Merge branch 'dev_robotaxi-d_240705_6.5.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_240705_6.5.0

# Conflicts: # core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
2024-07-10 09:57:21 +08:00
parent 1ca1a97aff 6254d96378
commit a826a86633
71 changed files with 1668 additions and 598 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -6,6 +6,8 @@ import android.os.Message
 import android.text.TextUtils
 import android.util.Log
 import androidx.core.util.Pair
+import com.google.gson.JsonArray
+import com.google.gson.JsonObject
 import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.CommunicationType
@@ -82,12 +84,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
    private const val MSG_WHAT_DRAW_GREEN_WAVE = 0x1014  // 绿波通行
    private const val MSG_WHAT_DRAW_PEOPLE_CROSS = 0x1015 // 行人横穿

-    private val builder_people_cross by lazy {
-        Point.Options.Builder(V2XConst.V2X_MARKER_OWNER, MAP_MARKER).isUseGps(true).anchorColor("#D65D5AFF").set3DMode(true).icon3DRes(TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.traffic3DIconId)
-    }
-
-    private val markers by lazy { ConcurrentHashMap<String, MarkerWrapper>() }
-
    private val callback = Handler.Callback { msg ->
        if (msg.what == MSG_WHAT_DRAW_SHIGONE || msg.what == MSG_WHAT_DRAW_SHIGU) {
            val events = msg.obj as? List<*>
@@ -133,8 +129,8 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                        val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
                        marker(Marker(id,
                            poiType,
-                            itx.latitude,
                            itx.longitude,
+                            itx.latitude,
                            itx.heading,
                            polygon,
                            null,
@@ -203,7 +199,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                                    }
                                }
                                val alert = sb.toString()
-                                CallerRoadV2NEventWindowListenerManager.showLiveVideo("${itx.longitude}-${itx.latitude}", itx.systemTime.toLong(), EventTypeEnumNew.getUpdateIconRes(poiType), alert, isDriver, alert, itx.cameraIp, itx.longitude, itx.latitude)
+                                CallerRoadV2NEventWindowListenerManager.showLiveVideo("${itx.longitude}-${itx.latitude}", itx.detectStartTime, EventTypeEnumNew.getUpdateIconRes(poiType), alert, isDriver, itx.cameraIp, itx.longitude, itx.latitude)
                            }
                        }
                        //消息埋点
@@ -216,7 +212,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
            }
        } else if (msg.what == MSG_WHAT_DRAW_YONGDU) {
            Log.d("V2NIdentifyDrawer", "---callback -- drawYongDu --- 1 ---")
-            val events = msg.obj as? List<*>
+/*            val events = msg.obj as? List<*>
            if (events == null || events.isEmpty()) {
                Log.d("V2NIdentifyDrawer", "---callback -- drawYongDu --- 1 filter is empty ---")
                V2XBizTrace.onAck(TAG, mapOf("yongDu" to ""), true)
@@ -254,7 +250,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                AiRoadMarker.aiMakers.getOrPut(id) {
                    AiRoadMarker().apply {
                        val poiType = getPoiType(itx.eventType).poiType
-                        marker(Marker(id, poiType, lat, lon, car.heading, null, null,
+                        marker(Marker(id, poiType, lon, lat, car.heading, null, null,
                            V2XRoadEventEntity().also { e ->
                                e.poiType = poiType
                                e.location = MarkerLocation().also { l ->
@@ -319,7 +315,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                        )
                    }
                }.receive()
-            }
+            }*/
        } else if (msg.what == MSG_WHAT_DRAW_OTHER_RETROGRADE_VEHICLE) {
            val event = msg.obj as? MessagePad.Event
            if (event == null) {
@@ -327,6 +323,24 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                V2XBizTrace.onAck(TAG, mapOf("other_retrograde_vehicle" to "event == null"), true)
                return@Callback true
            }
+            val body = runCatching { GsonUtils.fromJson(event.exts, Map::class.java) }.getOrNull()
+            val cameraIp = body?.get("cameraIp") as? String ?: ""
+            val array = (body?.get("eventExtUnits") as? JsonArray)
+            var heading = 0.0
+            var uuid = ""
+            if (array != null && array.size() > 0) {
+                for (e in array) {
+                    if (e is JsonObject) {
+                        if (e.has("heading")) {
+                            heading = runCatching { e.asDouble }.getOrNull() ?: 0.0
+                        }
+                        if (e.has("uuid")) {
+                            uuid = runCatching { e.asString }.getOrNull() ?: ""
+                        }
+                    }
+                }
+            }
+            Logger.d(TAG, "cameraIp: $cameraIp, heading:$heading, uuid: $uuid")
            val newEventId = "other_retrograde_vehicle_${event.eventId}"
            AiRoadMarker.aiMakers.getOrPut(newEventId) {
                val eventLocation = when (event.gnssType) {
@@ -341,8 +355,6 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    return@Callback true
                }
                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
-                val cameraIp = if(TextUtils.isEmpty(event.exts)) ""
-                else (GsonUtils.fromJson(event.exts, Map::class.java)["cameraIp"])?:""
                // 弹事件框
                CallerRoadV2NEventWindowListenerManager.showLiveVideo(
                    newEventId,
@@ -392,9 +404,29 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                }
            }
        } else if (msg.what == MSG_WHAT_DRAW_PEOPLE_CROSS) {
+            Logger.i(TAG, "people cross -- 1 --")
            val data = msg.obj as? MessagePad.Event ?: return@Callback true
+            val body = runCatching { GsonUtils.fromJson(data.exts, Map::class.java) }.getOrNull()
+            val cameraIp = body?.get("cameraIp") as? String ?: ""
+            val array = (body?.get("eventExtUnits") as? JsonArray)
+            var heading = 0.0
+            var uuid = ""
+            if (array != null && array.size() > 0) {
+                for (e in array) {
+                    if (e is JsonObject) {
+                        if (e.has("heading")) {
+                            heading = runCatching { e.asDouble }.getOrNull() ?: 0.0
+                        }
+                        if (e.has("uuid")) {
+                            uuid = runCatching { e.asString }.getOrNull() ?: ""
+                        }
+                    }
+                }
+            }
+            Logger.d(TAG, "cameraIp: $cameraIp, heading:$heading, uuid: $uuid")
            AiRoadMarker.aiMakers.getOrPut(data.eventId) {
-                 val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
+                Logger.i(TAG, "people cross -- 2 --")
+                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
                val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
                val distance = CoordinateUtils.calculateLineDistance(carLocation.longitude, carLocation.latitude, data.longitude, data.latitude)
                if (distance > 150) {
@@ -402,8 +434,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    V2XBizTrace.onAck(TAG, mapOf("people cross" to "distance > 150"), true)
                    return@Callback true
                }
-                val cameraIp = if(TextUtils.isEmpty(data.exts)) ""
-                else (GsonUtils.fromJson(data.exts, Map::class.java)["cameraIp"])?:""
+                Logger.i(TAG, "people cross -- 3 --")
                // 弹事件框
                CallerRoadV2NEventWindowListenerManager.showLiveVideo(
                    data.eventId,
@@ -417,7 +448,8 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    data.latitude)
               AiRoadMarker()
            }.also {
-                it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, data.longitude, data.latitude, 0.0), drawMarker = true, false, isHighFrequency = true)
+                Logger.i(TAG, "people cross -- 4 --")
+                it.marker(Marker(data.eventId, EventTypeEnumNew.TYPE_SOCKET_ROAD_PEOPLE_CROSS.poiType, data.longitude, data.latitude, heading), drawMarker = true, false, isHighFrequency = true)
            }.receive()
        }
        true
@@ -461,7 +493,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
            var best = Int.MIN_VALUE
            var delta = Int.MAX_VALUE
            for (lane in freeLanes) {
-                val abs = kotlin.math.abs(lane.id - laneId)
+                val abs = abs(lane.id - laneId)
                if (abs < delta && lane.id != laneId) {
                    best = lane.id
                    delta = abs
@@ -489,10 +521,10 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
        }
    }

-    private fun computeCrossCountBetween(start: kotlin.Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
+    private fun computeCrossCountBetween(start: Triple<Double, Double, Double>, end: kotlin.Pair<Double, Double>): Int {
        val points = V2NUtils.generateIntermediatePoints(kotlin.Pair(start.first, start.second), end, 50.0 * 1e-7)
        V2XBizTrace.onAck(points, "computeCrossCountBetween", true)
-        var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id_end
+        var crossId = MapDataWrapper.getCrossRoad(start.first, start.second, start.third)?.cross_id
        val angle = start.third
        var count = 1
        for (p in points) {
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -11,8 +11,10 @@ import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 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.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.function.biz.v2x.V2XBizTrace
@@ -100,12 +102,17 @@ class AiRoadMarker {
    fun marker(marker: Marker, drawMarker: Boolean, drawRoadLine: Boolean = false, isHighFrequency:Boolean = false) {
        val markerId = marker.id
        if (isHighFrequency && drawMarker) {
+            this.marker.set(marker)
+            Logger.d(TAG, "marker --->poiType: $marker, ${EventTypeEnumNew.getMarker3DRes(marker.poiType)}")
            val builder = getOrPutPointOptionBuilder(markerId, V2XConst.V2X_MARKER_OWNER, MAP_MARKER)
            builder
                .set3DMode(true)
                .isUseGps(true)
                .icon3DRes(EventTypeEnumNew.getMarker3DRes(marker.poiType))
                .anchorColor("#D65D5AFF")
+                .controlAngle(true)
+                .anchor(0.5f, 0.5f)
+                .rotate(marker.poi_angle.toFloat())
                .longitude(marker.poi_lon)
                .latitude(marker.poi_lat)
            CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(builder.build())?.let { p ->
@@ -117,9 +124,13 @@ class AiRoadMarker {
                    }
                    val wrapper = MarkerWrapper(markerId, marker.poi_lon, marker.poi_lat, 1, elapsedDistance = distance)
                    wrapper.onRemoved = {
-                        CallerRoadV2NEventWindowListenerManager.dismiss(markerId)
                        builders.remove(markerId)
                        markerIds.remove(p.id)
+                        if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
+                            CallerHmiManager.dismissGreenWave()
+                        } else {
+                            CallerRoadV2NEventWindowListenerManager.dismiss(marker.id)
+                        }
                    }
                    wrapper.addPoint(p)
                    MarkerRemoveManager.addMarker(wrapper)
@@ -219,22 +230,7 @@ class AiRoadMarker {
            V2XBizTrace.onAck("$TAG -marker-4-l2:", l2)
            val points = LinkedList<MogoLatLng>()
            if (l2.points.isNotEmpty()) {
-                points.addAll(l2.points.reversed()/*.filter {
-                    val location = V2XEventManager.getFirstLocationInCross()
-                    Log.d(TAG, "l2: location -> $location")
-                    if (location != null) {
-                        val carLocation = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-                        if (DrivingDirectionUtils.getDegreeOfCar2Poi2(carLocation.longitude, carLocation.latitude, location.longitude, location.latitude, carLocation.heading) > 90) {
-                            //处理同一个路口不同车道调头,这种极端情况
-                            true
-                        } else {
-                            val angle = DrivingDirectionUtils.getDegreeOfCar2Poi2(location.longitude, location.latitude, it.longitude, it.latitude, location.heading)
-                            angle <= 90
-                        }
-                    } else {
-                        true
-                    }
-                }.*/.map {
+                points.addAll(l2.points.reversed().map {
                    MogoLatLng(it.latitude, it.longitude)
                })
            }
@@ -327,7 +323,11 @@ class AiRoadMarker {
            roadMarker.removeMarkers()
            handler.removeCallbacks(checkExpiredTask)
            aiMakers.remove(marker.id)
-            CallerRoadV2NEventWindowListenerManager.dismiss("${marker.poi_lon}-${marker.poi_lat}")
+            if (marker.poiType == EventTypeEnumNew.TYPE_SOCKET_ROAD_GREE_WAVE.poiType) {
+                CallerHmiManager.dismissGreenWave()
+            } else {
+                CallerRoadV2NEventWindowListenerManager.dismiss(marker.id)
+            }
        }
    }

@@ -365,12 +365,12 @@ class AiRoadMarker {
    data class Marker(
        val id: String,
        val poiType: String,
-        val poi_lat: Double,
        val poi_lon: Double,
+        val poi_lat: Double,
        val poi_angle: Double,
        val polygon: List<Pair<Double, Double>>? = null,
        var farthestPoint: Pair<Double, Double>? = null,
-        var entity: V2XRoadEventEntity? = null
+        var entity: V2XRoadEventEntity? = null,
    ) {

        override fun equals(other: Any?): Boolean {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -142,11 +142,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
        if (gnssInfo != null) {
            if (1 == FunctionBuildConfig.gpsProvider) {
                // 同步更新经纬度和系统时间至 AutoPilotStatusListener
-                CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
-                    gnssInfo.satelliteTime,
-                    gnssInfo.longitude,
-                    gnssInfo.latitude
-                )
+                CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(gnssInfo.satelliteTime, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
            }
        }
    }
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
@@ -16,6 +16,7 @@ import com.mogo.eagle.core.data.v2x.V2XEvent.RoadEventX
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setDemoMode
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.setIgnoreConditionDraw
+import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
@@ -78,6 +79,30 @@ class TeleMsgHandler : IMsgHandler {
                return
            }

+            if (it.protocolType == TelematicConstant.V2N_AI_ROAD_PEOPLE_CROSS) {
+                runCatching {
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的行人/非机动车横穿事件 --- 1 ---")
+                    CallerV2nNioEventListenerManager.invokeV2nNioCrossoverEvent(MessagePad.Event.parseFrom(msg.body))
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的行人/非机动车横穿事件 --- 2 ---")
+                }
+                return
+            }
+            if (it.protocolType == TelematicConstant.V2N_AI_ROAD_GREEN_WAVE) {
+                runCatching {
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的绿波通行 --- 1 ---")
+                    CallerV2nNioEventListenerManager.invokeV2nNioGreenWavePassageEvent(MessagePad.V2nCrossSpeed.parseFrom(msg.body))
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的绿波通行 --- 2 ---")
+                }
+                return
+            }
+            if (it.protocolType == TelematicConstant.V2N_AI_ROAD_OTHER_RETROGRADE_VEHICLE) {
+                runCatching {
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的他车逆行 --- 1 ---")
+                    CallerV2nNioEventListenerManager.invokeV2nNioOtherRetrogradeEvent(MessagePad.Event.parseFrom(msg.body))
+                    Log.d(TAG, "乘客屏收到司机屏转发云端下发的他车逆行 --- 2 ---")
+                }
+                return
+            }
            if (it.protocolType == TelematicConstant.V2N_NEW_LINK_SWITCH) {
                try {
                    Log.d(TAG, "乘客屏收到司机屏转发的新链路开关 --- 1 ---")
--- 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
@@ -287,11 +287,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
                    // 同步给MAP地图
                    CallerObuLocationWGS84ListenerManager.invokeObuLocationWGS84(gnssInfo)
                    // 同步更新经纬度和系统时间至 AutoPilotStatusListener
-                    CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(
-                        System.currentTimeMillis() / 1000.0,
-                        gnssInfo.longitude,
-                        gnssInfo.latitude
-                    )
+                    CallerAutoPilotStatusListenerManager.updateAutoPilotLocAndTime(System.currentTimeMillis() / 1000.0, gnssInfo.longitude, gnssInfo.latitude, gnssInfo.heading)
                }
            }
        }
--- 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
@@ -18,10 +18,14 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
+import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 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.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -31,6 +35,7 @@ import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.service.chain.ChainLog
 import perception.FusionTrafficLightOuterClass
+import kotlin.math.abs

 fun TrafficLightStatus.convert(): TrafficLightEnum {
    return when {
@@ -57,7 +62,8 @@ fun convert(state: FusionTrafficLightOuterClass.FusionLightState): TrafficLightE
 * @优先级：OBU,云,工控
 * @since: 2022/4/28
 */
-class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLightListener {
+class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLightListener,
+    IMoGoChassisLocationGCJ02Listener {

    companion object {
        const val TAG = "TrafficLightDispatcher"
@@ -89,12 +95,17 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
    private var lightCountDownTimer: CountDownTimer? = null
    private var lastLightTime: Long = System.currentTimeMillis()

+    private var currentSpeed: Float = 0f
+    private var isPrompted: Boolean = false //是否提示过起步提醒/提前减速，每个路口仅提示一次
+
    fun initServer(context: Context) {
        mContext = context
        //注册监听AI云.OBU，路侧获取红绿灯状态
        CallerTrafficLightListenerManager.addListener(TAG, this)
        //注册监听工控机感知红绿灯
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
+        //注册获取当前车速
+        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 1, this)
    }

    /**
@@ -114,7 +125,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
        }
        if (!hasObuLightStatus) {
            if (!hasAiLightStatus) {
-                trafficLights?.let {
+                trafficLights?.let { it ->
                    var light: FusionTrafficLightOuterClass.FusionTrafficLight? = null
                    if (it.hasStraight()) {
                        light = it.straight
@@ -161,6 +172,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                            if(convert(light.state) == TrafficLightEnum.BLACK){
                                //隐藏当前红绿灯以及额外提示框
                                CallerTrafficLightListenerManager.disableTrafficLight()
+                                isPrompted = false
                            }else{
                                //有下一和下二灯态，则为融合V2N红绿灯数据
                                onFusionTrafficLight(convert(light.state),light.duration.toInt(),
@@ -180,16 +192,44 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                                 * 车辆行驶中，若判断当前绿灯自车基于当前速度需提速10%以上才可通过时，提示“蘑菇提醒您及时减速，避免路口急刹”
                                 * 车辆行驶中，若判断当前红灯自车基于当前速度需降低60%以上才可通过时，提示“蘑菇提醒您及时减速，避免路口急刹”
                                 */
-                                if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
+                                if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode) && !isPrompted){
+                                    //车辆等红灯，在红/黄灯剩余5s且下一灯态为绿灯时，提示“红灯即将变绿”；并在变为绿灯时有提示起步的动效
                                    if((light.state == FusionTrafficLightOuterClass.FusionLightState.STATE_YELLOW_FUSION || light.state ==FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION)
                                        && light.duration < 5 && light.nextState == FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION){
-                                        //语音播放
+                                        //语音播放:红灯即将变绿
                                        AIAssist.getInstance(mContext).speakTTSVoice("红灯即将变绿")
+                                        isPrompted = true
+                                    }
+                                    //车辆行驶中，若判断当前绿灯自车无法通过，在绿灯剩余5s且下一灯态为红/黄灯时，提示“蘑菇提醒您及时减速，避免路口急刹”
+                                    if(light.state == FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION && light.duration < 5){
+                                        CallerMapRoadListenerManager.getStopLineDistance()?.let { dis->
+                                            if(currentSpeed*light.duration < dis){
+                                                //语音播放：蘑菇提醒您及时减速，避免路口急刹
+                                                AIAssist.getInstance(mContext).speakTTSVoice("蘑菇提醒您及时减速，避免路口急刹")
+                                                isPrompted = true
+                                            }
+                                        }
+                                    }
+                                    //车辆行驶中，若判断当前绿灯自车基于当前速度需提速10%以上才可通过时，提示“蘑菇提醒您及时减速，避免路口急刹”
+                                    if(light.state == FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION){
+                                        CallerMapRoadListenerManager.getStopLineDistance()?.let{distance->
+                                            if(currentSpeed*light.duration*1.1 < distance){
+                                                //语音播放：蘑菇提醒您及时减速，避免路口急刹
+                                                AIAssist.getInstance(mContext).speakTTSVoice("蘑菇提醒您及时减速，避免路口急刹")
+                                                isPrompted = true
+                                            }
+                                        }
+                                    }
+                                    //车辆行驶中，若判断当前红灯自车基于当前速度需降低60%以上才可通过时，提示“蘑菇提醒您及时减速，避免路口急刹”
+                                    if(light.state ==FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION){
+                                        CallerMapRoadListenerManager.getStopLineDistance()?.let{distance->
+                                            if(currentSpeed*0.4*light.duration > distance){
+                                                //语音播放：蘑菇提醒您及时减速，避免路口急刹
+                                                AIAssist.getInstance(mContext).speakTTSVoice("蘑菇提醒您及时减速，避免路口急刹")
+                                                isPrompted = true
+                                            }
+                                        }
                                    }
-                                    //TODO 需要知道当前车速和当前位置距离路口的距离
-//                                    if(light.state == FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION && light.duration < 5){
-//
-//                                    }
                                }


@@ -464,6 +504,15 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
        CallerTrafficLightListenerManager.removeListener(TAG)
        //取消注册监听工控机感知红绿灯
        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+        //取消注册获取当前车速
+        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+    }
+
+    /**
+     * 当前车速
+     */
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        currentSpeed = abs(mogoLocation?.gnssSpeed ?: 0f)
    }

 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.hmi.ui

 import android.content.Context
+import android.telecom.Call
 import android.text.TextUtils
 import android.view.Gravity
 import android.view.ViewGroup
@@ -86,9 +87,6 @@ class MoGoHmiProvider : IMoGoHmiProvider {

    private val xiaozhi by lazy { XiaoZhiStateManager() }

-    private val greenWave by lazy { AtomicReference<MoGoPopWindow>() }
-
-
    override fun init(context: Context?) {
        this.context = context
    }
@@ -410,39 +408,10 @@ class MoGoHmiProvider : IMoGoHmiProvider {
    }

    override fun showGreenWave(min: Int, max: Int, cross: Int) {
-        val activity = AppStateManager.currentActivity() ?: return
-        activity.lifeCycleScope.launch {
-            greenWave.get()?.hide()
-            val content = GreenWaveView(activity)
-            MoGoPopWindow.Builder()
-                .contentView(content)
-                .width(WindowManager.LayoutParams.WRAP_CONTENT)
-                .height(WindowManager.LayoutParams.WRAP_CONTENT)
-                .attachToActivity(activity)
-                .draggable(true)
-                .gravityInActivity(Gravity.CENTER)
-                .also {
-                    if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
-                        it.offsetX(960)
-                        it.offsetY(445)
-                    } else {
-                        it.offsetX(980)
-                        it.offsetY(-324)
-                    }
-                }
-                .onDismissed {
-                    greenWave.set(null)
-                }
-                .onShowed {
-                    content.bind(min, max, cross)
-                }
-                .build().also {
-                    greenWave.set(it)
-                }.show()
-        }
+        CallerHmiViewControlListenerManager.invokeGreenWaveVisible(min, max, cross)
    }

    override fun dismissGreenWave() {
-        greenWave.get()?.hide()
+        CallerHmiViewControlListenerManager.invokeGreenWaveDismiss()
    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/RoadCrossLiveView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/camera/RoadCrossLiveView.kt
@@ -141,7 +141,8 @@ class RoadCrossLiveView @JvmOverloads constructor(
        }
    }

-    private fun gsyVideoPlay(img: String, live: String) {
+    private fun gsyVideoPlay(img: String?, live: String?) {
+        if (live.isNullOrEmpty()) return
        resetView()
        gsyVideoOptionBuilder.setUrl(live)
            .setCacheWithPlay(false)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/greenwave/GreenWaveView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/greenwave/GreenWaveView.kt
@@ -4,6 +4,7 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.MotionEvent
+import android.view.View
 import android.view.ViewGroup
 import android.widget.ImageView
 import android.widget.LinearLayout
@@ -13,7 +14,9 @@ import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.kotlin.scope
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -32,7 +35,7 @@ import kotlinx.android.synthetic.main.view_green_wave_driver_layout.view.recomme
 import kotlinx.android.synthetic.main.view_green_wave_passenger_layout.view.recommend_cross as passenger_recommend_cross
 import kotlinx.android.synthetic.main.view_green_wave_driver_layout.view.recommend_cross as driver_recommend_cross

-class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerView.OnItemTouchListener, Runnable {
+class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerView.OnItemTouchListener, Runnable, IViewControlListener {

    companion object {
        private const val TAG = "GreenWaveView"
@@ -86,15 +89,7 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
        CallerChassisLocationGCJ02ListenerManager.addListener(TAG, 5, this)
-        val rv: RecyclerView? = if (isDriver) driver_wave_rv else passenger_wave_rv
-        rv?.addItemDecoration(CommonDividerItemDecoration.Builder()
-            .spanCountTBCare(false)
-            .horizontalInnerSpace(SizeUtils.dp2px(10f))
-            .build())
-        rv?.addOnItemTouchListener(this)
-        rv?.layoutManager = LinearLayoutManager(context, LinearLayoutManager.HORIZONTAL, true)
-        rv?.adapter = WaveAdapter()
-        startAutoScroll()
+        CallerHmiViewControlListenerManager.addListener(TAG, this)
    }

    private fun startAutoScroll() {
@@ -123,6 +118,7 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
        CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+        CallerHmiViewControlListenerManager.removeListener(this)
        val rv: RecyclerView? = if (isDriver) driver_wave_rv else passenger_wave_rv
        rv?.removeOnItemTouchListener(this)
        stopAutoScroll()
@@ -146,8 +142,18 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
        }
    }

-    fun bind(minSpeed: Int, maxSpeed: Int, cross: Int) {
+    private fun show(minSpeed: Int, maxSpeed: Int, cross: Int) {
        scope.launch {
+            this@GreenWaveView.visibility = View.VISIBLE
+            val rv: RecyclerView? = if (isDriver) driver_wave_rv else passenger_wave_rv
+            rv?.addItemDecoration(CommonDividerItemDecoration.Builder()
+                .spanCountTBCare(false)
+                .horizontalInnerSpace(SizeUtils.dp2px(10f))
+                .build())
+            rv?.addOnItemTouchListener(this@GreenWaveView)
+            rv?.layoutManager = LinearLayoutManager(context, LinearLayoutManager.HORIZONTAL, true)
+            rv?.adapter = WaveAdapter()
+            startAutoScroll()
            if (isDriver) {
                driver_recommend_speed?.text = "建议车速${minSpeed}-${maxSpeed}km/h"
                driver_recommend_cross?.text = "可丝滑通过${cross}个路口"
@@ -157,4 +163,19 @@ class GreenWaveView: LinearLayout, IMoGoChassisLocationGCJ02Listener, RecyclerVi
            }
        }
    }
+
+    private fun hide() {
+        scope.launch {
+            visibility = View.GONE
+        }
+    }
+
+    override fun onGreenWaveViewDismiss() {
+        hide()
+    }
+
+    override fun onGreenWaveViewVisible(min: Int, max: Int, cross: Int) {
+        super.onGreenWaveViewVisible(min, max, cross)
+        show(min, max, cross)
+    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/WifiStateView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/WifiStateView.kt
@@ -8,10 +8,8 @@ import android.net.wifi.WifiManager
 import android.os.Handler
 import android.os.Message
 import android.util.AttributeSet
-import android.util.Log
 import android.util.TypedValue
 import android.view.LayoutInflater
-import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
@@ -90,7 +88,6 @@ class WifiStateView @JvmOverloads constructor(
        wifiHandler = WifiHandler(this)
        val wifiInfo = wifiManager!!.connectionInfo
        wifiName = wifiInfo.ssid.replace("\"","")
-//        Log.i("emArrow", "init wifiName: $wifiName")
    }

    private val wifiStateReceiver: BroadcastReceiver = object : BroadcastReceiver() {
@@ -105,7 +102,6 @@ class WifiStateView @JvmOverloads constructor(
                    }
                    val wifiInfo = wifiManager!!.connectionInfo
                    wifiName = wifiInfo.ssid.replace("\"","")
-//                    Log.i("emArrow", "wifiName: $wifiName")
                    level = WifiManager.calculateSignalLevel(wifiInfo.rssi, 5)
                    wifiHandler?.sendEmptyMessage(level)
                }
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_auto_exploration.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_auto_exploration.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_exploration_scan.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_exploration_scan.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_auto_exploration.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_auto_exploration.xml
@@ -3,8 +3,8 @@
    android:layout_width="match_parent"
    android:layout_height="wrap_content"
    android:orientation="horizontal"
-    android:layout_marginTop="@dimen/dp_10"
-    android:layout_marginBottom="@dimen/dp_10"
+    android:layout_marginTop="@dimen/dp_15"
+    android:layout_marginBottom="@dimen/dp_15"
    >

    <ImageView
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_automatic_exploration.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_automatic_exploration.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="@dimen/dp_500"
-    android:layout_height="@dimen/dp_421"
+    android:layout_width="@dimen/dp_600"
+    android:layout_height="@dimen/dp_520"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    android:background="@drawable/bg_auto_exploration">

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/scenes/CrossRoad.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/angle/scenes/CrossRoad.kt
@@ -3,13 +3,14 @@ package com.mogo.eagle.core.function.angle.scenes
 import com.mogo.eagle.core.function.api.map.angle.Scene
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS
+import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS_NEW

 /**
 * 十字路口
 */
 class CrossRoad(private val delayTime: Long): Scene {
    override val angle: VisualAngleMode
-        get() = MAP_STYLE_VR_ANGLE_CROSS
+        get() = MAP_STYLE_VR_ANGLE_CROSS_NEW

    override val priority: Int = 0
    override val displayThreshold: Long
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/RomaManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/RomaManager.kt
@@ -3,7 +3,6 @@ package com.mogo.eagle.core.function.business.ai
 import android.os.Handler
 import android.os.Looper
 import android.os.Message
-import android.util.Log
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
@@ -18,6 +17,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_RO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_MAP_READY_START
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_MAP_START
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_RANGE
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_REJECT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_REQUEST
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_REQUEST_DELAY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_REQUEST_ERROR
@@ -122,7 +122,12 @@ class RomaManager() : IMoGoPlanningRottingListener,
            && CallerMapIdentifyManager.roam.first!= TAG
            && CallerMapIdentifyManager.roam.second) {
            ToastUtils.showLong("正在展示路口漫游，请稍后重试")
-            Log.e("emArrow", "正在展示路口漫游，请稍后重试")
+            MapRomaTrace.log(
+                "",
+                CHAIN_CODE_ROMA_REJECT,
+                TAG,
+                mutableMapOf("reject" to "正在展示路口，点触漫游按钮")
+            )
            CallerMapRomaListener.invokeMapRoma(false)
            return
        }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyBeautifyDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyBeautifyDataDrawer.kt
@@ -1,8 +1,12 @@
 package com.mogo.eagle.core.function.business.identify

 import android.annotation.SuppressLint
+import android.os.Handler
+import android.os.Looper
+import android.util.Log
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.map.identify.MogoIdentifyManager
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -38,6 +42,7 @@ class IdentifyBeautifyDataDrawer : Identify {

        //清除缓存
        TrackManager.getInstance().clearCache(resultList)
+
        val filterList = TrackManager.getInstance().filterTrafficData(resultList)
        if (filterList.size > 0) {
            // 绘制新数据
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyFactory.kt
@@ -12,15 +12,16 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isTaxi
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
 import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
-import com.mogo.map.MogoMap
 import com.zhjt.service.chain.ChainLog
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.yycp.api.proto.SocketDownData
+import java.util.concurrent.TimeUnit

 object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConfigListener {

    private const val TAG = "IdentifyFactory"
+    private const val MSG_CHECK = 999

    object DriverIdentify {
        internal val originDataDrawer = IdentifyOriginDataDrawer()
@@ -36,13 +37,15 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf

    private var identify: Identify? = null
    private var aiCloudIdentify: Identify? = null
+    private var startTime: Long = 0L

-    fun initType(){
+    fun initType() {
        drawType("默认开启感知优化，等待docker版本")
        identify = UserIdentify.beautifyDataDrawer
        aiCloudIdentify = AiIdentify.aiCloudDataDrawer
        CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
        CallerObuWarningListenerManager.addListener(TAG, this)
+        mDrawerHandler.sendEmptyMessageDelayed(MSG_CHECK, 1000L)
    }

    override fun onAutopilotCarConfig(carConfigResp: MessagePad.CarConfigResp) {
@@ -105,34 +108,57 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
                    }
                }
                when (msg.what) {
+                    MSG_CHECK -> {
+                        if(startTime == 0L){
+                            sendEmptyMessageDelayed(MSG_CHECK, 1000L)
+                            return
+                        }
+                        val endTime = System.nanoTime()
+                        val internal = TimeUnit.NANOSECONDS.toMillis(endTime - startTime)
+                        if(internal >= 1000){
+                            identify!!.clearOldMarker()
+                        }
+                        sendEmptyMessageDelayed(MSG_CHECK, 1000L)
+                    }
+
                    MSG_DATA_TRACK -> {
                        if (msg.obj is List<*>) {
                            identify!!.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
+                            startTime = System.nanoTime()
                        }
                    }
+
                    MSG_DATA_AI_TRACK -> {
                        if (msg.obj is List<*>) {
-                            aiCloudIdentify!!.renderAiCloudResult(msg.obj as List<SocketDownData.CloudRoadDataProto>, msg.data.getString("mapInstance")!!)
+                            aiCloudIdentify!!.renderAiCloudResult(
+                                msg.obj as List<SocketDownData.CloudRoadDataProto>,
+                                msg.data.getString("mapInstance")!!
+                            )
                        }
                    }
+
                    MSG_DATA_WARNING -> {
                        if (msg.obj is List<*>) {
                            identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
                        }
                    }
+
                    MSG_DATA_OBU_WARNING_UPDATE -> {
                        if (msg.obj is TrafficData) {
                            identify!!.renderOBUWarningObj(true, msg.obj as TrafficData)
                        }
                    }
+
                    MSG_DATA_OBU_WARNING_REMOVE -> {
                        if (msg.obj is TrafficData) {
                            identify!!.renderOBUWarningObj(false, msg.obj as TrafficData)
                        }
                    }
+
                    MSG_DATA_CLEAR -> {
                        identify!!.clearOldMarker()
                    }
+
                    MSG_DATA_AI_CLEAR -> {
                        aiCloudIdentify!!.clearAiMarker(msg.data.getString("mapInstance")!!)
                    }
@@ -147,11 +173,14 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
        mDrawerHandler.sendMessage(message)
    }

-    override fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>, mapInstance:String) {
+    override fun renderAiCloudResult(
+        resultList: List<SocketDownData.CloudRoadDataProto>,
+        mapInstance: String
+    ) {
        val message = Message.obtain()
        message.what = MSG_DATA_AI_TRACK
        message.obj = resultList
-        message.data.putString("mapInstance",mapInstance)
+        message.data.putString("mapInstance", mapInstance)
        mDrawerHandler.sendMessage(message)
    }

@@ -168,10 +197,10 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener, IMoGoAutopilotCarConf
        mDrawerHandler.sendMessage(message)
    }

-    override fun clearAiMarker(mapInstance:String) {
+    override fun clearAiMarker(mapInstance: String) {
        val message = Message.obtain()
        message.what = MSG_DATA_AI_CLEAR
-        message.data.putString("mapInstance",mapInstance)
+        message.data.putString("mapInstance", mapInstance)
        mDrawerHandler.sendMessage(message)
    }

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt
@@ -76,6 +76,7 @@ class IdentifyOriginDataDrawer : Identify {
            mMarkersCaches.remove(key)
            MogoIdentifyManager.getInstance()
                .removeMarker(key)
+            TrackerSourceFilterHelper.removeBottomMarker(key)
        }

        val filterList = filterTrafficData(resultList)
@@ -109,6 +110,7 @@ class IdentifyOriginDataDrawer : Identify {
            mFilterTrafficData[uuid] = temp
            mMarkersCaches[uuid] = temp
            trafficDataUuidList.add(uuid)
+            TrackerSourceFilterHelper.filterZombieMarker(data)
        }
        return mFilterTrafficData
    }
@@ -121,6 +123,7 @@ class IdentifyOriginDataDrawer : Identify {
        for (uuid in trafficDataUuidList) {
            MogoIdentifyManager.getInstance()
                .removeMarker(uuid)
+            TrackerSourceFilterHelper.removeBottomMarker(uuid)
        }
        trafficDataUuidList.clear()
        mMarkersCaches.clear()
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
@@ -1,5 +1,7 @@
 package com.mogo.eagle.core.function.business.identify;

+import static com.mogo.map.MogoMap.DEFAULT;
+
 import android.annotation.SuppressLint;
 import android.util.ArraySet;

@@ -9,7 +11,6 @@ import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
-import com.mogo.map.MogoMap;
 import com.mogo.map.identify.MogoIdentifyManager;

 import java.util.HashMap;
@@ -124,6 +125,7 @@ public class TrackManager {
                cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
                mMarkersCaches.put(uuid, trackObj);
                trafficDataUuid.add(uuid);
+                TrackerSourceFilterHelper.INSTANCE.filterZombieMarker(data);
            }
            //Log.i("costTime","" + (System.currentTimeMillis() - cost));
        }
@@ -156,7 +158,8 @@ public class TrackManager {
        mMarkersCaches.remove(key);
        WarningHelper.INSTANCE.remove(key);
        MogoIdentifyManager.getInstance()
-                .removeMarker(key, MogoMap.DEFAULT);
+                .removeMarker(key, DEFAULT);
+        TrackerSourceFilterHelper.INSTANCE.removeBottomMarker(key);
    }

    @SuppressLint("NewApi")
@@ -167,7 +170,8 @@ public class TrackManager {
        mMarkersCaches.forEach((uuid, trackObj) -> {
            trackObj.clear();
            MogoIdentifyManager.getInstance()
-                    .removeMarker(uuid, MogoMap.DEFAULT);
+                    .removeMarker(uuid, DEFAULT);
+            TrackerSourceFilterHelper.INSTANCE.removeBottomMarker(uuid);
        });
        mMarkersCaches.clear();
    }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceFilterHelper.kt
@@ -3,20 +3,21 @@ package com.mogo.eagle.core.function.business.identify
 import android.annotation.SuppressLint
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
-import com.mogo.eagle.core.function.call.biz.CallerFuncBizListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isPassenger
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isTaxi
 import com.mogo.map.overlay.core.Level
 import com.mogo.map.overlay.point.Point
-import com.zhidaoauto.map.sdk.open.renders.marker.Marker
-import com.zhidaoauto.map.sdk.open.renders.marker.MarkerOptions
-import mogo.telematics.pad.MessagePad.*
+import mogo.telematics.pad.MessagePad
+import mogo.telematics.pad.MessagePad.SubSource
+import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.telematics.pad.MessagePad.TrackedSource

 object TrackerSourceFilterHelper {

    private const val TAG = "TrackerSourceColor"
+    private val cacheZombieMap = mutableMapOf<String, Point.Options>()

    @SuppressLint("NewApi")
    fun filterData(data: TrackedObject): Boolean {
@@ -31,16 +32,19 @@ object TrackerSourceFilterHelper {
            1 -> if (isIPC(data)) {
                trackIPCFilter = false
            }
+
            2 -> {
                if (isObu(data).second) {
                    trackIPCFilter = false
                }
            }
+
            3 -> {
                if (isV2I(data).second) {
                    trackIPCFilter = false
                }
            }
+
            4 -> {
                if (isV2nRSM(data).second) {
                    trackIPCFilter = false
@@ -63,15 +67,15 @@ object TrackerSourceFilterHelper {
            return ""
        }

-        if(data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.type){
+        if (data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_CONE.type) {
            return ""
        }

-        if(FunctionBuildConfig.isFusionColor){
-            if(isFusion(data)){
+        if (FunctionBuildConfig.isFusionColor) {
+            if (isFusion(data)) {
                color = "#982FFFFF"
            }
-            if(isV2X(data)){
+            if (isV2X(data)) {
                color = "#F6F6F6FF"
            }
        }
@@ -99,43 +103,61 @@ object TrackerSourceFilterHelper {
        }

        //僵尸车
-        if (data.addAttribute == AdditionalAttribute.ATTR_ZOMBIE) {
+//        if (data.addAttribute == AdditionalAttribute.ATTR_ZOMBIE) {
 //            color = "#7A8499FF"
 //            if (FunctionBuildConfig.skinMode == 1) {
 //                color = "#9BA8BCFF"
 //            }
-            val opt = Point.Options.Builder(TAG,Level.MAP_MARKER)
-                .setId(data.uuid.toString())
-                .latitude(data.latitude)
-                .longitude(data.longitude)
-                .isUseGps(true)
-                .rotate(data.heading.toFloat())
-                .setAnimResource(R.raw.yujingguangquan)
-                .setDisplayAnim(true)
-                .setAnimScale(getAnimScale(data.type))
-                .build()
-            CallerMapUIServiceManager.getOverlayManager()?.updateAnimPoint(opt)
-            //消息埋点
-            CallerFuncBizListenerManager.invokeAttrZombieAnalyticsEvent()
-        }
+//        }

        return color
    }

-    private fun getAnimScale(type:Int):Float{
-        return when (type) {
-            TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE.type -> {
-                2.6f
-            }
-            TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.type, TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.type -> {
-                4.0f
-            }
-            else -> {
-                0f
+    fun filterZombieMarker(data: TrackedObject){
+        if (data.addAttribute == MessagePad.AdditionalAttribute.ATTR_ZOMBIE) {
+            if (!cacheZombieMap.contains(data.uuid.toString())) {
+                val opt = updateBottomMarker(data)
+                cacheZombieMap[data.uuid.toString()] = opt
+            }else{
+                val opt = cacheZombieMap[data.uuid.toString()]
+                opt?.let {
+                    val build = it.builder().latitude(data.latitude).longitude(data.longitude).rotate(data.heading.toFloat()).build()
+                    cacheZombieMap[data.uuid.toString()] = build
+                    CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(build)
+                }
            }
        }
    }

+    private fun updateBottomMarker(data: TrackedObject) : Point.Options{
+        val scale = when (data.type) {
+            TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE.type,
+            TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE.type ,
+            TrafficTypeEnum.TYPE_TRAFFIC_ID_MOTO.type -> 0.1f
+            TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE.type -> 0.16f
+            TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.type,
+            TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.type -> 0.19f
+            else -> 0.2f
+        }
+        val opt =  Point.Options.Builder(TAG, Level.DEFAULT)
+            .setId("9999" + data.uuid.toString())
+            .latitude(data.latitude)
+            .longitude(data.longitude)
+            .isUseGps(true)
+            .rotate(data.heading.toFloat())
+            .icon3DRes(R.raw.yujingguangquan)
+            .scale(scale)
+            .set3DMode(true)
+            .build()
+        CallerMapUIServiceManager.getOverlayManager()?.showOrUpdatePoint(opt)
+        return opt
+    }
+
+    fun removeBottomMarker(id: String){
+        CallerMapUIServiceManager.getOverlayManager()?.removePoint("9999$id")
+        cacheZombieMap.remove(id)
+    }
+
    /**
     * 过滤所有 工控感知数据 all match
     */
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/net/NDERoadCameraNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/net/NDERoadCameraNetWorkModel.kt
@@ -42,8 +42,8 @@ class NDERoadCameraNetWorkModel private constructor() {
                        crossID,
                        loc.longitude,
                        loc.latitude,
-//                        CallerMapUIServiceManager.getCityCode() ?: ""
-                        "0734"
+                        CallerMapUIServiceManager.getCityCode() ?: ""
+//                        "0734" //todo emArrow test
                    )
                }
            }
@@ -75,8 +75,8 @@ class NDERoadCameraNetWorkModel private constructor() {
                        ip,
                        loc.longitude,
                        loc.latitude,
-//                        CallerMapUIServiceManager.getCityCode() ?: ""
-                        "0734"
+                        CallerMapUIServiceManager.getCityCode() ?: ""
+//                        "0734" //todo emArrow test
                    )
                }
            }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/EventReqEntity.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/EventReqEntity.kt
@@ -0,0 +1,7 @@
+package com.mogo.eagle.core.function.business.travelreality
+
+data class EventReqEntity(
+    var points: List<Point>,
+    var cityCode: String = "0734",
+    var adCode: String = ""
+)
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/TravelRealityModel.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/TravelRealityModel.kt
@@ -1,15 +1,25 @@
 package com.mogo.eagle.core.function.business.travelreality

+import android.content.Context
+import android.graphics.Bitmap
+import android.graphics.drawable.Drawable
+import com.amap.api.maps.model.LatLng
+import com.bumptech.glide.Glide
+import com.bumptech.glide.load.resource.bitmap.GranularRoundedCorners
+import com.bumptech.glide.request.RequestOptions
+import com.bumptech.glide.request.target.CustomTarget
+import com.bumptech.glide.request.transition.Transition
 import com.mogo.commons.constants.HostConst
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.data.Response
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.network.apiCall
 import com.mogo.eagle.core.network.apiResponseCall
 import com.mogo.eagle.core.network.request
-import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.Md5Util
-import retrofit2.http.Query
+import me.jessyan.autosize.utils.AutoSizeUtils
 import java.util.Locale

 class TravelRealityModel private constructor() {
@@ -28,7 +38,7 @@ class TravelRealityModel private constructor() {
    /**
     * 查询道路事件
     */
-    fun getEventsWithTrajRequest(reqData: List<Point>,
+    fun getEventsWithTrajRequest(reqData: EventReqEntity,
                                 onSuccess: ((List<EventBean>) -> Unit), onError: ((String) -> Unit)){
        request<Response<List<EventBean>?>>{
            loader {
@@ -50,14 +60,15 @@ class TravelRealityModel private constructor() {
    /**
     * 查询路口设备
     */
-    fun getCrossDevice(lon: Double, lat: Double, cityCode: String?,
-                       onSuccess: ((List<CrossDeviceBean>) -> Unit), onError: ((String) -> Unit)) {
+    fun getCrossDevice(onSuccess: ((List<CrossDeviceBean>) -> Unit), onError: ((String) -> Unit)) {
        request<BaseResponse<List<CrossDeviceBean>?>>{
            loader {
                apiCall{
                    val time = System.currentTimeMillis().toString()
                    val md5String = "${CROSS_DEVICE.uppercase(Locale.getDefault())}$time"
-                    getNetWorkApi(HostConst.getNDEHost()).getCrossDevice(Md5Util.getMD5Result(md5String), time, "", lon, lat, cityCode)
+                    val loc = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                    val cityCode = CallerMapUIServiceManager.getCityCode() ?: "0734"
+                    getNetWorkApi(HostConst.getNDEHost()).getCrossDevice(Md5Util.getMD5Result(md5String), time, "", loc.longitude, loc.latitude, cityCode)
                }
            }
            onSuccess {
@@ -72,14 +83,15 @@ class TravelRealityModel private constructor() {
    /**
     * 智慧路口路网范围
     */
-    fun getCityRoadRange(lon: Double, lat: Double, cityCode: String?,
-                         onSuccess: ((List<List<Double>?>?) -> Unit), onError: ((String) -> Unit)) {
+    fun getCityRoadRange(onSuccess: ((List<List<Double>?>?) -> Unit), onError: ((String) -> Unit)) {
        request<BaseResponse<List<List<Double>?>?>>{
            loader {
                apiCall{
                    val time = System.currentTimeMillis().toString()
                    val md5String = "${CITY_ROAD_RANGE.uppercase(Locale.getDefault())}$time"
-                    getNetWorkApi(HostConst.getNDEHost()).getCityRoadRange(Md5Util.getMD5Result(md5String), time, lon, lat, cityCode)
+                    val loc = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                    val cityCode = CallerMapUIServiceManager.getCityCode() ?: "0734"
+                    getNetWorkApi(HostConst.getNDEHost()).getCityRoadRange(Md5Util.getMD5Result(md5String), time, loc.longitude, loc.latitude, cityCode)
                }
            }
            onSuccess {
@@ -94,14 +106,15 @@ class TravelRealityModel private constructor() {
    /**
     * 智慧道路轨迹
     */
-    fun getCityRoadTrack(lon: Double, lat: Double, cityCode: String?,
-                         onSuccess: ((List<List<List<Double>?>?>?) -> Unit), onError: ((String) -> Unit)) {
+    fun getCityRoadTrack(onSuccess: ((List<List<List<Double>?>?>?) -> Unit), onError: ((String) -> Unit)) {
        request<BaseResponse<List<List<List<Double>?>?>?>>{
            loader {
                apiCall{
                    val time = System.currentTimeMillis().toString()
                    val md5String = "${CITY_ROAD_TRACK.uppercase(Locale.getDefault())}$time"
-                    getNetWorkApi(HostConst.getNDEHost()).getCityRoadTrack(Md5Util.getMD5Result(md5String), time, lon, lat, cityCode)
+                    val loc = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
+                    val cityCode = CallerMapUIServiceManager.getCityCode() ?: "0734"
+                    getNetWorkApi(HostConst.getNDEHost()).getCityRoadTrack(Md5Util.getMD5Result(md5String), time, loc.longitude, loc.latitude, cityCode)
                }
            }
            onSuccess {
@@ -112,4 +125,32 @@ class TravelRealityModel private constructor() {
            }
        }
    }
+
+    fun downloadImage(context: Context, url: String?,
+                      latLng: LatLng,
+                      onSuccess: ((Bitmap, LatLng) -> Unit),
+                      onFailed: ((LatLng) -> Unit)
+    ) {
+        if (url.isNullOrEmpty()) return
+        val radiusPx = AutoSizeUtils.dp2px(context, 15f).toFloat()
+        val options = RequestOptions().transform(
+            GranularRoundedCorners(radiusPx, radiusPx,0f,0f)
+        )
+        Glide.with(context)
+            .asBitmap()
+            .apply(options)
+            .load(url)
+            .into(object : CustomTarget<Bitmap>() {
+                override fun onResourceReady(resource: Bitmap, transition: Transition<in Bitmap>?) {
+                    onSuccess(resource, latLng)
+                }
+
+                override fun onLoadCleared(placeholder: Drawable?) {}
+
+                override fun onLoadFailed(errorDrawable: Drawable?) {
+                    super.onLoadFailed(errorDrawable)
+                    onFailed(latLng)
+                }
+            })
+    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/TravelRealityService.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/TravelRealityService.kt
@@ -24,7 +24,7 @@ interface TravelRealityService {
    suspend fun getEventsWithTrajRequest(
        @Header("MogoAuthKey") authKey: String,
        @Header("MogoReqTime") time: String,
-        @Body reqData: List<Point>
+        @Body reqData: EventReqEntity
    ): Response<List<EventBean>>

    /**
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/view/EventVideoView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/travelreality/view/EventVideoView.kt
@@ -0,0 +1,48 @@
+package com.mogo.eagle.core.function.business.travelreality.view
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.graphics.Bitmap
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.function.map.R
+
+@SuppressLint("ViewConstructor")
+class EventVideoView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0,
+    private val title: String? = "全息路口"
+) : ConstraintLayout (
+    context,
+    attrs,
+    defStyleAttr
+) {
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.layout_event_video_maker, this, true)
+        initView()
+    }
+
+    private lateinit var videoImgView: ImageView
+
+    private fun initView() {
+        videoImgView = findViewById(R.id.videoImg)
+        val titleView = findViewById<TextView>(R.id.tvTitle)
+
+        title?.let {
+            titleView.text = it
+        }
+    }
+
+    fun setBitmap(bitmap: Bitmap) {
+        videoImgView.setImageBitmap(bitmap)
+    }
+
+    fun setPlaceHolder() {
+        videoImgView.setImageResource(R.drawable.video_marker_place_holder)
+    }
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapRoamView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapRoamView.kt
@@ -2,10 +2,9 @@ package com.mogo.eagle.core.function.view

 import android.annotation.SuppressLint
 import android.content.Context
-import android.os.Bundle
 import android.util.AttributeSet
-import android.util.Log
 import androidx.lifecycle.LifecycleObserver
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
 import com.mogo.eagle.core.function.api.map.roma.IMoGoAiCloudIdentifyDataListener
 import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.aiCloudIdentifyDataManager
@@ -13,12 +12,15 @@ import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapAiCloudDataManager
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
 import com.mogo.eagle.core.widget.media.video.TextureVideoViewOutlineProvider
 import com.mogo.map.MogoMap.Companion.MAP_ROAM
 import com.mogo.map.MogoMapView
 import com.mogo.map.uicontroller.IMogoMapUIController
 import com.mogo.map.uicontroller.VisualAngleMode
+import com.zhjt.service.chain.ChainLog
 import mogo.yycp.api.proto.SocketDownData


@@ -79,15 +81,16 @@ class MapRoamView(context: Context?, attrs: AttributeSet?) : MogoMapView(context
            loc.latitude = latLng.first
            loc.longitude = latLng.second
            setExtraGPSData(loc)
-            val dis = CoordinateUtils.calculateLineDistance(curLat, curLng, latLng.first, latLng.second)
-            Log.i("emArrow", "$TAG 开始漫游 latLng:$latLng , curLat:$curLat , curLng:$curLng , dis:$dis")
+            val dis =
+                CoordinateUtils.calculateLineDistance(curLat, curLng, latLng.first, latLng.second)
            // 开始漫游
+            trace(TAG, mapOf("startRoadRoam" to Pair("latLng" to latLng, "dis" to dis), "dis" to dis))
            aiCloudIdentifyDataManager.trigger(true, 1, 300, latLng.first, latLng.second)
        }
    }

    override fun response(requestStatus: Boolean, errorMsg: String?) {
-        Log.e("emArrow","road map response:$requestStatus , errorMsg:${errorMsg?:""}")
+        trace(TAG, mapOf("response" to requestStatus, "errorMsg" to (errorMsg?:"")))
    }

    override fun onAiIdentifyData(obj: SocketDownData.SocketDownDataProto?) {
@@ -114,4 +117,14 @@ class MapRoamView(context: Context?, attrs: AttributeSet?) : MogoMapView(context
        getUI()?.setVisible(false)
    }

+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_TYPE_STATUS,
+        linkCode = ChainConstant.CHAIN_SOURCE_ADAS,
+        nodeAliasCode = ChainConstant.CHAIN_CODE_ROAD_ROMA,
+        paramIndexes = [0, 1]
+    )
+    private fun trace(tag: String, obj: Any) {
+        CallerLogger.d("$M_MAP$tag", "$obj")
+    }
+
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt
@@ -5,7 +5,6 @@ import android.animation.ValueAnimator
 import android.content.Context
 import android.graphics.Rect
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.view.animation.LinearInterpolator
@@ -18,6 +17,8 @@ import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.map.R
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhidaoauto.map.data.road.StopLine
@@ -92,12 +93,11 @@ class RoadCrossRoamView @JvmOverloads constructor(

    override fun onStopLineInfo(info: StopLine) {
        super.onStopLineInfo(info)
-        if(info.distance == 0.0){
-            Log.i("emArrow", "showState return , distance is zero")
+        if(info.distance == 0.0 || info.distance > 200){
+            CallerLogger.d("$M_MAP$TAG", "showState return , distance is ${info.distance}")
            return
        }
-        showState = info.distance < 200 && info.distance > 100
-//        Log.i("emArrow", "showState $showState , distance:${info.distance}")
+        showState = info.distance <= 200 && info.distance > 100
    }

    private fun attachView() {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/TravelRealityView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/TravelRealityView.kt
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/event_logo_icon.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/event_logo_icon.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/event_video_bg.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/event_video_bg.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/mogo_yongdu_nor.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/mogo_yongdu_nor.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/video_marker_place_holder.png
+++ b/core/function-impl/mogo-core-function-map/src/main/res/drawable-xhdpi/video_marker_place_holder.png
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_event_video_maker.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_event_video_maker.xml
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="280dp"
+    android:layout_height="352dp"
+    android:background="@drawable/event_video_bg"
+    xmlns:tools="http://schemas.android.com/tools"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <ImageView
+        android:id="@+id/videoImg"
+        android:layout_width="240dp"
+        android:layout_height="200dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="66dp"
+        />
+
+    <TextView
+        android:id="@+id/tvTitle"
+        android:layout_width="152dp"
+        android:layout_height="36dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:gravity="center"
+        android:textStyle="bold"
+        android:layout_marginBottom="65dp"
+        tools:text="全息路口"
+        android:textColor="#132A54"
+        android:textSize="25dp"
+        />
+
+    <ImageView
+        android:layout_width="88dp"
+        android:layout_height="16dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:background="@drawable/event_logo_icon"
+        android:layout_marginBottom="40dp"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-map/src/main/res/raw/yujingguangquan.nt3d
+++ b/core/function-impl/mogo-core-function-map/src/main/res/raw/yujingguangquan.nt3d
--- a/core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml
@@ -60,6 +60,8 @@
        <attr name="compassDrawable" />
        <!-- 智慧道路范围纹理 -->
        <attr name="roadRangeDrawable" format="reference" />
+        <attr name="globalPathColor" format="color" />
+        <attr name="roadTrajectoryColor" format="color" />
        <!-- 起点图片 -->
        <attr name="startPointDrawable" />
        <!-- 终点图片 -->