Merge branch 'refs/heads/dev_robotaxi-d_240912_6.7.0' into dev_robotaxi-d_240912_6.7.2_local

# Conflicts: # core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/RoadCrossCameraManager.kt # core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/RoadCrossRoamView.kt
2024-10-17 18:53:06 +08:00
parent 8a16c98ce9 c74493fa73
commit abedc67f86
46 changed files with 857 additions and 299 deletions
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/PassBusStationEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/busstation/PassBusStationEventManager.kt
@@ -15,6 +15,7 @@ import com.mogo.eagle.core.function.api.hmi.xiaozhi.event.V2N
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.state.State.START
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.state.State.STOP
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerServicesEventManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerRoadV2NEventWindowListenerManager
@@ -190,6 +191,8 @@ object PassBusStationEventManager : IMoGoChassisLocationWGS84Listener {
                                ).toString()
                            ).toString()
                        )
+                        // 事件弹框 次数+1
+                        CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.BUS_STOP)
                        trackEvent("showBusStationNotification --> ${it.toString()}")
                        Logger.d(
                            TAG,
--- 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
@@ -24,6 +24,7 @@ import com.mogo.eagle.core.function.biz.R
 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.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerServicesEventManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager.V2NCarTypeCheck
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
@@ -107,6 +108,11 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
 //                                delay(2000)
 //                            }
 //                            Log.d("V2NIdentifyDrawer", "--- 不在路口了 ---")
+                            if (msg.what == MSG_WHAT_DRAW_SHIGONE) {
+                                CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD_CONSTRUCTION)
+                            } else {
+                                CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD_ACCIDENT)
+                            }
                            val poiType = getPoiType(itx.type).poiType
                            val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
                            marker(Marker(id,
@@ -216,6 +222,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    V2XBizTrace.onAck(TAG, mapOf("other_retrograde_vehicle" to "distance > 150"), true)
                    return@Callback true
                }
+                CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.RETROGRADE_EVENT)
                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
                if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
                    runCatching {
@@ -340,6 +347,7 @@ internal object V2NIdentifyDrawer: IEventDismissListener {
                    V2XBizTrace.onAck(TAG, mapOf("people cross" to "distance > 150"), true)
                    return@Callback true
                }
+                CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.TRAVERSE_CROSSING)
                Logger.i(TAG, "people cross -- 3 --")
                val isDriver = AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)
                if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/DataCenterProvider.kt
@@ -8,7 +8,6 @@ import com.mogo.eagle.core.function.call.datacenter.CallerDataCenterBizListener
 import com.mogo.eagle.core.function.call.datacenter.CallerDataCenterBizManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.datacenter.location.MoGoLocationDispatcher
-import com.mogo.eagle.core.function.datacenter.v2x.RoadLineEventManager
 import com.mogo.eagle.core.function.datacenter.v2x.SpeedLimitDispatcher
 import com.mogo.eagle.core.function.datacenter.v2x.TrafficLightDispatcher

@@ -28,7 +27,6 @@ class DataCenterProvider: IDataCenterProvider {
            CallerMsgBoxManager.queryAllMessages(it)
            TrafficLightDispatcher.INSTANCE.initServer(it)
            SpeedLimitDispatcher.INSTANCE.initLimit(it)
-            RoadLineEventManager.INSTANCE.init()
        }
    }

--- 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
@@ -5,6 +5,7 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HdMapBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ADAS_ARRIVE
@@ -67,6 +68,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerColdStartStateListenerM
 import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerLocalizationStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerNodeStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager.invokePNCActions
@@ -78,7 +80,6 @@ import com.mogo.eagle.core.function.call.autopilot.CallerRoboBusJinlvM1StitchedV
 import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCleanSystemListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerSweeperFutianCloudTaskListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerNodeStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerTakeoverListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2nNioEventListenerManager
@@ -991,8 +992,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
     * @param sysTime           当前时间戳
     * @param bigTaskActionPush 数据
     */
-    override fun onSweeperFutianCloudTaskCloudSuspendResume(header: MessagePad.Header, messageType: AiCloudTask.MessageType, reqNo: String?, sysTime: Long, bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?) {
-        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(messageType, reqNo, sysTime, bigTaskActionPush)
+    override fun onSweeperFutianCloudTaskCloudSuspendResume(
+        header: MessagePad.Header,
+        messageType: AiCloudTask.MessageType,
+        reqNo: String?,
+        sysTime: Long,
+        bigTaskActionPush: SweeperTaskCloudSuspendResume.BigTaskActionPush?
+    ) {
+        CallerSweeperFutianCloudTaskListenerManager.invokeSweeperFutianCloudTaskCloudSuspendResume(
+            messageType,
+            reqNo,
+            sysTime,
+            bigTaskActionPush
+        )
    }

    /**
@@ -1116,6 +1128,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
        getParamResp: MessagePad.SetParamReq,
        adasParam: AdasParam
    ) {
+        FunctionBuildConfig.fusionMode = adasParam.fusionMode
        CallerAutopilotGetParamResponseDispatcher.dispatchResponse(header, getParamResp, adasParam)
    }

@@ -1249,9 +1262,19 @@ class MoGoAdasListenerImpl : OnAdasListener {
            if (stateInfo.nodeName == AdasConstants.NodeName.SSM) {
                //域控SSM接口接收是否超时
                if (stateInfo.existState == NodeExistState.NODE_EXIST_TIMEOUT) {
-                    CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.SSMINFO, SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis())))
+                    CallerMsgBoxManager.saveMsgBox(
+                        MsgBoxBean(
+                            MsgBoxType.SSMINFO,
+                            SSMMsg(0, "连接超时", "SSM超时无响应", System.currentTimeMillis())
+                        )
+                    )
                } else {
-                    CallerMsgBoxManager.saveMsgBox(MsgBoxBean(MsgBoxType.SSMINFO, SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis())))
+                    CallerMsgBoxManager.saveMsgBox(
+                        MsgBoxBean(
+                            MsgBoxType.SSMINFO,
+                            SSMMsg(0, "连接恢复", "SSM连接恢复", System.currentTimeMillis())
+                        )
+                    )
                }
            } else if (stateInfo.nodeName == AdasConstants.NodeName.FSM2024) {
                //域控FSM接口接收是否超时
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -137,6 +137,8 @@ class MoGoAdasMsgConnectStatusListenerImpl :
                }
                //每次工控机连接成功后，需同步当前设置的雨天模式状态
                CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
+                // 6.6.2 版本默认开启，与海江确认过，默认发盲区模式
+                CallerAutoPilotControlManager.sendFusionMode(2)
                connectToast("域控已连接")
            }

--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
@@ -31,16 +31,16 @@ class MoGoObuProvider : IMoGoObuProvider {

        //bus乘客版本obu功能去掉，大理项目需要全部车辆接收，不再限制
        mContext = context
-        mContext?.let {
-            val ipAddress =
-                SharedPrefsMgr.getInstance().getString(MoGoConfig.OBU_IP, MogoObuConst.OBU_DEFAULT_IP)
-            //mogo obu
-            MogoPrivateObuNewManager.INSTANCE.connectObu(
-                it,
-                ipAddress,
-                CommonUtils.getIpAddressString()
-            )
-        }
+//        mContext?.let {
+//            val ipAddress =
+//                SharedPrefsMgr.getInstance().getString(MoGoConfig.OBU_IP, MogoObuConst.OBU_DEFAULT_IP)
+//            //mogo obu
+//            MogoPrivateObuNewManager.INSTANCE.connectObu(
+//                it,
+//                ipAddress,
+//                CommonUtils.getIpAddressString()
+//            )
+//        }

        //监听obu版本数据
        MogoPrivateObuNewManager.INSTANCE.readSystemConfig()
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/RoadLineEventManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/RoadLineEventManager.kt
@@ -1,47 +0,0 @@
-package com.mogo.eagle.core.function.datacenter.v2x
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
-import com.zhidaoauto.map.data.road.RoadCross
-
-
-/**
- * 路线功能相关，绑定路线id后，业务控制，数据变化均可以封装在这里实现
- */
-class RoadLineEventManager : IMoGoMapRoadListener, IMoGoAutopilotStatusListener {
-
-    companion object{
-
-        private const val TAG = "RoadLineEventManager"
-
-        val INSTANCE by lazy(LazyThreadSafetyMode.SYNCHRONIZED){
-            RoadLineEventManager()
-        }
-    }
-
-    @Volatile
-    private var record = false
-
-    fun init() {
-        CallerMapRoadListenerManager.addListener(TAG, this)
-        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
-    }
-
-    override fun onAutopilotRouteLineId(lineId: Long) {
-        super.onAutopilotRouteLineId(lineId)
-        record = lineId != 0L
-    }
-
-    override fun onRoadChange(cross: Boolean, roadCross: RoadCross?) {
-        super.onRoadChange(cross, roadCross)
-        if(!record){
-            return
-        }
-        if(cross){
-            CallerAutoPilotStatusListenerManager.updateRoadCount()
-        }
-    }
-
-}
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt
@@ -106,7 +106,7 @@ class UpgradeAppNetWorkManager private constructor() {
                    provider?.recordUpgradeRequestSuccess(GsonUtils.toJson(info))
                    doUpgrade(info)
                } else {
-                    provider?.recordUpgradeRequestFailed(GsonUtils.toJson(info))
+                    provider?.recordUpgradeRequestFailed(info.msg?:"请检查升级服务日志")
                }
            } catch (t: Throwable) {
                t.printStackTrace()
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/provider/MoGoUpgradeProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/provider/MoGoUpgradeProviderImpl.kt
@@ -2,6 +2,7 @@ package com.zhjt.mogo_core_function_devatools.upgrade.provider

 import android.content.*
 import android.content.pm.PackageInstaller
+import android.widget.Toast
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.deva.chain.*
@@ -58,6 +59,9 @@ class MoGoUpgradeProviderImpl: IMoGoUpgradeProvider {
    }

    override suspend fun recordUpgradeRequestFailed(error: String) {
+        if(error.isNotEmpty()){
+            ToastUtils.showShort(error)
+        }
        UpgradeDbHelper.insertCheckRecord(CheckRecord(AppUtils.getAppVersionName(), FAIL, error, time = System.currentTimeMillis()))
        try {
            onUpgradeRecordLinkLog(mapOf("upgrade_request_failed" to error))
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
@@ -186,7 +186,7 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene

    @SuppressLint("SetTextI18n")
    private fun initEvent(){
-        CallerDevaToolsListenerManager.addListener(TAG, this)
+        CallerDevaToolsListenerManager.addListener(this.hashCode().toString(), this)
        val iconDown = ContextCompat.getDrawable(mActivity, R.drawable.icon_fault_expand)
        iconDown?.setBounds(0, 0, iconDown.minimumWidth, iconDown.minimumHeight)
        val iconUp = ContextCompat.getDrawable(mActivity, R.drawable.icon_fault_retract)
@@ -466,7 +466,7 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
            mWindowManager!!.removeView(mFloatLayout)
        }
        setWindowShowStatus(false)
-        CallerDevaToolsListenerManager.removeListener(TAG)
+        CallerDevaToolsListenerManager.removeListener(this.hashCode().toString())
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/map/MapContainerLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/map/MapContainerLayout.kt
@@ -179,12 +179,14 @@ class MapContainerLayout @JvmOverloads constructor(
        override fun onAnimationStart(animation: Animator) {
            super.onAnimationStart(animation)
            isPlayingAnim = true
+            overMapView.setIsPlaying(true)
            overMapView.setMapFlag(isScaled)
        }

        override fun onAnimationCancel(animation: Animator) {
            super.onAnimationCancel(animation)
            isPlayingAnim = false
+            overMapView.setIsPlaying(false)
            overMapView.swapSettings()
            updateShadowBg(isScaled)
            isScaled = !isScaled
@@ -199,6 +201,7 @@ class MapContainerLayout @JvmOverloads constructor(
        override fun onAnimationEnd(animation: Animator) {
            super.onAnimationEnd(animation)
            isPlayingAnim = false
+            overMapView.setIsPlaying(false)
            overMapView.swapSettings()
            updateShadowBg(isScaled)
            isScaled = !isScaled
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/exploration/AutomaticExplorationView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/notice/exploration/AutomaticExplorationView.kt
@@ -188,15 +188,6 @@ open class AutomaticExplorationView @JvmOverloads constructor(

        })
        automaticExplorationAdapter?.setData(dataList)
-        //每出现一次自动探查，增加相应的服务次数
-        //道路信息提醒次数
-        AutopilotSummaryInfo.infoTipNum += 9
-        //车辆行为提醒次数
-        AutopilotSummaryInfo.vehicleTipNum += 13
-        //弱势参与者提醒次数
-        AutopilotSummaryInfo.vulnerableTipNum += 4
-        //消除安全风险隐患次数
-        AutopilotSummaryInfo.dangerNum += 24
        //启动扫描
        ivScan?.let {
            rotationAnim = ObjectAnimator.ofFloat(it, "rotation", 0f, 360f)
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
@@ -196,9 +196,9 @@ class OperatePanelLayout : LinearLayout {

        override fun onCreate(savedInstanceState: Bundle?) {
            super.onCreate(savedInstanceState)
+            setDefaultVal(preferenceScreen)
            setPreferenceChangeListener(preferenceScreen)
            setPreferenceClickListener(preferenceScreen)
-            setDefaultVal(preferenceScreen)
        }

        protected open fun getDefaultVal(pref: Preference): Any? {
@@ -426,6 +426,11 @@ class OperatePanelLayout : LinearLayout {
                KEY_V2I_TO_PNC -> {
                    val isChecked = newValue as? Boolean ?: false
                    FunctionBuildConfig.v2iToPNC = isChecked
+                    FunctionBuildConfig.isFusionColor = isChecked //6.6.2版本基于运营需求-产品设计-v2i进pnc,感知目标颜色替换
+                    FunctionBuildConfig.fusionMode = 2
+                    CallerAutoPilotControlManager.sendFusionMode(2)
+                    CallerHmiViewControlListenerManager.invokeFuncMode(IViewControlListener.FUNC_FUSION_COLOR,isChecked)
+
                    CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
                    hmiAction("V2I场景进PNC, ", isChecked)
                    clickEventAnalytics("V2I场景进PNC", isChecked)
@@ -980,7 +985,6 @@ class OperatePanelLayout : LinearLayout {
                when(adasParam.fusionMode) {
                    1 -> {
                        //全融合模式
-                        FunctionBuildConfig.fusionMode = 1
                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_ALL_MERGE_MODE }?.let {
                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                        }?.also {
@@ -994,7 +998,6 @@ class OperatePanelLayout : LinearLayout {
                    }
                    2 -> {
                        //盲区模式
-                        FunctionBuildConfig.fusionMode = 2
                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_BLIND_AREA_MODE }?.let {
                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                        }?.also {
@@ -1008,7 +1011,6 @@ class OperatePanelLayout : LinearLayout {
                    }
                    3 -> {
                        //超视距模式
-                        FunctionBuildConfig.fusionMode = 3
                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_BEYOND_VISUAL_RANGE_MODE }?.let {
                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                        }?.also {
@@ -1022,7 +1024,6 @@ class OperatePanelLayout : LinearLayout {
                    }
                    4 -> {
                        //透传模式
-                        FunctionBuildConfig.fusionMode = 4
                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_TRANSPARENT_TRANSFER_MODE }?.let {
                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                        }?.also {
@@ -1036,7 +1037,6 @@ class OperatePanelLayout : LinearLayout {
                    }
                    5 -> {
                        //纯路侧模式
-                        FunctionBuildConfig.fusionMode = 5
                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_PURE_OBU_MODE }?.let {
                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                        }?.also {
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -69,6 +69,7 @@ import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuInfoListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_FUSION_COLOR
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.setting.ISopSettingListener
@@ -453,6 +454,8 @@ internal class DebugSettingView @JvmOverloads constructor(
        //雨天、美化、点云设置同步
        CallerSopSettingManager.addListener(TAG, this)

+        CallerHmiViewControlListenerManager.addListener(TAG, this)
+
        //添加 业务配置监听
        CallerDevaToolsFuncConfigListenerManager.registerDevaToolsFuncConfigListener(
            FuncBizConfig.FOUNDATION, TAG, true, this
@@ -495,6 +498,7 @@ internal class DebugSettingView @JvmOverloads constructor(
        //雨天、美化、点云设置同步
        CallerSopSettingManager.removeListener(TAG)

+        CallerHmiViewControlListenerManager.removeListener(TAG)

        // 移除 业务配置监听
        CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener(
@@ -2668,7 +2672,10 @@ internal class DebugSettingView @JvmOverloads constructor(
            tbIsDemoMode.isChecked = FunctionBuildConfig.isDemoMode
        }
        if (tag == FUNC_MODE_RAIN) {
-            tbIsDemoMode.isChecked = FunctionBuildConfig.isRainMode
+            tbIsRainMode.isChecked = FunctionBuildConfig.isRainMode
+        }
+        if(tag == FUNC_FUSION_COLOR){
+            btnDrawFusion.isChecked = FunctionBuildConfig.isFusionColor
        }
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -15,6 +15,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoGetParamResponseListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
 import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangProvider
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
+import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_FUSION_COLOR
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.setting.ISopSettingListener
@@ -250,6 +251,9 @@ internal class SOPSettingView @JvmOverloads constructor(
            if (isChecked) {
                //V2I场景进PNC
                scV2iPnc.isChecked = FunctionBuildConfig.v2iToPNC
+                if(FunctionBuildConfig.v2iToPNC){
+                    FunctionBuildConfig.isFusionColor = true //6.6.2版本基于运营需求-产品设计-开启v2i进pnc,开启感知目标颜色替换
+                }
                hmiAction("SOP V2I场景进PNC, ", FunctionBuildConfig.v2iToPNC)
                CallerAutoPilotControlManager.sendV2iToPncCmd(FunctionBuildConfig.v2iToPNC)
                //闯红灯预警
@@ -265,6 +269,7 @@ internal class SOPSettingView @JvmOverloads constructor(
            } else {
                //V2I场景进PNC
                scV2iPnc.isChecked = false
+                FunctionBuildConfig.isFusionColor = false //6.6.2版本基于运营需求-产品设计-关闭v2i进pnc,关闭感知目标颜色替换
                CallerAutoPilotControlManager.sendV2iToPncCmd(false)
                hmiAction("SOP V2I场景进PNC, ", false)
                //闯红灯预警
@@ -345,6 +350,11 @@ internal class SOPSettingView @JvmOverloads constructor(
            }
            clickEventAnalytics("V2I场景进PNC",isChecked)
            hmiAction("SOP V2I场景进PNC, ", isChecked)
+            FunctionBuildConfig.isFusionColor = isChecked //6.6.2版本基于运营需求-产品设计-v2i进pnc,感知目标颜色替换
+            FunctionBuildConfig.fusionMode = 2
+            CallerAutoPilotControlManager.sendFusionMode(2)
+            updateFusionModeUI()
+            CallerHmiViewControlListenerManager.invokeFuncMode(FUNC_FUSION_COLOR,isChecked)
            CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
            FunctionBuildConfig.v2iToPNC = isChecked
        }
@@ -600,6 +610,9 @@ internal class SOPSettingView @JvmOverloads constructor(
            clickEventAnalytics("考试功能面板",isChecked)
        }

+        // 6.6.2 与海江确认，默认发盲区模式
+        CallerAutoPilotControlManager.sendFusionMode(2)
+        updateFusionModeUI()
        //融合模式
        rgFusionMode.setOnCheckedChangeListener { _, p1 ->
            when (p1) {
@@ -1101,32 +1114,34 @@ internal class SOPSettingView @JvmOverloads constructor(
    ) {
        //融合模式
        ThreadUtils.runOnUiThread {
-            FunctionBuildConfig.fusionMode = adasParam.fusionMode
-            when (FunctionBuildConfig.fusionMode) {
-                1 -> {
-                    //全融合模式
-                    rgFusionMode.check(R.id.rbFullIntegration)
-                }
-                2 -> {
-                    //盲区模式
-                    rgFusionMode.check(R.id.rbBlind)
-                }
-                3 -> {
-                    //超视距模式
-                    rgFusionMode.check(R.id.rbBeyondSight)
-                }
-                4 -> {
-                    //透传模式
-                    rgFusionMode.check(R.id.rbTransparent)
-                }
-                5 -> {
-                    //纯路侧模式
-                    rgFusionMode.check(R.id.rbPureRoad)
-                }
-            }
-
+            updateFusionModeUI()
            val overTakeSpeed = adasParam.overtakeMaxSpeed
            tvOverTakeLimit.text = "$overTakeSpeed m/s"
        }
    }
+
+    private fun updateFusionModeUI(){
+        when (FunctionBuildConfig.fusionMode) {
+            1 -> {
+                //全融合模式
+                rgFusionMode.check(R.id.rbFullIntegration)
+            }
+            2 -> {
+                //盲区模式
+                rgFusionMode.check(R.id.rbBlind)
+            }
+            3 -> {
+                //超视距模式
+                rgFusionMode.check(R.id.rbBeyondSight)
+            }
+            4 -> {
+                //透传模式
+                rgFusionMode.check(R.id.rbTransparent)
+            }
+            5 -> {
+                //纯路侧模式
+                rgFusionMode.check(R.id.rbPureRoad)
+            }
+        }
+    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ColdStartView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ColdStartView.kt
@@ -7,6 +7,7 @@ import android.os.Build
 import android.os.CountDownTimer
 import android.text.Html
 import android.util.AttributeSet
+import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import android.view.animation.LinearInterpolator
@@ -85,7 +86,6 @@ class ColdStartView @JvmOverloads constructor(
        super.onAttachedToWindow()
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
        CallerColdStartStateListenerManager.addListener(TAG,this)
-        CallerAutoPilotControlManager.sendSsmFuncQueryColdStartState()
    }

    override fun onDetachedFromWindow() {
@@ -211,6 +211,9 @@ class ColdStartView @JvmOverloads constructor(
        coldStartState: SsmInfo.ColdStartState?
    ) {
        coldStartState?.let {
+            Log.i(TAG,"节点自上报冷启动状态="+it.eventStatus)
+            Log.i(TAG,"旧冷启动状态="+it.processStatus)
+            Log.i(TAG,"旧冷启动超时原因="+it.processTimeoutReason)
            ThreadUtils.runOnUiThread {
                if(it.eventStatus == SsmInfo.CSState.COLD_START_READY){
                    //冷启动就绪
@@ -219,6 +222,8 @@ class ColdStartView @JvmOverloads constructor(
                tvColdStartContent.text = getColdStartEventStatus(it.eventStatus)
                nodeStatusSb.clear()
                it.nodeList.forEach {node->
+                    Log.i(TAG,"node nodeName="+node.nodeName+"node status="+node.status)
+
                    val nodeDetail = node.nodeName+ " " + getColdStartNodeStatus(node.status)
                    if(node.status == SsmInfo.NodeStatus.NODE_FAILED || node.status ==SsmInfo.NodeStatus.NODE_TIMEOUT){
                        nodeStatusSb.append("<font color=\"#FFCD3D\">${nodeDetail}</font>")
@@ -321,8 +326,6 @@ class ColdStartView @JvmOverloads constructor(
        viewColdStartDivider.visibility = View.GONE
        ivColdStartStatus.visibility = View.GONE
        tvColdStartContent.visibility = View.GONE
-        //主动查询冷启动状态
-        CallerAutoPilotControlManager.sendSsmFuncQueryColdStartState()
    }

    /**
@@ -378,11 +381,11 @@ class ColdStartView @JvmOverloads constructor(
            connectSSMTimer?.cancel()
            //开始启动冷启动等待倒计时
            coldStartProcess()
+            //主动查询冷启动状态
+            CallerAutoPilotControlManager.sendSsmFuncQueryColdStartState()
        }
        ssmConnectStatus = true
        coldStartStatus = false
-        //主动查询冷启动状态
-        CallerAutoPilotControlManager.sendSsmFuncQueryColdStartState()
    }

    /**
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/FusionTrafficLightView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/FusionTrafficLightView.kt
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotSummaryInfo
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.TrafficLightEnum
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
+import com.mogo.eagle.core.function.call.autopilot.CallerServicesEventManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.hmi.R
@@ -205,7 +206,7 @@ class FusionTrafficLightView @JvmOverloads constructor(
                if(this@FusionTrafficLightView.visibility == View.GONE){
                    this@FusionTrafficLightView.visibility = View.VISIBLE
                    CallerHmiViewControlListenerManager.invokeV2XEvent(View.VISIBLE, TAG)
-                    AutopilotSummaryInfo.lightServicesNum++
+                    CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.LIGHT)
                }

                val colorList = ArrayList<TrafficLightEnum>()
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ItinerarySummaryDialog.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ItinerarySummaryDialog.kt
@@ -7,6 +7,7 @@ import android.widget.ImageView
 import android.widget.TextView
 import com.mogo.eagle.core.data.autopilot.AutopilotSummaryInfo
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerServicesEventManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.view.TravelRealityView
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -70,26 +71,23 @@ open class ItinerarySummaryDialog(context: Context, isDriver: Boolean, theme: In
        }
        //全息路口服务次数
        tvIntersectionServicesNum = findViewById(R.id.tvIntersectionServicesNum)
-        tvIntersectionServicesNum?.text = CallerAutoPilotStatusListenerManager.getRoadCount().toString()
+        tvIntersectionServicesNum?.text = CallerServicesEventManager.getRoadNum().toString()
        //路口灯态服务次数
        tvLightServicesNum = findViewById(R.id.tvLightServicesNum)
-        tvLightServicesNum?.text = AutopilotSummaryInfo.lightServicesNum.toString()
+        tvLightServicesNum?.text = CallerServicesEventManager.getLightServicesNum().toString()
        //道路信息提醒次数
        tvInfoTipNum = findViewById(R.id.tvInfoTipNum)
-        AutopilotSummaryInfo.infoTipNum += random.nextInt(7) +2
-        tvInfoTipNum?.text = AutopilotSummaryInfo.infoTipNum.toString()
+        tvInfoTipNum?.text = CallerServicesEventManager.getInfoTipNum().toString()
        //车辆行为提醒次数
        tvVehicleTipNum = findViewById(R.id.tvVehicleTipNum)
-        AutopilotSummaryInfo.vehicleTipNum += random.nextInt(7) +2
-        tvVehicleTipNum?.text = AutopilotSummaryInfo.vehicleTipNum.toString()
+        tvVehicleTipNum?.text = CallerServicesEventManager.getVehicleTipNum().toString()
        //弱势参与者提醒次数
        tvVulnerableTipNum = findViewById(R.id.tvVulnerableTipNum)
-        AutopilotSummaryInfo.vulnerableTipNum += random.nextInt(7)+2
-        tvVulnerableTipNum?.text = AutopilotSummaryInfo.vulnerableTipNum.toString()
+        tvVulnerableTipNum?.text = CallerServicesEventManager.getVulnerableTipNum().toString()
        //消除安全风险隐患次数
        tvDangerNum = findViewById(R.id.tvDangerNum)
-        AutopilotSummaryInfo.dangerNum += random.nextInt(7)+2
-        tvDangerNum?.text = AutopilotSummaryInfo.dangerNum.toString()
+        val dangerNum = CallerServicesEventManager.getInfoTipNum()+ CallerServicesEventManager.getVehicleTipNum() + CallerServicesEventManager.getVulnerableTipNum()
+        tvDangerNum?.text = dangerNum.toString()
        //通行效率提升:本期为假数据，数据为百分数，值为7-14%之间的随机数，保留小数点后1位
        tvEfficiencyNum = findViewById(R.id.tvEfficiencyNum)
        val next: Float= random.nextInt(70).toFloat()/10
@@ -113,7 +111,12 @@ open class ItinerarySummaryDialog(context: Context, isDriver: Boolean, theme: In

    private fun showSummaryTipContent(){
        ThreadUtils.runOnUiThread {
-            val vehicleServiceNum = AutopilotSummaryInfo.infoTipNum+ AutopilotSummaryInfo.vehicleTipNum + AutopilotSummaryInfo.vulnerableTipNum + AutopilotSummaryInfo.lightServicesNum + CallerAutoPilotStatusListenerManager.getRoadCount()
+            val vehicleServiceNum =
+                    CallerServicesEventManager.getInfoTipNum()+
+                    CallerServicesEventManager.getVehicleTipNum() +
+                    CallerServicesEventManager.getVulnerableTipNum() +
+                    CallerServicesEventManager.getLightServicesNum() +
+                    CallerServicesEventManager.getRoadNum()
            var smartRoadLen = 1000f
            try {
            smartRoadLen =random.nextFloat()*mileage
@@ -138,12 +141,7 @@ open class ItinerarySummaryDialog(context: Context, isDriver: Boolean, theme: In
        travelRealityView?.onPause()
        travelRealityView?.onDestroy()
        //对本次服务记录清零
-        AutopilotSummaryInfo.lightServicesNum = 0
-        AutopilotSummaryInfo.infoTipNum = 0
-        AutopilotSummaryInfo.vehicleTipNum = 0
-        AutopilotSummaryInfo.vulnerableTipNum = 0
-        AutopilotSummaryInfo.dangerNum = 0
-        CallerAutoPilotStatusListenerManager.resetRoadCount()
+        CallerServicesEventManager.resetServicesNum()
    }

 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SingleTrafficLightView.kt
@@ -16,6 +16,7 @@ import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListen
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.TrafficLightView_TAG
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
+import com.mogo.eagle.core.function.call.autopilot.CallerServicesEventManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
@@ -54,6 +55,8 @@ class SingleTrafficLightView @JvmOverloads constructor(

    private var trafficLightUser = 0 //0:默认；1：Taxi乘客屏肤色

+    private var isShowLight: Boolean = false
+
    init{
        context?.let {
            val typedArray = it.obtainStyledAttributes(attrs, R.styleable.SingleTrafficLightView)
@@ -119,6 +122,7 @@ class SingleTrafficLightView @JvmOverloads constructor(
        super.showTrafficLight(checkLightId, lightSource)
        UiThreadHandler.post {
            CallerLogger.d("$M_HMI$TAG","update checkLightId:$checkLightId, lightSource: $lightSource")
+            isShowLight = true
            mCurrentLightId = checkLightId
            updateTrafficLightIcon(checkLightId, lightSource)
        }
@@ -400,4 +404,11 @@ class SingleTrafficLightView @JvmOverloads constructor(
        }
    }

+    override fun onVisibilityChanged(changedView: View, visibility: Int) {
+        super.onVisibilityChanged(changedView, visibility)
+        if(visibility == View.VISIBLE && isShowLight){
+            CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.LIGHT)
+        }
+    }
+
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/RoadCrossCameraManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/roadcross/RoadCrossCameraManager.kt
@@ -7,13 +7,15 @@ import android.os.Handler
 import android.os.Looper
 import android.os.Message
 import com.mogo.commons.debug.DebugConfig
-import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.road.CameraDeviceInfo
+import com.mogo.eagle.core.data.road.RoadCrossCamera
+import com.mogo.eagle.core.function.api.map.listener.IGaoDeMapLocationListener
 import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
 import com.mogo.eagle.core.function.business.roadcross.net.NDERoadCameraNetWorkModel.Companion.ndeRoadCameraNetWorkModel
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.map.CallerGaoDeMapLocationListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.map.R
@@ -24,17 +26,19 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.map.overlay.core.Level
 import com.mogo.map.overlay.point.Point
-import com.mogo.skin.utils.SkinResources
 import com.zhidaoauto.map.data.road.RoadCross
 import com.zhidaoauto.map.data.road.StopLine
 import com.zhjt.service.chain.ChainLog
 import kotlin.properties.Delegates

-class RoadCrossCameraManager : IMoGoMapRoadListener {
+@SuppressLint("NewApi")
+class RoadCrossCameraManager : IMoGoMapRoadListener, IGaoDeMapLocationListener {
    companion object {

        private const val TAG = "RoadCrossCameraManager"
        private const val REQUEST_CAMERA_MSG = 0
+        private const val REMOVE_MARKER_MSG = 1
+        private const val REQUEST_CAMERA_DELAY_TIME = 50000L
        private const val REMOVE_MARKER_DELAY_TIME = 10000L

        val instance: RoadCrossCameraManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -48,25 +52,71 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
    private var isCameraRequest = false

    @Volatile
-    private var roadCrossCameraList: List<CameraDeviceInfo>? = null
+    private var roadCrossCameraList: List<RoadCrossCamera>? = null

    private val overlayManager = CallerMapUIServiceManager.getOverlayManager()

-    private val handler = object :Handler(Looper.getMainLooper()){
+    private val handler = object : Handler(Looper.getMainLooper()) {
        override fun handleMessage(msg: Message) {
            super.handleMessage(msg)
-            CallerLogger.d("$M_MAP$TAG", "remove marker")
-            overlayManager?.removeAllPointsInOwner(TAG)
+            when (msg.what) {
+                REQUEST_CAMERA_MSG -> {
+                    getAllRoadCross()
+                }
+
+                REMOVE_MARKER_MSG -> {
+                    CallerLogger.d("$M_MAP$TAG", "remove marker")
+                    overlayManager?.removeAllPointsInOwner(TAG)
+                }
+            }
        }
    }

    fun init(context: Context?) {
        mContext = context
        CallerMapRoadListenerManager.addListener(TAG, this)
+        CallerGaoDeMapLocationListenerManager.addListener(TAG, this)
+        getAllRoadCross()
+    }
+
+    private fun getAllRoadCross() {
+        val cityCode = CallerMapUIServiceManager.getCityCode()
+        if (cityCode.isNullOrEmpty() || (cityCode.isNotEmpty() && cityCode == "010")) {
+            handler.removeMessages(REQUEST_CAMERA_MSG)
+            handler.sendEmptyMessageDelayed(REQUEST_CAMERA_MSG, REQUEST_CAMERA_DELAY_TIME + 100000)
+            return
+        }
+        ndeRoadCameraNetWorkModel.getRoadCrossInfo(
+            onSuccess = { it ->
+                if (it.isNotEmpty()) {
+                    roadCrossCameraList = it
+                    val map = mutableMapOf<String, RoadCrossCamera>()
+                    it.forEach { road ->
+                        road.crossingId?.let { id ->
+                            map[id] = road
+                        }
+                    }
+                    roadCrossTrace("getAllRoadCross", map)
+                } else {
+                    traceError("roadCrossInfo request size is zero")
+                }
+            },
+            onError = {
+                handler.removeMessages(REQUEST_CAMERA_MSG)
+                handler.sendEmptyMessageDelayed(REQUEST_CAMERA_MSG, REQUEST_CAMERA_DELAY_TIME)
+                traceError("roadCrossInfo request errorMsg: $it")
+            })
+    }
+
+    override fun onCityCodeChanged(cityCode: String) {
+        super.onCityCodeChanged(cityCode)
+        if (cityCode != "010") {
+            getAllRoadCross()
+        }
    }

    private var distance: Double by Delegates.observable(0.0) { _, _, newV ->
-        if(!AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)){
+        if (!AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
            return@observable
        }
        if (!isCameraRequest && newV < 100) {
@@ -76,38 +126,26 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
                "$M_MAP$TAG",
                "触发接口调用 dis: $distance , roadCrossEnd: ${roadCrossEnd ?: "null"} "
            )
-            if(roadCrossEnd == null){
+            if (roadCrossEnd == null) {
                roadCrossTrace(
-                    TAG, mapOf("errorMsg" to "触发接口调用,roadCrossEnd获取为null",)
+                    TAG, mapOf("errorMsg" to "触发接口调用,roadCrossEnd获取为null")
                )
            }

-            if(AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)){
-                AIAssist.getInstance(mContext).speakTTSVoice("${SkinResources.getInstance().getString(
-                        com.mogo.eagle.core.data.R.string.operation_platform_name)}检测到前方${distance.toInt()}米您将通过路口，已为您切换展示路口全息影像")
-            }
            if (roadCrossEnd != null) {
-                ndeRoadCameraNetWorkModel.getRoadCrossInfo(roadCrossEnd,
-                    onSuccess = {
-                        if (it.crossingId == null) {
-                            traceError("roadUniqueId is null")
-                            return@getRoadCrossInfo
-                        }
-                        if (it.deviceInfoList.isEmpty()) {
-                            traceError("deviceInfoList isEmpty")
-                            return@getRoadCrossInfo
-                        }
-                        roadCrossCameraList = it.deviceInfoList
-                        // 地图上打marker(注意marker方向)，marker点击获取对应ip
-                        ThreadUtils.runOnUiThread {
+                if (roadCrossCameraList != null) {
+                    roadCrossCameraList?.forEach {
+                        if (!it.roadUniqueId.isNullOrEmpty() && it.roadUniqueId == roadCrossEnd) {
                            it.deviceInfoList.forEach { deviceInfo ->
                                addCameraDeviceMarker(deviceInfo)
                            }
+                        } else {
+                            requestSingleCross(roadCrossEnd)
                        }
-                    },
-                    onError = {
-                        traceError("roadCrossInfo request errorMsg: $it")
-                    })
+                    }
+                } else {
+                    requestSingleCross(roadCrossEnd)
+                }
            } else {
                traceError("roadCross is null")
            }
@@ -116,6 +154,30 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
        }
    }

+    private fun requestSingleCross(roadCrossEnd: String) {
+        ndeRoadCameraNetWorkModel.getRoadCrossInfo(roadCrossEnd,
+            onSuccess = { result ->
+                val it = result[0]
+                if (it.crossingId == null) {
+                    traceError("roadUniqueId is null")
+                    return@getRoadCrossInfo
+                }
+                if (it.deviceInfoList.isEmpty()) {
+                    traceError("deviceInfoList isEmpty")
+                    return@getRoadCrossInfo
+                }
+                // 地图上打marker(注意marker方向)，marker点击获取对应ip
+                ThreadUtils.runOnUiThread {
+                    it.deviceInfoList.forEach { deviceInfo ->
+                        addCameraDeviceMarker(deviceInfo)
+                    }
+                }
+            },
+            onError = {
+                traceError("roadCrossInfo request errorMsg: $it")
+            })
+    }
+
    private fun addCameraDeviceMarker(cameraDeviceInfo: CameraDeviceInfo) {
        mContext?.let {
            val builder =
@@ -146,6 +208,46 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
        }
    }

+    fun hasCrossCamera(): Boolean {
+        if(CallerMapUIServiceManager.getCityCode() == "010"){
+            roadCrossTrace(
+                TAG, mapOf("errorMsg" to "cityCode限制 - 北京无路口设备")
+            )
+            return false
+        }
+
+        val roadCrossEnd = CallerMapRoadListenerManager.getCrossEndInfo()
+        if(roadCrossEnd == null){
+            roadCrossTrace(
+                TAG, mapOf("errorMsg" to "hasCrossCamera - 未获取到地图crossEnd数据")
+            )
+            return false
+        }
+
+        if (roadCrossCameraList == null) {
+            roadCrossTrace(
+                TAG, mapOf("errorMsg" to "hasCrossCamera - 未获取到全市路口设备信息")
+            )
+            return false
+        }
+
+        roadCrossCameraList?.forEach {
+            val result = (!it.roadUniqueId.isNullOrEmpty()
+                    && it.roadUniqueId == roadCrossEnd)
+            if(result){
+                roadCrossTrace(
+                    TAG, mapOf("errorMsg" to "hasCrossCamera - 遍历匹配路口数据命中 - $roadCrossEnd")
+                )
+                return true
+            }
+        }
+
+        roadCrossTrace(
+            TAG, mapOf("errorMsg" to "hasCrossCamera - 均不匹配上述条件")
+        )
+        return false
+    }
+
    @SuppressLint("NewApi")
    private fun batchRequestCrossLive(cameraDeviceInfo: List<CameraDeviceInfo>) {
        val list = mutableListOf<String>()
@@ -168,7 +270,7 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
    override fun onRoadChange(cross: Boolean, roadCross: RoadCross?) {
        super.onRoadChange(cross, roadCross)
        // 出路口
-        if(!isCameraRequest){
+        if (!isCameraRequest) {
            CallerLogger.d("$M_MAP$TAG", "未触发路口获取marker")
            return
        }
@@ -177,7 +279,7 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
            ndeRoadCameraNetWorkModel.cancelRequest("roadCross")
            // 清除marker
            CallerLogger.d("$M_MAP$TAG", "remove marker handler")
-            handler.sendEmptyMessageDelayed(REQUEST_CAMERA_MSG, REMOVE_MARKER_DELAY_TIME)
+            handler.sendEmptyMessageDelayed(REMOVE_MARKER_MSG, REMOVE_MARKER_DELAY_TIME)
            // 释放控制
            isCameraRequest = false
            CallerLogger.d("$M_MAP$TAG", "经过路口，释放控制")
@@ -202,7 +304,7 @@ class RoadCrossCameraManager : IMoGoMapRoadListener {
        linkChainLog = ChainConstant.CHAIN_TYPE_STATUS,
        linkCode = ChainConstant.CHAIN_SOURCE_MAP,
        nodeAliasCode = ChainConstant.CHAIN_CODE_MAP_ROAD_CROSS_ERROR,
-        paramIndexes = [0]
+        paramIndexes = [0, 1]
    )
    private fun roadCrossTrace(tag: String, paramMap: Any) {
        CallerLogger.d("$M_MAP$tag", "$paramMap")
--- 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
@@ -27,8 +27,8 @@ class NDERoadCameraNetWorkModel private constructor() {
    }

    fun getRoadCrossInfo(
-        crossID: String,
-        onSuccess: ((RoadCrossCamera) -> Unit),
+        crossID: String? = null,
+        onSuccess: ((List<RoadCrossCamera>) -> Unit),
        onError: ((String) -> Unit)
    ) {
        request<BaseResponse<List<RoadCrossCamera>>>("roadCross") {
@@ -39,7 +39,7 @@ class NDERoadCameraNetWorkModel private constructor() {
                    getNetWorkApi().roadCameraRequest(
                        pair.first,
                        pair.second,
-                        crossID,
+                        crossID?:"",
                        loc.longitude,
                        loc.latitude,
                        CallerMapUIServiceManager.getCityCode() ?: ""
@@ -48,7 +48,7 @@ class NDERoadCameraNetWorkModel private constructor() {
            }
            onSuccess {
                if (it.result.isNotEmpty()) {
-                    onSuccess.invoke(it.result[0])
+                    onSuccess.invoke(it.result)
                } else {
                    onError.invoke("getRoadCrossInfo empty camera info")
                }
--- 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
@@ -121,6 +121,9 @@ class MapRoamView(context: Context?, attrs: AttributeSet?) : MogoMapView(context
    }

    override fun onAiIdentifyData(obj: SocketDownData.SocketDownDataProto?) {
+        if(obj == null){
+            trace(TAG, mapOf("onAiIdentifyData" to "空数据"))
+        }
        obj?.let {
            obj.data?.let {
                if (it.allListList == null || it.allListList.size == 0) {
--- 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
@@ -19,7 +19,9 @@ import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.V2X_EVENT_TAG
 import com.mogo.eagle.core.function.api.map.road.IMoGoMapRoadListener
+import com.mogo.eagle.core.function.business.roadcross.RoadCrossCameraManager.Companion.instance
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerServicesEventManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
@@ -56,10 +58,14 @@ class RoadCrossRoamView @JvmOverloads constructor(
        private const val MSG_HIDE_VIEW_TIME = 10_000L
    }

+    @Volatile
+    private var isShow = false
+
    private var showState by Delegates.observable(false) { _, oldV, newV ->
-        if (oldV != newV) {
-            updateView(newV)
+        if (!newV) {
+            isShow = false
        }
+        updateView(newV)
    }

    private var animator: ObjectAnimator? = null
@@ -184,16 +190,28 @@ class RoadCrossRoamView @JvmOverloads constructor(

    override fun onStopLineInfo(info: StopLine) {
        super.onStopLineInfo(info)
+        val cross = CallerMapRoadListenerManager.getCrossEndInfo()
        if (info.distance == 0.0 || info.distance > 200) {
-            CallerLogger.d("$M_MAP$TAG", "showState return , distance is ${info.distance}")
+            if (cross != null && cross != "0") {
+                CallerLogger.d("$M_MAP$TAG", "未触发，路口ID:$cross , 距离超出:${info.distance}")
+            }
            return
        }
-        showState = info.distance in 110.0..200.0
+        CallerLogger.d("$M_MAP$TAG", "命中 before:$showState")
+        showState = info.distance in 100.0..200.0
+        CallerLogger.d("$M_MAP$TAG", "命中 after:$showState，路口ID:$cross , dis:${info.distance}")
    }

    private fun attachView() {
+        if (isShow) {
+            return
+        }
+        if (this.visibility == View.VISIBLE) {
+            return
+        }
        // 没有路线不做提示
        if (CallerAutoPilotStatusListenerManager.getLineId() == 0L) {
+            CallerLogger.d("$M_MAP$TAG", "没有路线不做提示")
            return
        }
        // 处于漫游模式下不做处理
@@ -209,13 +227,29 @@ class RoadCrossRoamView @JvmOverloads constructor(
            CallerLogger.d("$M_MAP$TAG", "attachView return , mainPageVisible is false")
            return
        }
+        // 没有路侧设备，不做处理
+        CallerLogger.d("$M_MAP$TAG", "命中，attachView")
+        val cross = CallerMapRoadListenerManager.getCrossEndInfo()
+        if (cross.isNullOrEmpty()) {
+            CallerLogger.d("$M_MAP$TAG", "未触发，路口ID:$cross")
+            return
+        }
+        if (!instance.hasCrossCamera()) {
+            CallerLogger.d("$M_MAP$TAG", "没有路侧设备，不做处理")
+            return
+        }
+        isShow = true
        //播放语音
        val dis = CallerMapRoadListenerManager.getStopLineDistance()?.toInt() ?: 0
        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            AIAssist.getInstance(context)
-                .speakTTSVoice("前方${dis}米将通过路口，${SkinResources.getInstance().getString(R.string.operation_platform_name)}为您提供路口全息影像，助力出行")
+            var disStr = "前方即将通过路口，蘑菇为您提供路口全息影像，助力出行"
+            if (dis >= 80) {
+                disStr = "前方${dis}米将通过路口，${SkinResources.getInstance().getString(R.string.operation_platform_name)}为您提供路口全息影像，助力出行"
+            }
+            AIAssist.getInstance(context).speakTTSVoice(disStr)
        }
        CallerHmiViewControlListenerManager.invokeV2XEvent(View.VISIBLE, TAG)
+        CallerServicesEventManager.updateServicesNum(CallerServicesEventManager.ServiceType.ROAD)
        bringToFront()
        this.visibility = View.VISIBLE
        ivZhiRoadRoamView.visibility = View.VISIBLE
--- 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
@@ -33,9 +33,11 @@ import com.amap.api.maps.model.PolylineOptions
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.data.och.OchInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
+import com.mogo.eagle.core.function.api.datacenter.IDataCenterBizListener
 import com.mogo.eagle.core.function.business.travelreality.CrossDeviceBean
 import com.mogo.eagle.core.function.business.travelreality.DeviceInfoBean
 import com.mogo.eagle.core.function.business.travelreality.EventBean
@@ -48,6 +50,7 @@ import com.mogo.eagle.core.function.business.travelreality.view.VideoMarkerEntit
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.function.call.datacenter.CallerDataCenterBizListener
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.function.smp.view.SmallMapView
@@ -74,7 +77,8 @@ class TravelRealityView @JvmOverloads constructor(
    attrs: AttributeSet? = null,
    defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener,
-    IMoGoPlanningRottingListener, IMoGoAutopilotStatusListener {
+    IMoGoPlanningRottingListener, IMoGoAutopilotStatusListener,
+    IDataCenterBizListener {

    companion object {
        private const val TAG = "TravelRealityView"
@@ -227,6 +231,9 @@ class TravelRealityView @JvmOverloads constructor(
     */
    @Volatile
    private var isSmallMap: Boolean = true
+
+    @Volatile
+    private var isPlayingAnim = false
    private var iconRes = R.drawable.small_map_car

    @Volatile
@@ -236,6 +243,8 @@ class TravelRealityView @JvmOverloads constructor(
    private var mPolyline: Polyline? = null
    private var mSmallStartMarker: Marker? = null
    private var mSmallEndMarker: Marker? = null
+    private var mStartLatLng: LatLng? = null
+    private var mEndLatLng: LatLng? = null

    init {
        try {
@@ -321,6 +330,10 @@ class TravelRealityView @JvmOverloads constructor(
        this.isSmallMap = isSmallMap
    }

+    fun setIsPlaying(isPlaying: Boolean) {
+        isPlayingAnim = isPlaying
+    }
+
    fun swapSettings() {
        if (isSmallMap) {
            Message.obtain().apply {
@@ -329,6 +342,7 @@ class TravelRealityView @JvmOverloads constructor(
            }
            // 显示小地图样式
            changeMapSettings(true)
+            resumeStartEndMarker()
            globalPathResp?.let {
                if (it.wayPointsList.size > 0) {
                    drawRotting()
@@ -339,6 +353,7 @@ class TravelRealityView @JvmOverloads constructor(
            hideSmallCarMarker()
            // 显示行程总览地图样式
            changeMapSettings(false)
+            resumeStartEndMarker()
            // 绘制自车
            mLocation?.let { drawCarMarker(it) }
            val globalPath = reqData
@@ -595,6 +610,7 @@ class TravelRealityView @JvmOverloads constructor(
        // 注册定位监听
        CallerChassisLocationGCJ02ListenerManager.addListener("${TAG}${this.hashCode()}", this)
        CallerAutoPilotStatusListenerManager.addListener("${TAG}${this.hashCode()}", this)
+        CallerDataCenterBizListener.addListener("${TAG}${this.hashCode()}", this)
    }

    override fun onDetachedFromWindow() {
@@ -606,6 +622,7 @@ class TravelRealityView @JvmOverloads constructor(
        CallerChassisLocationGCJ02ListenerManager.removeListener("${TAG}${this.hashCode()}")
        CallerPlanningRottingListenerManager.removeListener("${TAG}${this.hashCode()}")
        CallerAutoPilotStatusListenerManager.removeListener("${TAG}${this.hashCode()}")
+        CallerDataCenterBizListener.removeListener("${TAG}${this.hashCode()}")
        nonFrequentHandler?.looper?.quitSafely()
        nonFrequentHandler = null
        travelNetWorkModel.cancelAllRequest()
@@ -684,38 +701,6 @@ class TravelRealityView @JvmOverloads constructor(
            globalData[0].lon
        )
        CallerLogger.w("$M_MAP$TAG", "起终点距离为:$distance")
-//        if (distance < 2000) {
-//            roadRange = maxRoadRange
-//            roadWidth = minRoadWidth
-//            globalWidth = minGlobalWidth
-//        } else {
-//            roadRange = minRoadRange
-//            roadWidth = maxRoadWidth
-//            globalWidth = maxGlobalWidth
-//        }
-        val optionList = ArrayList<MarkerOptions>()
-        optionList.add(
-            MarkerOptions().apply {
-                icon(BitmapDescriptorFactory.fromResource(startPointDrawable))
-                position(
-                    coordinateConverterWgsToGcj(
-                        globalData[0].lat,
-                        globalData[0].lon
-                    )
-                )
-            }
-        )
-        val endOption = MarkerOptions()
-        endOption.icon(BitmapDescriptorFactory.fromResource(endPointDrawable))
-        endOption.position(
-            coordinateConverterWgsToGcj(
-                globalData[globalData.size - 1].lat,
-                globalData[globalData.size - 1].lon
-            )
-        )
-        optionList.add(endOption)
-        // 绘制起终点
-        drawStartEndMarker(optionList)
        // 绘制全局轨迹
        drawPolyline(DRAW_POLY_LINE, globalOptions)
    }
@@ -1523,14 +1508,6 @@ class TravelRealityView @JvmOverloads constructor(
        clearPolyline()
        if (mAMap != null) {
            if (mCoordinatesLatLng.size >= 2) {
-                // 设置开始结束Marker位置
-                mSmallStartMarker!!.position = mCoordinatesLatLng[0]
-                mSmallEndMarker!!.position = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
-                mSmallStartMarker!!.setToTop()
-                mSmallStartMarker!!.isVisible = true
-                mSmallEndMarker!!.isVisible = true
-                mSmallEndMarker!!.setToTop()
-
                //存放所有点的经纬度
                val boundsBuilder = LatLngBounds.Builder()
                for (i in mCoordinatesLatLng.indices) {
@@ -1571,6 +1548,15 @@ class TravelRealityView @JvmOverloads constructor(
        }
    }

+    private fun hideStartEndMarker() {
+        if (mSmallStartMarker != null) {
+            mSmallStartMarker!!.isVisible = false
+        }
+        if (mSmallEndMarker != null) {
+            mSmallEndMarker!!.isVisible = false
+        }
+    }
+
    private fun hideSmallCarMarker() {
        mSmallCarMarker?.isVisible = false
    }
@@ -1702,6 +1688,72 @@ class TravelRealityView @JvmOverloads constructor(
        return latLngList
    }

+    override fun invokeOchInfo(ochInfo: OchInfo) {
+        super.invokeOchInfo(ochInfo)
+        Log.d(TAG, "invokeOchInfo：$ochInfo")
+        if (ochInfo.type == 0) {
+            val locList = ochInfo.latLonList
+            if (locList.isEmpty() || locList.size < 2) {
+                mStartLatLng = null
+                mEndLatLng = null
+                UiThreadHandler.post {
+                    hideStartEndMarker()
+                }
+            } else {
+                // 设置开始结束Marker位置
+                mStartLatLng = coordinateConverterWgsToGcj(
+                    locList[0].latitude,
+                    locList[0].longitude
+                )
+                mEndLatLng = coordinateConverterWgsToGcj(
+                    locList[1].latitude,
+                    locList[1].longitude
+                )
+            }
+            if (!isPlayingAnim) {
+                drawStartAndEnd()
+            }
+        }
+    }
+
+    private fun resumeStartEndMarker() {
+        if (mStartLatLng != null && mEndLatLng != null) {
+            drawStartAndEnd()
+        } else {
+            if (isSmallMap) {
+                UiThreadHandler.post {
+                    hideStartEndMarker()
+                }
+            } else {
+                drawStartEndMarker(emptyList())
+            }
+        }
+    }
+
+    private fun drawStartAndEnd() {
+        if (isSmallMap) {
+            UiThreadHandler.post {
+                mSmallStartMarker!!.position = mStartLatLng
+                mSmallEndMarker!!.position = mEndLatLng
+                mSmallStartMarker!!.setToTop()
+                mSmallStartMarker!!.isVisible = true
+                mSmallEndMarker!!.isVisible = true
+                mSmallEndMarker!!.setToTop()
+            }
+        } else {
+            val options = ArrayList<MarkerOptions>()
+            options.add(MarkerOptions().also { option ->
+                option.icon(BitmapDescriptorFactory.fromResource(startPointDrawable))
+                option.position(mStartLatLng)
+            })
+            options.add(MarkerOptions().also { option ->
+                option.icon(BitmapDescriptorFactory.fromResource(endPointDrawable))
+                option.position(mEndLatLng)
+            })
+            drawStartEndMarker(options)
+        }
+    }
+
    interface OnDrawListener {
        // isEvent为true表示是事件，反之则表示全息路口
        fun onDraw(eventList: List<EventDrawBean>, isEvent: Boolean)