diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index 2a112d9695..7acfdfc948 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -22,6 +22,7 @@ import androidx.constraintlayout.widget.Group;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -29,6 +30,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
@@ -38,6 +40,7 @@ import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.map.MogoMapUIController;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
 import com.mogo.map.uicontroller.IMogoMapUIController;
@@ -51,6 +54,8 @@ import com.mogo.och.common.module.utils.SoundPoolHelper;
 
 import org.greenrobot.eventbus.EventBus;
 
+import java.util.Objects;
+
 import mogo.telematics.pad.MessagePad;
 import record_cache.RecordPanelOuterClass;
 
@@ -141,10 +146,18 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
                     } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
+                        if (FunctionBuildConfig.isRomaMode) {
+                            controller.setRomaMode(1);
+                        } else {
+                            Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                            controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                        }
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
                     } else {
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerGeocodeSearchModel.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerGeocodeSearchModel.java
index 122346666d..213ab2d358 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerGeocodeSearchModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerGeocodeSearchModel.java
@@ -1,5 +1,7 @@
 package com.mogo.och.taxi.passenger.model;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
+
 import android.content.Context;
 
 import com.amap.api.services.core.AMapException;
@@ -17,8 +19,6 @@ import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
-
 /**
  * @author: wangmingjun
  * @date: 2021/12/6
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
index 8d8460ae23..b09650e4d3 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
@@ -14,10 +14,12 @@ import androidx.fragment.app.FragmentTransaction;
 
 import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.commons.mvp.MvpFragment;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.PassengerMsgBoxListView;
@@ -40,6 +42,7 @@ import org.greenrobot.eventbus.Subscribe;
 import org.greenrobot.eventbus.ThreadMode;
 
 import java.lang.ref.WeakReference;
+import java.util.Objects;
 
 
 /**
@@ -147,10 +150,18 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             if (controller != null) {
                 //切换地图的远近视图
                 if (controller.getCurrentMapVisualAngle().isLongSight()) {
+                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                    Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                     controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                     mMapswitchBtn.setImageResource(R.drawable.taxi_p_switch_map_medium);
                 } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                    controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                    CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
+                    if (FunctionBuildConfig.isRomaMode) {
+                        controller.setRomaMode(1);
+                    } else {
+                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                    }
                     mMapswitchBtn.setImageResource(R.drawable.taxi_p_switch_map_long);
                 } else {
                     controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index d1ed187779..08965403a3 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -25,6 +25,7 @@ import androidx.fragment.app.FragmentTransaction;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
@@ -32,6 +33,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
@@ -41,6 +43,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.map.MogoMapUIController;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
@@ -48,6 +51,7 @@ import com.mogo.och.common.module.utils.AnimatorDrawableUtil;
 import com.mogo.och.taxi.R;
 
 import java.util.Arrays;
+import java.util.Objects;
 
 import mogo.telematics.pad.MessagePad;
 import record_cache.RecordPanelOuterClass;
@@ -192,10 +196,18 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(false);
+                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
                     } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                        CallerVisualAngleManager.INSTANCE.updateLongSightLevel(true);
+                        if (FunctionBuildConfig.isRomaMode) {
+                            controller.setRomaMode(1);
+                        } else {
+                            Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                            controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                        }
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_long);
                     } else {
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
index bc9235444e..9328ef128c 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -1031,12 +1031,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
-    @Override
-    public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
-        ObuWarningData base = new ObuWarningData(header, obuWarningData, sdf);
-        DataDistribution.getInstance().addData(base);
-    }
-
     @Override
     public void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
 
diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
index 43df01c887..9880114ebe 100644
--- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
+++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
@@ -546,11 +546,6 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     }
 
-    @Override
-    public void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData) {
-
-    }
-
     @Override
     public void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
 
diff --git a/config.gradle b/config.gradle
index d073b6b0a7..e75a0bb462 100644
--- a/config.gradle
+++ b/config.gradle
@@ -1,6 +1,7 @@
 ext {
     time = ""
-    kotlin_version = "1.4.31"
+//    kotlin_version = "1.4.31"
+    kotlin_version = "1.5.0"
     dependencies = [
             // androidx
             androidxappcompat            : "androidx.appcompat:appcompat:1.3.1",
@@ -22,9 +23,10 @@ ext {
 //            amapnavi3dmap              : "com.amap.api:navi-3dmap:8.0.1_3dmap8.0.1",
 //            amapsearch                 : "com.amap.api:search:7.9.0",
 //            amaplocation               : "com.amap.api:location:5.5.0",
-            amapnavi3dmap                : "com.amap.api:navi-3dmap:9.5.1_3dmap9.5.0",
+            amapnavi3dmap                : "com.amap.api:navi-3dmap:9.6.0_3dmap9.6.0",
             amapsearch                   : "com.amap.api:search:9.5.0",
             amaplocation                 : "com.amap.api:location:6.2.0",
+
             // json 转换
             gson                         : "com.google.code.gson:gson:2.8.4",
             // 内存泄漏检测
@@ -135,10 +137,8 @@ ext {
             mogologlib                   : "com.mogo.module:module-loglib:${LOGLIB_VERSION}",
             kotlingradleplugin           : "org.jetbrains.kotlin:kotlin-gradle-plugin:${kotlin_version}",
             crashreport                  : "com.mogo.test:crashreport:${CRASHREPORT_VERSION}",
-            crashreportbugly             : "com.mogo.test:crashreport-bugly:${CRASHREPORT_BUGLY_VERSION}",
             crashreportapmbyte           : "com.mogo.test:crashreport-apmbyte:${CRASHREPORT_APMBYTE_VERSION}",
             crashreportnoop              : "com.mogo.test:crashreport-noop:${CRASHREPORT_NOOP_VERSION}",
-            crashreportupgrade           : "com.mogo.test:crashreport-upgrade:${CRASHREPORT_UPGRADE_VERSION}",
             apm_insight                  : 'com.volcengine:apm_insight:1.4.9.cn-rc.5',
             apm_insight_crash            : 'com.volcengine:apm_insight_crash:1.4.6-rc.14',
             cicle_indicator              : 'me.relex:circleindicator:2.1.6',
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightApiService.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightApiService.kt
index c40fd2c124..f72a79e86d 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightApiService.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightApiService.kt
@@ -12,17 +12,17 @@ interface TrafficLightApiService {
 
     //获取前方路口RoadID
     @FormUrlEncoded
-    @POST("ai-roadInfo-service/cross/near")
+    @POST("eagle-eye-dns/ai-roadInfo-service/cross/near")
     suspend fun getFrontRoadID(@FieldMap roadID: Map<String, String>): BaseResponse<RoadIDResult>
 
     //获取前方红绿灯状态
     @FormUrlEncoded
-    @POST("mec-etl-server/light/bgd/channel/realTime")
+    @POST("eagle-eye-dns/mec-etl-server/light/bgd/channel/realTime")
     suspend fun getTrafficLight(@FieldMap status: Map<String, String>): BaseResponse<TrafficLightResult>
 
     //变灯
     @FormUrlEncoded
-    @POST("mec-etl-server/light/bdg/newTask")
+    @POST("eagle-eye-dns/mec-etl-server/light/bdg/newTask")
     suspend fun changeLight(@FieldMap turnLight: Map<String, String>): BaseResponse<TrafficLightControl>
 
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
index e537960c39..fb54d5cda1 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
@@ -1,18 +1,18 @@
 package com.mogo.eagle.function.biz.v2x.trafficlight.network
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.constants.HostConst
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.data.trafficlight.*
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.network.apiCall
 import com.mogo.eagle.core.network.cancel
 import com.mogo.eagle.core.network.request
-import com.mogo.commons.constants.HostConst.CITY_HOST
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 
 class TrafficLightNetWorkModel {
 
-    private fun getNetWorkApi(baseUrl: String = CITY_HOST): TrafficLightApiService {
+    private fun getNetWorkApi(baseUrl: String = HostConst.getEagleHost()): TrafficLightApiService {
         return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
             .create(TrafficLightApiService::class.java)
     }
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipApiService.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipApiService.kt
index 1bc23b7452..db9077191b 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipApiService.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipApiService.kt
@@ -7,7 +7,7 @@ import retrofit2.http.*
 interface VipApiService {
 
     //查询是否为VIP车辆
-    @GET("/dataService/carUser/getVipStatusBySn")
+    @GET("eagle-eye-dns/dataService/carUser/getVipStatusBySn")
     suspend fun requestVip(@Query("sn") sn: String): BaseResponse<VipRequest>
 
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipNetWorkModel.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipNetWorkModel.kt
index f161184cdc..cb1600345c 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/vip/network/VipNetWorkModel.kt
@@ -1,17 +1,17 @@
 package com.mogo.eagle.function.biz.v2x.vip.network
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.constants.HostConst
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.data.v2x.VipRequest
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.network.apiCall
 import com.mogo.eagle.core.network.request
-import com.mogo.commons.constants.HostConst.DATA_SERVICE_HOST
 
 
 class VipNetWorkModel {
 
-    private fun getNetWorkApi(baseUrl: String = DATA_SERVICE_HOST): VipApiService {
+    private fun getNetWorkApi(baseUrl: String = HostConst.getEagleHost()): VipApiService {
         return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
             .create(VipApiService::class.java)
     }
diff --git a/core/function-impl/mogo-core-function-datacenter/README.md b/core/function-impl/mogo-core-function-datacenter/README.md
index 9591c43e02..b17a6584f3 100644
--- a/core/function-impl/mogo-core-function-datacenter/README.md
+++ b/core/function-impl/mogo-core-function-datacenter/README.md
@@ -44,7 +44,7 @@ MogoObuManager.getInstance().init(Context context);
 ```
 ## 连接
 ```java
-//默认192.168.8.199
+//默认192.168.1.199
 MogoObuManager.getInstance().connect();
 //自定义 IP
 MogoObuManager.getInstance().connect(String ip);
diff --git 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
index 5e817bc880..ed3c13babb 100644
--- 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
@@ -526,16 +526,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
-    /**
-     * OBU预警事件
-     *
-     * @param header         头
-     * @param obuWarningData 数据
-     */
-    override fun onObuWarningData(header: MessagePad.Header?, obuWarningData: ObuWarningEvent.ObuWarningData?) {
-        CallerObuDcCombineListenerManager.invokeObuDcData(obuWarningData)
-    }
-
     /**
      * OBU 红绿灯预警信息
      *
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
index 1f8d1db634..c66bdb3f4c 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationDispatcher.kt
@@ -16,7 +16,9 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.obu.CallerObuLocationWGS84ListenerManager
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.CoordinateTransform
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.support.obu.model.MogoObuHvBasicsData
 import mogo.telematics.pad.MessagePad
 
@@ -86,6 +88,11 @@ object MoGoLocationDispatcher :
         lastGnssLocation.lastReceiveTime = TimeUtils.getNowMills()
         // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
         mapLocation?.let {
+            //agps 高德
+            //agps_rtk 高德-高精
+            lastGnssLocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
+            lastGnssLocation.satellite = 4
+
             lastGnssLocation.cityName = it.city
             lastGnssLocation.cityCode = it.cityCode
             lastGnssLocation.provider = it.provider
@@ -142,6 +149,9 @@ object MoGoLocationDispatcher :
             lastGaoDeLocation.satelliteTime = it.time
             lastGaoDeLocation.lastReceiveTime = TimeUtils.getNowMills()
 
+            lastGaoDeLocation.locType = 1 // 定位类型为高德坐标(网路或者硬件定位)
+            lastGaoDeLocation.satellite = 4
+
             lastGaoDeLocation.cityName = it.city
             lastGaoDeLocation.cityCode = it.cityCode
             lastGaoDeLocation.provider = it.provider
@@ -225,6 +235,11 @@ object MoGoLocationDispatcher :
 
         // 将高德中的一些用于业务的数据进行融合，例如：CityCode、address等
         mapLocation?.let {
+            //agps 高德
+            //agps_rtk 高德-高精
+            lastOBULocation.locType = 1000 // 定位类型为WGS84进行转译的坐标
+            lastOBULocation.satellite = 4
+
             lastOBULocation.cityName = it.city
             lastOBULocation.cityCode = it.cityCode
             lastOBULocation.provider = it.provider
diff --git 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
index cc09c18978..29eb90cdbc 100644
--- 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
@@ -22,8 +22,7 @@ class MoGoObuProvider : IMoGoObuProvider {
     private val TAG = "MoGoObuProvider"
 
     private var mContext: Context? = null
-    private val busObuIp = "192.168.8.199"
-    private val taxiObuIp = "192.168.1.199"
+    private val taxiObuIp = "192.168.1.199" //obu的taxi和bus的ip已经全部统一成1网段ip
 
     override val functionName: String
         get() = TAG
@@ -38,35 +37,16 @@ class MoGoObuProvider : IMoGoObuProvider {
         CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress())
 
         //bus乘客版本obu功能去掉，大理项目需要全部车辆接收，不在限制
-//        if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)
-//            && AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)
-//        ) {
-//            //不处理
-//        } else {
-            mContext = context
-            mContext?.let {
-                if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) { //bus 司机端
-                    val ipAddress =
-                        SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, busObuIp)
-
-                    //mogo obu
-                    MogoPrivateObuNewManager.INSTANCE.connectObu(
-                        it,
-                        ipAddress,
-                        CommonUtils.getIpAddressString()
-                    )
-                } else if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) { //taxi 司机端和乘客端
-                    val ipAddress =
-                        SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
-                    //mogo obu
-                    MogoPrivateObuNewManager.INSTANCE.connectObu(
-                        it,
-                        ipAddress,
-                        CommonUtils.getIpAddressString()
-                    )
-                }
-            }
-//        }
+        mContext = context
+        mContext?.let {
+            val ipAddress = SharedPrefsMgr.getInstance(context).getString(MoGoConfig.OBU_IP, taxiObuIp)
+            //mogo obu
+            MogoPrivateObuNewManager.INSTANCE.connectObu(
+                it,
+                ipAddress,
+                CommonUtils.getIpAddressString()
+            )
+        }
     }
 
     /**
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
index 6d32280c78..7177fa3033 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -148,6 +148,10 @@ class DevaToolsProvider : IDevaToolsProvider {
         upgradeManager.downLoadPackage(mContext!!, downloadKey, downloadUrl)
     }
 
+    override fun updateUpgradeProgress() {
+        upgradeManager.updateUpgradeProgress(mContext!!)
+    }
+
     override fun showStatusBar(ctx: Context, container: ViewGroup) {
         StatusManager.init(ctx)
         StatusManager.show(container)
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/repository/net/api/BadCaseApi.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/repository/net/api/BadCaseApi.kt
index 18a9d7d7cd..d87b6b61f5 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/repository/net/api/BadCaseApi.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/repository/net/api/BadCaseApi.kt
@@ -8,9 +8,9 @@ import retrofit2.http.*
 internal interface BadCaseApi {
 
     @FormUrlEncoded
-    @POST("/yycp-vehicle-management-service/tool/badcase/add/v2")
+    @POST("eagle-eye-dns/yycp-vehicle-management-service/tool/badcase/add/v2")
     suspend fun post(@FieldMap map: Map<String, String>): Response<UploadResult>
 
-    @GET("/yycp-vehicle-management-service/tool/badcase/reasons")
+    @GET("eagle-eye-dns/yycp-vehicle-management-service/tool/badcase/reasons")
     suspend fun get(@Query("channel", encoded = true) channel: String, @Query("pageNo") pageNo: Int): Response<BadCaseResponse>
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
index 9646a3959e..316bb35fec 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
@@ -17,6 +17,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.zhjt.mogo_core_function_devatools.upgrade.IPCUpgradeManager.Companion.ipcUpgradeManager
+import com.zhjt.mogo_core_function_devatools.upgrade.ObuUpgradeAppNetWorkManager
 import com.zhjt.mogo_core_function_devatools.upgrade.UpgradeAppNetWorkManager
 import mogo.telematics.pad.MessagePad
 
@@ -160,4 +161,13 @@ class BindingCarManager : IMoGoAutopilotCarConfigListener {
             .getAppUpgradeInfo(mContext, mAddress, role.toString() + "")
     }
 
-}
\ No newline at end of file
+    /**
+     * 司机屏 处理obu升级即可,乘客屏不需要处理 TODO OBU的角色
+     *
+     */
+    fun queryObuUpgrade() {
+        ObuUpgradeAppNetWorkManager.getInstance().getObuUpgradeInfo(mContext, mAddress, role.toString() + "")
+    }
+
+}
+
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
index 5f53b76eae..23a07755f4 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
@@ -8,7 +8,7 @@ import android.content.Context
 import android.content.Intent
 import android.content.IntentFilter
 import com.mogo.eagle.core.data.mofang.MfConstants
-import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.updateMfStatusView
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager.invokeMoFangStatus
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_F
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
@@ -96,7 +96,7 @@ class MoFangManager private constructor() {
                 BluetoothDevice.ACTION_ACL_CONNECTED -> { //蓝牙设备已连接
                     if (!isMfConnect) {
 //                        showBondedDevice(mBluetoothAdapter)
-                        updateMfStatusView(TAG, true)
+                        invokeMoFangStatus(true)
                         isMfConnect = true
                         mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean(MfConstants.BLUETOOTH_STATUS, true) }
                     }
@@ -106,7 +106,7 @@ class MoFangManager private constructor() {
                 BluetoothDevice.ACTION_ACL_DISCONNECTED -> { //蓝牙设备已断开 主动更新
                     CallerLogger.d("$M_F${TAG}","bluetoothMonitorReceiver  ACTION_ACL_DISCONNECTED ----- isMfConnect = $isMfConnect ")
                     if (isMfConnect) {
-                        updateMfStatusView(TAG, false)
+                        invokeMoFangStatus(false)
                         isMfConnect = false
                         mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean(MfConstants.BLUETOOTH_STATUS, false) }
                     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/ObuUpgradeAppNetWorkManager.java b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/ObuUpgradeAppNetWorkManager.java
new file mode 100644
index 0000000000..c323d84c9e
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/ObuUpgradeAppNetWorkManager.java
@@ -0,0 +1,95 @@
+package com.zhjt.mogo_core_function_devatools.upgrade;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BINDING;
+
+import android.content.Context;
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.constants.HostConst;
+import com.mogo.eagle.core.data.bindingcar.UpgradeAppInfo;
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
+import com.mogo.eagle.core.network.MoGoRetrofitFactory;
+import com.mogo.eagle.core.network.utils.GsonUtil;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.AppUtils;
+
+import io.reactivex.Observer;
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.annotations.NonNull;
+import io.reactivex.disposables.Disposable;
+import io.reactivex.schedulers.Schedulers;
+import okhttp3.MediaType;
+import okhttp3.RequestBody;
+
+/**
+ * @author lixiaopeng
+ * @description 获取obu升级信息
+ * @since: 3/25/22
+ */
+public class ObuUpgradeAppNetWorkManager {
+    private static volatile ObuUpgradeAppNetWorkManager requestNoticeManager;
+    private final UpgradeApiService mUpgradeApiService;
+    private static final String TAG = "ObuUpgrade";
+
+    private ObuUpgradeAppNetWorkManager() {
+        mUpgradeApiService = MoGoRetrofitFactory.getInstance(HostConst.getHost())
+                .create(UpgradeApiService.class);
+    }
+
+    public static ObuUpgradeAppNetWorkManager getInstance() {
+        if (requestNoticeManager == null) {
+            synchronized (ObuUpgradeAppNetWorkManager.class) {
+                if (requestNoticeManager == null) {
+                    requestNoticeManager = new ObuUpgradeAppNetWorkManager();
+                }
+            }
+        }
+        return requestNoticeManager;
+    }
+
+    /**
+     * 获取obu升级信息
+     * mac ：工控机mac地址
+     * screenType ： 类型
+     */
+    public void getObuUpgradeInfo(Context context, String mac, String screenType) {
+//        String sn = "X20202203105S688HZ";
+//        String mac = "48:b0:2d:3a:bc:78";
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        int versionCode = AppUtils.getAppVersionCode();
+        CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo mac = " + mac + "---type = " + screenType + "---sn = " + sn + "---versionCode =" + versionCode);
+        UpgradeAppRequest request = new UpgradeAppRequest(sn, mac, screenType);
+        RequestBody requestBody = RequestBody.create(MediaType.get("application/json;charset=UTF-8"), GsonUtil.jsonFromObject(request));
+        mUpgradeApiService.getUpgradeInfo(requestBody)
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new Observer<UpgradeAppInfo>() {
+                    @Override
+                    public void onSubscribe(@NonNull Disposable d) {
+                    }
+
+                    @Override
+                    public void onNext(@NonNull UpgradeAppInfo info) {
+                        if (info != null && info.result != null) {
+                            CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo url = " + info.result.getAppUrl() + "----code = " + info.result.getVersionCode() + "--versionCode =" + versionCode + "--info.result = " + info.result);
+                            if (info.result.getVersionCode() > versionCode) {
+                                CallerHmiManager.INSTANCE.showUpgradeDialog(info.result.getAppUrl().substring(info.result.getAppUrl().lastIndexOf("/")+1), info.result.getAppUrl(), info.result.getInstallTitle(), info.result.getInstallContent(), info.result.getInstallType());
+                            }
+                        } else {
+                            CallerLogger.INSTANCE.d(M_BINDING + TAG, "getObuUpgradeInfo onNext info == null");
+                        }
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+
+                    }
+
+                    @Override
+                    public void onComplete() {
+                    }
+                });
+
+    }
+
+}
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
index a180eb61f9..e880c59532 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
@@ -1,7 +1,12 @@
 package com.zhjt.mogo_core_function_devatools.upgrade
 
+import android.app.NotificationManager
 import android.content.Context
+import androidx.core.app.NotificationCompat
+import com.elegant.utils.UiThreadHandler
+import com.mogo.eagle.core.function.api.devatools.IMogoDevaToolsUpgradeListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsUpgradeListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.updateStatusBarDownloadView
 import com.mogo.eagle.core.utilcode.breakpoint.Config
 import com.mogo.eagle.core.utilcode.breakpoint.bean.ThreadBean
 import com.mogo.eagle.core.utilcode.breakpoint.callback.IDownload
@@ -110,4 +115,36 @@ class UpgradeManager : IDownload {
             }
         }
     }
+
+    fun updateUpgradeProgress(context: Context) {
+        val builder = NotificationCompat.Builder(context)
+        //        builder.setSmallIcon(R.mipmap.icon1001);//todo emArrow 更换图标，去除地图下载图标的依赖关系
+        builder.setContentTitle("下载")
+        builder.setContentText("正在下载")
+        val manager = context.getSystemService(Context.NOTIFICATION_SERVICE) as NotificationManager
+        CallerDevaToolsUpgradeListenerManager.addListener(
+            TAG,
+            object : IMogoDevaToolsUpgradeListener {
+                override fun onStart(url: String?) {}
+                override fun onPause(url: String?) {}
+                override fun onProgress(url: String?, length: Int) {
+                    builder.setProgress(100, length, false)
+                    manager.notify(0x3, builder.build())
+                    //下载进度提示
+                    builder.setContentText("已下载$length%")
+                    updateStatusBarDownloadView(true, "download", length)
+                }
+
+                override fun onFinished(url: String?) {
+                    builder.setContentText("已下载" + 100 + "%")
+                    UiThreadHandler.postDelayed({
+                        manager.cancel(0x3)
+                        updateStatusBarDownloadView(false, "download", 100)
+                    }, 1000)
+                }
+
+                override fun onError(url: String?, errorMsg: String?) {}
+            })
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/build.gradle b/core/function-impl/mogo-core-function-hmi/build.gradle
index 5f9b7787b9..39490b0d6c 100644
--- a/core/function-impl/mogo-core-function-hmi/build.gradle
+++ b/core/function-impl/mogo-core-function-hmi/build.gradle
@@ -80,18 +80,17 @@ dependencies {
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
 
         compileOnly rootProject.ext.dependencies.mogocommons
-        compileOnly rootProject.ext.dependencies.mogo_core_res
+        api rootProject.ext.dependencies.mogo_core_res
         compileOnly rootProject.ext.dependencies.mogo_core_utils
         compileOnly rootProject.ext.dependencies.mogo_core_function_datacenter
         compileOnly rootProject.ext.dependencies.mogo_core_function_call
         compileOnly project(':libraries:mogo-adas')
     } else {
-        api project(':test:crashreport-upgrade')
         api project(':test:crashreport-apmbyte')
 
         compileOnly project(':core:function-impl:mogo-core-function-datacenter')
         compileOnly project(':foudations:mogo-commons')
-        compileOnly project(':core:mogo-core-res')
+        api project(':core:mogo-core-res')
         compileOnly project(':core:mogo-core-utils')
         compileOnly project(':core:mogo-core-function-call')
         compileOnly project(':libraries:mogo-adas')
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml b/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml
index adb96a5a4e..d63465a300 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml
@@ -1,7 +1,24 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
     package="com.mogo.eagle.core.function.hmi">
 
+
+    <uses-permission android:name="android.permission.CONTROL_REMOTE_APP_TRANSITION_ANIMATIONS" />
+    <uses-permission android:name="android.permission.VIBRATE" />
+    <uses-permission android:name="android.permission.CALL_PHONE" />
+    <uses-permission android:name="android.permission.SET_WALLPAPER" />
+    <uses-permission android:name="android.permission.SET_WALLPAPER_HINTS" />
+    <uses-permission android:name="android.permission.BIND_APPWIDGET" />
+    <uses-permission android:name="android.permission.REQUEST_DELETE_PACKAGES" />
+    <uses-permission android:name="android.permission.READ_DEVICE_CONFIG" />
+    <uses-permission android:name="com.android.launcher3.permission.READ_SETTINGS" />
+    <uses-permission android:name="com.android.launcher3.permission.WRITE_SETTINGS" />
+    <uses-permission android:name="android.permission.READ_PHONE_STATE" />
+    <uses-permission
+        android:name="android.permission.QUERY_ALL_PACKAGES"
+        tools:ignore="QueryAllPackagesPermission" />
+
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
     <uses-permission android:name="android.permission.BLUETOOTH" />
     <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
@@ -39,6 +56,7 @@
             android:clearTaskOnLaunch="${ACTIVITY_ROOT}"
             android:configChanges="mcc|mnc|locale|touchscreen|keyboard|keyboardHidden|navigation|screenLayout|fontScale|uiMode|orientation|screenSize|smallestScreenSize"
             android:enabled="true"
+            android:hardwareAccelerated="true"
             android:launchMode="singleTop"
             android:resizeableActivity="false"
             android:resumeWhilePausing="true"
@@ -119,6 +137,16 @@
             </intent-filter>
         </activity>
 
+        <activity
+            android:name="com.mogo.eagle.core.function.main.AppListActivity"
+            android:exported="true"
+            android:launchMode="singleTask">
+            <!--            <intent-filter>-->
+            <!--                <action android:name="android.intent.action.MAIN"/>-->
+            <!--                <category android:name="android.intent.category.LAUNCHER"/>-->
+            <!--            </intent-filter>-->
+        </activity>
+
         <meta-data
             android:name="MAP_SDK_VERSION111111"
             android:value="${MAP_SDK_VERSION}" />
diff --git 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
index d9bc93a359..406fdd97ee 100644
--- 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
@@ -87,10 +87,6 @@ class MoGoHmiProvider : IMoGoHmiProvider {
         )
     }
 
-    override fun updateMfStatus(tag: String, status: Boolean) {
-        CallerHmiViewControlListenerManager.updateMfStatus(StatusBarView.TAG, tag, status)
-    }
-
     /**
      * 不展示顶部弹窗，其它保留
      */
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 21d831a626..6ea3a5d346 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -629,6 +629,33 @@ internal class DebugSettingView @JvmOverloads constructor(
             }
         }
 
+        tbV2NFromCar.isChecked = FunctionBuildConfig.isV2NFromCar
+        //v2n车端预警
+        tbV2NFromCar.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isV2NFromCar = isChecked
+            if (!FunctionBuildConfig.isV2NFromCar) {
+                tbV2NFromCar.isChecked = false
+            }
+        }
+
+        tbDrawAiCloudFusion.isChecked = FunctionBuildConfig.isDrawAiCloudFusion
+        //云端感知绘制
+        tbDrawAiCloudFusion.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isDrawAiCloudFusion = isChecked
+            if (!FunctionBuildConfig.isDrawAiCloudFusion) {
+                tbDrawAiCloudFusion.isChecked = false
+            }
+        }
+
+        tbDrawRomaMode.isChecked = FunctionBuildConfig.isRomaMode
+        //roma
+        tbDrawRomaMode.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isRomaMode = isChecked
+            if (!FunctionBuildConfig.isRomaMode) {
+                tbDrawRomaMode.isChecked = false
+            }
+        }
+
         //重启工控机所有节点
         btnIpcReboot.onClick {
             CallerAutoPilotControlManager.sendIpcReboot()
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index 0569eda8fe..6327b04bed 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -175,11 +175,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         tbObu.isChecked = CallerObuApiManager.isConnected()
         tbObu.setOnCheckedChangeListener { _, isChecked ->
             if (!isChecked) {
-                if (AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode)) {
-                    CallerObuApiManager.resetObuIpAddress("192.168.1.199")
-                } else if (AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
-                    CallerObuApiManager.resetObuIpAddress("192.168.8.199")
-                }
+                CallerObuApiManager.resetObuIpAddress("192.168.1.199")
             } else {
                 //断开链接
                 CallerObuApiManager.disConnectObu()
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
index 817dbe4c20..67c43f6f1f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
@@ -77,8 +77,11 @@ class PncActionsView @JvmOverloads constructor(
                 UiThreadHandler.post {
                     var actions: String? = null
                     planningActionMsg.actionMsg?.let { it ->
-                        actions = PncActionsHelper.getAction(it.drivingState.number, it.drivingAction.number)
-
+                        try {
+                            actions = PncActionsHelper.getAction(it.drivingState.number, it.drivingAction.number)
+                        } catch (e:Exception){
+                            e.printStackTrace()
+                        }
                         //如果是存在云端红绿灯数据条件下，设置云端数据
                         if (PncActionsHelper.isWaitingTrafficlight(it.drivingState.number, it.drivingAction.number)
                             && mTrafficLightResult != null
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt
index 85649ffa64..3ed347d792 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BlueToothView.kt
@@ -4,7 +4,13 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.widget.RelativeLayout
+import com.mogo.eagle.core.data.mofang.MfConstants
+import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
+import kotlinx.android.synthetic.main.view_blue_tooth.view.*
+import kotlinx.android.synthetic.main.view_status_bar.view.*
 
 /**
  * 魔戒蓝牙控件
@@ -14,10 +20,38 @@ class BlueToothView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
-) : RelativeLayout(context, attrs, defStyleAttr) {
+) : RelativeLayout(context, attrs, defStyleAttr),IMoGoDevaToolsListener {
+
+    companion object{
+        private const val TAG = "BlueToothView"
+    }
 
     init {
         LayoutInflater.from(context).inflate(R.layout.view_blue_tooth, this, true)
     }
 
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        val isBluetoothConnect =
+            SharedPrefsMgr.getInstance(context).getBoolean(MfConstants.BLUETOOTH_STATUS, false)
+        if (isBluetoothConnect) {
+            mofangStatus(true)
+        }
+        CallerDevaToolsListenerManager.addListener(TAG, this)
+    }
+
+    override fun mofangStatus(status: Boolean) {
+        super.mofangStatus(status)
+        if (status) {
+            mofangView.setImageResource(R.drawable.icon_bluetooth_p)
+        } else {
+            mofangView.setImageResource(R.drawable.blue_tooth)
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerDevaToolsListenerManager.removeListener(TAG)
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
index 3aad68006d..f6cd1d826a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
@@ -7,14 +7,12 @@ import android.view.LayoutInflater
 import android.view.ViewGroup
 import android.widget.LinearLayout
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
-import com.mogo.eagle.core.data.mofang.MfConstants
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.hmi.R
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import kotlinx.android.synthetic.main.view_status_bar.view.*
 import java.util.concurrent.CopyOnWriteArrayList
 
@@ -39,11 +37,6 @@ class StatusBarView @JvmOverloads constructor(
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         viewStatusBarRight.addView(BatteryGroupView(this.context))
-        val isBluetoothConnect =
-            SharedPrefsMgr.getInstance(context).getBoolean(MfConstants.BLUETOOTH_STATUS, false)
-        if (isBluetoothConnect) {
-            updateMfStatus("MoFangManager", true)
-        }
 
         //添加view控制
         CallerHmiViewControlListenerManager.addListener(TAG,this)
@@ -106,14 +99,6 @@ class StatusBarView @JvmOverloads constructor(
         }
     }
 
-    override fun updateMfStatus(tag: String, status: Boolean) {
-        if (status) {
-            viewMofangStatus.setImageResource(R.drawable.icon_bluetooth_p)
-        } else {
-            viewMofangStatus.setImageResource(R.drawable.blue_tooth)
-        }
-    }
-
     private fun setTextColor(color: Int) {
         viewTextClock.setTextColor(color)
         viewStatusBarTag.setTextColor(color)
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
index 9ecca9d6e0..28f464b10f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
@@ -11,7 +11,9 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.function.main.AppListActivity
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
+import com.mogo.eagle.core.utilcode.util.ActivityUtils
 import com.mogo.eagle.core.utilcode.util.AppUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import kotlinx.android.synthetic.main.view_version_name.view.*
@@ -44,6 +46,12 @@ class VersionNameView @JvmOverloads constructor(
             showCurrentPadVersion()
             showCurrentMapVersion()
         }
+
+        // 调试入口，应对M1、M2没有安装Launcher的情况
+        setOnLongClickListener {
+            ActivityUtils.startActivity(AppListActivity::class.java)
+            true
+        }
     }
 
     /**
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/AppListActivity.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/AppListActivity.kt
new file mode 100644
index 0000000000..5a3c439d36
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/AppListActivity.kt
@@ -0,0 +1,40 @@
+package com.mogo.eagle.core.function.main
+
+import android.os.Bundle
+import android.view.WindowManager
+import androidx.appcompat.app.AppCompatActivity
+import androidx.recyclerview.widget.DefaultItemAnimator
+import androidx.recyclerview.widget.GridLayoutManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.function.main.adapter.AppListAdapter
+import com.mogo.eagle.core.utilcode.util.ActivityUtils
+import com.mogo.eagle.core.utilcode.util.BarUtils
+import kotlinx.android.synthetic.main.activity_app_list.*
+
+
+/**
+ * 系统应用列表，调试使用，暂不对外显示开放，只通过隐藏后门进入
+ */
+class AppListActivity : AppCompatActivity(), AppListAdapter.OnItemClickedListener {
+    override fun onCreate(savedInstanceState: Bundle?) {
+        BarUtils.hideStatusBarAndSticky(this.window)
+        window.setFlags(
+            WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON,
+            WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON
+        )
+        super.onCreate(savedInstanceState)
+        setContentView(R.layout.activity_app_list)
+
+        val linearLayoutManager = GridLayoutManager(this, 6) //第二个参数为网格的列数
+        recyclerViewAppList.layoutManager = linearLayoutManager
+
+        recyclerViewAppList.itemAnimator = DefaultItemAnimator()
+        val appListAdapter =
+            AppListAdapter(this)
+        recyclerViewAppList.adapter = appListAdapter
+    }
+
+    override fun onItemClicked(appListAdapter: AppListAdapter, position: Int) {
+        ActivityUtils.startLauncherActivity(appListAdapter.getItem(position).packageName)
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
index 01cd77d9ef..c89b6e88e5 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
@@ -104,7 +104,7 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         decorView.clipToPadding = false
         var statusBarView = decorView.findViewWithTag<View>("status_bar")
         if (statusBarView == null) {
-            statusBarView = StatusBarView(this)
+            statusBarView = statusBar
             statusBarView.setTag("status_bar")
         }
         val statusBarLP = FrameLayout.LayoutParams(
@@ -117,10 +117,10 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
     }
 
     /**
-     * 修改statusBar 重写实现，需要继承 StatusBarView，xml中基础系统控件不要修改其id，拿来即用
+     * 修改statusBar重新赋值
      * @return StatusBarView
      */
-    protected val statusBarView: StatusBarView
+    protected val statusBar: View
         get() = StatusBarView(this)
 
     override fun onCreate(savedInstanceState: Bundle?) {
@@ -353,30 +353,4 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
         }
     }
 
-    /**
-     * 由于应用是单页面的，所以采用Fragment将各模块的UI进行分割解耦合
-     *
-     * @param newFragment 功能UI
-     * @param tagName     UI绑定的Tag
-     * @param containerId 要加入的资源ID
-     */
-    private fun addFragment(newFragment: Fragment, tagName: String, containerId: Int) {
-        var fragment = supportFragmentManager.findFragmentByTag(tagName)
-        if (fragment == null) {
-            fragment = newFragment
-        }
-        if (fragment == null) {
-            e(
-                SceneConstant.M_HMI + TAG,
-                "add fragment fail  cause fragment == null, container is " + ResourcesHelper.getResNameById(
-                    applicationContext, containerId
-                )
-            )
-            return
-        }
-        supportFragmentManager.beginTransaction()
-            .replace(containerId, fragment, tagName)
-            .commitAllowingStateLoss()
-    }
-
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
index a7c962f6e9..a80465d6a3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainLauncherActivity.java
@@ -31,6 +31,7 @@ import com.mogo.eagle.core.function.hmi.R;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
+import com.mogo.eagle.core.utilcode.util.ActivityUtils;
 import com.mogo.eagle.core.utilcode.util.MultiDisplayUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -91,6 +92,7 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     @Override
     protected void onResume() {
         super.onResume();
+        ActivityUtils.setDefaultL(this);
     }
 
     @Override
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
index 684940db25..bcdd678bd5 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -55,14 +55,11 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
             return;
         }
         start = System.currentTimeMillis();
-        connectAmiIp();
         // Crash 日志收集
         initCrashConfig();
         initLogConfig();
         initTipToast();
         initModules();
-        //查询是否有版本的更新
-        queryAppUpgrade();
         if (ProcessUtils.isMainProcess(this)) {
             initOverviewDb();
             if (DebugConfig.isDebug()) {
@@ -71,7 +68,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
             clearMessageBoxTable();
             CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
         }
-        upgradeProgressListener();
+        CallerDevaToolsManager.INSTANCE.updateUpgradeProgress();
     }
 
     @Override
@@ -80,15 +77,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         return true;
     }
 
-    private void queryAppUpgrade() {
-        UiThreadHandler.postDelayed(new Runnable() {
-            @Override
-            public void run() {
-                CallerDevaToolsManager.INSTANCE.queryAppUpgrade();
-            }
-        },9000);
-    }
-
     @SuppressLint("SimpleDateFormat")
     private void clearMessageBoxTable() {
         new Thread(() -> {
@@ -121,52 +109,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         }).start();
     }
 
-    private void upgradeProgressListener() {
-        final NotificationCompat.Builder builder = new NotificationCompat.Builder(this);
-//        builder.setSmallIcon(R.mipmap.icon1001);//todo emArrow 更换图标，去除地图下载图标的依赖关系
-        builder.setContentTitle("下载");
-        builder.setContentText("正在下载");
-        final NotificationManager manager = (NotificationManager) getSystemService(Context.NOTIFICATION_SERVICE);
-
-        CallerDevaToolsUpgradeListenerManager.INSTANCE.addListener(TAG, new IMogoDevaToolsUpgradeListener() {
-            @Override
-            public void onStart(@Nullable String url) {
-
-            }
-
-            @Override
-            public void onPause(@Nullable String url) {
-
-            }
-
-            @Override
-            public void onProgress(@Nullable String url, int length) {
-                builder.setProgress(100, length,false);
-                manager.notify(0x3, builder.build());
-                //下载进度提示
-                builder.setContentText("已下载" + length + "%");
-                CallerHmiManager.INSTANCE.updateStatusBarDownloadView(true, "download", length);
-            }
-
-            @Override
-            public void onFinished(@Nullable String url) {
-                builder.setContentText("已下载" + 100 + "%");
-                UiThreadHandler.postDelayed(new Runnable() {
-                    @Override
-                    public void run() {
-                        manager.cancel(0x3);
-                        CallerHmiManager.INSTANCE.updateStatusBarDownloadView(false, "download", 100);
-                    }
-                }, 1000);
-            }
-
-            @Override
-            public void onError(@Nullable String url, @Nullable String errorMsg) {
-
-            }
-        });
-    }
-
     private void initKoom() {
         KoomInitTask.INSTANCE.init(this);
     }
@@ -197,14 +139,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         CallerFuncBizManager.getBizProvider().initOverViewDb(this);
     }
 
-    /**
-     * 连接ami
-     */
-    private void connectAmiIp() {
-        String ipAddress = SharedPrefsMgr.getInstance(AbsMogoApplication.getApp().getBaseContext()).getString(MoGoConfig.OBU_IP, "192.168.1.199");
-//        AmiClientManager.getInstance().setObuIp(ipAddress);
-    }
-
     private void initModules() {
         CallerLogger.INSTANCE.d(M_HMI + TAG, "initModules");
         // OBU 模块
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/adapter/AppListAdapter.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/adapter/AppListAdapter.java
new file mode 100644
index 0000000000..43db1fc7e3
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/adapter/AppListAdapter.java
@@ -0,0 +1,92 @@
+package com.mogo.eagle.core.function.main.adapter;
+
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.ImageView;
+import android.widget.TextView;
+
+import androidx.annotation.NonNull;
+import androidx.recyclerview.widget.RecyclerView;
+
+import com.mogo.eagle.core.function.hmi.R;
+import com.mogo.eagle.core.utilcode.util.AppUtils;
+
+import java.util.ArrayList;
+import java.util.List;
+
+
+public class AppListAdapter extends RecyclerView.Adapter<RecyclerView.ViewHolder> {
+    private OnItemClickedListener mOnItemClickedListener;
+
+    public interface OnItemClickedListener {
+        void onItemClicked(AppListAdapter appListAdapter, int position);
+    }
+
+    public static class AppViewHolder extends RecyclerView.ViewHolder {
+        public ImageView iconIv;
+        public TextView nameTv;
+
+        public AppViewHolder(View itemView) {
+            super(itemView);
+            iconIv = (ImageView) itemView.findViewById(R.id.list_item_app_icon_iv);
+            nameTv = (TextView) itemView.findViewById(R.id.list_item_app_name_tv);
+        }
+    }
+
+    private ArrayList<String> showApps = new ArrayList<>();
+
+    public AppListAdapter(OnItemClickedListener onItemClickedListener) {
+        // 设置被允许展示的APP
+        showApps.add("com.android.settings");
+
+        mOnItemClickedListener = onItemClickedListener;
+        mApps = new ArrayList<>();
+        for (AppUtils.AppInfo appInfo : AppUtils.getAppsInfo()) {
+            if (!appInfo.isSystem()) {
+                mApps.add(appInfo);
+            } else {
+                if (showApps.contains(appInfo.getPackageName())) {
+                    mApps.add(appInfo);
+                }
+            }
+        }
+    }
+
+    private List<AppUtils.AppInfo> mApps;
+
+    public AppUtils.AppInfo getItem(int position) {
+        return mApps.get(position);
+    }
+
+    @Override
+    public int getItemCount() {
+        return mApps.size();
+    }
+
+    @Override
+    public long getItemId(int position) {
+        return position;
+    }
+
+    @Override
+    public RecyclerView.ViewHolder onCreateViewHolder(ViewGroup parent, int viewType) {
+        View v = LayoutInflater.from(parent.getContext()).inflate(R.layout.item_app_list, parent, false);
+        return new AppViewHolder(v);
+    }
+
+    @Override
+    public void onBindViewHolder(@NonNull RecyclerView.ViewHolder holder, int position) {
+        AppViewHolder itemViewHolder = (AppViewHolder) holder;
+        itemViewHolder.iconIv.setImageDrawable(mApps.get(position).getIcon());
+        itemViewHolder.nameTv.setText(mApps.get(position).getName());
+        itemViewHolder.itemView.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v) {
+                if (mOnItemClickedListener != null) {
+                    mOnItemClickedListener.onItemClicked(AppListAdapter.this, position);
+                }
+            }
+        });
+    }
+}
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/activity_app_list.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/activity_app_list.xml
new file mode 100644
index 0000000000..7919759222
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/activity_app_list.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.recyclerview.widget.RecyclerView xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/recyclerViewAppList"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:background="@drawable/main_splash_bg"
+    android:clipToPadding="false"
+    android:padding="20dp"
+    android:scrollbarStyle="outsideOverlay"
+    android:scrollbars="vertical"
+    app:layoutManager="androidx.recyclerview.widget.GridLayoutManager"
+    app:layout_constraintStart_toStartOf="parent"
+    app:layout_constraintTop_toTopOf="parent"
+    app:spanCount="6"
+    tools:itemCount="11"
+    tools:listitem="@layout/item_app_list" />
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_app_list.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_app_list.xml
new file mode 100644
index 0000000000..05b6631dc0
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_app_list.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="250dp"
+    android:layout_height="250dp"
+    android:gravity="center"
+    android:orientation="vertical"
+    android:paddingStart="10dp"
+    android:paddingTop="10dp"
+    android:paddingEnd="10dp"
+    android:paddingBottom="10dp">
+
+    <ImageView
+        android:id="@+id/list_item_app_icon_iv"
+        android:layout_width="150dp"
+        android:layout_height="150dp"
+        android:src="@drawable/icon_ad" />
+
+    <TextView
+        android:id="@+id/list_item_app_name_tv"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="10dp"
+        android:singleLine="true"
+        android:text="应用名称"
+        android:textColor="@color/color_FFFFFF"
+        android:textSize="30dp" />
+
+</LinearLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_blue_tooth.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_blue_tooth.xml
index e5e6fcb799..e85165ffca 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_blue_tooth.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_blue_tooth.xml
@@ -5,10 +5,11 @@
     android:layout_height="@dimen/dp_54">
 
     <ImageView
-        android:scaleType="fitXY"
-        android:src="@drawable/blue_tooth"
+        android:id="@+id/mofangView"
         android:layout_width="@dimen/dp_54"
         android:layout_height="@dimen/dp_54"
+        android:scaleType="fitXY"
+        android:src="@drawable/blue_tooth"
         tools:ignore="ContentDescription" />
 
 </RelativeLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index 68ffc3415d..3aad4d8c8f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -242,6 +242,42 @@
                 android:textOn="关闭感知优化模式"
                 android:textSize="@dimen/dp_24" />
 
+            <ToggleButton
+                android:id="@+id/tbV2NFromCar"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启车端V2N预警"
+                android:textOn="关闭车端V2N预警"
+                android:textSize="@dimen/dp_24" />
+
+            <ToggleButton
+                android:id="@+id/tbDrawAiCloudFusion"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启云端感知绘制"
+                android:textOn="关闭云端感知绘制"
+                android:textSize="@dimen/dp_24" />
+
+            <ToggleButton
+                android:id="@+id/tbDrawRomaMode"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启漫游模式"
+                android:textOn="关闭漫游模式"
+                android:textSize="@dimen/dp_24" />
+
             <ToggleButton
                 android:id="@+id/tbMojie"
                 android:layout_width="match_parent"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml
index e2e527591e..ab277bbb58 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_bar.xml
@@ -29,6 +29,7 @@
         android:textColor="@color/color_2C2E30"
         android:textSize="@dimen/dp_35" />
 
+    <!--Wifi状态-->
     <com.mogo.eagle.core.function.hmi.ui.widget.WifiStateView
         android:layout_width="@dimen/dp_54"
         android:layout_height="@dimen/dp_54"
@@ -36,8 +37,7 @@
         android:layout_marginStart="@dimen/dp_18" />
 
     <!--魔方连接状态-->
-    <ImageView
-        android:id="@+id/viewMofangStatus"
+    <com.mogo.eagle.core.function.hmi.ui.widget.BlueToothView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:src="@drawable/blue_tooth"
diff --git a/core/function-impl/mogo-core-function-map/src/main/AndroidManifest.xml b/core/function-impl/mogo-core-function-map/src/main/AndroidManifest.xml
index 4598d4664d..c1429480b7 100644
--- a/core/function-impl/mogo-core-function-map/src/main/AndroidManifest.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/AndroidManifest.xml
@@ -1,5 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.mogo.eagle.core.function.view">
+    package="com.mogo.eagle.core.function.map">
 
+    <application>
+
+        <receiver android:name="com.mogo.eagle.core.function.business.ai.AiCloudRangeBroadcastReceiver">
+            <intent-filter>
+                <action android:name="com.map.aiCloud.notification" />
+                <category android:name="android.intent.category.DEFAULT" />
+            </intent-filter>
+        </receiver>
+    </application>
 </manifest>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
index e1c4c357e7..eefc61d621 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
@@ -2,10 +2,12 @@ package com.mogo.eagle.core.function
 
 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
 import com.mogo.eagle.core.function.business.MapPointCloudSubscriber
 import com.mogo.eagle.core.function.business.SpeedLimitDataManager
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.aiCloudIdentifyDataManager
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
 import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager
 
@@ -20,6 +22,7 @@ class MapBizProvider :IMoGoFunctionServerProvider{
         MogoRouteOverlayManager.getInstance().init()
         MapPointCloudSubscriber.instance
         SpeedLimitDataManager.getInstance().start()
+        aiCloudIdentifyDataManager.init(AbsMogoApplication.getApp())
     }
 
     override fun onDestroy() {
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
new file mode 100644
index 0000000000..0393e027bb
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -0,0 +1,91 @@
+package com.mogo.eagle.core.function.business.ai
+
+import android.content.Context
+import com.mogo.aicloud.services.socket.IMogoOnMessageListener
+import com.mogo.aicloud.services.socket.MogoAiCloudSocketManager
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel
+import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
+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.map.listener.IMogoMapListener
+import com.mogo.map.uicontroller.VisualAngleMode
+import mogo.yycp.api.proto.SocketDownData
+
+class AiCloudIdentifyDataManager : IMogoMapListener {
+
+    companion object {
+        private const val TAG = "AiCloudIdentifyData"
+
+        var START_METRE = 200
+        var END_METRE = 2000
+
+        @JvmStatic
+        val aiCloudIdentifyDataManager by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
+            AiCloudIdentifyDataManager()
+        }
+    }
+
+    private val aiCloudIdentifyNetWorkModel = AiCloudIdentifyNetWorkModel()
+    private var showAiCloud = false
+
+    fun init(mContext: Context) {
+        MogoAiCloudSocketManager.getInstance(mContext)
+            .registerOnMessageListener(
+                0x040003, //低频数据
+                object : IMogoOnMessageListener<SocketDownData.SocketDownDataProto> {
+                    override fun target(): Class<SocketDownData.SocketDownDataProto> {
+                        return SocketDownData.SocketDownDataProto::class.java
+                    }
+
+                    override fun onMsgReceived(obj: SocketDownData.SocketDownDataProto?) {
+                        if (!FunctionBuildConfig.isDrawAiCloudFusion) {
+                            MapIdentifySubscriber.instance.clearAiCloudRoma()
+                            return
+                        }
+                        obj?.let {
+                            obj.data?.let {
+                                if (showAiCloud) {
+                                    if (it.allListList == null || it.allListList.size == 0) {
+                                        MapIdentifySubscriber.instance.clearAiCloudRoma()
+                                        return
+                                    }
+                                    MapIdentifySubscriber.instance.renderAiCloudResult(it.allListList)
+                                }
+                            }
+                        }
+                    }
+                })
+        requestRangeOfIdentify()
+    }
+
+    fun requestRangeOfIdentify() {
+        aiCloudIdentifyNetWorkModel.requestIdentifyRange({
+            CallerLogger.d(
+                M_MAP + TAG,
+                "requestIdentifyRange ok startRange:$START_METRE, endRange:$END_METRE"
+            )
+        }, {
+            CallerLogger.d(
+                M_MAP + TAG,
+                "requestIdentifyRange error : $it , startRange:$START_METRE, endRange:$END_METRE"
+            )
+        })
+    }
+
+    override fun onMapVisualAngleChanged(visualAngleMode: VisualAngleMode) {
+        super.onMapVisualAngleChanged(visualAngleMode)
+        when {
+            visualAngleMode.isRoma -> {
+                showAiCloud = true
+                FunctionBuildConfig.isDrawIdentifyData = false
+            }
+            else -> {
+                showAiCloud = false
+                FunctionBuildConfig.isDrawIdentifyData = true
+                MapIdentifySubscriber.instance.clearAiCloudRoma()
+            }
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt
new file mode 100644
index 0000000000..a45ec2a068
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudRangeBroadcastReceiver.kt
@@ -0,0 +1,30 @@
+package com.mogo.eagle.core.function.business.ai
+
+import android.content.BroadcastReceiver
+import android.content.Context
+import android.content.Intent
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.END_METRE
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.START_METRE
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.aiCloudIdentifyDataManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
+
+class AiCloudRangeBroadcastReceiver : BroadcastReceiver() {
+
+    companion object {
+        private const val TAG = "AiCloudRangeBroadcastReceiver"
+        private const val START_RANGE = "startRange"
+        private const val END_RANGE = "endRange"
+
+        // adb shell am broadcast -a com.map.aiCloud.notification --ei startRange 140 --ei endRange 2000
+    }
+
+    override fun onReceive(context: Context, intent: Intent) {
+        val startRange = intent.getIntExtra(START_RANGE, START_METRE)
+        val endRange = intent.getIntExtra(END_RANGE, END_METRE)
+        START_METRE = startRange
+        END_METRE = endRange
+        CallerLogger.d("$M_MAP$TAG", "startRange:$startRange, endRange:$endRange")
+        aiCloudIdentifyDataManager.requestRangeOfIdentify()
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
new file mode 100644
index 0000000000..8ad4ad3521
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
@@ -0,0 +1,63 @@
+package com.mogo.eagle.core.function.business.ai.net
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.debug.DebugConfig
+import com.mogo.eagle.core.data.BaseResponse
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.END_METRE
+import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.START_METRE
+import com.mogo.eagle.core.network.MoGoRetrofitFactory
+import com.mogo.eagle.core.network.apiCall
+import com.mogo.eagle.core.network.request
+import com.zhjt.service_biz.FuncConfig
+
+class AiCloudIdentifyNetWorkModel {
+
+    companion object {
+        val aiCloudIdentifyNetWorkModel by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
+            AiCloudIdentifyNetWorkModel()
+        }
+    }
+
+    private fun getHost(): String {
+        var host = "http://dzt-city.zhidaozhixing.com"
+        when (DebugConfig.getNetMode()) {
+            DebugConfig.NET_MODE_DEV,
+            DebugConfig.NET_MODE_QA -> host = "http://dzt-qa-city.zhidaozhixing.com"
+        }
+        return host
+    }
+
+    private fun getNetWorkApi(baseUrl: String = getHost()): IAiCloudIdentifyApiService {
+        return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
+            .create(IAiCloudIdentifyApiService::class.java)
+    }
+
+    fun requestIdentifyRange(
+        onSuccess: (() -> Unit),
+        onError: ((String) -> Unit)
+    ) {
+        request<BaseResponse<Any>> {
+            val map = mutableMapOf<String, Any>()
+            start {
+                map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                map["status"] = true
+                map["startMetre"] = START_METRE
+                map["endMetre"] = END_METRE
+                map["type"] = 1
+            }
+            loader {
+                apiCall {
+                    getNetWorkApi().identifyRange(map)
+                }
+            }
+            onSuccess {
+                onSuccess.invoke()
+            }
+            onError {
+                it.message?.let { errorMsg ->
+                    onError.invoke(errorMsg)
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
new file mode 100644
index 0000000000..3ddaac5e43
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
@@ -0,0 +1,13 @@
+package com.mogo.eagle.core.function.business.ai.net
+
+import com.mogo.eagle.core.data.BaseResponse
+import retrofit2.http.Body
+import retrofit2.http.Headers
+import retrofit2.http.POST
+
+interface IAiCloudIdentifyApiService {
+
+    @Headers("Content-type:application/json;charset=UTF-8")
+    @POST("yycp-c-v2x-service/dataFusion/remoteDrivingSet")
+    suspend fun identifyRange(@Body map: MutableMap<String, Any>): BaseResponse<Any>
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
index e3ba3c913b..24c70b58b3 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/Identify.kt
@@ -3,16 +3,35 @@ package com.mogo.eagle.core.function.business.identify
 import com.mogo.eagle.core.data.traffic.TrafficData
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 
 interface Identify {
 
-    fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
+    fun renderAdasRecognizedResult(resultList: List<TrackedObject>?) {
 
-    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
+    }
+
+    fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>) {
+
+    }
+
+    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+
+    }
 
     fun renderOBUWarningObj(exist: Boolean, obuTrafficData: TrafficData) {
 
     }
 
-    fun clearOldMarker()
+    fun clearOldMarker() {
+
+    }
+
+    fun clearAiMarker() {
+
+    }
+
+    fun getIdentifyObj(uuid: String): TrackedObject? {
+        return null
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt
new file mode 100644
index 0000000000..a0a741db4a
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyAiCloudDataDrawer.kt
@@ -0,0 +1,102 @@
+package com.mogo.eagle.core.function.business.identify
+
+import android.annotation.SuppressLint
+import androidx.collection.ArraySet
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.commons.module.status.MogoStatusManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
+import com.mogo.map.MogoMarkerManager
+import mogo.yycp.api.proto.SocketDownData
+import java.util.concurrent.ConcurrentHashMap
+
+class IdentifyAiCloudDataDrawer : Identify {
+
+    companion object {
+        private const val TAG = "IdentifyDataDrawer"
+    }
+
+    /**
+     * 上一帧数据的缓存
+     */
+    private val mMarkersCaches = ConcurrentHashMap<String, SocketDownData.CloudRoadDataProto>()
+
+    /**
+     * 记录每次实际绘制的交通元素UUID
+     */
+    @SuppressLint("NewApi")
+    private val trafficDataUuidList = ArraySet<String>()
+
+    /**
+     * 过滤后的数据集合
+     */
+    @SuppressLint("NewApi")
+    private val mFilterTrafficData = HashMap<String, SocketDownData.CloudRoadDataProto>()
+
+    @SuppressLint("NewApi")
+    override fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>) {
+        if (resultList.isEmpty()) {
+            clearOldMarker()
+            w(TAG, "感知数据为空无需渲染……")
+            return
+        }
+        if (!MogoStatusManager.getInstance().isVrMode) {
+            clearOldMarker()
+            w(TAG, "渲染 adas 识别的数据 当前不是VR模式")
+            return
+        }
+
+        //清除缓存
+        for (data in resultList) {
+            if (trafficDataUuidList.size > 0 && trafficDataUuidList.contains("" + data.uuid)) {
+                trafficDataUuidList.remove("" + data.uuid)
+            }
+        }
+
+        //清除缓存,删除marker
+        val it: MutableIterator<*> = trafficDataUuidList.iterator()
+        while (it.hasNext()) {
+            val key = it.next() as String
+            it.remove()
+            mMarkersCaches.remove(key)
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(key.hashCode().toString())
+        }
+
+        val filterList = filterTrafficData(resultList)
+        if (filterList.size > 0) {
+            // 绘制新数据
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .updateBatchAiMarkerPosition(filterList)
+        }
+    }
+
+    /**
+     * 数据过滤器
+     *
+     * @return 过滤后的数据集合
+     */
+    @SuppressLint("NewApi")
+    private fun filterTrafficData(trafficData: List<SocketDownData.CloudRoadDataProto>): HashMap<String, SocketDownData.CloudRoadDataProto> {
+        mFilterTrafficData.clear()
+        trafficDataUuidList.clear()
+        for (data in trafficData) {
+            val uuid = "" + data.uuid
+            mMarkersCaches[uuid] = data
+            trafficDataUuidList.add(uuid)
+            mFilterTrafficData[uuid] = data
+        }
+        return mFilterTrafficData
+    }
+
+    @SuppressLint("NewApi")
+    override fun clearAiMarker() {
+        trafficDataUuidList.clear()
+        mMarkersCaches.forEach { (uuid, _) ->
+            mMarkersCaches.remove(uuid)
+            MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
+                .removeMarker(uuid.hashCode().toString())
+        }
+        mFilterTrafficData.clear()
+    }
+
+}
\ No newline at end of file
diff --git 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
index 9eee2c09c1..f633dc7908 100644
--- 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
@@ -9,6 +9,7 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 
 object IdentifyFactory : Identify, IMoGoObuStatusListener {
 
@@ -22,7 +23,12 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
         internal val beautifyDataDrawer = IdentifyBeautifyDataDrawer()
     }
 
+    object AiIdentify {
+        internal val aiCloudDataDrawer = IdentifyAiCloudDataDrawer()
+    }
+
     private var identify: Identify? = null
+    private var aiCloudIdentify: Identify? = null
 
     init {
         identify = if (FunctionBuildConfig.isBeautyMode) {
@@ -30,14 +36,17 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
         } else {
             DriverIdentify.originDataDrawer
         }
+        aiCloudIdentify = AiIdentify.aiCloudDataDrawer
         CallerObuWarningListenerManager.addListener(TAG, this)
     }
 
     private const val MSG_DATA_TRACK = 0
-    private const val MSG_DATA_WARNING = 1
-    private const val MSG_DATA_OBU_WARNING_UPDATE = 2
-    private const val MSG_DATA_OBU_WARNING_REMOVE = 3
-    private const val MSG_DATA_CLEAR = 4
+    private const val MSG_DATA_AI_TRACK = 1
+    private const val MSG_DATA_WARNING = 2
+    private const val MSG_DATA_OBU_WARNING_UPDATE = 3
+    private const val MSG_DATA_OBU_WARNING_REMOVE = 4
+    private const val MSG_DATA_CLEAR = 5
+    private const val MSG_DATA_AI_CLEAR = 6
 
     // 维护一个线程定时轮询数据进行地图绘制
     private val mDrawerHandler: Handler =
@@ -63,6 +72,11 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
                             identify!!.renderAdasRecognizedResult(msg.obj as List<TrackedObject>?)
                         }
                     }
+                    MSG_DATA_AI_TRACK -> {
+                        if (msg.obj is List<*>) {
+                            aiCloudIdentify!!.renderAiCloudResult(msg.obj as List<SocketDownData.CloudRoadDataProto>)
+                        }
+                    }
                     MSG_DATA_WARNING -> {
                         if (msg.obj is List<*>) {
                             identify!!.renderPlanningWarningObj(msg.obj as List<MessagePad.PlanningObject>?)
@@ -81,6 +95,9 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
                     MSG_DATA_CLEAR -> {
                         identify!!.clearOldMarker()
                     }
+                    MSG_DATA_AI_CLEAR -> {
+                        aiCloudIdentify!!.clearAiMarker()
+                    }
                 }
             }
         }
@@ -92,6 +109,13 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
         mDrawerHandler.sendMessage(message)
     }
 
+    override fun renderAiCloudResult(resultList: List<SocketDownData.CloudRoadDataProto>) {
+        val message = Message.obtain()
+        message.what = MSG_DATA_AI_TRACK
+        message.obj = resultList
+        mDrawerHandler.sendMessage(message)
+    }
+
     override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
         val message = Message.obtain()
         message.what = MSG_DATA_WARNING
@@ -105,6 +129,16 @@ object IdentifyFactory : Identify, IMoGoObuStatusListener {
         mDrawerHandler.sendMessage(message)
     }
 
+    override fun clearAiMarker() {
+        val message = Message.obtain()
+        message.what = MSG_DATA_AI_CLEAR
+        mDrawerHandler.sendMessage(message)
+    }
+
+    override fun getIdentifyObj(uuid: String): TrackedObject? {
+        return identify?.getIdentifyObj(uuid)
+    }
+
     override fun updateTrackerWarningInfo(trafficData: TrafficData) {
         super.updateTrackerWarningInfo(trafficData)
         val message = Message.obtain()
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
index d9a344ec2e..0cd59447a9 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -1,12 +1,17 @@
 package com.mogo.eagle.core.function.business.identify
 
+import android.content.Context
+import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
+import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.yycp.api.proto.SocketDownData
 
 /**
  * 订阅感知数据的订阅者
@@ -14,7 +19,8 @@ import mogo.telematics.pad.MessagePad.TrackedObject
  *
  * @author donghongyu
  */
-class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
+@Route(path = PATH_IDENTIFY)
+class MapIdentifySubscriber private constructor() : IMoGoIdentifyListener, IMoGoSubscriber,
     IMoGoAutopilotIdentifyListener {
 
     private val TAG = "MapIdentifySubscriber"
@@ -36,7 +42,6 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
 
     override fun onDestroy() {
         CallerAutopilotIdentifyListenerManager.removeListener(TAG)
-
     }
 
     override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
@@ -53,6 +58,26 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
         }
     }
 
+    fun renderAiCloudResult(cloudData: List<SocketDownData.CloudRoadDataProto>) {
+        try {
+            if (FunctionBuildConfig.isDrawAiCloudFusion) {
+                ThreadUtils.getSinglePool().execute {
+//                    aiCloudDataDrawer.renderAiCloudResult(cloudData)
+                    IdentifyFactory.renderAiCloudResult(cloudData)
+                }
+            } else {
+                clearAiCloudRoma()
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    fun clearAiCloudRoma() {
+//        aiCloudDataDrawer.clearAiMarker()
+        IdentifyFactory.clearAiMarker()
+    }
+
     override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
         try {
             if (FunctionBuildConfig.isDrawIdentifyData && FunctionBuildConfig.debugTrackerProvider == 0) {
@@ -67,7 +92,12 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
         }
     }
 
-    override fun onAutopilotWarnMessage(warn: MessagePad.Warn?) {
+    override fun getIdentifyObj(uuid: String): TrackedObject? {
+        return IdentifyFactory.getIdentifyObj(uuid)
+    }
+
+    override fun init(context: Context?) {
 
     }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
index a5a74dadd5..512ef7bc19 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackObj.java
@@ -107,18 +107,18 @@ public class TrackObj {
 
     private void calHeading() {
         //更正数据,速度小于LIMIT_SPEED使用上一帧数据
-        if (relativeStatic()) {
-            if (roadAngle != 0.0) {
-                CenterLine centerLine = CallerMapUIServiceManager.INSTANCE.getMapUIController().getCenterLineInfo(lon, lat, -1);
-                if (centerLine != null && centerLine.getAngle() != 0) {
-                    cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
-                } else {
-                    cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
-                }
-            } else {
-                cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
-            }
-        }
+//        if (relativeStatic()) {
+//            if (roadAngle != 0.0) {
+//                CenterLine centerLine = CallerHDMapManager.INSTANCE.getCenterLineInfo(lon, lat, -1);
+//                if (centerLine != null && centerLine.getAngle() != 0) {
+//                    cacheData = cacheData.toBuilder().setHeading(centerLine.getAngle()).build();
+//                } else {
+//                    cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
+//                }
+//            } else {
+//                cacheData = cacheData.toBuilder().setHeading(circleQueue.getLastFrame().getHeading()).build();
+//            }
+//        }
     }
 
     public double getRecentlyTime() {
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt
index 68abd5926b..bc96ab3770 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt
@@ -9,9 +9,8 @@ object TrackerSourceColorHelper {
 
     @SuppressLint("NewApi")
     fun filterData(data: TrackedObject): Boolean {
-        if (!FunctionBuildConfig.isDrawUnknownIdentifyData && data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
-            || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_501.type ||  data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_502.type
-                ) {
+        if (!FunctionBuildConfig.isDrawUnknownIdentifyData && (data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI.type
+                    || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_501.type || data.type == TrafficTypeEnum.TYPE_TRAFFIC_ID_502.type)) {
             return true
         }
         var trackIPCFilter = true
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/BaseDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/BaseDrawer.java
index 09cc8e39b5..b91a16170e 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/BaseDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/drawer/BaseDrawer.java
@@ -5,7 +5,7 @@ import android.content.Context;
 
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.function.impl.marker.AdasRecognizedType;
-import com.mogo.eagle.core.function.view.R;
+import com.mogo.eagle.core.function.map.R;
 
 /**
  * @author congtaowang
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapCameraInfoView.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapCameraInfoView.java
index 4160a685dd..1a74ba53a8 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapCameraInfoView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapCameraInfoView.java
@@ -9,7 +9,7 @@ import android.widget.ImageView;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.map.entity.MarkerShowEntity;
-import com.mogo.eagle.core.function.view.R;
+import com.mogo.eagle.core.function.map.R;
 import com.mogo.map.marker.MogoMarkerOptions;
 
 /**
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerBaseView.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerBaseView.java
index cb1cdbbebe..527d352ed4 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerBaseView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerBaseView.java
@@ -12,7 +12,7 @@ import android.widget.LinearLayout;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.data.map.entity.MarkerShowEntity;
-import com.mogo.eagle.core.function.view.R;
+import com.mogo.eagle.core.function.map.R;
 import com.mogo.eagle.core.utilcode.mogo.glide.GlideImageLoader;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.eagle.core.utilcode.util.ViewUtils;
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerView.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerView.java
index 2fc0e70c84..47bd5de1cf 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/MapMarkerView.java
@@ -13,7 +13,7 @@ import com.mogo.commons.module.status.MogoStatusManager;
 import com.mogo.eagle.core.data.map.PoiWrapper;
 import com.mogo.eagle.core.data.map.entity.MarkerExploreWay;
 import com.mogo.eagle.core.data.map.entity.MarkerShowEntity;
-import com.mogo.eagle.core.function.view.R;
+import com.mogo.eagle.core.function.map.R;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.eagle.core.data.config.CloudPoiManager;
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/OnlineCarMarkerView.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/OnlineCarMarkerView.java
index 99040e3585..e2faf4387b 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/OnlineCarMarkerView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/impl/marker/view/OnlineCarMarkerView.java
@@ -5,7 +5,7 @@ import android.graphics.BitmapFactory;
 import android.view.View;
 
 import com.mogo.commons.AbsMogoApplication;
-import com.mogo.eagle.core.function.view.R;
+import com.mogo.eagle.core.function.map.R;
 import com.mogo.map.marker.IMogoMarker;
 
 import java.lang.ref.SoftReference;
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java
index 6fc83d627d..5dfd37b6d0 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/CarOverlay.java
@@ -14,7 +14,7 @@ import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.autonavi.amap.mapcore.IPoint;
-import com.mogo.eagle.core.function.view.R;
+import com.mogo.eagle.core.function.map.R;
 
 import java.util.concurrent.ScheduledExecutorService;
 
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MakerWithCount.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MakerWithCount.kt
index ee5bbdb3ca..98061eaeb9 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MakerWithCount.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MakerWithCount.kt
@@ -4,7 +4,7 @@ import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.function.view.R
+import com.mogo.eagle.core.function.map.R
 import kotlinx.android.synthetic.main.view_maker_with_count.view.*
 
 class MakerWithCount @JvmOverloads constructor(
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/V2XMarkerView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/V2XMarkerView.kt
index fc1ea65107..687ec34f1b 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/V2XMarkerView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/V2XMarkerView.kt
@@ -6,7 +6,7 @@ import android.view.LayoutInflater
 import android.widget.ImageView
 import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
-import com.mogo.eagle.core.function.view.R
+import com.mogo.eagle.core.function.map.R
 
 class V2XMarkerView @JvmOverloads constructor(
     context: Context,
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
index 60f7bb459d..a452a17994 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
@@ -22,7 +22,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 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.view.R
+import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
index afd2a45187..5a54d0ba6e 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -28,6 +28,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.biz.CallerFuncBizListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager.showVideoDialog
+import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.function.smp.MakerWithCount
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.callback
diff --git a/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt b/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
index dacf41d373..6c7cc96d89 100644
--- a/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
+++ b/core/function-impl/mogo-core-function-startup/src/main/java/com/mogo/eagle/core/function/startup/stageone/HttpDnsStartUp.kt
@@ -114,7 +114,6 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
         // 设置是否是直播推流的主播
         clientConfig.isAnchor = true
         when (DebugConfig.getCarMachineType()) {
-            DebugConfig.CAR_MACHINE_TYPE_BYD -> clientConfig.thirdPartyAppKey = "bydauto"
             DebugConfig.CAR_MACHINE_TYPE_LENOVO -> clientConfig.thirdPartyAppKey = "pfieouqg"
             else -> clientConfig.thirdPartyAppKey = "wbvpzgar"
         }
@@ -133,8 +132,6 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
         } else {
             clientConfig.thirdPartyDeviceId = Utils.getDevicesId()
         }
-        // 设置循环检测间隔时间（每隔2小时loop一次httpDnsConfig）
-        clientConfig.loopCheckDelay = (60 * 60 * 2 * 1000).toLong()
         //设置长链接的secretKey  //todo 通过SHA1和包名找中台服务生成，后续包名分渠道,需要做对应操作
         clientConfig.secretKey = "YMj2VFDFxJ3Q4gNoZceJ"
 
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
index 9b173d34cd..7f0be345a3 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/V2XEventManager.kt
@@ -1,5 +1,6 @@
 package com.mogo.eagle.core.function.v2x.events
 
+import android.annotation.SuppressLint
 import android.content.Context
 import android.content.Intent
 import android.os.Handler
@@ -16,6 +17,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_ALIAS_C
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_CLOUD
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CLOUD_V2N
 import com.mogo.eagle.core.data.enums.DataSourceType
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.enums.EventTypeHelper
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
@@ -26,11 +28,14 @@ import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.data.traffic.TrafficData
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+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.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.map.CallerMapIdentifyManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.Scene.Default
@@ -43,6 +48,7 @@ import com.mogo.eagle.core.function.v2x.events.consts.V2XConst.BROADCAST_SCENE_H
 import com.mogo.eagle.core.function.v2x.events.receiver.SceneBroadcastReceiver
 import com.mogo.eagle.core.function.v2x.events.scenario.impl.V2XScenarioManager
 import com.mogo.eagle.core.function.v2x.events.utils.toRoadMarker
+import com.mogo.eagle.core.function.v2x.events.utils.toV2XRoadEventEntity
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.callback.IV2XCallback
 import com.mogo.eagle.core.function.v2x.internal.config.V2XConfig
@@ -53,7 +59,6 @@ import com.mogo.eagle.core.function.v2x.internal.event.V2XEvent
 import com.mogo.eagle.core.function.v2x.road.V2XEventServiceApi
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_V2X
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
@@ -71,9 +76,10 @@ import kotlinx.coroutines.cancel
 import kotlinx.coroutines.launch
 import java.util.concurrent.TimeUnit
 import java.util.concurrent.atomic.AtomicBoolean
+import mogo.telematics.pad.MessagePad
 
-
-object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback, IV2XCallback {
+object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback, IV2XCallback,
+    IMoGoAutopilotIdentifyListener {
 
     private const val TAG = "V2XEventManager"
 
@@ -115,11 +121,13 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
     private fun registerListener() {
         V2XManager.addCallback(this)
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
+        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
     }
 
     private fun unRegisterListener() {
         V2XManager.removeCallback(this)
         CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
         mogoMarkersHandler.unregisterMarkerClickListener(CARD_TYPE_ROAD_CONDITION)
     }
 
@@ -196,19 +204,50 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IMoGoTokenCallback,
                 handleWarningTargetEvent(event.data)
             }
             is V2XEvent.RoadAI -> {
-                /*
-                TODO zhongchao 先注掉，编译通过
                 if(FunctionBuildConfig.isV2NFromCar){
                     return
-                }*/
+                }
                 handleRoadMarkerEvent(event.data.toRoadMarker())
             }
+        }
+    }
 
-            is V2XEvent.RoadEventX -> {
-                handleRoadMarkerEvent(event.data.toRoadMarker())
-            }
-            else -> {
-                Logger.d(TAG, "other event: $event")
+    @SuppressLint("NewApi")
+    override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+        super.onAutopilotIdentifyPlanningObj(planningObjects)
+        if(!FunctionBuildConfig.isV2NFromCar){
+            return
+        }
+        planningObjects?.let {
+            if (it.isNotEmpty()) {
+                val first = it.stream()
+                    .filter { planningObj: MessagePad.PlanningObject -> planningObj.type >= 1000 }
+                    .findFirst()
+                if (first.isPresent) {
+                    val poiType = when (first.get().type) {
+//                        1004 -> { //V2N_RSM,静止事件，包括异常停车、异常静止障碍物
+//                        }
+                        1005 -> { //V2N_RSI,施工事件，包括锥桶或者挡板围城的施工场景，是个多边形包围区域
+                            EventTypeEnumNew.TYPE_SOCKET_ROAD_SHIGONG.poiType
+                        }
+                        1007 -> { //三角牌
+                            EventTypeEnumNew.FOURS_ACCIDENT_04.poiType
+                        }
+                        else -> {
+                            return
+                        }
+                    }
+                    CallerLogger.d("$M_V2X$TAG", "poiType : $poiType , 触发道路事件")
+                    val trackedObj =
+                        CallerMapIdentifyManager.getIdentifyObj(first.get().uuid.toString())
+                    trackedObj?.let { t ->
+                        CallerLogger.d("$M_V2X$TAG", "polygon size : ${(t.polygonList.size)}")
+                        val v2XMessageEntity = V2XMessageEntity<V2XRoadEventEntity>()
+                        v2XMessageEntity.type = V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING
+                        v2XMessageEntity.content = t.toRoadMarker(poiType).toV2XRoadEventEntity()
+                        V2XScenarioManager.getInstance().handlerMessage(v2XMessageEntity)
+                    }
+                }
             }
         }
     }
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
index f2c9d7e1e6..5ee305f4b3 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -10,6 +10,7 @@ import android.util.Log;
 
 import androidx.annotation.Nullable;
 
+import com.mogo.eagle.core.data.enums.EventTypeEnumNew;
 import com.mogo.eagle.core.data.enums.WarningDirectionEnum;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.data.map.entity.V2XMessageEntity;
@@ -64,8 +65,9 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoChas
         CallerLogger.INSTANCE.d(M_V2X + TAG, "----- show --- 1 --:\n" + (mMarkerEntity == null ? "null" : mMarkerEntity.toString()));
         if (mMarkerEntity != null) {
             CallerLogger.INSTANCE.d(M_V2X + TAG, "----- show --- 2 --:\n" + mMarkerEntity);
-            int v2xType = getV2XTypeForFrontWarning(mMarkerEntity);
-            if (v2xType != 0) {
+            String v2xType = getV2XTypeForFrontWarning(mMarkerEntity);
+            V2XMessageEntity entity = getV2XMessageEntity();
+            if (!v2xType.equals("0")) {
                 if (getAlertContentForFrontWarning(mMarkerEntity).toString() == null
                         || getAlertContentForFrontWarning(mMarkerEntity).toString().isEmpty()
                         || mMarkerEntity.getTts() == null || mMarkerEntity.getTts().isEmpty()) {
@@ -87,19 +89,19 @@ public class V2XFrontWarningScenario extends AbsV2XScenario implements IMoGoChas
         }
     }
 
-    private int getV2XTypeForFrontWarning(V2XWarningTarget entity) {
+    private String getV2XTypeForFrontWarning(V2XWarningTarget entity) {
         switch (entity.getType()) {
             case 1:
             case 11:
                 entity.setTts("注意行人");
-                return 0X2B0201;
+                return EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_PERSON.getPoiType();
             case 2:
                 entity.setTts("注意自行车");
             case 4:
                 entity.setTts("注意摩托车");
-                return 0X2B0202;
+                return EventTypeEnumNew.TYPE_USECASE_ID_VRUCW_MOTOR_VEHICLES.getPoiType();
         }
-        return 0;
+        return "0";
     }
 
     private CharSequence getAlertContentForFrontWarning(V2XWarningTarget entity) {
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/V2XRefreshModel.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/V2XRefreshModel.kt
index 2b57db3ab8..517e16e76b 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/V2XRefreshModel.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/V2XRefreshModel.kt
@@ -4,6 +4,7 @@ import com.elegant.network.utils.GsonUtil
 import com.elegant.network.utils.SignUtil
 import com.elegant.utils.CommonUtils
 import com.mogo.cloud.network.RetrofitFactory
+import com.mogo.commons.constants.HostConst
 import com.mogo.eagle.core.function.v2x.internal.V2XManager
 import com.mogo.eagle.core.function.v2x.internal.config.V2XConfig
 import com.mogo.eagle.core.function.v2x.internal.data.V2XLocation
@@ -26,7 +27,7 @@ internal class V2XRefreshModel {
             callback: IV2XRefreshCallback<V2XMarkerResponse>?
         ): Disposable? {
             val config = V2XManager.getConfig()
-            val retrofit = RetrofitFactory.getInstance(config.baseUrl) ?: return null
+            val retrofit = RetrofitFactory.getInstance(HostConst.getEagleHost()) ?: return null
             return retrofit
                 .create(V2XApiService::class.java)
                 .querySnapshotSync(buildParams(longitude, latitude, config))
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/api/V2XApiService.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/api/V2XApiService.kt
index a8f3266337..1b9bc293db 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/api/V2XApiService.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/internal/http/api/V2XApiService.kt
@@ -9,6 +9,6 @@ import retrofit2.http.POST
 internal interface V2XApiService {
 
     @FormUrlEncoded
-    @POST("/yycp-launcherSnapshot/launcherSnapshot/querySnapshotSync")
+    @POST("eagle-eye-dns/yycp-launcherSnapshot/launcherSnapshot/querySnapshotSync")
     fun querySnapshotSync(@FieldMap parameters: Map<String, @JvmSuppressWildcards Any>): Maybe<V2XMarkerResponse?>
 }
\ No newline at end of file
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index e85849509a..ff6a6b3135 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -48,6 +48,14 @@ object FunctionBuildConfig {
     @JvmField
     var detouringSpeed = 3
 
+    /**
+     * 是否从车端融合过来的v2n事件
+     * 默认关闭，开启后接收车端融合预警，关闭云端长链V2N
+     */
+    @Volatile
+    @JvmField
+    var isV2NFromCar = false
+
     /**
      * 是否是感知优化模式
      * 默认开启
@@ -59,6 +67,20 @@ object FunctionBuildConfig {
     @JvmField
     var isBeautyMode = true
 
+    /**
+     * 是否绘制云端感知物
+     */
+    @Volatile
+    @JvmField
+    var isDrawAiCloudFusion = true
+
+    /**
+     * 是否开启roma
+     */
+    @Volatile
+    @JvmField
+    var isRomaMode = false
+
     /**
      * 是否开启感知物替换颜色功能
      * 默认关闭
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
index ec77fa799c..b67cf92f55 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
@@ -92,4 +92,8 @@ public class MogoServicePaths {
 
     @Keep
     public static final String PATH_DATA_CENTER_MODULE = "/data_center/api";
+
+
+    @Keep
+    public static final String PATH_IDENTIFY = "/map/identify";
 }
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
index bd6fc6f58b..f53dce752d 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
@@ -109,6 +109,11 @@ interface IDevaToolsProvider : IProvider {
      */
     fun downLoadPackage(downloadKey: String, downloadUrl: String)
 
+    /**
+     * 更新下载进度
+     */
+    fun updateUpgradeProgress()
+
     /**
      * 展示状态栏
      */
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IMoGoDevaToolsListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IMoGoDevaToolsListener.kt
index 0bcdf721fe..da403dc073 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IMoGoDevaToolsListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IMoGoDevaToolsListener.kt
@@ -51,4 +51,8 @@ interface IMoGoDevaToolsListener {
 
     }
 
+    fun mofangStatus(status:Boolean){
+
+    }
+
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/view/IViewControlListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/view/IViewControlListener.kt
index 2bdf8d3bce..2dcdc304b8 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/view/IViewControlListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/view/IViewControlListener.kt
@@ -36,9 +36,4 @@ interface IViewControlListener {
      */
     fun updateStatusBarDownloadView(insert: Boolean, tag: String, progress: Int){}
 
-    /**
-     * 更新魔方的连接状态
-     */
-    fun updateMfStatus(tag: String, status: Boolean){}
-
 }
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
index 6f00c8a330..537b33fe1d 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
@@ -136,9 +136,5 @@ interface IMoGoHmiProvider :IProvider{
      */
     fun updateStatusBarDownloadView(insert: Boolean, tag: String, progress: Int)
 
-    /**
-     * 更新魔方的连接状态
-     */
-    fun updateMfStatus(tag: String, status: Boolean)
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/marker/IMoGoIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/marker/IMoGoIdentifyListener.kt
new file mode 100644
index 0000000000..ad40f975f0
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/marker/IMoGoIdentifyListener.kt
@@ -0,0 +1,10 @@
+package com.mogo.eagle.core.function.api.map.marker
+
+import com.alibaba.android.arouter.facade.template.IProvider
+import mogo.telematics.pad.MessagePad
+
+interface IMoGoIdentifyListener :IProvider{
+
+    fun getIdentifyObj(uuid: String): MessagePad.TrackedObject?
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsListenerManager.kt
index 0324e472b6..e5dbf6ed43 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsListenerManager.kt
@@ -55,4 +55,11 @@ object CallerDevaToolsListenerManager  : CallerBase<IMoGoDevaToolsListener>() {
         }
     }
 
+    fun invokeMoFangStatus(status:Boolean){
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.mofangStatus(status)
+        }
+    }
+
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
index 753a80650d..345daf5c4c 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
@@ -147,6 +147,13 @@ object CallerDevaToolsManager {
         devaToolsProviderApi?.downLoadPackage(downloadKey, downloadUrl)
     }
 
+    /**
+     * 更新下载进度
+     */
+    fun updateUpgradeProgress() {
+        devaToolsProviderApi?.updateUpgradeProgress()
+    }
+
     /**
      * 展示状态栏
      */
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
index 91262ceb64..8339a0c006 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
@@ -212,11 +212,4 @@ object CallerHmiManager {
         hmiProviderApi?.updateStatusBarDownloadView(insert, tag, progress)
     }
 
-    /**
-     * 更新魔方的链接状态
-     */
-    fun updateMfStatusView(tag: String, status: Boolean) {
-        hmiProviderApi?.updateMfStatus(tag, status)
-    }
-
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiViewControlListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiViewControlListenerManager.kt
index e8111fc515..566b6e209e 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiViewControlListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiViewControlListenerManager.kt
@@ -45,8 +45,4 @@ object CallerHmiViewControlListenerManager : CallerBase<IViewControlListener>()
         M_LISTENERS[tag]?.updateStatusBarDownloadView(insert, tag, progress)
     }
 
-    fun updateMfStatus(tag: String, viewTag: String, status: Boolean) {
-        M_LISTENERS[tag]?.updateMfStatus(viewTag, status)
-    }
-
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt
new file mode 100644
index 0000000000..d980170cbc
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapIdentifyManager.kt
@@ -0,0 +1,19 @@
+package com.mogo.eagle.core.function.call.map
+
+import com.alibaba.android.arouter.launcher.ARouter
+import com.mogo.eagle.core.data.constants.MogoServicePaths.PATH_IDENTIFY
+import com.mogo.eagle.core.function.api.map.marker.IMoGoIdentifyListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import mogo.telematics.pad.MessagePad
+
+object CallerMapIdentifyManager : CallerBase<IMoGoIdentifyListener>() {
+
+    private val identifyApi: IMoGoIdentifyListener
+        get() = ARouter.getInstance().build(PATH_IDENTIFY)
+            .navigation() as IMoGoIdentifyListener
+
+    fun getIdentifyObj(uuid: String): MessagePad.TrackedObject? {
+        return identifyApi.getIdentifyObj(uuid)
+    }
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
index fa933ad83a..5970ebf407 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerVisualAngleManager.kt
@@ -243,11 +243,21 @@ object CallerVisualAngleManager {
         PriorityQueue<Record>()
     }
 
+    @Volatile
+    private var mLevel:Boolean = false
+
+    fun updateLongSightLevel(level:Boolean){
+        mLevel = level
+    }
+
     fun changeVisualAngle(current: Scene) {
         val appIdentityMode = FunctionBuildConfig.appIdentityMode
         if (AppIdentityModeUtils.isBus(appIdentityMode) && AppIdentityModeUtils.isPassenger(appIdentityMode)) {
             return
         }
+        if(mLevel){
+            return
+        }
         val triggerTime = SystemClock.elapsedRealtime()
         scope.launch {
             Log.d("${M_DEVA}${TAG}", "--- 1 ---")
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ActivityUtils.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ActivityUtils.java
index 6796a153a6..f49fd31192 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ActivityUtils.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ActivityUtils.java
@@ -5,20 +5,18 @@ import android.content.ComponentName;
 import android.content.Context;
 import android.content.ContextWrapper;
 import android.content.Intent;
+import android.content.IntentFilter;
+import android.content.pm.ActivityInfo;
 import android.content.pm.PackageManager;
 import android.content.pm.ResolveInfo;
 import android.graphics.drawable.Drawable;
 import android.os.Build;
 import android.os.Bundle;
+import android.provider.Settings;
 import android.text.TextUtils;
 import android.util.Log;
 import android.view.View;
 
-import java.lang.ref.WeakReference;
-import java.lang.reflect.Field;
-import java.util.ArrayList;
-import java.util.List;
-
 import androidx.annotation.AnimRes;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -26,6 +24,13 @@ import androidx.core.app.ActivityOptionsCompat;
 import androidx.core.util.Pair;
 import androidx.fragment.app.Fragment;
 
+import java.lang.ref.WeakReference;
+import java.lang.reflect.Field;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import java.util.ArrayList;
+import java.util.List;
+
 /**
  * <pre>
  *     author: Blankj
@@ -2136,4 +2141,65 @@ public final class ActivityUtils {
             return Utils.getApp();
         }
     }
+
+    public static void setDefaultL(Context context) {
+        if (AppUtils.isDefaultHome(context)) {
+            return;
+        }
+        Intent intent = new Intent(Intent.ACTION_MAIN);
+        intent.addCategory("android.intent.category.HOME");
+        intent.addCategory("android.intent.category.DEFAULT");
+        try {
+            intent.setComponent(new ComponentName("android", "com.android.internal.app.ResolverActivity"));
+            startActivity(intent);
+        } catch (Exception e) {//还不行，就只能应用程序设置了
+            intent = new Intent(Settings.ACTION_APPLICATION_SETTINGS);
+            startActivity(intent);
+        }
+    }
+
+    /**
+     * @param context
+     * @param componentName
+     */
+    public static void setDefaultLauncherApp(Context context, ComponentName componentName) {
+        PackageManager packageManager = context.getPackageManager();
+        Class<?> refPackageManager = packageManager.getClass();
+        Method[] methods = refPackageManager.getDeclaredMethods();
+        Method mReplacePreferredActivity = null;
+        Method mGetHomeActivities = null;
+        for (Method method : methods) {
+            if (method.getName().equals("replacePreferredActivity")) {
+                mReplacePreferredActivity = method;
+            }
+            if (method.getName().equals("getHomeActivities")) {
+                mGetHomeActivities = method;
+            }
+        }
+        mReplacePreferredActivity.setAccessible(true);
+        mGetHomeActivities.setAccessible(true);
+
+        IntentFilter HOME_FILTER = new IntentFilter(Intent.ACTION_MAIN);
+        HOME_FILTER.addCategory(Intent.CATEGORY_HOME);
+        HOME_FILTER.addCategory(Intent.CATEGORY_DEFAULT);
+        final List<ComponentName> allComponents = new ArrayList<>();
+        final List<ResolveInfo> homeActivities = new ArrayList<>();
+        try {
+            mGetHomeActivities.invoke(packageManager, homeActivities);
+            for (ResolveInfo info : homeActivities) {
+                final ActivityInfo appInfo = info.activityInfo;
+                ComponentName activityName = new ComponentName(appInfo.packageName, appInfo.name);
+                allComponents.add(activityName);
+            }
+            mReplacePreferredActivity.invoke(
+                    packageManager,
+                    HOME_FILTER,
+                    IntentFilter.MATCH_CATEGORY_EMPTY,
+                    allComponents.toArray(new ComponentName[0]),
+                    componentName);
+        } catch (IllegalAccessException | InvocationTargetException e) {
+            e.printStackTrace();
+        }
+    }
+
 }
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/AppUtils.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/AppUtils.java
index 003aabf9b0..4ac13c5cc4 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/AppUtils.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/AppUtils.java
@@ -10,6 +10,7 @@ import android.content.Intent;
 import android.content.pm.ApplicationInfo;
 import android.content.pm.PackageInfo;
 import android.content.pm.PackageManager;
+import android.content.pm.ResolveInfo;
 import android.content.pm.Signature;
 import android.content.pm.SigningInfo;
 import android.graphics.drawable.Drawable;
@@ -18,15 +19,15 @@ import android.os.Build;
 import android.os.Bundle;
 import android.text.TextUtils;
 
-import java.io.File;
-import java.util.ArrayList;
-import java.util.List;
-
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 
+import java.io.File;
+import java.util.ArrayList;
+import java.util.List;
+
 /**
  * <pre>
  *     author: Blankj
@@ -1017,4 +1018,18 @@ public final class AppUtils {
                     "\n}";
         }
     }
+
+    /**
+     * 判断自己是否为默认桌面
+     */
+    public static boolean isDefaultHome(Context context) {
+        Intent intent = new Intent(Intent.ACTION_MAIN);//Intent.ACTION_VIEW
+        intent.addCategory("android.intent.category.HOME");
+        intent.addCategory("android.intent.category.DEFAULT");
+        PackageManager pm = context.getPackageManager();
+        ResolveInfo info = pm.resolveActivity(intent, PackageManager.MATCH_DEFAULT_ONLY);
+        boolean isDefault = context.getPackageName().equals(info.activityInfo.packageName);
+        return isDefault;
+    }
+
 }
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/AbsMogoApplication.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/AbsMogoApplication.java
index f48819b07f..f1d78dfc1d 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/AbsMogoApplication.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/AbsMogoApplication.java
@@ -43,9 +43,7 @@ public abstract class AbsMogoApplication extends Application {
         AppStateManager.INSTANCE.init(this);
         initRxJavaErrorHandler();
         FinalizeCrashFixer.fix();
-//        if (!shouldInit()) {
         AutoSize.checkAndInit(this);
-//        }
 
         ScreenHelper.setScreenConfig(this);
         Utils.init(this);
@@ -71,8 +69,7 @@ public abstract class AbsMogoApplication extends Application {
                 return null;
             }
             try {
-                View contentView = generateToastView(context, message, tipDrawable);
-                return contentView;
+                return generateToastView(context, message, tipDrawable);
             } catch (Exception e) {
                 e.printStackTrace();
             }
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/module/MogoServices.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/module/MogoServices.java
index 5926f0af9d..014c9101f4 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/module/MogoServices.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/module/MogoServices.java
@@ -8,7 +8,6 @@ import android.content.IntentFilter;
 import android.net.ConnectivityManager;
 import android.text.TextUtils;
 
-import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.module.intent.IMogoIntentListener;
 import com.mogo.commons.module.intent.IntentHandlerFactory;
 import com.mogo.commons.module.intent.IntentManager;
@@ -18,7 +17,6 @@ import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.config.CloudPoiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
-import com.mogo.realtime.api.MoGoAiCloudRealTime;
 
 import java.util.List;
 
@@ -57,10 +55,6 @@ public class MogoServices implements IMogoIntentListener {
         Intent intent = new Intent("com.freedom.ser.ACTION");
         intent.addFlags(Intent.FLAG_INCLUDE_STOPPED_PACKAGES);
         mContext.sendBroadcast(intent);
-
-//        if (DebugConfig.isNeedUploadCoordinatesDurationInTime()) {
-//            MoGoAiCloudRealTime.startRealTime(mContext, DebugConfig.getSocketAppId());
-//        }
     }
 
     private void registerMogoReceiver(Context context) {
@@ -105,9 +99,6 @@ public class MogoServices implements IMogoIntentListener {
 
     public void destroy() {
         CallerLogger.INSTANCE.d(M_OLD_OTHER + TAG, "MogoServices do nothings.");
-//        if (DebugConfig.isNeedUploadCoordinatesDurationInTime()) {
-//            MoGoAiCloudRealTime.stopRealTime();
-//        }
     }
 
 }
diff --git a/gradle.properties b/gradle.properties
index 922318a892..8764d7688e 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -10,7 +10,7 @@
 org.gradle.daemon=true
 org.gradle.configureondemand=true
 org.gradle.parallel=true
-org.gradle.jvmargs=-Xmx2048m
+org.gradle.jvmargs=-Xmx3048m
 #开启gradle缓存
 org.gradle.caching=true
 android.enableBuildCache=true
@@ -85,7 +85,7 @@ MOGO_LOCATION_VERSION=1.4.3.32-beta3
 MOGO_TELEMATIC_VERSION=1.4.3.32-beta2
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.9.0.8_gamap_02
+MAP_SDK_VERSION=2.10.0.2_test_01
 MAP_SDK_OPERATION_VERSION=1.1.4.1
 # websocket
 WEBSOCKET_VERSION=1.1.7
@@ -119,10 +119,8 @@ MOGO_MODULE_V2X_VERSION=2.1.16.10
 MOGO_MODULE_OBU_MOGO_VERSION=2.1.16.10
 # bugly
 CRASHREPORT_VERSION=2.1.16.10
-CRASHREPORT_BUGLY_VERSION=2.1.16.10
 CRASHREPORT_NOOP_VERSION=2.1.16.10
 CRASHREPORT_APMBYTE_VERSION=2.1.16.10
-CRASHREPORT_UPGRADE_VERSION=2.1.16.10
 ## tts
 TTS_BASE_VERSION=2.1.16.10
 TTS_DI_VERSION=2.1.16.10
diff --git a/libraries/mogo-adas-data/src/main/proto/SocketDownDataProto3.proto b/libraries/mogo-adas-data/src/main/proto/SocketDownDataProto3.proto
new file mode 100644
index 0000000000..b101f6234c
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/SocketDownDataProto3.proto
@@ -0,0 +1,78 @@
+syntax = "proto3";
+package mogo.yycp.service;
+option java_package = "mogo.yycp.api.proto";
+option java_outer_classname = "SocketDownData";
+/*
+message xxx {
+  // 字段规则：required -> 字段只能也必须出现 1 次
+  // 字段规则：optional -> 字段可出现 0 次或1次
+  // 字段规则：repeated -> 字段可出现任意多次（包括 0）
+  // 类型：int32、int64、sint32、sint64、string、32-bit ....
+  // 字段编号：0 ~ 536870911（除去 19000 到 19999 之间的数字）
+  字段规则 类型 名称 = 字段编号;
+}
+*/
+//返回车机主实体
+message SocketDownDataProto {
+    uint64 seq = 1;
+    uint32 msgType = 2;
+    string sn = 3;
+    LauncherSnapshotProto data = 4;
+    uint64 utcTime = 5;
+    uint64 upUtcTime = 6;
+    string cityCode = 7;
+}
+
+//LauncherSnapshot数据响应VO
+message LauncherSnapshotProto {
+    //总数据集合 RoadDataVo
+    repeated CloudRoadDataProto allList = 1;
+    //前方50米数据集合 RoadDataVo
+    repeated CloudRoadDataProto nearList = 2;
+    //摄像头 RoadDataVo
+    CloudRoadDataProto camera = 3;
+    string msgId = 4;
+    uint64 time = 5;
+    //过期时间
+    uint64 expire = 6;
+}
+//RoadDataVo
+message CloudRoadDataProto {
+    /**物体类型 1-人 2-自行车 3-小轿车 4-摩托车 5-红绿灯 6-bus 8-truck 9-路边摄像头*/
+    uint32 type = 1;
+    /**数据来源 1,"自车数据"  2,"ADAS数据"  3,"路测设备识别数据" */
+    uint32 fromType = 2;
+    /**
+     * 车机上行pgs坐标给lat，lon两个成员变量
+     *
+     * 在下发车机时计算高德经纬度
+     * 1.将gps（lat，lon）给wgslat,wgalon
+     * 2.高德算法算出高德经纬度，给lat,lon
+     */
+    double lat = 3; //gps->gd
+    double lon = 4; //gps->gd
+    double wgslat = 5; //原gps
+    double wgslon = 6; //原gps
+    //车机sn
+    string sn = 7;
+    //车辆UUID
+    string uuid = 8;
+    /** 车牌号 */
+    string cardId = 9;
+    /**速度*/
+    double speed = 10;
+    /**方向*/
+    double heading = 11;
+    /** 系统时间 */
+    uint64 systemTime = 12;
+    /** 星历时间 */
+    uint64 satelliteTime = 13;
+    /**红绿灯状态 1红 2绿 3黄*/
+    uint32 lightStatus = 14;
+    /**红绿灯剩余时间 读秒*/
+    uint32 lightLeftTime = 15;
+    /**视频流直播地址*/
+    string rtmpUrl = 16;
+    /**距离*/
+    double distance = 17;
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index 91cfec766c..c0e67529b8 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -195,14 +195,6 @@ public interface OnAdasListener {
      */
     void onPlanningActionMsg(MessagePad.Header header, MessagePad.PlanningActionMsg planningActionMsg);
 
-    /**
-     * OBU预警事件
-     *
-     * @param header         头
-     * @param obuWarningData 数据
-     */
-    void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData);
-
     /**
      * OBU 红绿灯预警信息
      *
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
index e07f3d0f2e..29f364d901 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
@@ -26,7 +26,7 @@ public class ObuWarningDataMessage extends MyAbstractMessageHandler {
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
         if (adasListener != null) {
-            adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
+//            adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
         }
         AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
 
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
index 72aa1774bb..07ba7245d8 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
@@ -1,5 +1,6 @@
 package com.mogo.map;
 
+import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.map.center.CenterLine;
 import com.mogo.map.marker.IMogoMarker;
 import com.mogo.map.marker.MogoMarkerOptions;
@@ -12,6 +13,7 @@ import java.util.ArrayList;
 import java.util.HashMap;
 
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;
 
 /**
  * @author congtaowang
@@ -51,6 +53,13 @@ public interface IMogoMap {
      */
     void updateBatchMarkerPosition(HashMap<String, MessagePad.TrackedObject> optionsArrayList);
 
+    /**
+     * 批量更新锚点位置
+     *
+     * @param optionsArrayList 锚点集合
+     */
+    void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList);
+
     /**
      * 添加感知使用到的3d模型
      *
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
index 626bfd6b4f..8e7e2db59f 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
@@ -10,6 +10,7 @@ import java.util.List;
 import java.util.Map;
 
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;
 
 /**
  * @author congtaowang
@@ -44,6 +45,13 @@ public interface IMogoMarkerManager {
      */
     void updateBatchMarkerPosition(HashMap<String, MessagePad.TrackedObject> optionsArrayList);
 
+    /**
+     * 批量更新锚点位置
+     *
+     * @param optionsArrayList 锚点集合
+     */
+    void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList);
+
     /**
      * 添加感知使用到的3d模型
      *
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
index 919fe0f9d7..362b48f839 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/IMogoMapUIController.java
@@ -13,6 +13,7 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 
 import java.util.List;
 
+
 /**
  * @author congtaowang
  * @since 2019-12-26
@@ -48,6 +49,17 @@ public interface IMogoMapUIController {
      */
     void changeMapVisualAngle(VisualAngleMode angelMode, MogoLatLng mogoLatLng);
 
+    /**
+     * 设置漫游路径
+     * @param trajectory
+     */
+    void setRoamTrajectory(String trajectory);
+
+    /**
+     * 设置漫游模式 , 0:自由漫游，1:路径漫游
+     */
+    void setRomaMode(int mode);
+
     /**
      * 获得当前地图视距模式
      *
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/VisualAngleMode.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/VisualAngleMode.java
index 61d453ed1d..1b3748d975 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/VisualAngleMode.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/uicontroller/VisualAngleMode.java
@@ -35,7 +35,12 @@ public enum VisualAngleMode implements IMogoMapVisualAngle {
     /**
      * 十字路口视角
      */
-    MAP_STYLE_VR_ANGLE_CROSS(5);
+    MAP_STYLE_VR_ANGLE_CROSS(5),
+
+    /**
+     * 漫游模式
+     */
+    MAP_STYLE_VR_ROMA(7);
 
 
     private final int code;
@@ -62,4 +67,8 @@ public enum VisualAngleMode implements IMogoMapVisualAngle {
     public boolean isMediumSight() {
         return code == MODE_MEDIUM_SIGHT.getCode();
     }
+
+    public boolean isRoma(){
+        return code == MAP_STYLE_VR_ROMA.getCode();
+    }
 }
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
index cdd18809f0..8c003a0a5f 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -8,6 +8,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_MAP
 import static com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_300;
 import static com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS;
 import static com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_TOP;
+import static com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ROMA;
 import static com.mogo.map.uicontroller.VisualAngleMode.MODE_CLOSE_SIGHT;
 import static com.mogo.map.uicontroller.VisualAngleMode.MODE_LONG_SIGHT;
 import static com.mogo.map.uicontroller.VisualAngleMode.MODE_MEDIUM_SIGHT;
@@ -83,6 +84,7 @@ import org.jetbrains.annotations.Nullable;
 import java.util.ArrayList;
 import java.util.List;
 
+
 public class AMapViewWrapper implements IMogoMapView,
         IMogoMapUIController,
         OnMapLoadedListener,
@@ -362,6 +364,16 @@ public class AMapViewWrapper implements IMogoMapView,
         }
     }
 
+    @Override
+    public void setRoamTrajectory(String trajectory) {
+        mMapView.getMapAutoViewHelper().setRoamTrajectory(ROMA_ROAD);
+    }
+
+    @Override
+    public void setRomaMode(int mode) {
+        mMapView.getMapAutoViewHelper().setRoamStyle(mode,1800, MapAutoApi.ROAM_SPEED_40);
+    }
+
     @Override
     public VisualAngleMode getCurrentMapVisualAngle() {
         return mVisualAngleMode;
@@ -384,7 +396,7 @@ public class AMapViewWrapper implements IMogoMapView,
     public void moveToCenter(MogoLatLng latLng, boolean animate) {
         CallerLogger.INSTANCE.d(M_MAP + TAG, "move to center " + latLng);
         if (latLng == null || latLng.lat == 0.0d || latLng.lon == 0.0d) {
-            CallerLogger.INSTANCE.e(M_MAP + TAG, "latlng = null or is illegal");
+            CallerLogger.INSTANCE.e(M_MAP + TAG, "latLng = null or is illegal");
             return;
         }
         if (DebugConfig.isDebug()) {
@@ -727,13 +739,19 @@ public class AMapViewWrapper implements IMogoMapView,
             initMapView();
             initMyLocation();
             loadPreVehicleModel();
-
-            if (mMapView.getLocationClient() != null) {
-                mMapView.getLocationClient().setIsUseExtraGPSData(true);
-            }
+            loadRomaRoad(); //todo for show of hengyang
         }
     }
 
+    private static final String ROMA_ROAD = 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+    private static final String ROMA_ROAD_1 = 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761715,26.82508155,112.5761918,26.8250446,112.5762122,26.8250075,112.5762328,26.82497025,112.5762536,26.8249329,112.5762747,26.82489549,112.576296,26.82485808,112.5763176,26.82482065,112.5763394,26.82478315,112.5763614,26.82474563,112.5763836,26.82470807,112.5764059,26.82467045,112.5764282,26.82463279,112.5764507,26.82459504,112.5764732,26.82455714,112.5764959,26.82451906,112.5765187,26.8244808,112.5765414,26.82444236,112.5765643,26.82440377,112.5765873,26.82436503,112.5766103,26.8243262,112.5766333,26.8242873,112.5766563,26.82424836,112.5766793,26.82420936,112.5767024,26.82417035,112.5767255,26.82413139,112.5767486,26.82409266,112.5767718,26.82405426,112.5767952,26.82401617,112.5768184,26.82397842,112.5768415,26.82394106,112.5768675,26.82389881,112.57689,26.8238624,112.5769121,26.82382648,112.5769377,26.82378503,112.5769617,26.82374607,112.5769862,26.82370623,112.5770106,26.82366648,112.5770325,26.8236307,112.577056,26.82359184,112.5770776,26.82355585,112.5770985,26.82352077,112.5771191,26.82348565,112.5771395,26.82345051,112.5771598,26.82341535,112.5771798,26.82338019,112.5772019,26.82334115,112.5772242,26.82330145,112.5772462,26.82326217,112.5772682,26.82322307,112.5772905,26.82318416,112.577313,26.82314536,112.5773362,26.82310578,112.5773584,26.8230684,112.5773813,26.82303052,112.5774047,26.82299227,112.5774275,26.82295555,112.5774498,26.82292036,112.5774726,26.82288478,112.577496,26.82284873,112.577518,26.82281481,112.5775436,26.82277584,112.5775668,26.8227404,112.5775889,26.82270667,112.5776116,26.82267202,112.577635,26.82263636,112.5776572,26.82260227,112.5776799,26.82256708,112.5777022,26.82253158,112.5777246,26.82249483,112.5777455,26.82245955,112.5777668,26.8224232,112.5777883,26.82238602,112.5778084,26.82235089,112.5778313,26.82231089,112.5778521,26.82227511,112.5778746,26.82223755,112.5778983,26.82219925,112.5779212,26.82216358,112.5779447,26.82212803,112.5779687,26.82209266,112.5779915,26.82205946,112.5780155,26.82202476,112.5780386,26.82199153,112.578063,26.82195673,112.5780866,26.82192336,112.5781108,26.82188914,112.5781349,26.82185496,112.5781588,26.82182106,112.578183,26.82178691,112.5782056,26.82175498,112.5782284,26.82172268,112.578252,26.82168907,112.5782738,26.82165769,112.578297,26.82162352,112.578319,26.82159035,112.57834,26.82155755,112.5783603,26.82152419,112.578379,26.82149185,112.5783968,26.82146083,112.5784156,26.8214279,112.5784338,26.82139713,112.5784526,26.82136704,112.5784737,26.82133537,112.5784954,26.82130434,112.5785179,26.82127371,112.5785392,26.82124509,112.5785613,26.82121474,112.5785826,26.82118459,112.578603,26.82115312,112.5786192,26.82112113,112.5786297,26.82108804,112.5786344,26.82105208,112.5786328,26.82101569,112.5786258,26.82097918,112.5786153,26.82094473,112.5786011,26.8209112,112.5785817,26.82087705,112.5785582,26.82084558,112.5785324,26.82081834,112.5785038,26.82079259,112.5784737,26.8207676,112.5784418,26.82074259,112.5784091,26.82071846,112.578379,26.82069718,112.5783473,26.82067552,112.5783147,26.82065364,112.5782815,26.82063157,112.5782474,26.82060937,112.5782152,26.82058867,112.5781801,26.8205663,112.5781471,26.8205455,112.5781091,26.82052165,112.5780759,26.82050087,112.578042,26.82047964,112.5780081,26.8204585,112.5779742,26.82043738,112.5779398,26.82041587,112.577907,26.82039532,112.5778726,26.82037382,112.57784,26.82035339,112.5778063,26.82033228,112.5777708,26.82030994,112.5777338,26.82028685";
+
+    private void loadRomaRoad() {
+        StringBuffer buffer = new StringBuffer();
+        buffer.append(ROMA_ROAD).append(ROMA_ROAD_1);
+        setRoamTrajectory(buffer.toString());
+    }
+
     @Override
     public boolean onTouch(@Nullable MotionEvent motionEvent) {
         MogoMapListenerHandler.Companion.getMogoMapListenerHandler().onTouch(motionEvent);
@@ -782,6 +800,8 @@ public class AMapViewWrapper implements IMogoMapView,
                 return MAP_STYLE_VR_ANGLE_TOP;
             case 5:
                 return MAP_STYLE_VR_ANGLE_CROSS;
+            case 7:
+                return MAP_STYLE_VR_ROMA;
             default:
                 return MODE_MEDIUM_SIGHT;
         }
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
index 5e092f589e..d471356be8 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -6,6 +6,7 @@ import android.graphics.Point;
 import android.util.Pair;
 
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.map.center.CenterLine;
 import com.mogo.map.marker.AMapInfoWindowAdapter;
@@ -41,6 +42,7 @@ import java.util.HashMap;
 import java.util.List;
 
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;
 
 /**
  * @author congtaowang
@@ -123,6 +125,24 @@ public class AMapWrapper implements IMogoMap {
         MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 1);
     }
 
+    @SuppressLint("NewApi")
+    @Override
+    public void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList) {
+        if (!checkAMap()) {
+            return;
+        }
+        ArrayList<MarkerSimpleData> markerOptionsArrayList = new ArrayList<>();
+        optionsArrayList.forEach((s, trackedObject) -> {
+            MarkerSimpleData markerOptions = ObjectUtils.fromAiData(trackedObject);
+            if (markerOptions != null) {
+                markerOptionsArrayList.add(markerOptions);
+            }
+        });
+        long time = markerOptionsArrayList.get(0).getTime();
+        // 最后一个参数，是否管理锚点的删除
+        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 0);
+    }
+
     @Override
     public String addPreVehicleModel(int type, int modelRes) {
         try {
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
index a0e6c9c882..e46f160a1a 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMapUIController.java
@@ -16,6 +16,7 @@ import com.mogo.map.uicontroller.VisualAngleMode;
 
 import java.util.List;
 
+
 /**
  * @author congtaowang
  * @since 2019-12-26
@@ -81,6 +82,23 @@ public class MogoMapUIController implements IMogoMapUIController {
         }
     }
 
+    @Override
+    public void setRoamTrajectory(String trajectory) {
+        initDelegate();
+        if (mDelegate != null) {
+            mDelegate.setRoamTrajectory(trajectory);
+        }
+    }
+
+    @Override
+    public void setRomaMode(int mode) {
+        initDelegate();
+        if (mDelegate != null) {
+            CallerLogger.INSTANCE.d(TAG, "set setRomaMode: " + mode);
+            mDelegate.setRomaMode(mode);
+        }
+    }
+
     @Override
     public VisualAngleMode getCurrentMapVisualAngle() {
         initDelegate();
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
index b37d3934f3..ceb1a65a6b 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
@@ -15,6 +15,7 @@ import java.util.List;
 import java.util.Map;
 
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;
 
 /**
  * @author congtaowang
@@ -29,17 +30,17 @@ public class MogoMarkerManager implements IMogoMarkerManager {
     private static volatile MogoMarkerManager sInstance;
     private Context mApplicationContext;
 
-    private MogoMarkerManager( Context context ) {
-        if ( context != null ) {
+    private MogoMarkerManager(Context context) {
+        if (context != null) {
             mApplicationContext = context.getApplicationContext();
         }
     }
 
-    public static MogoMarkerManager getInstance( Context context ) {
-        if ( sInstance == null ) {
-            synchronized ( MogoMarkerManager.class ) {
-                if ( sInstance == null ) {
-                    sInstance = new MogoMarkerManager( context );
+    public static MogoMarkerManager getInstance(Context context) {
+        if (sInstance == null) {
+            synchronized (MogoMarkerManager.class) {
+                if (sInstance == null) {
+                    sInstance = new MogoMarkerManager(context);
                 }
             }
         }
@@ -51,27 +52,27 @@ public class MogoMarkerManager implements IMogoMarkerManager {
     }
 
     @Override
-    public IMogoMarker addMarker( String tag, MogoMarkerOptions options ) {
+    public IMogoMarker addMarker(String tag, MogoMarkerOptions options) {
         try {
-            return MogoMap.getInstance().getMogoMap().addMarker( tag, options );
-        } catch ( Exception e ) {
+            return MogoMap.getInstance().getMogoMap().addMarker(tag, options);
+        } catch (Exception e) {
             e.printStackTrace();
             return null;
         }
     }
 
     @Override
-    public List< IMogoMarker > addMarkers( String tag, ArrayList< MogoMarkerOptions > options, boolean moveToCenter ) {
+    public List<IMogoMarker> addMarkers(String tag, ArrayList<MogoMarkerOptions> options, boolean moveToCenter) {
         try {
-            return MogoMap.getInstance().getMogoMap().addMarkers( tag, options, moveToCenter );
-        } catch ( Exception e ) {
+            return MogoMap.getInstance().getMogoMap().addMarkers(tag, options, moveToCenter);
+        } catch (Exception e) {
             e.printStackTrace();
             return null;
         }
     }
 
     @Override
-    public void updateBatchMarkerPosition(HashMap<String,MessagePad.TrackedObject> optionsArrayList) {
+    public void updateBatchMarkerPosition(HashMap<String, MessagePad.TrackedObject> optionsArrayList) {
         try {
             MogoMap.getInstance().getMogoMap().updateBatchMarkerPosition(optionsArrayList);
         } catch (Exception e) {
@@ -79,6 +80,15 @@ public class MogoMarkerManager implements IMogoMarkerManager {
         }
     }
 
+    @Override
+    public void updateBatchAiMarkerPosition(HashMap<String, SocketDownData.CloudRoadDataProto> optionsArrayList) {
+        try {
+            MogoMap.getInstance().getMogoMap().updateBatchAiMarkerPosition(optionsArrayList);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
     @Override
     public String addPreVehicleModel(int type, int modelRes) {
         try {
@@ -100,9 +110,9 @@ public class MogoMarkerManager implements IMogoMarkerManager {
 
 
     @Override
-    public void removeMarkers( String tag ) {
+    public void removeMarkers(String tag) {
         CallMarkersClearManager.INSTANCE.invokeClearAllMarkersOfTag(tag);
-        MogoMarkersHandler.Companion.getMogoMarkersHandler().remove( tag );
+        MogoMarkersHandler.Companion.getMogoMarkersHandler().remove(tag);
     }
 
     @Override
@@ -123,27 +133,27 @@ public class MogoMarkerManager implements IMogoMarkerManager {
     }
 
     @Override
-    public void inVisibleWithoutMarkers(String ...owner) {
+    public void inVisibleWithoutMarkers(String... owner) {
         MogoMarkersHandler.Companion.getMogoMarkersHandler().inVisibleMarkers(owner);
     }
 
     @Override
-    public List< IMogoMarker > getMarkers( String tag ) {
-        return MogoMarkersHandler.Companion.getMogoMarkersHandler().getMarkers( tag );
+    public List<IMogoMarker> getMarkers(String tag) {
+        return MogoMarkersHandler.Companion.getMogoMarkersHandler().getMarkers(tag);
     }
 
     @Override
-    public Map< String, List< IMogoMarker > > getAllMarkers() {
+    public Map<String, List<IMogoMarker>> getAllMarkers() {
         return MogoMarkersHandler.Companion.getMogoMarkersHandler().getAllMarkers();
     }
 
     @Override
-    public void removeMarkersExcept( String tag ) {
-        MogoMarkersHandler.Companion.getMogoMarkersHandler().deleteAllExcept( tag );
+    public void removeMarkersExcept(String tag) {
+        MogoMarkersHandler.Companion.getMogoMarkersHandler().deleteAllExcept(tag);
     }
 
     @Override
-    public void addRouteWay(Context context, MogoLatLng startPoint, MogoLatLng endPoint, List< MogoLatLng > wayPoints ) {
+    public void addRouteWay(Context context, MogoLatLng startPoint, MogoLatLng endPoint, List<MogoLatLng> wayPoints) {
     }
 
     @Override
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java b/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java
index 7c2283a699..9da7c35e7a 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/uicontroller/AMapUIController.java
@@ -11,6 +11,7 @@ import com.zhidaoauto.map.sdk.open.MapAutoApi;
 
 import java.util.List;
 
+
 /**
  * @author congtaowang
  * @since 2019-12-26
@@ -19,8 +20,6 @@ import java.util.List;
  */
 public class AMapUIController implements IMogoMapUIController {
 
-    private static final String TAG = "AMapUIController";
-
     private static volatile AMapUIController sInstance;
 
     private IMogoMapUIController mClient;
@@ -70,6 +69,20 @@ public class AMapUIController implements IMogoMapUIController {
         }
     }
 
+    @Override
+    public void setRoamTrajectory(String trajectory) {
+        if (mClient != null) {
+            mClient.setRoamTrajectory(trajectory);
+        }
+    }
+
+    @Override
+    public void setRomaMode(int mode) {
+        if (mClient != null) {
+            mClient.setRomaMode(mode);
+        }
+    }
+
     @Override
     public VisualAngleMode getCurrentMapVisualAngle() {
         if (mClient != null) {
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java b/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
index eeae86dd6b..95f035487e 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
@@ -23,6 +23,7 @@ import java.util.ArrayList;
 import java.util.List;
 
 import mogo.telematics.pad.MessagePad;
+import mogo.yycp.api.proto.SocketDownData;
 
 /**
  * @author congtaowang
@@ -117,6 +118,26 @@ public class ObjectUtils {
         return markerOptions;
     }
 
+    public static MarkerSimpleData fromAiData(SocketDownData.CloudRoadDataProto aiData) {
+        if (aiData == null) {
+            return null;
+        }
+        MarkerSimpleData markerOptions = null;
+        try {
+            markerOptions = new MarkerSimpleData();
+            markerOptions.setId(aiData.getUuid().hashCode());
+            markerOptions.setMarkerType(aiData.getType());
+            markerOptions.setRotateAngle((float) aiData.getHeading());
+            markerOptions.setLat(aiData.getWgslat());
+            markerOptions.setLon(aiData.getWgslon());
+            markerOptions.setTime(Double.valueOf(aiData.getSatelliteTime()).longValue());
+            markerOptions.setColor("#00FF00FF");
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return markerOptions;
+    }
+
     private static BitmapDescriptor getBitmapDescriptorFromMogo(MogoMarkerOptions options) {
         if (options == null) {
             return null;
diff --git a/modules.txt b/modules.txt
index c49fc8b512..acc4c7544b 100644
--- a/modules.txt
+++ b/modules.txt
@@ -17,7 +17,6 @@
 :test:crashreport
 :test:crashreport-apm
 :test:crashreport-noop
-:test:crashreport-upgrade
 :core:function-impl:mogo-core-function-datacenter
 :core:function-impl:mogo-core-function-hmi
 :core:function-impl:mogo-core-function-map
diff --git a/settings.gradle b/settings.gradle
index db91eb860a..45b91c2c77 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -55,9 +55,7 @@ include ':tts:tts-pad'
 
 // 测试DEBUG
 include ':test:crashreport'
-//include ':test:crashreport-bugly'
 include ':test:crashreport-noop'
-include ':test:crashreport-upgrade'
 include ':test:crashreport-apmbyte'
 
 //OCH 业务模块
diff --git a/test/crashreport-bugly/.gitignore b/test/crashreport-bugly/.gitignore
deleted file mode 100644
index 42afabfd2a..0000000000
--- a/test/crashreport-bugly/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/build
\ No newline at end of file
diff --git a/test/crashreport-bugly/build.gradle b/test/crashreport-bugly/build.gradle
deleted file mode 100644
index 570f29b445..0000000000
--- a/test/crashreport-bugly/build.gradle
+++ /dev/null
@@ -1,67 +0,0 @@
-plugins {
-    id 'com.android.library'
-    id 'kotlin-android'
-    id 'kotlin-android-extensions'
-    id 'kotlin-kapt'
-    id 'com.alibaba.arouter'
-}
-
-
-android {
-    compileSdkVersion rootProject.ext.android.compileSdkVersion
-    // buildToolsVersion rootProject.ext.android.buildToolsVersion
-    defaultConfig {
-        minSdkVersion rootProject.ext.android.minSdkVersion
-        targetSdkVersion rootProject.ext.android.targetSdkVersion
-        versionCode Integer.valueOf(VERSION_CODE)
-        versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
-
-        ndk {
-            // 设置支持的SO库架构
-            abiFilters 'armeabi' //, 'x86', 'armeabi-v7a', 'x86_64', 'arm64-v8a'
-        }
-
-        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
-        consumerProguardFiles 'consumer-rules.pro'
-
-        //ARouter apt 参数
-        kapt {
-            useBuildCache = false
-            arguments {
-                arg("AROUTER_MODULE_NAME", project.getName())
-            }
-        }
-    }
-
-    buildTypes {
-        release {
-            minifyEnabled false
-            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-        }
-    }
-}
-
-dependencies {
-    implementation fileTree(dir: "libs", include: ["*.jar"])
-    implementation rootProject.ext.dependencies.androidxappcompat
-
-    implementation rootProject.ext.dependencies.arouter
-    kapt rootProject.ext.dependencies.aroutercompiler
-
-    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        api rootProject.ext.dependencies.crashreport
-        implementation rootProject.ext.dependencies.mogo_core_utils
-        implementation rootProject.ext.dependencies.mogocommons
-    } else {
-        api project(":test:crashreport")
-        implementation project(':core:mogo-core-utils')
-        implementation project(":foudations:mogo-commons")
-    }
-
-    implementation 'com.tencent.bugly:crashreport_upgrade:1.6.1'
-    //其中latest.release指代最新Bugly SDK版本号，也可以指定明确的版本号，例如2.1.9
-    implementation 'com.tencent.bugly:nativecrashreport:latest.release'
-    //其中latest.release指代最新Bugly NDK版本号，也可以指定明确的版本号，例如3.0
-}
-
-apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
\ No newline at end of file
diff --git a/test/crashreport-bugly/consumer-rules.pro b/test/crashreport-bugly/consumer-rules.pro
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/test/crashreport-bugly/gradle.properties b/test/crashreport-bugly/gradle.properties
deleted file mode 100644
index 6b451eda5d..0000000000
--- a/test/crashreport-bugly/gradle.properties
+++ /dev/null
@@ -1,3 +0,0 @@
-GROUP=com.mogo.test
-POM_ARTIFACT_ID=crashreport-bugly
-VERSION_CODE=1
diff --git a/test/crashreport-bugly/proguard-rules.pro b/test/crashreport-bugly/proguard-rules.pro
deleted file mode 100644
index 481bb43481..0000000000
--- a/test/crashreport-bugly/proguard-rules.pro
+++ /dev/null
@@ -1,21 +0,0 @@
-# Add project specific ProGuard rules here.
-# You can control the set of applied configuration files using the
-# proguardFiles setting in build.gradle.
-#
-# For more details, see
-#   http://developer.android.com/guide/developing/tools/proguard.html
-
-# If your project uses WebView with JS, uncomment the following
-# and specify the fully qualified class name to the JavaScript interface
-# class:
-#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
-#   public *;
-#}
-
-# Uncomment this to preserve the line number information for
-# debugging stack traces.
-#-keepattributes SourceFile,LineNumberTable
-
-# If you keep the line number information, uncomment this to
-# hide the original source file name.
-#-renamesourcefileattribute SourceFile
\ No newline at end of file
diff --git a/test/crashreport-bugly/src/main/AndroidManifest.xml b/test/crashreport-bugly/src/main/AndroidManifest.xml
deleted file mode 100644
index d9f7357150..0000000000
--- a/test/crashreport-bugly/src/main/AndroidManifest.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    package="com.mogo.test.crashreport.bugly">
-
-    /
-</manifest>
\ No newline at end of file
diff --git a/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java b/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
deleted file mode 100644
index 549dee35e9..0000000000
--- a/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
+++ /dev/null
@@ -1,76 +0,0 @@
-package com.mogo.test.crashreport.bugly;
-
-import android.content.Context;
-import android.text.TextUtils;
-
-import com.alibaba.android.arouter.facade.annotation.Route;
-import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
-import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.utilcode.util.AppUtils;
-import com.mogo.test.crashreport.CrashReportConstants;
-import com.mogo.test.crashreport.ITestCrashReportProvider;
-import com.tencent.bugly.Bugly;
-import com.tencent.bugly.crashreport.CrashReport;
-
-import java.io.BufferedReader;
-import java.io.FileReader;
-import java.io.IOException;
-
-
-/**
- * @author congtaowang
- * @since 2020/9/9
- *
- * 描述
- */
-//@Route(path = CrashReportConstants.PATH)
-public class BuglyCrashReportProvider implements ITestCrashReportProvider {
-
-    private static final String TAG = "BuglyCrashReportProvider";
-
-    @Override
-    public void init(Context context) {
-        String packageName = context.getPackageName();
-        String processName = getProcessName(android.os.Process.myPid());
-        CrashReport.UserStrategy strategy = new CrashReport.UserStrategy(context);
-        strategy.setUploadProcess(processName == null || processName.equals(packageName));
-        //该用户本次启动后的异常日志用户ID都将是 sn
-        CrashReport.setUserId(MoGoAiCloudClientConfig.getInstance().getSn());
-        String productFlavor = DebugConfig.getProductFlavor();
-        strategy.setAppChannel(productFlavor);
-        Bugly.init(context, CrashReportConstants.buglyAppID, true, strategy);
-        Bugly.putUserData(context, "serial", MoGoAiCloudClientConfig.getInstance().getSn());
-        String mapSDKVersion = AppUtils.getCustomMapSDKVersion(context);
-        Bugly.putUserData(context, "MAP_SDK_VERSION", mapSDKVersion);
-    }
-
-    /**
-     * 获取进程号对应的进程名
-     *
-     * @param pid 进程号
-     * @return 进程名
-     */
-    private static String getProcessName(int pid) {
-        BufferedReader reader = null;
-        try {
-            reader = new BufferedReader(new FileReader("/proc/" + pid + "/cmdline"));
-            String processName = reader.readLine();
-            if (!TextUtils.isEmpty(processName)) {
-                processName = processName.trim();
-            }
-            return processName;
-        } catch (Throwable throwable) {
-            throwable.printStackTrace();
-        } finally {
-            try {
-                if (reader != null) {
-                    reader.close();
-                }
-            } catch (IOException exception) {
-                exception.printStackTrace();
-            }
-        }
-        return null;
-    }
-}
-
diff --git a/test/crashreport-upgrade/.gitignore b/test/crashreport-upgrade/.gitignore
deleted file mode 100644
index 42afabfd2a..0000000000
--- a/test/crashreport-upgrade/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/build
\ No newline at end of file
diff --git a/test/crashreport-upgrade/build.gradle b/test/crashreport-upgrade/build.gradle
deleted file mode 100644
index 5bdd118607..0000000000
--- a/test/crashreport-upgrade/build.gradle
+++ /dev/null
@@ -1,63 +0,0 @@
-plugins {
-    id 'com.android.library'
-    id 'kotlin-android'
-    id 'kotlin-android-extensions'
-    id 'kotlin-kapt'
-    id 'com.alibaba.arouter'
-}
-
-android {
-    compileSdkVersion rootProject.ext.android.compileSdkVersion
-    defaultConfig {
-        minSdkVersion rootProject.ext.android.minSdkVersion
-        targetSdkVersion rootProject.ext.android.targetSdkVersion
-        versionCode Integer.valueOf(VERSION_CODE)
-        versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
-
-        ndk {
-            // 设置支持的SO库架构
-            abiFilters 'armeabi' //, 'x86', 'armeabi-v7a', 'x86_64', 'arm64-v8a'
-        }
-
-        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
-        consumerProguardFiles 'consumer-rules.pro'
-
-        //ARouter apt 参数
-        kapt {
-            useBuildCache = false
-            arguments {
-                arg("AROUTER_MODULE_NAME", project.getName())
-            }
-        }
-    }
-
-    buildTypes {
-        release {
-            minifyEnabled false
-            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
-        }
-    }
-}
-
-dependencies {
-    implementation fileTree(dir: "libs", include: ["*.jar"])
-    implementation rootProject.ext.dependencies.androidxappcompat
-
-    implementation rootProject.ext.dependencies.arouter
-    kapt rootProject.ext.dependencies.aroutercompiler
-
-    if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
-        api rootProject.ext.dependencies.crashreport
-        implementation rootProject.ext.dependencies.mogo_core_utils
-        implementation rootProject.ext.dependencies.mogocommons
-    } else {
-        api project(":test:crashreport")
-        implementation project(':core:mogo-core-utils')
-        implementation project(":foudations:mogo-commons")
-    }
-
-    implementation 'com.tencent.bugly:crashreport_upgrade:1.6.1'
-    //其中latest.release指代最新版本号，也可以指定明确的版本号，例如1.2.0
-}
-
-apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
\ No newline at end of file
diff --git a/test/crashreport-upgrade/consumer-rules.pro b/test/crashreport-upgrade/consumer-rules.pro
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/test/crashreport-upgrade/gradle.properties b/test/crashreport-upgrade/gradle.properties
deleted file mode 100644
index bcb33e8a94..0000000000
--- a/test/crashreport-upgrade/gradle.properties
+++ /dev/null
@@ -1,3 +0,0 @@
-GROUP=com.mogo.test
-POM_ARTIFACT_ID=crashreport-upgrade
-VERSION_CODE=1
diff --git a/test/crashreport-upgrade/proguard-rules.pro b/test/crashreport-upgrade/proguard-rules.pro
deleted file mode 100644
index 68dec0863c..0000000000
--- a/test/crashreport-upgrade/proguard-rules.pro
+++ /dev/null
@@ -1,24 +0,0 @@
-# Add project specific ProGuard rules here.
-# You can control the set of applied configuration files using the
-# proguardFiles setting in build.gradle.
-#
-# For more details, see
-#   http://developer.android.com/guide/developing/tools/proguard.html
-
-# If your project uses WebView with JS, uncomment the following
-# and specify the fully qualified class name to the JavaScript interface
-# class:
-#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
-#   public *;
-#}
-
-# Uncomment this to preserve the line number information for
-# debugging stack traces.
-#-keepattributes SourceFile,LineNumberTable
-
-# If you keep the line number information, uncomment this to
-# hide the original source file name.
-#-renamesourcefileattribute SourceFile
--dontwarn com.tencent.bugly.**
--keep public class com.tencent.bugly.**{*;}
--keep class android.support.**{*;}
diff --git a/test/crashreport-upgrade/src/main/AndroidManifest.xml b/test/crashreport-upgrade/src/main/AndroidManifest.xml
deleted file mode 100644
index 9f5b88a7f2..0000000000
--- a/test/crashreport-upgrade/src/main/AndroidManifest.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<manifest xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
-    package="com.mogo.test.crashreport.upgrade">
-
-    <application>
-        <provider
-            android:name="androidx.core.content.FileProvider"
-            android:authorities="${applicationId}.fileProvider"
-            android:exported="false"
-            tools:replace="android:authorities"
-            android:grantUriPermissions="true">
-            <meta-data
-                android:name="android.support.FILE_PROVIDER_PATHS"
-                android:resource="@xml/provider_paths" />
-        </provider>
-
-        <activity
-            android:name="com.tencent.bugly.beta.ui.BetaActivity"
-            android:configChanges="keyboardHidden|orientation|screenSize|locale"
-            android:theme="@android:style/Theme.Translucent" />
-    </application>
-</manifest>
\ No newline at end of file
diff --git a/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportConstants.java b/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportConstants.java
deleted file mode 100644
index 8e2b0380b8..0000000000
--- a/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportConstants.java
+++ /dev/null
@@ -1,15 +0,0 @@
-package com.mogo.test.crashreport.upgrade;
-
-
-/**
- * @author donghongyu
- * @since 2020/9/9
- * <p>
- * 描述
- */
-public class UpgradeReportConstants {
-
-    public static final String PATH = "/upgradereport/api";
-
-    public static final String NAME = "UpgradeReportApi";
-}
diff --git a/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java b/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java
deleted file mode 100644
index aeb73c0be8..0000000000
--- a/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java
+++ /dev/null
@@ -1,78 +0,0 @@
-package com.mogo.test.crashreport.upgrade;
-
-import android.content.Context;
-import android.text.TextUtils;
-
-import com.alibaba.android.arouter.facade.annotation.Route;
-import com.alibaba.android.arouter.facade.template.IProvider;
-import com.mogo.commons.debug.DebugConfig;
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
-import com.mogo.eagle.core.utilcode.util.AppUtils;
-import com.mogo.test.crashreport.CrashReportConstants;
-import com.tencent.bugly.Bugly;
-import com.tencent.bugly.crashreport.CrashReport;
-
-import java.io.BufferedReader;
-import java.io.FileReader;
-import java.io.IOException;
-
-
-/**
- * @author donghongyu
- * @since 2020/9/9
- * <p>
- * 升级模块
- */
-@Route(path = UpgradeReportConstants.PATH)
-public class UpgradeReportProvider implements IProvider {
-
-    private static final String TAG = "UpgradeReportProvider";
-
-    @Override
-    public void init(Context context) {
-        String packageName = context.getPackageName();
-        String processName = getProcessName(android.os.Process.myPid());
-        CrashReport.UserStrategy strategy = new CrashReport.UserStrategy(context);
-        strategy.setUploadProcess(processName == null || processName.equals(packageName));
-
-        String productFlavor = DebugConfig.getProductFlavor();
-        strategy.setAppChannel(productFlavor);
-        Bugly.init(context, CrashReportConstants.buglyAppID, true, strategy);
-        String sn = SharedPrefsMgr.getInstance(context).getString("sn");
-        if (sn != null && !sn.isEmpty()) {
-            Bugly.putUserData(context, "serial", sn);
-        }
-        String mapSDKVersion = DebugConfig.getMapVersion();
-        Bugly.putUserData(context, "MAP_SDK_VERSION", mapSDKVersion);
-    }
-
-    /**
-     * 获取进程号对应的进程名
-     *
-     * @param pid 进程号
-     * @return 进程名
-     */
-    private static String getProcessName(int pid) {
-        BufferedReader reader = null;
-        try {
-            reader = new BufferedReader(new FileReader("/proc/" + pid + "/cmdline"));
-            String processName = reader.readLine();
-            if (!TextUtils.isEmpty(processName)) {
-                processName = processName.trim();
-            }
-            return processName;
-        } catch (Throwable throwable) {
-            throwable.printStackTrace();
-        } finally {
-            try {
-                if (reader != null) {
-                    reader.close();
-                }
-            } catch (IOException exception) {
-                exception.printStackTrace();
-            }
-        }
-        return null;
-    }
-}
-
diff --git a/test/crashreport-upgrade/src/main/res/xml/provider_paths.xml b/test/crashreport-upgrade/src/main/res/xml/provider_paths.xml
deleted file mode 100644
index 1b4e49502c..0000000000
--- a/test/crashreport-upgrade/src/main/res/xml/provider_paths.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<paths xmlns:android="http://schemas.android.com/apk/res/android">
-    <!-- /storage/emulated/0/Download/${applicationId}/.beta/apk-->
-    <external-path name="beta_external_path" path="Download/"/>
-    <!--/storage/emulated/0/Android/data/${applicationId}/files/apk/-->
-    <external-path name="beta_external_files_path" path="Android/data/"/>
-</paths>
\ No newline at end of file