }
+        } else {
+            initListen(context)
+        }
+    }
+
+    private fun initListen(ctx: Context?) {
+        ctx ?: return
+        ctx.lifeCycleOwner.lifecycle.addObserver(object : LifecycleEventObserver {
+            override fun onStateChanged(source: LifecycleOwner, event: Event) {
+                if (event == ON_DESTROY) {
+                    CallerMapRoadListenerManager.unRegisterRoadListener("VisualAngleChange")
+                }
+            }
+        })
+        CallerMapRoadListenerManager.registerRoadListener("VisualAngleChange", listener)
+    }
+
+    @Volatile
+    private var hasCrossRoad = false
+
+
+    private var scope: CoroutineScope = acquireScope()
+        @Synchronized
+        get() {
+            if (field.isActive) {
+                return field
+            }
+            val scope = acquireScope()
+            field = scope
+            return field
+        }
+
+    private var defaultDelayJob: Job? = null
+
+    private fun acquireScope(): CoroutineScope {
+        return CoroutineScope(Handler(Looper.getMainLooper()).asCoroutineDispatcher("change-visual-angle") + SupervisorJob())
+    }
+
+
+    override fun onDestroy() {
+        CallerMapRoadListenerManager.unRegisterRoadListener("VisualAngleChange")
+    }
+
+    @Volatile
+    private var mLevel:Boolean = false
+
+    override fun updateLongSightLevel(level:Boolean){
+        mLevel = level
+    }
+
+    override fun changeAngle(scene: Scene) {
+        val appIdentityMode = FunctionBuildConfig.appIdentityMode
+        if (AppIdentityModeUtils.isBus(appIdentityMode) && AppIdentityModeUtils.isPassenger(appIdentityMode)) {
+            return
+        }
+        if(mLevel){
+            return
+        }
+        val triggerTime = SystemClock.elapsedRealtime()
+        scope.launch {
+            Log.d(TAG, "--- 1 ---")
+            val displayed = getDisplayed()
+            if (displayed == null) {
+                Log.d(TAG, "--- 2 ---")
+                if (scene is Turning) {
+                    if (!scene.open) {
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (scene is CrossRoad) {
+                    if (!scene.open) {
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                doRealVisualAngleChange(triggerTime, scene, null)
+            } else {
+                val prev = displayed.target
+                Log.d(TAG, "--- 3 --- old: $prev -> cur: $scene")
+                val prevTriggerTime = displayed.triggerTime
+                if (scene !is Default && prev.priority > scene.priority && (prev is RoadEvent || prev is TooClose)) {
+                    val displayDuration = triggerTime - prevTriggerTime
+                    Log.d(TAG, "--- 4 ---:场景[$prev], 已展示时长: duration: $displayDuration")
+                    if (displayDuration < prev.displayThreshold) {
+                        Log.d(TAG, "--- 5 --- 场景[$prev]:仍在保护展示时长内，直接return")
+                        return@launch
+                    } else {
+                        Log.d(TAG, "--- 6 --- 场景[$prev]:已过保护展示时长，从展示的队列中移除，显示默认视角")
+                        queue -= displayed
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (prev is Turning && scene is Turning) {
+                    val isOpen = scene.open
+                    if (!isOpen) {
+                        Log.d(TAG, "--- 7 --- 场景[$scene], 收到关闭通知")
+                        queue -= displayed
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (prev is CrossRoad && scene is CrossRoad) {
+                    val isOpen = scene.open
+                    if (!isOpen) {
+                        Log.d(TAG, "--- 8 --- old: $prev -> cur: $scene")
+                        queue -= displayed
+                        changeAngle(Default())
+                        return@launch
+                    }
+                }
+                if (prev.priority == scene.priority) {
+                    Log.d(TAG, "--- 9 --- 场景[$prev]正在展示，尚未收到关闭，优先级一致，直接return")
+                    return@launch
+                }
+                if (prev.priority > scene.priority && prev.displayThreshold < 0) {
+                    Log.d(TAG, "--- 10 --- 场景[$prev]正在展示，尚未收到关闭，场景，依然展示当前场景，直接return")
+                    return@launch
+                }
+                doRealVisualAngleChange(triggerTime, scene, displayed)
+            }
+        }
+    }
+
+    private fun CoroutineScope.doRealVisualAngleChange(triggerTime: Long, target: Scene, displayed: Record? = null) {
+        if (target is Default) {
+            Log.d(TAG, "--- doRealVisualAngleChange --- 1 ---")
+            displayed?.also {
+                queue -= it
+            }
+            defaultDelayJob?.safeCancel()
+            launch {
+                val delay = target.unit.toMillis(target.delay)
+                Log.d(TAG, "--- doRealVisualAngleChange --- 2 ---")
+                delay(delay)
+                Log.d(TAG, "--- doRealVisualAngleChange --- 3 ---")
+                doChangeAngle(Record(target, triggerTime = triggerTime))
+            }.also { itx ->
+                itx.invokeOnCompletion {
+                    if (it is CancellationException) {
+                        Log.d(TAG, "--- doRealVisualAngleChange --- 4 ---")
+                    }
+                }
+                defaultDelayJob = itx
+            }
+        } else {
+            Log.d(TAG, "--- doRealVisualAngleChange --- 5 ---")
+            defaultDelayJob?.safeCancel()
+            if (displayed == null || displayed.target.priority <= target.priority) {
+                Log.d(TAG, "--- doRealVisualAngleChange --- 6 ---")
+                displayed?.also {
+                    queue -= it
+                }
+                if (target is Turning) {
+                    if (!target.open) {
+                        Log.d(TAG, "--- doRealVisualAngleChange --- 7 ---")
+                        changeAngle(Default())
+                        return
+                    }
+                }
+                if (target is CrossRoad) {
+                    if (!target.open) {
+                        Log.d(TAG, "--- doRealVisualAngleChange --- 8 ---")
+                        changeAngle(Default())
+                        return
+                    }
+                }
+                Log.d(TAG, "--- doRealVisualAngleChange --- 10 ---")
+                doChangeAngle(Record(target, triggerTime = triggerTime))
+            }
+        }
+    }
+
+    @OptIn(InternalCoroutinesApi::class)
+    private fun doChangeAngle(record: Record) {
+        val angle = record.target.angle
+        CallerMapUIServiceManager.getMapUIController()?.also {
+            Log.d(TAG, "--- doChangeAngle ---： ${record.target}")
+            if (record.target !is Default) {
+                record.isDisplay = true
+                kotlinx.coroutines.internal.synchronized(queue) {
+                    queue += record
+                }
+            }
+            it.changeMapVisualAngle(angle, null)
+        }
+    }
+
+    /**
+     * 是否有正在展示的
+     */
+    @Synchronized
+    private fun getDisplayed() = queue.firstOrNull()
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/MogoMapService.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/MogoMapService.java
@@ -52,6 +52,5 @@ public class MogoMapService implements IMogoMapService {

    @Override
    public void init(Context context) {
-        CallerVisualAngleManager.INSTANCE.init(context);
    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -52,7 +52,8 @@ class OverMapView @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null,
    defStyleAttr: Int = 0
-) : RelativeLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener {
+) : RelativeLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener,
+    IMoGoPlanningRottingListener {

    // =============自定义属性相关=============
    private var mapStylePath: String? = null
@@ -166,7 +167,7 @@ class OverMapView @JvmOverloads constructor(
        overLayerView?.background = resources.getDrawable(if (resetDrawable != -1) resetDrawable else R.drawable.amap_reset)
        arrivedBitmap = BitmapDescriptorFactory.fromResource(if (arrivedDrawable != -1) arrivedDrawable else R.drawable.taxi_map_arrow_arrived)
        unArrivedBitmap = BitmapDescriptorFactory.fromResource(if (unArrivedDrawable != -1) unArrivedDrawable else R.drawable.taxi_map_arrow_un_arrive)
-        CallerPlanningRottingListenerManager.addListener(TAG, moGoAutopilotPlanningListener)
+        CallerPlanningRottingListenerManager.addListener(TAG, this)
        initAMapView(context)
        // 注册定位监听
        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
@@ -262,20 +263,6 @@ class OverMapView @JvmOverloads constructor(
        )
    }

-    private val moGoAutopilotPlanningListener: IMoGoPlanningRottingListener =
-        object : IMoGoPlanningRottingListener {
-            /**
-             * 根据全路径获取起始点和经停点进行导航路线绘制
-             * 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
-             * 室内某个bag包自动驾驶启动8s后返回
-             */
-            override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
-                globalPathResp?.let {
-                    handlePlanningData(it.wayPointsList)
-                }
-            }
-        }
-
    fun handlePlanningData(locationList: List<MessagePad.Location>?) {
        if (locationList.isNullOrEmpty()) return
        val list: List<MessagePad.Location> = locationList
@@ -600,4 +587,15 @@ class OverMapView @JvmOverloads constructor(
        }

    }
+
+    /**
+     * 根据全路径获取起始点和经停点进行导航路线绘制
+     * 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
+     * 室内某个bag包自动驾驶启动8s后返回
+     */
+    override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
+        globalPathResp?.let {
+            handlePlanningData(it.wayPointsList)
+        }
+    }
 }
--- a/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
+++ b/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
@@ -111,6 +111,9 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
        clientConfig.isUseOriginSocket = true
        // 设置是否输出网络日志
        clientConfig.isShowNetDebugLog = false
+//        clientConfig.passportUrl //todo yakun
+//        clientConfig.socketBaseUrl
+//        clientConfig.socketTechUrl
        // 设置是否是直播推流的主播
        clientConfig.isAnchor = true
        when (DebugConfig.getCarMachineType()) {
@@ -132,7 +135,7 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
        } else {
            clientConfig.thirdPartyDeviceId = Utils.getDevicesId()
        }
-        //设置长链接的secretKey  //todo 通过SHA1和包名找中台服务生成，后续包名分渠道,需要做对应操作
+        //设置长链接的secretKey 通过SHA1和包名找中台服务生成，后续包名分渠道,需要做对应操作
        clientConfig.secretKey = "YMj2VFDFxJ3Q4gNoZceJ"

        clientConfig.iHttpDnsCurrentLocation = object : IHttpDnsCurrentLocation {
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -31,6 +31,7 @@ import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
+import com.mogo.eagle.core.function.api.map.angle.*
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
@@ -38,8 +39,6 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
-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.v2x.events.alarm.V2XAlarmServer
 import com.mogo.eagle.core.function.v2x.events.bridge.BridgeApi
@@ -52,13 +51,12 @@ import com.mogo.eagle.core.function.v2x.events.utils.toV2XRoadEventEntity
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.config.V2XConfig
-import com.mogo.eagle.core.function.v2x.internal.data.V2XAdvanceWarning
-import com.mogo.eagle.core.function.v2x.internal.data.V2XMarkerCardResult
-import com.mogo.eagle.core.function.v2x.internal.data.V2XWarningTarget
+import com.mogo.eagle.core.function.v2x.internal.data.*
 import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.road.V2XEventServiceApi
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
@@ -209,6 +207,13 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
                }
                handleRoadMarkerEvent(event.data.toRoadMarker())
            }
+
+            is V2XEvent.RoadEventX -> {
+                handleRoadMarkerEvent(event.data.toRoadMarker())
+            }
+            else -> {
+                Logger.e(TAG, "onAck other event: $event")
+            }
        }
    }

@@ -367,13 +372,13 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
                            val change = changeVisualAngle
                            override fun onShow() {
                                if (change) {
-                                    CallerVisualAngleManager.changeVisualAngle(TooClose)
+                                    CallerVisualAngleManager.changeAngle(TooClose)
                                }
                            }

                            override fun onDismiss() {
                                if (change) {
-                                    CallerVisualAngleManager.changeVisualAngle(Default())
+                                    CallerVisualAngleManager.changeAngle(Default())
                                }
                            }
                        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/manager/impl/MoGoV2XMarkerManager.java
@@ -90,18 +90,18 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
                // 清除上次的道路事件， 这里注意，道路事件的触发和这里是异步操作会触发异常
                mV2XRoadEventEntityArrayList.clear();
                // 获取探路以及新鲜事儿
-                List<V2XMarkerExploreWay> exploreWayList = markerCardResult.getExploreWay();
+                List<MarkerExploreWay> exploreWayList = markerCardResult.getExploreWay();
                if (exploreWayList != null) {
-                    for (V2XMarkerExploreWay markerExploreWay : exploreWayList) {
+                    for (MarkerExploreWay markerExploreWay : exploreWayList) {
                        if (EventTypeEnumNew.isRoadEvent(markerExploreWay.getPoiType())) {
-                            V2XMarkerLocation markerLocation = markerExploreWay.getLocation();
+                            MarkerLocation markerLocation = markerExploreWay.getLocation();
                            // 记录道路事件
                            V2XRoadEventEntity v2XRoadEventEntity = new V2XRoadEventEntity();
-                            v2XRoadEventEntity.setLocation(EntityUtilsKt.toMarkerLocation(markerLocation));
+                            v2XRoadEventEntity.setLocation(markerLocation);
                            // 探路目前只有上报拥堵
                            String poi = markerExploreWay.getPoiType();
                            v2XRoadEventEntity.setPoiType(poi);
-                            v2XRoadEventEntity.setNoveltyInfo(EntityUtilsKt.toMarkExploreWay(markerExploreWay, markerCardResult.getExtras()));
+                            v2XRoadEventEntity.setNoveltyInfo(markerExploreWay);
                            v2XRoadEventEntity.setExpireTime(20000);
                            mV2XRoadEventEntityArrayList.add(v2XRoadEventEntity);
                        }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -7,7 +7,6 @@ import android.os.Looper
 import android.view.animation.DecelerateInterpolator
 import androidx.core.util.Pair
 import com.mogo.cloud.commons.utils.*
-import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
 import com.mogo.eagle.core.function.call.autopilot.*
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XAiRoadEventMarker.kt
@@ -18,63 +18,39 @@ class V2XAiRoadEventMarker {

    private val current = AtomicReference<Pair<IMogoPolyline?, List<IMogoMarker>?>>()

-    private val v2xLocation = AtomicReference<MogoLocation>()
-
    private val overlayManager by lazy { CallerMapUIServiceManager.getOverlayManager() }

    fun drawMarkers(entity: V2XRoadEventEntity, wrapper: MarkerWrapper) {
-        val extra = entity.noveltyInfo.extras["polygon"]
+        val polygon = entity.noveltyInfo.polygon
        v2xMarker()?.drawableAlarmPOI(context(), entity, null)?.also {
            wrapper.addMarker(it)
        }
-        if (extra is List<*> && entity.poiType != EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.poiType) {
-            if (extra.size > 0) {
-                val polygons: MutableList<androidx.core.util.Pair<Double, Double>> = ArrayList()
-                for (i in extra.indices) {
-                    val o = extra[i]!! as? androidx.core.util.Pair<*, *> ?: continue
-                    val first = o.first
-                    val second = o.second
-                    if (first == null || second == null) {
-                        continue
-                    }
-                    if (first !is Double || second !is Double) {
-                        continue
-                    }
-                    polygons.add(androidx.core.util.Pair.create(second, first))
-                }
-                if (polygons.size > 0) {
-                    val l2 = entity.noveltyInfo?.location ?: return
-                    v2xLocation.set(MogoLocation().also {
-                        it.longitude = l2.lon; it.latitude = l2.lat; it.heading = l2.angle
-                    })
+        if (polygon != null && polygon.isNotEmpty() && entity.poiType != EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.poiType) {
+            val options = MogoPolylineOptions()
+            val colors = ArrayList<Int>()
+            colors.add(Color.argb(204, 237, 172, 21))
+            colors.add(Color.argb(0, 255, 255, 255))
+            options.colorValues(colors)
+            val points = ArrayList<MogoLatLng>()

-                    val options = MogoPolylineOptions()
-                    val colors = ArrayList<Int>()
-                    colors.add(Color.argb(204, 237, 172, 21))
-                    colors.add(Color.argb(0, 255, 255, 255))
-                    options.colorValues(colors)
-                    val points = ArrayList<MogoLatLng>()
-
-                    for (p in polygons) {
-                        points.add(MogoLatLng(p.first, p.second))
-                    }
-                    if (points.size > 2) {
-                        points.add(points[0])
-                    }
-                    options.points(points)
-                    options.useGradient(true)
-                    options.useFacade(true)
-                    options.setGps(true)
-                    options.width(5f)
-                    options.zIndex(75000f)
-                    options.maxIndex(800000f)
-                    val line = overlayManager?.addPolyline(options)
-                    line?.let {
-                        current.set(Pair(line, wrapper.markers))
-                        line.isVisible = true
-                        wrapper.addLine(line)
-                    }
-                }
+            for (p in polygon) {
+                points.add(MogoLatLng(p.first, p.second))
+            }
+            if (points.size > 2) {
+                points.add(points[0])
+            }
+            options.points(points)
+            options.useGradient(true)
+            options.useFacade(true)
+            options.setGps(true)
+            options.width(5f)
+            options.zIndex(75000f)
+            options.maxIndex(800000f)
+            val line = overlayManager?.addPolyline(options)
+            line?.let {
+                current.set(Pair(line, wrapper.markers))
+                line.isVisible = true
+                wrapper.addLine(line)
            }
        }
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
@@ -1,9 +1,7 @@
 package com.mogo.eagle.core.function.v2x.events.scenario.scene.road;

 import android.util.Log;
-
 import androidx.core.util.Pair;
-
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay;
 import com.mogo.eagle.core.data.map.entity.MarkerLocation;
@@ -15,7 +13,6 @@ import com.mogo.eagle.core.function.v2x.events.remove.MarkerRemoveManager;
 import com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad.AiRoadMarker;
 import com.mogo.eagle.core.function.v2x.events.scenario.view.IV2XMarker;
 import com.mogo.map.marker.IMogoMarker;
-
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
@@ -34,10 +31,21 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
            if (marker != null) {
                if (entity != null) {
                    Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType());
-                    if (!Objects.equals(entity.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType())
-                            && !Objects.equals(entity.getPoiType(), EventTypeEnumNew.FOURS_ACCIDENT_04.getPoiType())
-                            && !Objects.equals(entity.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.getPoiType())
-                            && !Objects.equals(entity.getPoiType(), EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.getPoiType())) {
+                    if (isAiRoadEvent(entity.getPoiType())) {
+                        MarkerExploreWay noveltyInfo = entity.getNoveltyInfo();
+                        Log.d("RWJ", "V2XRoadEventMarker -> noveltyInfo:" + noveltyInfo);
+                        if (noveltyInfo != null) {
+                            Pair<Double, Double> gpsLocation = noveltyInfo.getGpsLocation();
+                            List<Pair<Double, Double>> polygons = noveltyInfo.getPolygon();
+                            if (gpsLocation != null && polygons != null) {
+                                MarkerLocation location = noveltyInfo.getLocation();
+                                AiRoadMarker.Marker m = new AiRoadMarker.Marker(noveltyInfo.getInfoId(), noveltyInfo.getPoiType(), gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity);
+                                AiRoadMarker aiMarker = new AiRoadMarker();
+                                aiMarker.marker(m, true, isDrawRoadLine(m.getPoiType()));
+                                AiRoadMarker.aiMakers.put(noveltyInfo.getInfoId(), aiMarker);
+                            }
+                        }
+                    } else {
                        IMogoMarker iMarker = marker.drawableAlarmPOI(BridgeApi.INSTANCE.context(), entity, null);
                        if (iMarker != null) {
                            Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType() + "--- add Marker");
@@ -48,48 +56,6 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
                        } else  {
                            Log.d("RWJ", "V2XRoadEventMarker:" + entity.getPoiType() + "--- return empty marker");
                        }
-                    } else {
-                        MarkerExploreWay noveltyInfo = entity.getNoveltyInfo();
-                        Log.d("RWJ", "V2XRoadEventMarker -> noveltyInfo:" + noveltyInfo);
-                        if (noveltyInfo != null && noveltyInfo.extras != null) {
-                            List<Pair<Double, Double>> polygons = new ArrayList<>();
-                            Pair<Double, Double> gpsLocation = null;
-                            if (noveltyInfo.extras.containsKey("polygon")) {
-                                Object extra = noveltyInfo.extras.get("polygon");
-                                if (extra instanceof List) {
-                                    List l = (List) extra;
-                                    if (l.size() > 0) {
-                                        for (int i = 0; i < l.size(); i++) {
-                                            Object o = l.get(i);
-                                            if (!(o instanceof Pair)) {
-                                                continue;
-                                            }
-                                            Pair p = (Pair) o;
-                                            Object first = p.first;
-                                            Object second = p.second;
-                                            if (first == null || second == null) {
-                                                continue;
-                                            }
-                                            if (!(first instanceof Double) || !(second instanceof Double)) {
-                                                continue;
-                                            }
-                                            polygons.add(Pair.create((Double) first, (Double) second));
-                                        }
-                                    }
-                                }
-                            }
-
-                            if (noveltyInfo.extras.containsKey("gps_location")) {
-                                gpsLocation =  (Pair<Double, Double>) ((List)(noveltyInfo.extras.get("gps_location"))).get(0);
-                            }
-                            if (!polygons.isEmpty() && gpsLocation != null) {
-                                MarkerLocation location = noveltyInfo.getLocation();
-                                AiRoadMarker.Marker m = new AiRoadMarker.Marker(noveltyInfo.getInfoId(), noveltyInfo.getPoiType(), gpsLocation.second, gpsLocation.first, location.getAngle(), polygons, null, entity);
-                                AiRoadMarker aiMarker = new AiRoadMarker();
-                                aiMarker.marker(m, true, isDrawRoadLine(m.getPoiType()));
-                                AiRoadMarker.aiMakers.put(noveltyInfo.getInfoId(), aiMarker);
-                            }
-                        }
                    }
                }
            }
@@ -98,6 +64,13 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
        }
    }

+    private boolean isAiRoadEvent(String poiType) {
+        return Objects.equals(poiType, EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType())
+                && Objects.equals(poiType, EventTypeEnumNew.FOURS_ACCIDENT_04.getPoiType())
+                && Objects.equals(poiType, EventTypeEnumNew.TYPE_SOCKET_ROAD_JINGZHI.getPoiType())
+                && Objects.equals(poiType, EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGU.getPoiType());
+    }
+
    private boolean isDrawRoadLine(String poiType) {
        return EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.getPoiType().equals(poiType);
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventScenario.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventScenario.java
@@ -11,6 +11,8 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean;
 import com.mogo.eagle.core.data.msgbox.MsgBoxType;
 import com.mogo.eagle.core.data.msgbox.V2XMsg;
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener;
+import com.mogo.eagle.core.function.api.map.angle.Default;
+import com.mogo.eagle.core.function.api.map.angle.RoadEvent;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
@@ -151,7 +153,7 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
    @Override
    public void onShow() {
        if (isNeedChangeAngle()) {
-            CallerVisualAngleManager.INSTANCE.changeVisualAngle(CallerVisualAngleManager.Scene.RoadEvent.INSTANCE);
+            CallerVisualAngleManager.INSTANCE.changeAngle(RoadEvent.INSTANCE);
        }
        V2XMessageEntity<V2XRoadEventEntity> entity = getV2XMessageEntity();
        if (entity != null) {
@@ -177,7 +179,7 @@ public class V2XRoadEventScenario extends AbsV2XScenario<V2XRoadEventEntity> imp
    public void onDismiss() {
        CallerHmiManager.INSTANCE.dismissWarning(WarningDirectionEnum.ALERT_WARNING_TOP);
        if (isNeedChangeAngle()) {
-            CallerVisualAngleManager.INSTANCE.changeVisualAngle(new CallerVisualAngleManager.Scene.Default(3, TimeUnit.SECONDS));
+            CallerVisualAngleManager.INSTANCE.changeAngle(new Default(3, TimeUnit.SECONDS));
        }
        release();
    }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/EntityUtils.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/utils/EntityUtils.kt
@@ -4,7 +4,6 @@ import androidx.core.util.Pair
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew.Companion.isRoadEvent
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
 import com.mogo.eagle.core.data.map.entity.MarkerLocation
-import com.mogo.eagle.core.data.map.entity.MarkerUserInfo
 import com.mogo.eagle.core.data.map.entity.V2XRoadEventEntity
 import com.mogo.eagle.core.function.v2x.events.scenario.scene.airoad.AiRoadMarker
 import com.mogo.eagle.core.function.v2x.internal.data.*
@@ -13,85 +12,24 @@ import mogo.telematics.pad.MessagePad
 import roadwork.Road


-fun V2XMarkerLocation?.toMarkerLocation(): MarkerLocation? =
-    if (this == null) null else MarkerLocation().also {
-        it.lon = this.lon
-        it.lat = this.lat
-        it.address = this.address
-        it.angle = this.angle
-    }
-
-fun MarkerExploreWayItem?.toMarkerExploreWayItem(): com.mogo.eagle.core.data.map.entity.MarkerExploreWayItem? =
-    if (this == null) null else com.mogo.eagle.core.data.map.entity.MarkerExploreWayItem().also {
-        it.illegalCount = this.illegalCount
-        it.content = this.content
-        it.url = this.url
-        it.thumbnail = this.thumbnail
-    }
-
-fun V2XMarkerUserInfo?.toMarkerUserInfo(): MarkerUserInfo? =
-    if (this == null) null else MarkerUserInfo().also {
-        it.safeLabelType = this.safeLabelType
-        it.safeLabel = this.safeLabel
-        it.lastActiveweekAvgscore = this.lastActiveweekAvgscore
-        it.gender = this.gender
-        it.userHead = this.userHead
-        it.userName = this.userName
-        it.setAge(this.age)
-    }
-
-fun V2XMarkerExploreWay.toMarkExploreWay(extras: Map<String, Any>? = null): MarkerExploreWay =
-    MarkerExploreWay().also {
-        it.items = this.items?.map { itx -> itx.toMarkerExploreWayItem() }
-        it.userInfo = this.userInfo?.toMarkerUserInfo()
-        it.distance = this.distance
-        it.cityName = this.cityName
-        it.setGenerateTime(this.generateTime)
-        it.infoId = this.infoId
-        it.setFileType(this.fileType)
-        it.setDirection(this.direction)
-        it.location = this.location?.toMarkerLocation()
-        it.sn = this.sn
-        it.canLive = this.canLive != "0"
-        it.poiType = this.poiType
-        it.type = this.type
-        it.infoCheckNode = this.infoCheckNode
-        it.isFabulous = this.isFabulous
-        it.uploadType = this.uploadType
-        it.isCanLive = this.canLive != "0"
-        it.extras = extras
-    }
-
 fun Road.RW_PB.toRoadMarker(): V2XMarkerCardResult =
    V2XMarkerCardResult().also { l1 ->
-        this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.also { old ->
-            l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
-                extra["polygon"] = old.map { d ->
-                    Pair(d.lon, d.lat)
-                }
-
-                extra["gps_location"] = listOf(
-                    Pair(
-                        this.roadwork?.center?.point?.lon ?: 0.0,
-                        this.roadwork?.center?.point?.lat ?: 0.0
-                    )
-                )
-            }
-        }
        val centerX = this.roadwork?.center?.point?.lon ?: 0.0
        val centerY = this.roadwork?.center?.point?.lat ?: 0.0
        val id = "${centerX}_${centerY}"
-        l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
-            l2.add(V2XMarkerExploreWay().also { l3 ->
+        l1.exploreWay = ArrayList<MarkerExploreWay>().also { l2 ->
+            l2.add(MarkerExploreWay().also { l3 ->
                l3.poiType = this.roadwork?.poiType?.toString()
-                l3.generateTime = this.roadwork?.detectTime ?: 0L
-                l3.location = V2XMarkerLocation().also { l4 ->
+                l3.setGenerateTime(this.roadwork?.detectTime ?: 0L)
+                l3.location = MarkerLocation().also { l4 ->
                    val p = CoordinateTransform.WGS84ToGCJ02(this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.center?.point?.lat ?: 0.0)
                    l4.lon = p[0]
                    l4.lat = p[1]
                    l4.angle = this.roadwork?.center?.road?.bearing?.toDouble() ?: 0.0
                }
                l3.infoId = id
+                l3.gpsLocation = Pair(this.roadwork?.center?.point?.lon ?: 0.0, this.roadwork?.center?.point?.lat ?: 0.0)
+                l3.polygon = this.roadwork?.polygonList?.takeIf { it.isNotEmpty() }?.map { Pair(it.lon, it.lat) }
            })
        }
        AiRoadMarker.aiMakers[id]?.receive()
@@ -99,52 +37,41 @@ fun Road.RW_PB.toRoadMarker(): V2XMarkerCardResult =

 fun V2XRoadXData.toRoadMarker(): V2XMarkerCardResult =
    V2XMarkerCardResult().also { l1 ->
-        this.polygon?.takeIf { it.isNotEmpty() }?.also { old ->
-            l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
-                extra["polygon"] = old.map { d ->
-                    Pair(d.lon, d.lat)
-                }
-                extra["gps_location"] = listOf(Pair(this.center?.lon ?: 0.0, this.center?.lat ?: 0.0))
-            }
-        }
-
-        l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
-            l2.add(V2XMarkerExploreWay().also { l3 ->
+        l1.exploreWay = ArrayList<MarkerExploreWay>().also { l2 ->
+            l2.add(MarkerExploreWay().also { l3 ->
                l3.poiType = this.poiType
-                l3.generateTime = this.detectTime ?: 0L
-                l3.location = V2XMarkerLocation().also { l4 ->
+                l3.setGenerateTime(this.detectTime ?: 0L)
+                l3.location = MarkerLocation().also { l4 ->
                    val p = CoordinateTransform.WGS84ToGCJ02(this.center?.lon ?: 0.0, this.center?.lat ?: 0.0)
                    l4.lon = p[0]
                    l4.lat = p[1]
                    l4.angle = this.centerRoad?.bearing ?: 0.0
                }
                l3.infoId = this.index
+                l3.gpsLocation = Pair(this.center?.lon ?: 0.0, this.center?.lat ?: 0.0)
+                l3.polygon = this.polygon?.takeIf { it.isNotEmpty() }?.map { Pair(it.lon, it.lat) }
            })
        }
-
        AiRoadMarker.aiMakers[this.index]?.receive()
    }

 fun MessagePad.TrackedObject.toRoadMarker(poiType: String): V2XMarkerCardResult =
    V2XMarkerCardResult().also { l1 ->
-        this.polygonList?.takeIf { it.isNotEmpty() }?.also { old ->
-            l1.extras = HashMap<String, List<Pair<Double, Double>>>().also { extra ->
-                extra["polygon"] = old.map { d -> Pair(d.longitude, d.latitude) }
-                extra["gps_location"] = listOf(Pair(this.longitude, this.latitude))
-            }
-        }
        val id = "${this.longitude}_${this.latitude}"
-        l1.exploreWay = ArrayList<V2XMarkerExploreWay>().also { l2 ->
-            l2.add(V2XMarkerExploreWay().also { l3 ->
+        l1.exploreWay = ArrayList<MarkerExploreWay>().also { l2 ->
+            l2.add(MarkerExploreWay().also { l3 ->
                l3.poiType = poiType
-                l3.generateTime = 0L
-                l3.location = V2XMarkerLocation().also { l4 ->
+                l3.setGenerateTime(0L)
+                l3.location = MarkerLocation().also { l4 ->
                    val p = CoordinateTransform.WGS84ToGCJ02(this.longitude, this.latitude)
                    l4.lon = p[0]
                    l4.lat = p[1]
                    l4.angle = this.heading
                }
                l3.infoId = id
+
+                l3.gpsLocation = Pair(this.longitude, this.latitude)
+                l3.polygon = this.polygonList?.takeIf { it.isNotEmpty() }?.map { Pair(it.longitude, it.latitude) }
            })
        }
        AiRoadMarker.aiMakers[id]?.receive()
@@ -152,14 +79,14 @@ fun MessagePad.TrackedObject.toRoadMarker(poiType: String): V2XMarkerCardResult

 fun V2XMarkerCardResult.toV2XRoadEventEntity(): V2XRoadEventEntity =
    V2XRoadEventEntity().also { l1 ->
-        val exploreWayList: List<V2XMarkerExploreWay>? = this.exploreWay
+        val exploreWayList: List<MarkerExploreWay>? = this.exploreWay
        if (!exploreWayList.isNullOrEmpty() && exploreWayList.isNotEmpty()) {
            for (markerExploreWay in exploreWayList) {
                if (isRoadEvent(markerExploreWay.poiType)) {
                    val markerLocation = markerExploreWay.location
-                    l1.location = markerLocation.toMarkerLocation()
+                    l1.location = markerLocation
                    l1.poiType = markerExploreWay.poiType
-                    l1.noveltyInfo = markerExploreWay.toMarkExploreWay(this.extras)
+                    l1.noveltyInfo = markerExploreWay
                    l1.expireTime = 20000
                }
            }
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/data/V2XMarkerCardResult.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/data/V2XMarkerCardResult.kt
@@ -1,6 +1,8 @@
 package com.mogo.eagle.core.function.v2x.internal.data

 import androidx.annotation.Keep
+import com.mogo.eagle.core.data.map.entity.MarkerExploreWay
+import com.mogo.eagle.core.data.map.entity.MarkerLocation
 import java.io.Serializable

@Keep
@@ -41,20 +43,15 @@ class V2XMarkerCardResult: V2XBaseData(), Serializable {
    /**
     * 探路数据集合
     */
-    var exploreWay: List<V2XMarkerExploreWay>? = null
+    var exploreWay: List<MarkerExploreWay>? = null

    /**
     * 服务端下发消息时间
     */
    var messageTime: Long = 0

-    /**
-     * 额外信息
-     */
-    var extras:  Map<String, Any>? = null
-
    override fun toString(): String {
-        return "MarkerCardResult(dataType=$dataType, carChat=$carChat, shareMusic=$shareMusic, noveltyInfo=$noveltyInfo, onlineCar=$onlineCar, exploreWay=$exploreWay, messageTime=$messageTime, extras=$extras)"
+        return "MarkerCardResult(dataType=$dataType, carChat=$carChat, shareMusic=$shareMusic, noveltyInfo=$noveltyInfo, onlineCar=$onlineCar, exploreWay=$exploreWay, messageTime=$messageTime)"
    }
 }

@@ -369,7 +366,7 @@ class V2XMarkerExploreWay: Serializable {
    /**
     * 位置信息
     */
-    var location: V2XMarkerLocation? = null
+    var location: MarkerLocation? = null

    /**
     * 车辆方位
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
@@ -96,4 +96,7 @@ public class MogoServicePaths {

    @Keep
    public static final String PATH_IDENTIFY = "/map/identify";
+
+    @Keep
+    public static final String PATH_VISUAL_ANGLE = "/map/angle_change";
 }
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/map/entity/MarkerExploreWay.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/map/entity/MarkerExploreWay.java
@@ -4,6 +4,8 @@ package com.mogo.eagle.core.data.map.entity;
 import android.text.TextUtils;


+import androidx.core.util.Pair;
+
 import java.io.Serializable;
 import java.util.List;
 import java.util.Map;
@@ -35,7 +37,10 @@ public class MarkerExploreWay implements Serializable {
    // 1 需要用户判断是否拥堵 进行UGC问答
    private int infoCheckNode;

-    public Map<String, Object> extras = null;
+
+    private Pair<Double, Double>  gpsLocation;
+
+    private List<Pair<Double, Double>> polygon;

    public String getAddr() {
        if (TextUtils.isEmpty(addr)) {
@@ -170,6 +175,22 @@ public class MarkerExploreWay implements Serializable {
        this.uploadType = uploadType;
    }

+    public Pair<Double, Double> getGpsLocation() {
+        return gpsLocation;
+    }
+
+    public void setGpsLocation(Pair<Double, Double> gpsLocation) {
+        this.gpsLocation = gpsLocation;
+    }
+
+    public List<Pair<Double, Double>> getPolygon() {
+        return polygon;
+    }
+
+    public void setPolygon(List<Pair<Double, Double>> polygon) {
+        this.polygon = polygon;
+    }
+
    @Override
    public boolean equals(Object o) {
        if (this == o) return true;
--- a/core/mogo-core-function-api/build.gradle
+++ b/core/mogo-core-function-api/build.gradle
@@ -47,7 +47,7 @@ dependencies {
    kapt rootProject.ext.dependencies.aroutercompiler
    implementation rootProject.ext.dependencies.coroutinescore
    implementation rootProject.ext.dependencies.coroutinesandroid
-    implementation rootProject.ext.dependencies.mogoobu
+    implementation project(':libraries:mogo-obu')

    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
        implementation rootProject.ext.dependencies.mogo_core_data
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IMoGoFuncBizProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IMoGoFuncBizProvider.kt
@@ -56,6 +56,4 @@ interface IMoGoFuncBizProvider : IMoGoFunctionServerProvider {
    fun fetchInfStructures()

    fun getAllV2XEvents()
-
-    fun initOverViewDb(context: Context)
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/IMoGoVisualAngleChangeProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/IMoGoVisualAngleChangeProvider.kt
@@ -0,0 +1,10 @@
+package com.mogo.eagle.core.function.api.map.angle
+
+import com.mogo.eagle.core.function.api.base.*
+
+interface IMoGoVisualAngleChangeProvider: IMoGoFunctionServerProvider {
+
+    fun updateLongSightLevel(level: Boolean)
+
+    fun changeAngle(scene: Scene)
+}
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/angle/Scenes.kt
@@ -0,0 +1,104 @@
+package com.mogo.eagle.core.function.api.map.angle
+
+import com.mogo.map.uicontroller.*
+import java.util.concurrent.*
+import java.util.concurrent.TimeUnit.SECONDS
+
+private interface IAttach {
+        val angle: VisualAngleMode
+        val priority: Int
+        val displayThreshold: Long  //最大展示时长 > 0; 表示最长展示多长时间， -1 表示，一直展示，直到触发默认视角, 0: 默认视角专用值，
+    }
+
+
+sealed class Scene: IAttach
+
+
+/**
+ * 默认视图
+ * @param delay: 表示多少稍后，默认值为2
+ * @param unit: 时间单位，默认为秒
+ */
+class Default(val delay: Long = 2, val unit: TimeUnit = SECONDS): Scene() {
+
+    override val angle: VisualAngleMode = VisualAngleMode.MODE_MEDIUM_SIGHT
+
+    override val priority: Int = 1
+
+    override val displayThreshold: Long
+        get() = 0
+
+    override fun toString(): String {
+        return "Default(delay=$delay, unit=$unit, angle=$angle, priority=$priority)"
+    }
+}
+
+
+/**
+ * 变道-接收到转向灯信息号
+ */
+class Turning(var open: Boolean = false): Scene() {
+
+    override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_TOP
+
+    override val priority: Int = 3
+
+    override val displayThreshold: Long
+        get() = -1
+
+    override fun toString(): String {
+        return "Turning(open: ${open}, priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
+    }
+}
+
+
+/**
+ * 后方车辆离自车过近
+ */
+object TooClose: Scene() {
+
+    override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_300
+
+    override val priority: Int = 2
+
+    override val displayThreshold: Long
+        get() = SECONDS.toMillis(8)
+
+    override fun toString(): String {
+        return "TooClose(priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
+    }
+}
+
+
+/**
+ * 道路事件
+ */
+object RoadEvent: Scene() {
+
+    override val angle: VisualAngleMode = VisualAngleMode.MODE_LONG_SIGHT
+
+    override val priority: Int = 5
+
+    override val displayThreshold: Long
+        get() = SECONDS.toMillis(8)
+
+    override fun toString(): String {
+        return "RoadEvent(priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority})"
+    }
+}
+
+
+/**
+ * 十字路口
+ */
+class CrossRoad(var open: Boolean = false): Scene() {
+    override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS
+    override val priority: Int = 4
+    override val displayThreshold: Long
+        get() = -1
+
+    override fun toString(): String {
+        return "CrossRoad(open: ${open}, priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority})"
+    }
+}
+
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuLocationWGS84Listener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuLocationWGS84Listener.kt
@@ -11,7 +11,7 @@ interface IMoGoObuLocationWGS84Listener {

    /**
     * HV车辆基础信息
-     *
+     s
     * @param data 数据
     * @since 1.0.0
     */
--- a/core/mogo-core-function-call/build.gradle
+++ b/core/mogo-core-function-call/build.gradle
@@ -50,9 +50,7 @@ dependencies {
    // MoGo 数据埋点工具
    implementation rootProject.ext.dependencies.analytics
    compileOnly rootProject.ext.dependencies.mogocustommap
-
-    implementation rootProject.ext.dependencies.mogoobu
-
+    implementation project(':libraries:mogo-obu')

    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
        implementation rootProject.ext.dependencies.mogo_core_data
--- 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
@@ -1,398 +1,24 @@
 package com.mogo.eagle.core.function.call.map

-import android.content.Context
-import android.os.Handler
-import android.os.Looper
-import android.os.SystemClock
-import android.util.*
-import androidx.lifecycle.Lifecycle.Event
-import androidx.lifecycle.Lifecycle.Event.ON_DESTROY
-import androidx.lifecycle.LifecycleEventObserver
-import androidx.lifecycle.LifecycleOwner
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.data.map.*
-import com.mogo.eagle.core.data.map.MapRoadInfo.StopLine
-import com.mogo.eagle.core.function.call.autopilot.*
-import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.OnRoadListener
-import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.*
-import com.mogo.eagle.core.utilcode.kotlin.lifeCycleOwner
-import com.mogo.eagle.core.utilcode.kotlin.safeCancel
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
-import com.mogo.map.uicontroller.VisualAngleMode
-import com.zhidaoauto.map.sdk.open.tools.MapTools
-import kotlinx.coroutines.*
-import kotlinx.coroutines.android.asCoroutineDispatcher
-import kotlinx.coroutines.internal.synchronized
-import java.util.*
-import java.util.concurrent.TimeUnit
-import java.util.concurrent.TimeUnit.SECONDS
-import java.util.concurrent.atomic.*
-import kotlin.math.*
+import com.alibaba.android.arouter.launcher.*
+import com.mogo.eagle.core.data.constants.*
+import com.mogo.eagle.core.function.api.map.angle.*
+

 /**
 * 高精地图视角管理类
 */
 object CallerVisualAngleManager {

-    private const val TAG = "VisualAngle"
-
-    @Volatile
-    private var hasCrossRoad = false
-
-
-    private var scope: CoroutineScope = acquireScope()
-        @Synchronized
-        get() {
-            if (field.isActive) {
-                return field
-            }
-            val scope = acquireScope()
-            field = scope
-            return field
-        }
-
-    private var defaultDelayJob: Job? = null
-
-    private fun acquireScope(): CoroutineScope {
-        return CoroutineScope(Handler(Looper.getMainLooper()).asCoroutineDispatcher("change-visual-angle") + SupervisorJob())
+    private val provider by lazy { ARouter.getInstance().build(MogoServicePaths.PATH_VISUAL_ANGLE)
+        .navigation() as? IMoGoVisualAngleChangeProvider
    }

-    private interface IAttach {
-        val angle: VisualAngleMode
-        val priority: Int
-        val displayThreshold: Long  //最大展示时长 > 0; 表示最长展示多长时间， -1 表示，一直展示，直到触发默认视角, 0: 默认视角专用值，
+    fun changeAngle(scene: Scene) {
+        provider?.changeAngle(scene)
    }

-    private val triggerLocation = AtomicReference<MogoLocation>()
-
-    private val distanceOfCarToStopLine = AtomicReference(0.0)
-
-    private val travelled by lazy { AtomicReference(0.0) }
-
-    private val listener = object : OnRoadListener {
-        private val roadId = AtomicReference<String>()
-        private val triggerRoadId = AtomicReference<String>()
-
-        override fun onRoadIdInfo(roadId: String) {
-            this.roadId.set(roadId)
-            Log.d(TAG, "-- onRoadIdInfo --: prev: ${this.triggerRoadId.get()} -> curr: $roadId")
-            val loc = CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
-            var triggerClose = false
-            val distance = distanceOfCarToStopLine.get() +  5
-            if (hasCrossRoad && distance > 0) {
-                val prev = triggerLocation.get()
-                if (prev != null && loc != null) {
-                    travelled.set(MapTools.distance(loc.longitude, loc.latitude, prev.longitude, prev.latitude) + travelled.get())
-                    triggerLocation.set(loc)
-                }
-                val oldRoadId = triggerRoadId.get()
-                Log.d(TAG, "-- onRoadIdInfo --: travelled --: ${travelled.get()}")
-                if ((travelled.get() > distance) && oldRoadId != null && oldRoadId != roadId) {
-                    distanceOfCarToStopLine.set(0.0)
-                    hasCrossRoad = false
-                    triggerRoadId.set(null)
-                    travelled.set(0.0)
-                    triggerLocation.set(null)
-                    Log.d(TAG, "-- onRoadIdInfo --: trigger close --")
-                    triggerClose = true
-                }
-            }
-            if (triggerClose) {
-                changeVisualAngle(CrossRoad(false))
-            }
-        }
-
-
-        override fun onStopLineInfo(info: StopLine) {
-            Log.d(TAG, "-- onStopLineInfo --: ${info.distanceOfCarToStopLine}")
-            if (!hasCrossRoad && info.distanceOfCarToStopLine <= 30.0) {
-                hasCrossRoad = true
-                triggerRoadId.set(this.roadId.get())
-                distanceOfCarToStopLine.set(info.distanceOfCarToStopLine)
-                triggerLocation.set(CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02())
-                changeVisualAngle(CrossRoad(true))
-            }
-        }
+    fun updateLongSightLevel(level: Boolean) {
+        provider?.updateLongSightLevel(level)
    }
-
-    fun init(ctx: Context) {
-        if (Thread.currentThread() != Looper.getMainLooper().thread) {
-            scope.launch {
-                initListen(ctx)
-            }
-        } else {
-            initListen(ctx)
-        }
-    }
-
-    private fun initListen(ctx: Context) {
-        ctx.lifeCycleOwner.lifecycle.addObserver(object : LifecycleEventObserver {
-            override fun onStateChanged(source: LifecycleOwner, event: Event) {
-                if (event == ON_DESTROY) {
-                    CallerMapRoadListenerManager.unRegisterRoadListener("VisualAngleChange")
-                }
-            }
-        })
-        CallerMapRoadListenerManager.registerRoadListener("VisualAngleChange", listener)
-    }
-
-    sealed class Scene private constructor(): IAttach {
-
-        /**
-         * 默认视图
-         * @param delay: 表示多少稍后，默认值为2
-         * @param unit: 时间单位，默认为秒
-         */
-        class Default(val delay: Long = 2, val unit: TimeUnit = SECONDS): Scene() {
-
-            override val angle: VisualAngleMode = VisualAngleMode.MODE_MEDIUM_SIGHT
-
-            override val priority: Int = 1
-
-            override val displayThreshold: Long
-                get() = 0
-
-            override fun toString(): String {
-                return "Default(delay=$delay, unit=$unit, angle=$angle, priority=$priority)"
-            }
-        }
-
-        /**
-         * 变道-接收到转向灯信息号
-         */
-        class Turning(var open: Boolean = false): Scene() {
-
-            override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_TOP
-
-            override val priority: Int = 3
-
-            override val displayThreshold: Long
-                get() = -1
-
-            override fun toString(): String {
-                return "Turning(open: ${open}, priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
-            }
-        }
-
-        /**
-         * 后方车辆离自车过近
-         */
-        object TooClose: Scene() {
-
-            override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_300
-
-            override val priority: Int = 2
-
-            override val displayThreshold: Long
-                get() = SECONDS.toMillis(8)
-
-            override fun toString(): String {
-                return "TooClose(priority=$priority, displayThreshold: $displayThreshold, priority=$priority)"
-            }
-        }
-
-        /**
-         * 道路事件
-         */
-        object RoadEvent: Scene() {
-
-            override val angle: VisualAngleMode = VisualAngleMode.MODE_LONG_SIGHT
-
-            override val priority: Int = 5
-
-            override val displayThreshold: Long
-                get() = SECONDS.toMillis(8)
-
-            override fun toString(): String {
-                return "RoadEvent(priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority})"
-            }
-        }
-
-
-        /**
-         * 十字路口
-         */
-        class CrossRoad(var open: Boolean = false): Scene() {
-            override val angle: VisualAngleMode = VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS
-            override val priority: Int = 4
-            override val displayThreshold: Long
-                get() = -1
-
-            override fun toString(): String {
-                return "CrossRoad(open: ${open}, priority=${priority}, displayThreshold: ${displayThreshold}, priority=${priority})"
-            }
-        }
-    }
-
-
-    /**
-     * 业务实体，不对外暴露
-     * @param target: 目标场景
-     * @param isDisplay: 是否正在展示
-     * @param triggerTime: 触发时间
-     */
-    private data class Record(val target: Scene, var isDisplay: Boolean = false, var triggerTime: Long): Comparable<Record> {
-        override fun compareTo(other: Record): Int {
-            //如果时间一样，优先级越高，越靠近堆顶
-            return other.target.priority - target.priority
-        }
-    }
-
-    private val queue by lazy {
-        PriorityQueue<Record>()
-    }
-
-    @Volatile
-    private var mLevel:Boolean = false
-
-    fun updateLongSightLevel(level:Boolean){
-        mLevel = level
-    }
-
-    fun changeVisualAngle(current: Scene) {
-        val appIdentityMode = FunctionBuildConfig.appIdentityMode
-        if (AppIdentityModeUtils.isBus(appIdentityMode) && AppIdentityModeUtils.isPassenger(appIdentityMode)) {
-            return
-        }
-        if(mLevel){
-            return
-        }
-        val triggerTime = SystemClock.elapsedRealtime()
-        scope.launch {
-            Log.d("${M_DEVA}${TAG}", "--- 1 ---")
-            val displayed = getDisplayed()
-            if (displayed == null) {
-                Log.d("${M_DEVA}${TAG}", "--- 2 ---")
-                if (current is Turning) {
-                    if (!current.open) {
-                        changeVisualAngle(Default())
-                        return@launch
-                    }
-                }
-                if (current is CrossRoad) {
-                    if (!current.open) {
-                        changeVisualAngle(Default())
-                        return@launch
-                    }
-                }
-                doRealVisualAngleChange(triggerTime, current, null)
-            } else {
-                val prev = displayed.target
-                Log.d("${M_DEVA}${TAG}", "--- 3 --- old: $prev -> cur: $current")
-                val prevTriggerTime = displayed.triggerTime
-                if (current !is Default && prev.priority > current.priority && (prev is RoadEvent || prev is TooClose)) {
-                    val displayDuration = triggerTime - prevTriggerTime
-                    Log.d("${M_DEVA}${TAG}", "--- 4 ---:场景[$prev], 已展示时长: duration: $displayDuration")
-                    if (displayDuration < prev.displayThreshold) {
-                        Log.d("${M_DEVA}${TAG}", "--- 5 --- 场景[$prev]:仍在保护展示时长内，直接return")
-                        return@launch
-                    } else {
-                        Log.d("${M_DEVA}${TAG}", "--- 6 --- 场景[$prev]:已过保护展示时长，从展示的队列中移除，显示默认视角")
-                        queue -= displayed
-                        changeVisualAngle(Default())
-                        return@launch
-                    }
-                }
-                if (prev is Turning && current is Turning) {
-                    val isOpen = current.open
-                    if (!isOpen) {
-                        Log.d("${M_DEVA}${TAG}", "--- 7 --- 场景[$current], 收到关闭通知")
-                        queue -= displayed
-                        changeVisualAngle(Default())
-                        return@launch
-                    }
-                }
-                if (prev is CrossRoad && current is CrossRoad) {
-                    val isOpen = current.open
-                    if (!isOpen) {
-                        Log.d("${M_DEVA}${TAG}", "--- 8 --- old: $prev -> cur: $current")
-                        queue -= displayed
-                        changeVisualAngle(Default())
-                        return@launch
-                    }
-                }
-                if (prev.priority == current.priority) {
-                    Log.d("${M_DEVA}${TAG}", "--- 9 --- 场景[$prev]正在展示，尚未收到关闭，优先级一致，直接return")
-                    return@launch
-                }
-                if (prev.priority > current.priority && prev.displayThreshold < 0) {
-                    Log.d("${M_DEVA}${TAG}", "--- 10 --- 场景[$prev]正在展示，尚未收到关闭，场景，依然展示当前场景，直接return")
-                    return@launch
-                }
-                doRealVisualAngleChange(triggerTime, current, displayed)
-            }
-        }
-    }
-
-    private fun CoroutineScope.doRealVisualAngleChange(triggerTime: Long, target: Scene, displayed: Record? = null) {
-        if (target is Default) {
-            Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 1 ---")
-            displayed?.also {
-                queue -= it
-            }
-            defaultDelayJob?.safeCancel()
-            launch {
-                val delay = target.unit.toMillis(target.delay)
-                Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 2 ---")
-                delay(delay)
-                Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 3 ---")
-                doChangeAngle(Record(target, triggerTime = triggerTime))
-            }.also { itx ->
-                itx.invokeOnCompletion {
-                    if (it is CancellationException) {
-                        Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 4 ---")
-                    }
-                }
-                defaultDelayJob = itx
-            }
-        } else {
-            Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 5 ---")
-            defaultDelayJob?.safeCancel()
-            if (displayed == null || displayed.target.priority <= target.priority) {
-                Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 6 ---")
-                displayed?.also {
-                    queue -= it
-                }
-                if (target is Turning) {
-                    if (!target.open) {
-                        Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 7 ---")
-                        changeVisualAngle(Default())
-                        return
-                    }
-                }
-                if (target is CrossRoad) {
-                    if (!target.open) {
-                        Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 8 ---")
-                        changeVisualAngle(Default())
-                        return
-                    }
-                }
-                Log.d("${M_DEVA}${TAG}", "--- doRealVisualAngleChange --- 10 ---")
-                doChangeAngle(Record(target, triggerTime = triggerTime))
-            }
-        }
-    }
-
-    @OptIn(InternalCoroutinesApi::class)
-    private fun doChangeAngle(record: Record) {
-        val angle = record.target.angle
-        CallerMapUIServiceManager.getMapUIController()?.also {
-            Log.d("${M_DEVA}${TAG}", "--- doChangeAngle ---： ${record.target}")
-            if (record.target !is Default) {
-                record.isDisplay = true
-                synchronized(queue) {
-                    queue += record
-                }
-            }
-            it.changeMapVisualAngle(angle, null)
-        }
-    }
-
-    /**
-     * 是否有正在展示的
-     */
-    @Synchronized
-    private fun getDisplayed() = queue.firstOrNull()
-
 }
--- a/gradle.properties
+++ b/gradle.properties
@@ -66,23 +66,23 @@ SERVICE_BIZ_VERSION=1.2.4
 LOGLIB_VERSION=1.5.10
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.3.32-beta3
+MOGO_NETWORK_VERSION=1.4.4.1
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.3.32-beta3
+MOGO_PASSPORT_VERSION=1.4.4.1
 # 常链接
-MOGO_SOCKET_VERSION=1.4.3.32-beta3
+MOGO_SOCKET_VERSION=1.4.4.1
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.3.32-beta3
+MOGO_REALTIME_VERSION=1.4.4.1
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.3.32-beta3
+MOGO_TANLU_VERSION=1.4.4.1
 # 直播推流
-MOGO_LIVE_VERSION=1.4.3.32-beta3
+MOGO_LIVE_VERSION=1.4.4.1
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.3.32-beta3
+MOGO_TRAFFICLIVE_VERSION=1.4.4.1
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.3.32-beta3
+MOGO_LOCATION_VERSION=1.4.4.1
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.3.32-beta2
+MOGO_TELEMATIC_VERSION=1.4.4.1
 ######## MogoAiCloudSDK Version ########
 # 自研地图
 MAP_SDK_VERSION=2.10.0.2_test_01
@@ -130,12 +130,6 @@ TTS_NOOP_VERSION=2.1.16.10
 # 自研地图
 MAP_CUSTOM_VERSION=2.1.16.10

-# 车聊聊
-MOGO_MODULE_CHAT_VERSION=2.1.16.10
-MOGO_MODULE_CARCHATTING_VERSION=2.1.16.10
-# 车聊聊接口
-MOGO_MODULE_CARCHATTINGPROVIDER_VERSION=2.1.16.10
-
 # OCH
 MOGO_OCH_VERSION=2.1.16.10-test
 MOGO_OCH_BUS_VERSION=2.0.66
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -135,6 +135,8 @@ message TrackedObject
    repeated Location polygon = 15;
    geometry.Point center = 16;
    AdditionalAttribute add_attribute = 17; // 事件类型
+    reserved 18 to 100;
+    string strUuid = 101;//String类型车辆ID
 }

 message TrackedObjects
@@ -188,7 +190,7 @@ message AutopilotState
 message PlanningObject
 {
    uint32 uuid = 1; 
-    uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事
+    uint32 type = 2; //影响自车决策的类型, 和感知的障碍物类型不是一回事   0是leading障碍物，1是避障和择机的障碍物
 }

 message PlanningObjects
--- a/libraries/mogo-adas-data/src/main/proto/personal/obu_base.proto
+++ b/libraries/mogo-adas-data/src/main/proto/personal/obu_base.proto
@@ -5,13 +5,13 @@ package com.mogo.support.obu;
 //垂直方向偏差 目前OBU发送的数据未偏移，使用的是elevation
 message VerticalLLV{
  oneof present{
-    double offset1 = 1;//海拔，单位(m)
-    double offset2 = 2;//海拔，单位(m)
-    double offset3 = 3;//海拔，单位(m)
-    double offset4 = 4;//海拔，单位(m)
-    double offset5 = 5;//海拔，单位(m)
-    double offset6 = 6;//海拔，单位(m)
-    double elevation = 7;//海拔，单位(m)
+    double offset1 = 1;   //海拔，单位(m)
+    double offset2 = 2;   //海拔，单位(m)
+    double offset3 = 3;   //海拔，单位(m)
+    double offset4 = 4;   //海拔，单位(m)
+    double offset5 = 5;   //海拔，单位(m)
+    double offset6 = 6;   //海拔，单位(m)
+    double elevation = 7; //海拔，单位(m)
  }
 }

@@ -33,135 +33,158 @@ message PositionOffset{
 }
 message  PositionLL1{
  //  (-2048..2047)
-  double longitude = 1;//经度，单位(°)
-  double latitude = 2;//维度，单位(°)
+  double longitude = 1; //经度，单位(°)
+  double latitude = 2;  //维度，单位(°)
 }
 message  PositionLL2{
  //  (-8192..8191)
-  double longitude = 1;//经度，单位(°)
-  double latitude = 2;//维度，单位(°)
+  double longitude = 1; //经度，单位(°)
+  double latitude = 2;  //维度，单位(°)
 }
 message  PositionLL3{
  // (-32768..32767)
-  double longitude = 1;//经度，单位(°)
-  double latitude = 2;//维度，单位(°)
+  double longitude = 1; //经度，单位(°)
+  double latitude = 2;  //维度，单位(°)
 }
 message  PositionLL4{
  // (-131072..131071)
-  double longitude = 1;//经度，单位(°)
-  double latitude = 2;//维度，单位(°)
+  double longitude = 1; //经度，单位(°)
+  double latitude = 2;  //维度，单位(°)
 }
 message  PositionLL5{
  // (-2097152..2097151)
-  double longitude = 1;//经度，单位(°)
-  double latitude = 2;//维度，单位(°)
+  double longitude = 1; //经度，单位(°)
+  double latitude = 2;  //维度，单位(°)
 }
 message  PositionLL6{
  //  (-8388608..8388607)
-  double longitude = 1;//经度，单位(°)
-  double latitude = 2;//维度，单位(°)
+  double longitude = 1; //经度，单位(°)
+  double latitude = 2;  //维度，单位(°)
 }
 message  PositionLatLon{
  // 定义经度数值。东经为正，西经为负。
  //分辨率为1e-7°。
-  double longitude = 1;//经度，单位(°)
-  double latitude = 2;//维度，单位(°)
+  double longitude = 1; //经度，单位(°)
+  double latitude = 2;  //维度，单位(°)
 }
 //////////////////////////////////////////////////////////////////

 //交通标志/事件位置信息
 message PositionLLV{
-  PositionOffset position = 1;//经纬度
-  VerticalLLV vertical = 2;//垂直方向偏差
+  PositionOffset position = 1;  //经纬度
+  VerticalLLV vertical = 2;     //垂直方向偏差
 }

 //交通参与者尺寸信息
 message VehicleSize {
-  int32 width = 1;//宽度，单位(cm)
-  int32 length = 2;//长度，单位(cm)
-  int32 height = 3;//高度，单位(cm)
+  int32 width = 1;  //宽度，单位(cm)
+  int32 length = 2; //长度，单位(cm)
+  int32 height = 3; //高度，单位(cm)
 }

 //四轴加速度
 message AccFourAxes {
-  double  accLng = 1;//纵向加速度，单位(m/s2)
-  double  accLat = 2;//横向加速度，单位(m/s2)
-  double  accVert = 3;//垂直加速度，单位(G)
-  double  accYaw = 4;//横摆角加速度，单位(°/s)
+  double  accLng = 1;   //纵向加速度，单位(m/s2)
+  double  accLat = 2;   //横向加速度，单位(m/s2)
+  double  accVert = 3;  //垂直加速度，单位(G)
+  double  accYaw = 4;   //横摆角加速度，单位(°/s)
 }

 //节点信息
 message NodeId{
-  int32 region = 1;/* 定义地图中划分区域的ID号 */
-  int32 id = 2;    /* 定义地图节点ID */
+  int32 region = 1; /* 定义地图中划分区域的ID号 */
+  int32 id = 2;     /* 定义地图节点ID */
 }

 //灯色信息
 message SpatLight{
-  int32 phaseID = 1;           /* 信号灯相位ID */
-  int32 maneuvers = 2;          /* 允许转向关系，bit0：直行，bit1：左转，bit2：右转，bit3：掉头 */
-  int32 light = 3;              /* 灯色，0：不可用，1：黑色，2：红闪，3：红色，4：绿闪，5：permissive_green，6：protected_green，7：黄色，8：黄闪 */
-  double countDown = 4;        /* 灯色倒计时，单位(s) */
+  int32 phaseID = 1;          /* 信号灯相位ID */
+  int32 maneuvers = 2;        /* 允许转向关系，bit0：直行，bit1：左转，bit2：右转，bit3：掉头 */
+  int32 light = 3;            /* 灯色，0：不可用，1：黑色，2：红闪，3：红色，4：绿闪，5：permissive_green，6：protected_green，7：黄色，8：黄闪 */
+  double countDown = 4;       /* 灯色倒计时，单位(s) */
  double suggestMaxSpeed = 5; /* 建议最大车速，单位(m/s) */
  double suggestMinSpeed = 6; /* 建议最小车速，单位(m/s) */
 }

 //时间
 message DateTime{
-  int32 year = 1;        /* 年份 */
+  int32 year = 1;         /* 年份 */
  int32 month = 2;        /* 月份 */
  int32 day = 3;          /* 日期 */
  int32 hour = 4;         /* 小时 */
  int32 minute = 5;       /* 分钟 */
-  int32 millisecond = 6; /* 毫秒 */
+  int32 millisecond = 6;  /* 毫秒 */
  int32 offset = 7;       /* 定义与UTC时间的分钟差 */
 }

 //预警数据
 message WarningData{
-  int32 unitMask = 1; /* 描述所属字段有效性 */
-  int32 status = 2;            /* 状态信息，0：更新，1：添加，2：删除 */
-  int32 warningType = 3;     /* 预警类型，0：前向碰撞预警，1：交叉路口碰撞预警，2：左转辅助预警，3：盲区预警，4：变道预警，
-    5：逆向超车预警，6：紧急制动预警，7：异常车辆提醒，8：失控车辆预警，9：紧急车辆预警，10：弱势交通参与者碰撞预警 */
+  int32 unitMask = 1;         /* 描述所属字段有效性 */
+  int32 status = 2;           /* 状态信息，0：更新，1：添加，2：删除 */
+  int32 warningType = 3;      /* 预警类型，0：前向碰撞预警，1：交叉路口碰撞预警，2：左转辅助预警，3：盲区预警，4：变道预警，
+                                         5：逆向超车预警，6：紧急制动预警，7：异常车辆提醒，8：失控车辆预警，9：紧急车辆预警，10：弱势交通参与者碰撞预警 */
  int32 warningLevel = 4;     /* 预警等级，0：无效，1：DETECTED，2：INFORM，3：WARNING */
-  int32 warningPriority = 5; /* 预警优先级，默认为0，预留 */
+  int32 warningPriority = 5;  /* 预警优先级，默认为0，预留 */
 }

 //弱势交通参与者预警信息
 message V2xWarning{
-  int32 unitMask = 1; /* 描述所属字段有效性 */
-  repeated WarningData warningData = 2;
-  DateTime warningTime = 3; /* 预警触发时间 */
-  double distance = 4;      /* 预警触发时与自车之间的距离，单位(m)  */
+  int32 unitMask = 1;                   /* 描述所属字段有效性 */
+  repeated WarningData warningData = 2; /*预警数据*/
+  DateTime warningTime = 3;             /* 预警触发时间 */
+  double distance = 4;                  /* 预警触发时与自车之间的距离，单位(m)  */
 }

 //弱势交通参与者信息
 message Participant{
-  int32 ptcType = 1;         /* 交通参与者类型，0：未知，1：机动车，2：非机动车，3：行人，4：OBU自身 */
-  int32 ptcId = 2;           /* 临时ID，取值范围(1..255) */
-  int32 source = 3;            /* 监测信息来源，0：未知，1：RSU自身，2：V2X广播，3：视频传感器，4：微波雷达，5：地磁线圈传感器，6：激光雷达传感器，7：两类或以上感知数据融合 */
-  int64 secMark = 4;         /* UTC时间，单位(ms) */
+  int32 ptcType = 1;            /* 交通参与者类型，0：未知，1：机动车，2：非机动车，3：行人，4：OBU自身 */
+  int32 ptcId = 2;              /* 临时ID，取值范围(1..255) */
+  int32 source = 3;             /* 监测信息来源，0：未知，1：RSU自身，2：V2X广播，3：视频传感器，4：微波雷达，5：地磁线圈传感器，6：激光雷达传感器，7：两类或以上感知数据融合 */
+  int64 secMark = 4;            /* UTC时间，单位(ms) */
  double latitude = 5;          /* 维度，单位(°) */
  double longitude = 6;         /* 经度，单位(°) */
  double elevation = 7;         /* 海拔，单位(m) */
  double speed = 8;             /* 速度，单位(m/s) */
-  double heading = 9;          /* 航向角，单位(°) */
+  double heading = 9;           /* 航向角，单位(°) */
  AccFourAxes accFourAxes = 10; /* 四轴加速度 */
-  VehicleSize ptcSize = 11;          /* 交通参与者尺寸信息 */
-  int32 vehicleClass = 12;     /* 车辆类型，参考《OBU软件SDK使用文档》附录A中的表1 */
-  int32 targetPosition = 13;   /* 目标方位，参考mg_veh_target_position_t */
+  VehicleSize ptcSize = 11;     /* 交通参与者尺寸信息 */
+  int32 vehicleClass = 12;      /* 车辆类型，参考《OBU软件SDK使用文档》附录A中的表1 */
+  int32 targetPosition = 13;    /* 目标方位，参考mg_veh_target_position_t */
 }

 message RsiWarning {
-  int32 unitMask = 1;        /* 描述所属字段有效性 */
+  int32 unitMask = 1;         /* 描述所属字段有效性 */
  int32 sceneType = 2;        /* 预警类型，0：无效，1：限速信息，2：道路危险，3：车内标牌，4：前方拥堵 */
-  PositionLLV position = 3;       /* 交通标志/事件位置信息 */
-  int32 signSerialNum = 4;  /* 交通标志类型序号，根据预警类型匹配，0：无效，参照国标《GB 5768.2-2009中“交通标志中文名称索引》表序号 */
-  int32 eventSerialNum = 5; /* 交通事件类型序号，根据预警类型匹配，0：无效，参考国标《GB/T 29100-2012》中定义的事件分类代码 */
-  double speedMaxLimit = 6;  /* 建议最大车速，单位(0.02m/s) */
-  double speedMinLimit = 7;  /* 建议最小车速，单位(0.02m/s) */
+  PositionLLV position = 3;   /* 交通标志/事件位置信息 */
+  int32 signSerialNum = 4;    /* 交通标志类型序号，根据预警类型匹配，0：无效，参照国标《GB 5768.2-2009中“交通标志中文名称索引》表序号 */
+  int32 eventSerialNum = 5;   /* 交通事件类型序号，根据预警类型匹配，0：无效，参考国标《GB/T 29100-2012》中定义的事件分类代码 */
+  double speedMaxLimit = 6;   /* 建议最大车速，单位(0.02m/s) */
+  double speedMinLimit = 7;   /* 建议最小车速，单位(0.02m/s) */
  double eventRadius = 8;     /* 交通事件触发半径，根据预警类型匹配，0：无效，单位(0.1m) */
  int32 warningLevel = 9;     /* 预警等级，0：无效，1：DETECTED，2：INFORM，3：WARNING */
-  int32 targetPosition = 10;   /* 目标方位，参考mg_rti_target_position_t */
-  double distance = 11;          /* 预警触发时与自车之间的距离，单位(0.01m) */
+  int32 targetPosition = 10;  /* 目标方位，参考mg_rti_target_position_t */
+  double distance = 11;       /* 预警触发时与自车之间的距离，单位(0.01m) */
+}
+
+message VehicleControl{
+  int32 unitMask = 1;           /* 描述所属字段有效性 */
+  int32 brakePedalStatus = 2;   /* 刹车踏板状态，0：未装备/未知/不可用，1：刹车踏板未踩下，2：刹车踏板已踩下 */
+  int32 transmissionStatus = 3; /* 车辆档位状态，0：空挡，1：停止档，2：前进挡，3：倒挡，7：无效值 */
+  int32 exteriorLights = 4;     /* 车灯状态，0：近光灯，1：远光灯，2：左转信号灯，3：右转信号灯，4：危险信号灯，5：自动大灯，6：日间行车灯，7：雾灯，8：停车灯 */
+}
+
+message VehicleBasics{
+  int32 unitMask = 1;                 /* 描述所属字段有效性 */
+  string id = 2;                      /* OBU ID */
+  int64 secMark = 3;                  /* UTC时间，单位(ms) */
+  double latitude = 4;                /* 维度，单位(°) */
+  double longitude = 5;               /* 经度，单位(°) */
+  double elevation = 6;               /* 海拔，单位(m) */
+  double speed = 7;                   /* 速度，单位(m/s) */
+  double heading = 8;                 /* 航向角，单位(°) */
+  AccFourAxes accFourAxes = 9;        /* 四轴加速度 */
+  VehicleSize vehSize = 10;           /* 车辆尺寸 */
+  int32 vehClass = 11;                /* 车辆类型，参考《OBU软件SDK使用文档》附录A中的表1 */
+  VehicleControl vehControlMsg = 12;  /* 车辆系统控制信息 */
+  int32 targetPosition = 13;          /* 目标方位，参考mg_veh_target_position_t */
 }
--- a/libraries/mogo-adas-data/src/main/proto/personal/obu_scene.proto
+++ b/libraries/mogo-adas-data/src/main/proto/personal/obu_scene.proto
@@ -2,35 +2,47 @@ syntax = "proto3";
 package com.mogo.support.obu;

 import "personal/obu_base.proto";
-//场景PB 目前只有V2I（Rsi、Rsm、Spat、Map）相关场景，后期会添加V2V相关场景
+//场景PB:包括 RV HV(V2V) V2I（Rsi、Rsm、Spat、Map）相关场景

 //预警事件 RSI Warning event
 message RsiWarningData {
-  int32 status = 1;          /* 状态信息，0：更新，1：添加，2：删除 */
-  //int32 warning_num = 2;     /* 预警信息数量 */
+  int32 status = 1;                   /* 状态信息，0：更新，1：添加，2：删除 */
  repeated RsiWarning warningMsg = 2; /* 预警信息集合 */
 }

 //RSM Warning Msg
 message RsmWarningData{
-  int32 status = 1;         /* 状态信息，0：更新，1：添加，2：删除 */
-  Participant participant = 2; /* 弱势交通参与者信息 */
-  V2xWarning warningMsg = 3; /* 弱势交通参与者预警信息 */
+  int32 status = 1;             /* 状态信息，0：更新，1：添加，2：删除 */
+  Participant participant = 2;  /* 弱势交通参与者信息 */
+  V2xWarning warningMsg = 3;    /* 弱势交通参与者预警信息 */
 }

 //SPAT Msg
 message SpatWarningData{
-  int32 status = 1;       /* 状态信息，0：更新，1：添加，2：删除 */
-  int32 warningType = 2; /* 预警类型信息 */
-  repeated SpatLight lights = 3;    /* 灯色信息集合 */
+  int32 status = 1;               /* 状态信息，0：更新，1：添加，2：删除 */
+  int32 warningType = 2;          /* 预警类型信息 */
+  repeated SpatLight lights = 3;  /* 灯色信息集合 */
 }

 message MapMatchData{
-  int32 status = 1;/* 状态信息，0：更新，1：添加，2：删除 */
-  int32 unitMask = 2;/* 描述所属字段有效性 */
-  NodeId currentNodeID = 3;/* 前方节点信息 */
-  NodeId upstreamNodeID = 4;/* 上游节点信息 */
-  int32 matchingLaneID = 5;/* 匹配车道ID，0：无效 */
-  double speedMaxLimit = 6;/* 建议最大车速，单位(m/s) */
-  double speedMinLimit = 7;/* 建议最小车速，单位(m/s) */
+  int32 status = 1;           /* 状态信息，0：更新，1：添加，2：删除 */
+  int32 unitMask = 2;         /* 描述所属字段有效性 */
+  NodeId currentNodeID = 3;   /* 前方节点信息 */
+  NodeId upstreamNodeID = 4;  /* 上游节点信息 */
+  int32 matchingLaneID = 5;   /* 匹配车道ID，0：无效 */
+  double speedMaxLimit = 6;   /* 建议最大车速，单位(m/s) */
+  double speedMinLimit = 7;   /* 建议最小车速，单位(m/s) */
+}
+
+//自车信息
+message HvBasicsData{
+  int32 status = 1;               /* 状态信息，0：更新，1：添加，2：删除 */
+  VehicleBasics vehBasicsMsg = 2; /* 自车基础运行信息 */
+}
+
+//他车数据包括 V2V预警信息
+message RvWarningData{
+  int32 status = 1;               /* 状态信息，0：更新，1：添加，2：删除 */
+  VehicleBasics vehBasicsMsg = 2; /* 临车基础运行信息 */
+  V2xWarning warningMsg = 3;      /* V2V预警信息 */
 }
--- a/libraries/mogo-obu/build.gradle
+++ b/libraries/mogo-obu/build.gradle
@@ -1,6 +1,5 @@
 plugins {
    id 'com.android.library'
-    id 'com.google.protobuf'
 }

 android {
@@ -21,31 +20,6 @@ android {
            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
        }
    }
-    sourceSets {
-        main {
-            proto {
-                srcDir 'src/main/proto'
-                include '**/*.proto'
-            }
-        }
-    }
-
-    protobuf {
-        protoc {
-            artifact = rootProject.ext.dependencies.protoc
-        }
-
-        generateProtoTasks {
-            all().each { task ->
-                task.builtins {
-                    remove java
-                }
-                task.builtins {
-                    java {}
-                }
-            }
-        }
-    }

    compileOptions {
        sourceCompatibility JavaVersion.VERSION_1_8
@@ -54,8 +28,7 @@ android {
 }

 dependencies {
-    api project(':libraries:mogo-adas-data')
-    api rootProject.ext.dependencies.protobuf_java
-    api rootProject.ext.dependencies.protobuf_java_util
+    implementation project(':libraries:mogo-adas-data')
+    implementation rootProject.ext.dependencies.androidxappcompat
    api rootProject.ext.dependencies.mogoobu
 }
--- a/libraries/mogo-obu/src/main/java/com/zhidao/support/obu/ObuManager.java
+++ b/libraries/mogo-obu/src/main/java/com/zhidao/support/obu/ObuManager.java
@@ -0,0 +1,825 @@
+package com.zhidao.support.obu;
+
+import android.content.Context;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+
+import com.mogo.support.obu.MogoObuManager;
+import com.mogo.support.obu.ObuBase;
+import com.mogo.support.obu.ObuScene;
+import com.mogo.support.obu.OnMogoObuListener;
+import com.mogo.support.obu.constants.MogoObuConstants;
+import com.mogo.support.obu.constants.MogoObuTopicId;
+import com.mogo.support.obu.model.MogoObuHvBasicsData;
+import com.mogo.support.obu.model.MogoObuMapMathData;
+import com.mogo.support.obu.model.MogoObuRsiWarningData;
+import com.mogo.support.obu.model.MogoObuRsmWarningData;
+import com.mogo.support.obu.model.MogoObuRvWarningData;
+import com.mogo.support.obu.model.MogoObuSpatWarningData;
+import com.mogo.support.obu.model.advance.AccFourAxes;
+import com.mogo.support.obu.model.advance.DateTime;
+import com.mogo.support.obu.model.advance.NodeId;
+import com.mogo.support.obu.model.advance.Participant;
+import com.mogo.support.obu.model.advance.PositionLLV;
+import com.mogo.support.obu.model.advance.RsiWarning;
+import com.mogo.support.obu.model.advance.SpatLight;
+import com.mogo.support.obu.model.advance.V2xWarning;
+import com.mogo.support.obu.model.advance.VehBasics;
+import com.mogo.support.obu.model.advance.VehControl;
+import com.mogo.support.obu.model.advance.VehSize;
+import com.mogo.support.obu.model.advance.VerticalLLV;
+import com.mogo.support.obu.model.advance.WarningData;
+import com.mogo.support.obu.option.MogoObuLog;
+import com.mogo.support.obu.option.MogoObuOptions;
+import com.mogo.support.obu.upgrade.OnUpgradeListener;
+
+import java.util.List;
+import java.util.Set;
+
+import mogo.telematics.pad.MessagePad;
+
+public class ObuManager {
+    private static final String TAG = ObuManager.class.getSimpleName();
+    private static volatile ObuManager INSTANCE;
+    private OnObuListener listener;
+
+    public static ObuManager getInstance() {
+        if (INSTANCE == null) {
+            synchronized (ObuManager.class) {
+                if (INSTANCE == null) {
+                    INSTANCE = new ObuManager();
+                }
+            }
+        }
+        return INSTANCE;
+    }
+
+    /**
+     * 获取当前连接状态
+     *
+     * @return 连接状态
+     * @since 1.0.0
+     */
+    public int getConnectStatus() {
+        return MogoObuManager.getInstance().getConnectStatus();
+    }
+
+    /**
+     * 获取已连接的OBU IP 断开连接会置null
+     *
+     * @return IP
+     * @since 1.0.0
+     */
+    public String getConnectedIp() {
+        return MogoObuManager.getInstance().getConnectedIp();
+    }
+
+    /**
+     * 获取已连接的OBU 端口 断开连接会置null
+     *
+     * @return 端口
+     * @since 1.0.0
+     */
+    public int getConnectedPort() {
+        return MogoObuManager.getInstance().getConnectedPort();
+    }
+
+    /**
+     * 获取当前SDK版本
+     *
+     * @return 版本
+     * @since 1.0.0
+     */
+    public String getVersion() {
+        return MogoObuManager.getInstance().getVersion();
+    }
+
+    /**
+     * 获取当前SO版本号
+     *
+     * @return 版本 未连接为null
+     * @since 1.0.0
+     */
+    public String getSoVersion() {
+        return MogoObuManager.getInstance().getSoVersion();
+    }
+
+    /**
+     * 获取当前OBU软件版本
+     * 需主动调用获取{@link MogoObuManager#getObuVersion(Context, String, OnUpgradeListener)}
+     *
+     * @return 版本 null表示 无法连接OBU；无法获取版本；
+     * @since 1.1.0
+     */
+    @Nullable
+    public String getObuVersion() {
+        return MogoObuManager.getInstance().getObuVersion();
+    }
+
+    /**
+     * 获取已注册的 Topic ID
+     *
+     * @return Topic ID
+     * @since 1.0.0
+     */
+    public List<MogoObuTopicId> getRegisteredTopicId() {
+        return MogoObuManager.getInstance().getRegisteredTopicId();
+    }
+
+    /**
+     * 获取未注册的 Topic ID
+     *
+     * @return Topic ID
+     * @since 1.0.0
+     */
+    public List<MogoObuTopicId> getUnregisteredTopicId() {
+        return MogoObuManager.getInstance().getUnregisteredTopicId();
+    }
+
+    /**
+     * 注册回调 包括连接状态以及数据回调
+     *
+     * @param obuListener 数据回调接口
+     * @since 1.0.0
+     */
+    public void registerObuListener(OnObuListener obuListener) {
+        this.listener = obuListener;
+        MogoObuManager.getInstance().registerMogoObuListener(mogoObuListener);
+    }
+
+    /**
+     * 取消注册
+     *
+     * @since 1.0.0
+     */
+    public void unregisterObuListener() {
+        MogoObuManager.getInstance().unregisterMogoObuListener();
+        listener = null;
+    }
+
+
+    /**
+     * 连接
+     * 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
+     * 异步结果回调回调顺序 每次一种类型
+     * 1.result.function == MogoObuConstants.CALL_FUNCTION.CONFIG onMogoObuCallResult(MogoObuCallConfigResult result) 连接配置或日志配置（如果有配置）
+     * 2.result.function == MogoObuConstants.CALL_FUNCTION.INIT onMogoObuCallResult(MogoObuCallResult result)  初始化，进行连接操作
+     * 3.result.function == MogoObuConstants.CALL_FUNCTION.TOPIC_REGIST onMogoObuCallResult(MogoObuCallRegisterResult result)  注册Topic ID（如果有配置）
+     *
+     * @param options 参数
+     * @since 1.0.0
+     */
+    public void connect(MogoObuOptions options) {
+        MogoObuManager.getInstance().connect(options);
+    }
+
+
+    /**
+     * 断开连接
+     * 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
+     *
+     * @since 1.0.1
+     */
+    public void disconnect() {
+        MogoObuManager.getInstance().disconnect();
+    }
+
+
+    /**
+     * 注册Topic
+     * 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
+     * result.function == MogoObuConstants.CALL_FUNCTION.TOPIC_REGIST onMogoObuCallResult(MogoObuCallRegisterResult result)
+     * 此版本支持的Topic ID
+     * MogoObuTopicId.HV_BASIC
+     * MogoObuTopicId.RV_WARNING
+     * MogoObuTopicId.SPAT_WARNING
+     * MogoObuTopicId.RSI_WARNING
+     * MogoObuTopicId.RSM_WARNING
+     * MogoObuTopicId.MAP_MATCH
+     *
+     * @param topicId id
+     * @since 1.0.0
+     */
+    public void registerTopic(MogoObuTopicId topicId) {
+        MogoObuManager.getInstance().registerTopic(topicId);
+    }
+
+    /**
+     * 注册多个Topic
+     * 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
+     * result.function == MogoObuConstants.CALL_FUNCTION.TOPIC_REGIST onMogoObuCallResult(MogoObuCallRegisterResult result)
+     * 此版本支持的Topic ID
+     * MogoObuTopicId.HV_BASIC
+     * MogoObuTopicId.RV_WARNING
+     * MogoObuTopicId.SPAT_WARNING
+     * MogoObuTopicId.RSI_WARNING
+     * MogoObuTopicId.RSM_WARNING
+     * MogoObuTopicId.MAP_MATCH
+     *
+     * @param topicIds ids
+     * @since 1.0.0
+     */
+    public void registerTopic(Set<MogoObuTopicId> topicIds) {
+        MogoObuManager.getInstance().registerTopic(topicIds);
+    }
+
+    /**
+     * 取消注册Topic
+     * 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
+     *
+     * @param topicId id
+     * @since @since 1.0.1
+     */
+    public void unregisterTopic(MogoObuTopicId topicId) {
+        MogoObuManager.getInstance().unregisterTopic(topicId);
+    }
+
+    /**
+     * 取消注册多个Topic
+     * 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
+     *
+     * @param topicIds ids
+     * @since 1.0.1
+     */
+    public void unregisterTopic(Set<MogoObuTopicId> topicIds) {
+        MogoObuManager.getInstance().unregisterTopic(topicIds);
+    }
+
+    /**
+     * OBU SDK 日志配置
+     * 支持日志输出至LogCat和写入文件
+     * 调用结果异步返回 listener.onMogoObuCallResult(BaseResult result)
+     * result.function == MogoObuConstants.CALL_FUNCTION.CONFIG onMogoObuCallResult(MogoObuCallConfigResult result) 日志配置
+     *
+     * @param log 日志配置
+     * @since 1.0.0
+     */
+    public void logConfig(MogoObuLog log) {
+        MogoObuManager.getInstance().logConfig(log);
+    }
+
+    /**
+     * 配置Android日志
+     *
+     * @param isEnableLog 是否开启日志输出
+     * @since 1.0.0
+     */
+    public void setEnableLog(boolean isEnableLog) {
+        MogoObuManager.getInstance().setEnableLog(isEnableLog);
+    }
+
+
+    /**
+     * 检查更新
+     *
+     * @param obuIp    OBU IP
+     * @param listener 升级回调
+     * @since 1.1.0
+     */
+    public boolean checkObuUpgrade(@NonNull Context context, @NonNull String obuIp, OnUpgradeListener listener) {
+        return MogoObuManager.getInstance().checkObuUpgrade(context, obuIp, listener);
+    }
+
+    /**
+     * 检查更新
+     *
+     * @param context      上下文
+     * @param obuIp        OBU IP
+     * @param isUpgradeNow 是否立即升级
+     *                     false：OBU设备下次上电时执行升级程序
+     *                     ture: OBU设备立即执行升级程序 TODO 警告：执行立即升级时请确保车辆是静止状态。车辆在运行过程中升级设备可能会影响驾驶，严重时可能造成安全隐患！！！
+     * @param listener     升级回调
+     * @return 是否调用成功
+     * @since 1.1.0
+     */
+    public boolean checkObuUpgrade(@NonNull Context context, @NonNull String obuIp, boolean isUpgradeNow, OnUpgradeListener listener) {
+        return MogoObuManager.getInstance().checkObuUpgrade(context, obuIp, isUpgradeNow, listener);
+    }
+
+    /**
+     * 获取当前连接OBU的版本号
+     * 如果调用 {@link MogoObuManager#checkObuUpgrade(Context, String, OnUpgradeListener)}方法可以不用调用此方法，检查更新会获取版本号
+     *
+     * @param context  上下文
+     * @param obuIp    OBU IP
+     * @param listener 升级回调
+     * @return 是否调用成功
+     * @since 1.1.0
+     */
+    public boolean getObuVersion(@NonNull Context context, @NonNull String obuIp, OnUpgradeListener listener) {
+        return MogoObuManager.getInstance().getObuVersion(context, obuIp, listener);
+    }
+
+    /**
+     * 传入升级包版本
+     *
+     * @param newVersion 升级包版本
+     * @since 1.1.0
+     */
+    public void setObuUpgradePackageVersion(@NonNull String newVersion) {
+        MogoObuManager.getInstance().setObuUpgradePackageVersion(newVersion);
+    }
+
+    /**
+     * 传入升级包
+     *
+     * @param newUpgradePackage 升级包文件绝对路径 只能包含 升级包MD5文件和升级包文件
+     * @since 1.1.0
+     */
+    public void setObuUpgradePackage(@NonNull String[] newUpgradePackage) {
+        MogoObuManager.getInstance().setObuUpgradePackage(newUpgradePackage);
+    }
+
+    /**
+     * 停止升级或停止版本查询
+     *
+     * @since 1.1.0
+     */
+    public void stopObuUpgrade() {
+        MogoObuManager.getInstance().stopObuUpgrade();
+    }
+
+    private final OnMogoObuListener mogoObuListener = new OnMogoObuListener() {
+        @Override
+        public void onConnectStatus(int connectStatus) {
+            if (listener != null) {
+                listener.onConnectStatus(connectStatus);
+            }
+        }
+
+        @Override
+        public void onMogoObuHvBasics(MogoObuHvBasicsData data) {
+            if (listener != null) {
+//                ObuScene.HvBasicsData.Builder builder = ObuScene.HvBasicsData.newBuilder();
+//                builder.setStatus(data.getStatus());
+                VehBasics vehBasics = data.getVehBasicsMsg();
+//                if (vehBasics != null) {
+//                    builder.setVehBasicsMsg(getVehBasics(vehBasics));
+//                }
+//                listener.onObuHvBasics(builder.build());
+
+
+                //转工控机PB 赋值的包括 satelliteTime systemTime latitude longitude altitude heading gnssSpeed acceleration vehicleSpeed 未赋值：yawRate
+                if (vehBasics != null) {
+                    MessagePad.GnssInfo.Builder gnssInfoBuilder = MessagePad.GnssInfo.newBuilder();
+                    if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SEC_MARK)) {
+                        double time = vehBasics.getSecMark() / 1000.0D;
+                        gnssInfoBuilder.setSatelliteTime(time);
+                        gnssInfoBuilder.setSystemTime(time);
+                    }
+                    if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LATITUDE)) {
+                        gnssInfoBuilder.setLatitude(vehBasics.getLatitude());
+                    }
+                    if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LONGITUDE)) {
+                        gnssInfoBuilder.setLongitude(vehBasics.getLongitude());
+                    }
+                    if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ELEVATION)) {
+                        gnssInfoBuilder.setAltitude(vehBasics.getElevation());
+                    }
+                    if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SPEED)) {
+                        gnssInfoBuilder.setGnssSpeed(vehBasics.getSpeed());
+                        gnssInfoBuilder.setVehicleSpeed(vehBasics.getSpeed());
+                    }
+                    if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.HEADING)) {
+                        gnssInfoBuilder.setHeading(vehBasics.getHeading());
+                    }
+                    if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ACC_FOUR_AXES)) {
+                        AccFourAxes accFourAxes = vehBasics.getAccFourAxes();
+                        if (accFourAxes != null) {
+                            gnssInfoBuilder.setAcceleration(accFourAxes.getAccLng());
+                        }
+                    }
+                    listener.onGnssInfo(gnssInfoBuilder.build());
+                }
+            }
+        }
+
+        @Override
+        public void onMogoObuRvWarning(MogoObuRvWarningData data) {
+            super.onMogoObuRvWarning(data);
+            if (listener != null) {
+                ObuScene.RvWarningData.Builder builder = ObuScene.RvWarningData.newBuilder();
+                builder.setStatus(data.getStatus());
+                VehBasics vehBasics = data.getVehBasicsMsg();
+                if (vehBasics != null) {
+                    builder.setVehBasicsMsg(getVehBasics(vehBasics));
+                }
+                V2xWarning v2xWarning = data.getWarningMsg();
+                if (v2xWarning != null) {
+                    builder.setWarningMsg(getV2xWarning(v2xWarning));
+                }
+                listener.onObuRvWarning(builder.build());
+
+            }
+        }
+
+        @Override
+        public void onMogoObuSpatWarning(MogoObuSpatWarningData data) {
+            super.onMogoObuSpatWarning(data);
+            if (listener != null) {
+                ObuScene.SpatWarningData.Builder builder = ObuScene.SpatWarningData.newBuilder();
+                builder.setStatus(data.getStatus()).setWarningType(data.getWarningType());
+                List<SpatLight> lights = data.getLights();
+                if (lights != null && !lights.isEmpty()) {
+                    for (SpatLight light : lights) {
+                        builder.addLights(ObuBase.SpatLight.newBuilder()
+                                .setPhaseID(light.getPhaseId())
+                                .setManeuvers(light.getManeuvers())
+                                .setLight(light.getLight())
+                                .setCountDown(light.getCountDown())
+                                .setSuggestMaxSpeed(light.getSuggestMaxSpeed())
+                                .setSuggestMinSpeed(light.getSuggestMinSpeed()));
+                    }
+                }
+                listener.onObuSpatWarning(builder.build());
+            }
+        }
+
+        @Override
+        public void onMogoObuRsiWarning(MogoObuRsiWarningData data) {
+            super.onMogoObuRsiWarning(data);
+            if (listener != null) {
+                ObuScene.RsiWarningData.Builder builder = ObuScene.RsiWarningData.newBuilder();
+                builder.setStatus(data.getStatus());
+                List<RsiWarning> list = data.getWarningMsg();
+                if (list != null && !list.isEmpty()) {
+                    for (RsiWarning warning : list) {
+                        ObuBase.RsiWarning.Builder rsiBuilder = ObuBase.RsiWarning.newBuilder();
+                        rsiBuilder.setUnitMask(warning.getUnitMask());
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SCENE_TYPE)) {
+                            rsiBuilder.setSceneType(warning.getSceneType());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.POSITION)) {
+                            PositionLLV positionLLV = warning.getPosition();
+                            int present = positionLLV.getPresent();//由于OBU数据没有给偏移量默认使用的是7
+                            double longitude = positionLLV.getLongitude();
+                            double latitude = positionLLV.getLatitude();
+                            ObuBase.PositionOffset.Builder positionOffsetBuilder = ObuBase.PositionOffset.newBuilder();
+                            if (present == 1) {
+                                positionOffsetBuilder.setPositionLL1(ObuBase.PositionLL1.newBuilder()
+                                        .setLongitude(longitude)
+                                        .setLatitude(latitude));
+                            } else if (present == 2) {
+                                positionOffsetBuilder.setPositionLL2(ObuBase.PositionLL2.newBuilder()
+                                        .setLongitude(longitude)
+                                        .setLatitude(latitude));
+                            } else if (present == 3) {
+                                positionOffsetBuilder.setPositionLL3(ObuBase.PositionLL3.newBuilder()
+                                        .setLongitude(longitude)
+                                        .setLatitude(latitude));
+                            } else if (present == 4) {
+                                positionOffsetBuilder.setPositionLL4(ObuBase.PositionLL4.newBuilder()
+                                        .setLongitude(longitude)
+                                        .setLatitude(latitude));
+                            } else if (present == 5) {
+                                positionOffsetBuilder.setPositionLL5(ObuBase.PositionLL5.newBuilder()
+                                        .setLongitude(longitude)
+                                        .setLatitude(latitude));
+                            } else if (present == 6) {
+                                positionOffsetBuilder.setPositionLL6(ObuBase.PositionLL6.newBuilder()
+                                        .setLongitude(longitude)
+                                        .setLatitude(latitude));
+                            } else {
+                                positionOffsetBuilder.setPositionLatLon(ObuBase.PositionLatLon.newBuilder()
+                                        .setLongitude(longitude)
+                                        .setLatitude(latitude));
+                            }
+                            VerticalLLV verticalLLV = positionLLV.getVertical();
+                            present = verticalLLV.getPresent();//由于OBU数据没有给偏移量默认使用的是7
+                            double elevation = verticalLLV.getElevation();
+                            ObuBase.VerticalLLV.Builder verticalLLVBuilder = ObuBase.VerticalLLV.newBuilder();
+                            if (present == 1) {
+                                verticalLLVBuilder.setOffset1(elevation);
+                            } else if (present == 2) {
+                                verticalLLVBuilder.setOffset2(elevation);
+                            } else if (present == 3) {
+                                verticalLLVBuilder.setOffset3(elevation);
+                            } else if (present == 4) {
+                                verticalLLVBuilder.setOffset4(elevation);
+                            } else if (present == 5) {
+                                verticalLLVBuilder.setOffset5(elevation);
+                            } else if (present == 6) {
+                                verticalLLVBuilder.setOffset6(elevation);
+                            } else {
+                                verticalLLVBuilder.setElevation(elevation);
+                            }
+                            rsiBuilder.setPosition(ObuBase.PositionLLV.newBuilder()
+                                    .setPosition(positionOffsetBuilder)
+                                    .setVertical(verticalLLVBuilder));
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SIGN_SERIAL_NUM)) {
+                            rsiBuilder.setSignSerialNum(warning.getSignSerialNum());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.EVENT_SERIAL_NUM)) {
+                            rsiBuilder.setEventSerialNum(warning.getEventSerialNum());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SPEED_MAX_LIMIT)) {
+                            rsiBuilder.setSpeedMaxLimit(warning.getSpeedMaxLimit());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.SPEED_MIN_LIMIT)) {
+                            rsiBuilder.setSpeedMinLimit(warning.getSpeedMinLimit());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.EVENT_RADIUS)) {
+                            rsiBuilder.setEventRadius(warning.getEventRadius());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.WARNING_LEVEL)) {
+                            rsiBuilder.setWarningLevel(warning.getWarningLevel());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.TARGET_POSITION)) {
+                            rsiBuilder.setTargetPosition(warning.getTargetPosition());
+                        }
+                        if (warning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_RSI_WARNING.DISTANCE)) {
+                            rsiBuilder.setDistance(warning.getDistance());
+                        }
+                        builder.addWarningMsg(rsiBuilder);
+                    }
+                }
+                listener.onObuRsiWarning(builder.build());
+            }
+        }
+
+        @Override
+        public void onMogoObuRsmWarning(MogoObuRsmWarningData data) {
+            super.onMogoObuRsmWarning(data);
+            if (listener != null) {
+                ObuScene.RsmWarningData.Builder builder = ObuScene.RsmWarningData.newBuilder();
+                builder.setStatus(data.getStatus());
+                Participant participant = data.getParticipant();
+                if (participant != null) {
+                    ObuBase.Participant.Builder participantBuilder = ObuBase.Participant.newBuilder();
+                    participantBuilder.setPtcType(participant.getPtcType())
+                            .setPtcId(participant.getPtcId())
+                            .setSource(participant.getSource())
+                            .setSecMark(participant.getSecMark())
+                            .setLatitude(participant.getLatitude())
+                            .setLongitude(participant.getLongitude())
+                            .setSpeed(participant.getSpeed())
+                            .setHeading(participant.getHeading());
+                    AccFourAxes accFourAxes = participant.getAccFourAxes();
+                    if (accFourAxes != null) {
+                        participantBuilder.setAccFourAxes(getAccFourAxes(accFourAxes));
+                    }
+                    VehSize vehicleSize = participant.getPtcSize();
+                    if (vehicleSize != null) {
+                        participantBuilder.setPtcSize(getVehSize(vehicleSize));
+                    }
+                    participantBuilder.setVehicleClass(participant.getVehicleClass())
+                            .setTargetPosition(participant.getTargetPosition());
+                    builder.setParticipant(participantBuilder);
+                }
+                V2xWarning v2xWarning = data.getWarningMsg();
+                if (v2xWarning != null) {
+                    builder.setWarningMsg(getV2xWarning(v2xWarning));
+                }
+                listener.onObuRsmWarning(builder.build());
+            }
+        }
+
+        @Override
+        public void onMogoObuMapMath(MogoObuMapMathData data) {
+            super.onMogoObuMapMath(data);
+            if (listener != null) {
+                ObuScene.MapMatchData.Builder builder = ObuScene.MapMatchData.newBuilder();
+                builder.setStatus(data.getStatus()).setUnitMask(data.getUnitMask());
+                if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.CURRENT_NODE_ID)) {
+                    NodeId nodeId = data.getCurrentNodeId();
+                    if (nodeId != null) {
+                        builder.setCurrentNodeID(ObuBase.NodeId.newBuilder()
+                                .setRegion(nodeId.getRegion())
+                                .setId(nodeId.getId()));
+                    }
+                }
+                if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.UPSTREAM_NODE_ID)) {
+                    NodeId nodeId = data.getUpstreamNodeId();
+                    if (nodeId != null) {
+                        builder.setUpstreamNodeID(ObuBase.NodeId.newBuilder()
+                                .setRegion(nodeId.getRegion())
+                                .setId(nodeId.getId()));
+                    }
+                }
+                if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.MATCHING_LANE_ID)) {
+                    builder.setMatchingLaneID(data.getMatchingLaneId());
+                }
+                if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.SPEED_MAX_LIMIT)) {
+                    builder.setSpeedMaxLimit(data.getSpeedMaxLimit());
+                }
+                if (data.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_MAP_MATH.SPEED_MIN_LIMIT)) {
+                    builder.setSpeedMinLimit(data.getSpeedMinLimit());
+                }
+                listener.onObuMapMath(builder.build());
+            }
+        }
+    };
+
+    private ObuBase.AccFourAxes.Builder getAccFourAxes(AccFourAxes accFourAxes) {
+        return ObuBase.AccFourAxes.newBuilder()
+                .setAccLng(accFourAxes.getAccLng())
+                .setAccLat(accFourAxes.getAccLat())
+                .setAccVert(accFourAxes.getAccVert())
+                .setAccYaw(accFourAxes.getAccYaw());
+    }
+
+    private ObuBase.VehicleSize.Builder getVehSize(VehSize vehSize) {
+        return ObuBase.VehicleSize.newBuilder()
+                .setWidth(vehSize.getWidth())
+                .setLength(vehSize.getLength())
+                .setHeight(vehSize.getHeight());
+    }
+
+    private ObuBase.VehicleBasics.Builder getVehBasics(VehBasics vehBasics) {
+        ObuBase.VehicleBasics.Builder builder = ObuBase.VehicleBasics.newBuilder();
+        builder.setUnitMask(vehBasics.getUnitMask());
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ID)) {
+            builder.setId(vehBasics.getId());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SEC_MARK)) {
+            builder.setSecMark(vehBasics.getSecMark());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LATITUDE)) {
+            builder.setLatitude(vehBasics.getLatitude());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.LONGITUDE)) {
+            builder.setLongitude(vehBasics.getLongitude());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ELEVATION)) {
+            builder.setElevation(vehBasics.getElevation());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.SPEED)) {
+            builder.setSpeed(vehBasics.getSpeed());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.HEADING)) {
+            builder.setHeading(vehBasics.getHeading());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.ACC_FOUR_AXES)) {
+            AccFourAxes accFourAxes = vehBasics.getAccFourAxes();
+            if (accFourAxes != null) {
+                builder.setAccFourAxes(getAccFourAxes(accFourAxes));
+            }
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.VEH_SIZE)) {
+            VehSize vehicleSize = vehBasics.getVehSize();
+            if (vehicleSize != null) {
+                builder.setVehSize(getVehSize(vehicleSize));
+            }
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.VEH_CLASS)) {
+            builder.setVehClass(vehBasics.getVehClass());
+        }
+        if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.VEH_CONTROL_MSG)) {
+            VehControl vehControl = vehBasics.getVehControlMsg();
+            if (vehControl != null) {
+                ObuBase.VehicleControl.Builder vehicleControlBuilder = ObuBase.VehicleControl.newBuilder();
+                vehicleControlBuilder.setUnitMask(vehControl.getUnitMask());
+                if (vehControl.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_CONTROL.BRAKE_PEDAL_STATUS)) {
+                    vehicleControlBuilder.setBrakePedalStatus(vehControl.getBrakePedalStatus());
+                }
+                if (vehControl.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_CONTROL.TRANSMISSION_STATUS)) {
+                    vehicleControlBuilder.setTransmissionStatus(vehControl.getTransmissionStatus());
+                }
+                if (vehControl.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_CONTROL.EXTERIOR_LIGHTS)) {
+                    vehicleControlBuilder.setExteriorLights(vehControl.getExteriorLights());
+                }
+                builder.setVehControlMsg(vehicleControlBuilder);
+            }
+            if (vehBasics.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_VEH_BASICS.TARGET_POSITION)) {
+                builder.setTargetPosition(vehBasics.getTargetPosition());
+            }
+        }
+        return builder;
+    }
+
+    private ObuBase.V2xWarning.Builder getV2xWarning(V2xWarning v2xWarning) {
+        ObuBase.V2xWarning.Builder builder = ObuBase.V2xWarning.newBuilder();
+        builder.setUnitMask(v2xWarning.getUnitMask());
+        if (v2xWarning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING.WARNING_DATA)) {
+            List<WarningData> list = v2xWarning.getWarningData();
+            if (list != null && !list.isEmpty()) {
+                for (WarningData warningData : list) {
+                    ObuBase.WarningData.Builder warningDataBuilder = ObuBase.WarningData.newBuilder();
+                    warningDataBuilder.setUnitMask(warningData.getUnitMask());
+                    if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.STATUS)) {
+                        warningDataBuilder.setStatus(warningData.getStatus());
+                    }
+                    if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.WARNING_TYPE)) {
+                        warningDataBuilder.setWarningType(warningData.getWarningType());
+                    }
+                    if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.WARNING_LEVEL)) {
+                        warningDataBuilder.setWarningLevel(warningData.getWarningLevel());
+                    }
+                    if (warningData.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING_DATA.WARNING_PRIORITY)) {
+                        warningDataBuilder.setWarningPriority(warningData.getWarningPriority());
+                    }
+                    builder.addWarningData(warningDataBuilder);
+                }
+            }
+        }
+        if (v2xWarning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING.WARNING_TIME)) {
+            DateTime dateTime = v2xWarning.getWarningTime();
+            if (dateTime != null) {
+                builder.setWarningTime(ObuBase.DateTime.newBuilder()
+                        .setYear(dateTime.getYear())
+                        .setMonth(dateTime.getMonth())
+                        .setDay(dateTime.getDay())
+                        .setHour(dateTime.getHour())
+                        .setMinute(dateTime.getMinute())
+                        .setMillisecond(dateTime.getMillisecond())
+                        .setOffset(dateTime.getOffset())
+                );
+            }
+        }
+        if (v2xWarning.has(MogoObuConstants.UNIT_MASK.MOGO_OBU_V2X_WARNING.DISTANCE)) {
+            builder.setDistance(v2xWarning.getDistance());
+        }
+        return builder;
+    }
+
+    /**
+     * RV数据转换为转工控机障碍物数据
+     * 赋值的包括：uuid strUuid systemTime satelliteTime latitude longitude altitude speed heading tracked_source.source type
+     *
+     * @param rvWarningData OBU RV数据
+     * @return 工控机障碍物数据
+     */
+    public MessagePad.TrackedObject obuRvToTrackedObject(ObuScene.RvWarningData rvWarningData) {
+        if (rvWarningData != null && rvWarningData.hasVehBasicsMsg()) {
+            ObuBase.VehicleBasics vehBasics = rvWarningData.getVehBasicsMsg();
+            MessagePad.TrackedObject.Builder trackedObjectBuilder = MessagePad.TrackedObject.newBuilder();
+            trackedObjectBuilder.setUuid(vehBasics.getId().hashCode());
+            trackedObjectBuilder.setStrUuid(vehBasics.getId());
+            double time = vehBasics.getSecMark() / 1000.0D;
+            trackedObjectBuilder.setSatelliteTime(time);
+            trackedObjectBuilder.setSystemTime(time);
+            trackedObjectBuilder.setLatitude(vehBasics.getLatitude());
+            trackedObjectBuilder.setLongitude(vehBasics.getLongitude());
+            trackedObjectBuilder.setAltitude(vehBasics.getElevation());
+            trackedObjectBuilder.setSpeed(vehBasics.getSpeed());
+            trackedObjectBuilder.setHeading(vehBasics.getHeading());
+            trackedObjectBuilder.addTrackedSource(MessagePad.TrackedSource.newBuilder().setSource(2));
+            /**
+             * 0 未知车辆
+             * 1 特殊用途车辆
+             * 10 乘用车类型（default type）
+             * 20 轻卡（default type）
+             * 25 卡车（default type）
+             * 27 卡车（Two axle, six tire single units）
+             * 28 卡车（ Three axle, single units）
+             * 29 卡车（ Four or more axle, single unit）
+             * 30 拖挂车（Four or less axle, single trailer）
+             * 31 拖挂车（Four or less axle, single trailer）
+             * 32 拖挂车（Six or more axle, single trailer）
+             * 33 多轴拖挂车（ Five or less axle, multi-trailer）
+             * 34 多轴拖挂车（ Six axle, multi-trailer）
+             * 35 多轴拖挂车（Seven or more axle, multi-trailer）
+             * 40 摩托车（default type）
+             * 42 摩托车（motorcycle-Cruiser-Standard）
+             * 43 摩托车（motorcycle - Sport Unclad）
+             * 44 摩托车（motorcycle - Sport Touring）
+             * 45 摩托车（motorcycle - Super Sport）
+             * 46 摩托车（motorcycle-Touring）
+             * 47 摩托车（motorcycle-Trike）
+             * 48 摩托车（motorcycle - w Passengers）
+             * 50 公交车（ default type）
+             * 52 公交车（transit-BRT）
+             * 53 公交车（transit-ExpressBus）
+             * 54 公交车（transit-LocalBus）
+             * 55 公交车（transit-SchoolBus）
+             * 56 公交车（transit-FixedGuideway）
+             * 57 公交车（transit-Paratransit）
+             * 58 公交车（transit-Paratransit-Ambulance）
+             * 60 紧急车辆（default type）
+             * 62 紧急车辆（emergency-Fire-Light）
+             * 63 紧急车辆（emergency-Fire-Heavy）
+             * 64 紧急车辆（emergency-Fire-Paramedic）
+             * 65 紧急车辆（emergency-Fire-Ambulance）
+             * 66 紧急车辆（emergency-Police-Light）
+             * 67 紧急车辆（emergency-Police-Heavy）
+             * 68 紧急车辆（emergency-Other-Responder）
+             * 69 紧急车辆（emergency-Other-Ambulance）
+             * 80 其他配备 V2X 的道路参与者（default type）
+             * 82 其他配备 V2X 的道路参与者（otherTraveler-Pedestrian）
+             * 83 其他配备 V2X 的道路参与者（otherTraveler-Visually-Disabled）
+             * 84 其他配备 V2X 的道路参与者（otherTraveler-Physically-Disabled）
+             * 85 其他配备 V2X 的道路参与者（otherTraveler-Bicycle）
+             * 86 其他配备 V2X 的道路参与者（otherTraveler-Vulnerable-Roadworker）
+             */
+            int vehClass = vehBasics.getVehClass();
+            if (vehClass >= 20 && vehClass < 30) {//卡车 20 25 27 28 29
+                vehClass = 8;
+            } else if (vehClass >= 40 && vehClass < 50) {//摩托车 40 42 43 44 45 46 47 48
+                vehClass = 4;
+            } else if (vehClass >= 50 && vehClass < 60) {//公交车 50 52 53 54 55 56 57 58
+                vehClass = 6;
+            } else if (vehClass == 82) {//其他配备 V2X 的道路参与者（otherTraveler-Pedestrian）
+                vehClass = 1;
+            } else if (vehClass == 85) {//其他配备 V2X 的道路参与者（otherTraveler-Bicycle）
+                vehClass = 2;
+            } else {
+                vehClass = 3;
+            }
+            trackedObjectBuilder.setType(vehClass);
+            return trackedObjectBuilder.build();
+        }
+        return null;
+    }
+}
--- a/libraries/mogo-obu/src/main/java/com/zhidao/support/obu/OnObuListener.java
+++ b/libraries/mogo-obu/src/main/java/com/zhidao/support/obu/OnObuListener.java
@@ -0,0 +1,70 @@
+package com.zhidao.support.obu;
+
+import com.mogo.support.obu.ObuScene;
+import com.mogo.support.obu.constants.Define;
+
+import mogo.telematics.pad.MessagePad;
+
+
+public interface OnObuListener {
+
+    /**
+     * 连接状态
+     *
+     * @param connectStatus 连接状态
+     */
+    void onConnectStatus(@Define.ConnectStatus int connectStatus);
+
+
+    /**
+     * HV车辆基础信息
+     *
+     * @param hvBasicsData 数据
+     */
+//    void onObuHvBasics(ObuScene.HvBasicsData hvBasicsData);
+
+    /**
+     * HV车辆基础信息转工控机自车数据格式
+     *
+     * @param gnssInfo 数据
+     */
+    void onGnssInfo(MessagePad.GnssInfo gnssInfo);
+
+    /**
+     * V2V预警信息
+     * OBU RV数据转工控机障碍物数据：{@link ObuManager#obuRvToTrackedObject(ObuScene.RvWarningData)}
+     *
+     * @param rvWarningData 数据
+     */
+    void onObuRvWarning(ObuScene.RvWarningData rvWarningData);
+
+    /**
+     * OBU 红绿灯预警信息
+     *
+     * @param spatWarningData 数据
+     */
+    void onObuSpatWarning(ObuScene.SpatWarningData spatWarningData);
+
+    /**
+     * OBU RSI预警信息
+     *
+     * @param rsiWarningData 数据
+     */
+    void onObuRsiWarning(ObuScene.RsiWarningData rsiWarningData);
+
+    /**
+     * OBU RSM预警信息
+     *
+     * @param rsmWarningData 数据
+     */
+    void onObuRsmWarning(ObuScene.RsmWarningData rsmWarningData);
+
+    /**
+     * OBU 地图匹配结果
+     *
+     * @param mapMatchData 数据
+     */
+    void onObuMapMath(ObuScene.MapMatchData mapMatchData);
+
+
+}