diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerBaseFragment.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerBaseFragment.java
index 0f991d1346..6de6ceb031 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerBaseFragment.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerBaseFragment.java
@@ -9,13 +9,18 @@ import android.widget.ImageView;
 import android.widget.TextView;
 
 import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
 import androidx.core.widget.ContentLoadingProgressBar;
 
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 
 import com.mogo.commons.mvp.Presenter;
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.api.telematic.IReceivedMsgListener;
+import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManager;
+import com.mogo.eagle.core.function.hmi.ui.widget.DriverMonitorView;
 import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -42,6 +47,12 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen
 
     private View mLiveBtn;
     private View mLiveShadow;
+    private DriverMonitorView driverMonitorView;
+
+    // 记录司机端是否打开了显示开关,
+    // 开关开启时，有视频流的车辆持续常驻展示视频流，无视频流的车辆不展示（无占位）；
+    // 开关关闭时，无论是否有视频流，均不展示（无占位）；开关默认关闭
+    private boolean driverToggle = false;
     /**
      * 改变自动驾驶状态
      *
@@ -70,8 +81,15 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen
         mProgressBar = findViewById(R.id.bus_progress_bar);
 
         mLiveShadow = findViewById(R.id.liveShadow);
+        driverMonitorView = findViewById(R.id.driverMonitorView);
         mLiveBtn = findViewById(R.id.liveBtn);
 
+        driverMonitorView.setLiveListener(
+                () -> {
+                    mLiveShadow.setVisibility(View.GONE);
+                }
+        );
+
         mLiveBtn.setOnLongClickListener(new View.OnLongClickListener() {
             @Override
             public boolean onLongClick(View v) {
@@ -79,6 +97,30 @@ public abstract class BusPassengerBaseFragment<V extends IView, P extends Presen
                 return true;
             }
         });
+        CallerTelematicListenerManager.INSTANCE.addListener(TAG, new IReceivedMsgListener() {
+            @Override
+            public void onReceivedServerSn(@Nullable String sn) {
+
+            }
+
+            @Override
+            public void onReceivedMsg(int type, @NonNull byte[] byteArray) {
+                if (type == TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR) {
+                    switch (new String(byteArray)) {
+                        // 乘客端开启漫游
+                        case "0": {
+                            mLiveShadow.setVisibility(View.GONE);
+                            break;
+                        }
+                        // 乘客端关闭漫游
+                        case "1": {
+                            mLiveShadow.setVisibility(View.VISIBLE);
+                            break;
+                        }
+                    }
+                }
+            }
+        });
 
         showRouteFragment();
 
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
index 88e7cb8ee6..3a62a33c73 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout 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:layout_width="match_parent"
     android:layout_height="match_parent">
 
@@ -8,9 +9,9 @@
         android:id="@+id/mapBizView"
         android:layout_width="@dimen/dp_1860"
         android:layout_height="match_parent"
+        app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"/>
+        app:layout_constraintTop_toTopOf="parent" />
 
     <com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugViewTrigger
         android:layout_width="@dimen/dp_400"
@@ -33,28 +34,20 @@
         android:id="@+id/bus_p_autopilot_iv"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_gravity="center_horizontal"
         android:layout_marginLeft="@dimen/bus_p_curent_station_panel_margin"
         android:layout_marginTop="@dimen/dp_112"
         android:scaleType="fitXY"
-        android:visibility="gone"
-        android:layout_gravity="center_horizontal"
         android:src="@drawable/bus_p_un_auto_nor"
+        android:visibility="gone"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"/>
+        app:layout_constraintTop_toTopOf="parent" />
 
     <!--浓雾预警动画-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XFogEventView
         android:layout_width="match_parent"
-        android:layout_height="match_parent"/>
+        android:layout_height="match_parent" />
 
-    <!--pnc行为决策-->
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
-        android:layout_width="wrap_content"
-        android:layout_height="@dimen/dp_100"
-        android:layout_marginBottom="@dimen/dp_110"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent" />
 
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaPassengerView
         android:id="@+id/ivMoGoLogo"
@@ -63,10 +56,10 @@
         android:layout_marginRight="@dimen/dp_751"
         android:layout_marginBottom="@dimen/dp_59"
         android:background="@drawable/roma_bus_p_bg_selector"
-        app:roma_close="@drawable/roma_bus_p_bg_selector"
-        app:roma_open="@drawable/iv_roma_bus_passenger_press_bg"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintRight_toRightOf="parent" />
+        app:layout_constraintRight_toRightOf="parent"
+        app:roma_close="@drawable/roma_bus_p_bg_selector"
+        app:roma_open="@drawable/iv_roma_bus_passenger_press_bg" />
 
     <com.mogo.och.common.module.wigets.OCHBorderShadowLayout
         android:id="@+id/arrive_station_shadow"
@@ -117,14 +110,15 @@
                 android:textStyle="bold"
                 app:layout_constraintLeft_toLeftOf="@+id/bus_p_cur_station_title"
                 app:layout_constraintTop_toBottomOf="@+id/bus_p_cur_station_title" />
+
             <androidx.appcompat.widget.AppCompatImageView
                 android:layout_width="@dimen/dp_20"
                 android:layout_height="@dimen/dp_27"
-                app:layout_constraintTop_toTopOf="@+id/bus_p_cur_station_name"
+                android:layout_marginRight="@dimen/dp_10"
+                android:src="@drawable/station_arrow"
                 app:layout_constraintBottom_toBottomOf="@+id/bus_p_cur_station_name"
                 app:layout_constraintRight_toLeftOf="@+id/bus_p_cur_station_name"
-                android:layout_marginRight="@dimen/dp_10"
-                android:src="@drawable/station_arrow">
+                app:layout_constraintTop_toTopOf="@+id/bus_p_cur_station_name">
 
             </androidx.appcompat.widget.AppCompatImageView>
 
@@ -143,26 +137,26 @@
 
             <androidx.core.widget.ContentLoadingProgressBar
                 android:id="@+id/bus_progress_bar"
+                style="@style/Widget.AppCompat.ProgressBar.Horizontal"
                 android:layout_width="0dp"
                 android:layout_height="@dimen/dp_10"
-                android:progress="0"
-                style="@style/Widget.AppCompat.ProgressBar.Horizontal"
-                app:layout_constraintBottom_toBottomOf="parent"
-                app:layout_constraintLeft_toLeftOf="parent"
                 android:layout_marginLeft="@dimen/dp_12"
                 android:layout_marginRight="@dimen/dp_15"
-                app:layout_constraintRight_toRightOf="parent"
-                android:progressDrawable="@drawable/bus_progress_bar_bg" />
+                android:progress="0"
+                android:progressDrawable="@drawable/bus_progress_bar_bg"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintLeft_toLeftOf="parent"
+                app:layout_constraintRight_toRightOf="parent" />
         </androidx.constraintlayout.widget.ConstraintLayout>
 
     </com.mogo.och.common.module.wigets.OCHBorderShadowLayout>
 
-
     <com.mogo.och.common.module.wigets.OCHBorderShadowLayout
         android:id="@+id/liveShadow"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginLeft="@dimen/bus_p_curent_station_panel_margin_left"
+        android:visibility="gone"
         app:bgColor="@android:color/transparent"
         app:blurRadius="@dimen/dp_30"
         app:layout_constraintBottom_toBottomOf="@+id/arrive_station_shadow"
@@ -171,7 +165,8 @@
         app:shadowColor="@color/bus_p_panel_edge_shadow"
         app:shadowRadius="@dimen/dp_30"
         app:xOffset="0dp"
-        app:yOffset="0dp">
+        app:yOffset="0dp"
+        tools:visibility="visible">
 
         <androidx.appcompat.widget.LinearLayoutCompat
             android:layout_width="wrap_content"
@@ -179,6 +174,7 @@
             android:background="@drawable/bus_p_panel_cur_station_panel">
 
             <com.mogo.eagle.core.function.hmi.ui.widget.DriverMonitorView
+                android:id="@+id/driverMonitorView"
                 android:layout_width="@dimen/bus_p_live_station_panel_width"
                 android:layout_height="@dimen/bus_p_curent_station_panel_height" />
         </androidx.appcompat.widget.LinearLayoutCompat>
@@ -203,10 +199,17 @@
     <com.mogo.eagle.core.function.hmi.ui.msgbox.BusPassengerMsgBoxBubbleView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        app:layout_constraintRight_toLeftOf="@+id/bus_p_route_panel"
-        app:layout_constraintTop_toTopOf="parent"
-        android:layout_marginRight="@dimen/dp_40"
         android:layout_marginTop="@dimen/dp_100"
-        />
+        android:layout_marginRight="@dimen/dp_40"
+        app:layout_constraintRight_toLeftOf="@+id/bus_p_route_panel"
+        app:layout_constraintTop_toTopOf="parent" />
 
+    <!--pnc行为决策-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
+        android:layout_width="wrap_content"
+        android:layout_height="@dimen/dp_100"
+        android:layout_marginBottom="@dimen/dp_110"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent" />
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/app/src/main/java/com/mogo/launcher/lancet/ANRFix.kt b/app/src/main/java/com/mogo/launcher/lancet/ANRFix.kt
index 746a875ee0..63ddc771a6 100644
--- a/app/src/main/java/com/mogo/launcher/lancet/ANRFix.kt
+++ b/app/src/main/java/com/mogo/launcher/lancet/ANRFix.kt
@@ -19,70 +19,70 @@ class ANRFix {
 
     companion object {
 
-        @JvmStatic
-        @TargetClass(value = "android.os.Handler", scope = ALL)
-        @TargetMethod(methodName = "post")
-        @ReplaceInvoke
-        fun handlerPostProxy(handler: Handler, action: Runnable): Boolean {
-            if (Looper.getMainLooper() != handler.looper) {
-                return handler.post(action)
-            }
-            val what = ObjectHashCodeUtils.getHashCodeIfNeed(action)
-            handler.removeMessages(what)
-            val msg = Message.obtain(handler, action)
-            msg.what = what
-            return handler.sendMessage(msg)
-        }
-
-        @JvmStatic
-        @TargetClass(value = "android.os.Handler", scope = ALL)
-        @TargetMethod(methodName = "postDelayed")
-        @ReplaceInvoke
-        fun handlerPostDelayProxy(handler: Handler, action: Runnable, delayMillis: Long): Boolean {
-            if (Looper.getMainLooper() != handler.looper) {
-                return handler.postDelayed(action, delayMillis)
-            }
-            val what = ObjectHashCodeUtils.getHashCodeIfNeed(action)
-            handler.removeMessages(what)
-            val msg = Message.obtain(handler, action)
-            msg.what = what
-            return handler.sendMessageDelayed(msg, delayMillis)
-        }
-
-        @JvmStatic
-        @TargetClass(value = "android.app.Activity", scope = ALL)
-        @TargetMethod(methodName = "post")
-        @ReplaceInvoke
-        fun runOnUiThreadOfActivityProxy(activity: Activity, action: Runnable) {
-            if (Looper.myLooper() != Looper.getMainLooper()) {
-                UiThreadHandler.post(action)
-            } else {
-                activity.runOnUiThread(action)
-            }
-        }
-
-        @JvmStatic
-        @TargetClass(value = "android.view.View", scope = ALL)
-        @TargetMethod(methodName = "post")
-        @ReplaceInvoke
-        fun postOfViewProxy(view: View, action: Runnable): Boolean {
-            return if (Looper.myLooper() != Looper.getMainLooper()) {
-                UiThreadHandler.post(action)
-            } else {
-                view.post(action)
-            }
-        }
-
-        @JvmStatic
-        @TargetClass(value = "android.view.View", scope = ALL)
-        @TargetMethod(methodName = "postDelayed")
-        @ReplaceInvoke
-        fun postDelayedOfViewProxy(view: View, action: Runnable, delayMillis: Long): Boolean {
-            return if (Looper.myLooper() != Looper.getMainLooper()) {
-                UiThreadHandler.postDelayed(action, delayMillis)
-            } else {
-                view.postDelayed(action, delayMillis)
-            }
-        }
+//        @JvmStatic
+//        @TargetClass(value = "android.os.Handler", scope = ALL)
+//        @TargetMethod(methodName = "post")
+//        @ReplaceInvoke
+//        fun handlerPostProxy(handler: Handler, action: Runnable): Boolean {
+//            if (Looper.getMainLooper() != handler.looper) {
+//                return handler.post(action)
+//            }
+//            val what = ObjectHashCodeUtils.getHashCodeIfNeed(action)
+//            handler.removeMessages(what)
+//            val msg = Message.obtain(handler, action)
+//            msg.what = what
+//            return handler.sendMessage(msg)
+//        }
+//
+//        @JvmStatic
+//        @TargetClass(value = "android.os.Handler", scope = ALL)
+//        @TargetMethod(methodName = "postDelayed")
+//        @ReplaceInvoke
+//        fun handlerPostDelayProxy(handler: Handler, action: Runnable, delayMillis: Long): Boolean {
+//            if (Looper.getMainLooper() != handler.looper) {
+//                return handler.postDelayed(action, delayMillis)
+//            }
+//            val what = ObjectHashCodeUtils.getHashCodeIfNeed(action)
+//            handler.removeMessages(what)
+//            val msg = Message.obtain(handler, action)
+//            msg.what = what
+//            return handler.sendMessageDelayed(msg, delayMillis)
+//        }
+//
+//        @JvmStatic
+//        @TargetClass(value = "android.app.Activity", scope = ALL)
+//        @TargetMethod(methodName = "post")
+//        @ReplaceInvoke
+//        fun runOnUiThreadOfActivityProxy(activity: Activity, action: Runnable) {
+//            if (Looper.myLooper() != Looper.getMainLooper()) {
+//                UiThreadHandler.post(action)
+//            } else {
+//                activity.runOnUiThread(action)
+//            }
+//        }
+//
+//        @JvmStatic
+//        @TargetClass(value = "android.view.View", scope = ALL)
+//        @TargetMethod(methodName = "post")
+//        @ReplaceInvoke
+//        fun postOfViewProxy(view: View, action: Runnable): Boolean {
+//            return if (Looper.myLooper() != Looper.getMainLooper()) {
+//                UiThreadHandler.post(action)
+//            } else {
+//                view.post(action)
+//            }
+//        }
+//
+//        @JvmStatic
+//        @TargetClass(value = "android.view.View", scope = ALL)
+//        @TargetMethod(methodName = "postDelayed")
+//        @ReplaceInvoke
+//        fun postDelayedOfViewProxy(view: View, action: Runnable, delayMillis: Long): Boolean {
+//            return if (Looper.myLooper() != Looper.getMainLooper()) {
+//                UiThreadHandler.postDelayed(action, delayMillis)
+//            } else {
+//                view.postDelayed(action, delayMillis)
+//            }
+//        }
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
index 30e29c0fbb..ed27524c68 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/FuncBizProvider.kt
@@ -107,6 +107,10 @@ class FuncBizProvider : IMoGoFuncBizProvider {
         OverViewDataManager.getAllV2XEventsByLineId(MoGoAiCloudClientConfig.getInstance().sn)
     }
 
+    override fun stopQueryV2XEvents() {
+        OverViewDataManager.stopQueryV2XEvents()
+    }
+
     override fun queryV2XEvents() {
         if ((AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) && !FunctionBuildConfig.isNewV2NData)
                 || AppIdentityModeUtils.isBus(FunctionBuildConfig.appIdentityMode)) {
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt
index 27780b4702..bd49ec6ff4 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt
@@ -2,13 +2,13 @@ package com.mogo.eagle.function.biz.v2x.road
 
 import android.content.Context
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
-import com.mogo.commons.constants.HostConst.DATA_CENTER_HOST
 import com.mogo.commons.constants.HostConst.getEagleHost
 import com.mogo.eagle.core.data.v2x.LineUploadData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.function.biz.v2x.V2XBizTrace
 import io.reactivex.android.schedulers.AndroidSchedulers
 import io.reactivex.disposables.Disposable
 import io.reactivex.schedulers.Schedulers
@@ -48,6 +48,7 @@ class LineUploadManager private constructor(context: Context) : IMoGoAutopilotSt
 
     override fun onAutopilotRouteLineId(lineId: Long) {
         super.onAutopilotRouteLineId(lineId)
+        V2XBizTrace.onAck("onAutopilotRouteLineId", "lineId: $lineId")
         if (lineId > 0) {
             uploadLine(lineId)
         }
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java
index 8c3b605103..529f838883 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/alarm/V2XAlarmServer.java
@@ -37,7 +37,7 @@ public class V2XAlarmServer {
             CopyOnWriteArrayList<V2XRoadEventEntity> v2XRoadEventEntityList,
             MogoLocation currentLocation) {
         try {
-            //Logger.d(TAG, "getDriveFrontAlarmEvent --- 1 ---" + currentLocation );
+            Logger.d(TAG, "getDriveFrontAlarmEvent --- 1 ---" + currentLocation );
             if (!showedEvents.isEmpty()) {
                 Iterator<V2XRoadEventEntity> iterator = showedEvents.iterator();
                 while (iterator.hasNext()) {
@@ -54,7 +54,7 @@ public class V2XAlarmServer {
                     }
                 }
             }
-            //Logger.d(TAG, "getDriveFrontAlarmEvent --- 2 ---" + currentLocation);
+            Logger.d(TAG, "getDriveFrontAlarmEvent --- 2 ---" + currentLocation);
             if (currentLocation != null && v2XRoadEventEntityList != null) {
                 // 因为集合是按照距离排序后的所以这里检索出来第一个就发出警告
                 for (V2XRoadEventEntity v2XRoadEventEntity : v2XRoadEventEntityList) {
@@ -65,7 +65,7 @@ public class V2XAlarmServer {
                         MarkerLocation eventLocation = v2XRoadEventEntity.getLocation();
                         // 1、判断是否到达了触发距离,20 ~ 500,
                         double distance = v2XRoadEventEntity.getDistance();
-                        //Logger.d(TAG, "distance:" + distance);
+                        Logger.d(TAG, "distance:" + distance + ",poiType:" + v2XRoadEventEntity.getPoiType());
                         if (distance <= 500) {
                             if (EventTypeEnumNew.GHOST_PROBE.getPoiType().equals(v2XRoadEventEntity.getPoiType())) {
                                 if (distance > 25) {
@@ -76,8 +76,8 @@ public class V2XAlarmServer {
                             double carBearing = currentLocation.getHeading();
                             double eventBearing = eventLocation.getAngle();
                             double diffAngle = DrivingDirectionUtils.getAngleDiff(carBearing, eventBearing);
-                            //Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
-                            if (diffAngle <= 20) {
+                            Logger.d(TAG, "car_bearing:" + carBearing + ",eventBearing:" + eventBearing + ",diffAngle:" + diffAngle);
+                            if (diffAngle <= 30) {
                                 // 3、计算当前车辆行驶方向与事件位置之间夹角《20度，保证道路事件在车辆前方
                                 double eventAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
                                         currentLocation.getLongitude(),
@@ -87,12 +87,12 @@ public class V2XAlarmServer {
                                         (int) currentLocation.getHeading()
                                 );
 
-                                //Logger.d(TAG, "eventAngle:" + eventAngle);
-                                if (0 <= eventAngle && eventAngle <= 20) {
+                                Logger.d(TAG, "eventAngle:" + eventAngle);
+                                if (0 <= eventAngle && eventAngle <= 25) {
                                     if (showedEvents.contains(v2XRoadEventEntity)) {
                                         return null;
                                     }
-                                    //Logger.d(TAG, "showed---");
+                                    Logger.d(TAG, "showed---");
                                     showedEvents.add(v2XRoadEventEntity);
                                     return v2XRoadEventEntity;
                                 }
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
index 1ab7cca965..7bf873fb68 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -18,6 +18,7 @@ import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
 import com.mogo.eagle.core.utilcode.mogo.*
 import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.function.biz.v2x.V2XBizTrace
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.*
 import com.mogo.eagle.function.biz.v2x.v2n.scenario.scene.airoad.AiRoadMarker.Marker
 import mogo.telematics.pad.MessagePad.Header
@@ -56,7 +57,7 @@ internal object V2NIdentifyDrawer {
                     AiRoadMarker().apply {
                         val poiType = getPoiType(itx.type).poiType
                         val polygon = itx.polygonList.map { Pair.create(it.longitude, it.latitude) }
-                        marker(Marker(id, poiType, itx.longitude, itx.latitude, itx.heading, polygon, null,
+                        marker(Marker(id, poiType, itx.latitude,itx.longitude, itx.heading, polygon, null,
                             V2XRoadEventEntity().also { e ->
                                 e.poiType = poiType
                             e.location = MarkerLocation().also { l ->
@@ -111,7 +112,7 @@ internal object V2NIdentifyDrawer {
                 AiRoadMarker.aiMakers.getOrPut(id) {
                     AiRoadMarker().apply {
                         val poiType = getPoiType(itx.eventType).poiType
-                        marker(Marker(id, poiType, lon, lat, car.heading, null, null,
+                        marker(Marker(id, poiType,  lat, lon, car.heading, null, null,
                             V2XRoadEventEntity().also { e ->
                                 e.poiType = poiType
                                 e.location = MarkerLocation().also { l ->
@@ -199,8 +200,15 @@ internal object V2NIdentifyDrawer {
 
         override fun onAutopilotIdentifyDataUpdate(trafficData: List<TrackedObject>?) {
             super.onAutopilotIdentifyDataUpdate(trafficData)
-            val shiGong = trafficData?.filter { it.type == 501 || it.type == 502 }
+            try {
+                if (trafficData != null) {
+                    V2XBizTrace.onAck("onAutopilotIdentifyDataUpdate", trafficData)
+                }
+            } catch (t: Throwable) {
+                t.printStackTrace()
+            }
             Logger.d(TAG, "--- onAutopilotIdentifyDataUpdate -- : trafficData: ${ trafficData?.joinToString(",") }")
+            val shiGong = trafficData?.filter { it.type == 501 || it.type == 502 }
             if (shiGong != null && shiGong.isNotEmpty()) {
                 drawShiGong(shiGong)
             }
@@ -212,6 +220,13 @@ internal object V2NIdentifyDrawer {
 
         override fun onAutopilotV2nCongestionEvent(header: Header, rsi: RSI_PB) {
             super.onAutopilotV2nCongestionEvent(header, rsi)
+            Logger.d(TAG, "--- onAutopilotV2nCongestionEvent -- : rsi: ${ GsonUtils.toJson(rsi) }")
+            try {
+                V2XBizTrace.onAck("onAutopilotV2nCongestionEvent", rsi)
+            } catch (t: Throwable) {
+                t.printStackTrace()
+            }
+            
             rsi.rsiFrame?.rtes?.rteDataList?.filter {
                 it.eventType == 102
             }?.takeIf {
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
index 8ccd111468..daf151375b 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -4,6 +4,7 @@ import android.animation.ArgbEvaluator
 import android.graphics.Color
 import android.os.Handler
 import android.os.Looper
+import android.util.Log
 import android.view.animation.DecelerateInterpolator
 import androidx.core.util.Pair
 import com.mogo.eagle.core.data.map.MogoLatLng
@@ -88,6 +89,7 @@ class AiRoadMarker {
                 300f
             )
             //施工中心点后方的自车行驶方向上300米距离
+            Log.d(TAG, "--- marker --- 3 --- l1:$l1")
             V2XBizTrace.onAck("$TAG --- marker --- 3 --- l1:", l1)
             val l2 = MogoMap.getInstance().mogoMap.getCenterLineRangeInfo(
                 marker.poi_lon,
@@ -96,9 +98,11 @@ class AiRoadMarker {
                 -300f
             )
             if (l1.points.isEmpty() || l2.points.isEmpty()) {
+                Log.d(TAG, " --- marker --- 3 --- return ----")
                 V2XBizTrace.onAck("$TAG --- marker --- 3 --- return ----", "")
                 return
             }
+            Log.d(TAG, " --- marker --- 4 --- l2: $l2")
             V2XBizTrace.onAck("$TAG --- marker --- 4 --- l2:", l2)
             val points = LinkedList<MogoLatLng>()
             if (l2 != null && l2.points.isNotEmpty()) {
@@ -108,6 +112,7 @@ class AiRoadMarker {
             }
             val centerX = marker.poi_lon
             val centerY = marker.poi_lat
+            Log.d(TAG, "--- marker --- 5 --- marker: $marker")
             V2XBizTrace.onAck("$TAG --- marker --- 5 --- marker:", marker)
             val farthestPoint = marker.polygon?.let {
                 var find: Pair<Double, Double> = Pair(centerX, centerY)
@@ -128,6 +133,7 @@ class AiRoadMarker {
                 MogoLatLng(find.second, find.first)
             } ?: MogoLatLng(centerY, centerX)
             marker.farthestPoint = Pair(farthestPoint.lon, farthestPoint.lat)
+            Log.d(TAG, "--- marker --- 6 --- marker:$marker")
             V2XBizTrace.onAck("$TAG --- marker --- 6 --- marker:", marker)
             if (l1 != null && l1.points.isNotEmpty()) {
                 for (l in l1.points) {
@@ -160,6 +166,7 @@ class AiRoadMarker {
             var line = line.get()
             options.points(points)
             options.colorValues(colors)
+            Log.d(TAG,  "--- marker --- 7 --- points:${points.size}")
             V2XBizTrace.onAck("$TAG --- marker --- 7 --- points:", "${points.size}")
             if (line == null || line.isDestroyed) {
                 val l = overlayManager?.addPolyline(options)
@@ -183,8 +190,10 @@ class AiRoadMarker {
 
     private fun removeLine() {
         val old = line.get()
+        Log.d(TAG, " --- removeRedLine --- 1")
         V2XBizTrace.onAck("$TAG --- removeRedLine --- 1", "")
         if (old != null) {
+            Log.d(TAG,"--- removeRedLine --- 2")
             V2XBizTrace.onAck("$TAG --- removeRedLine --- 2", "")
             line.set(null)
             old.isVisible = false
@@ -193,6 +202,7 @@ class AiRoadMarker {
     }
 
     private fun unMarker(marker: Marker) {
+        Log.d(TAG,"$TAG --- unMarker ---")
         V2XBizTrace.onAck("$TAG --- unMarker ---", "")
         this.marker.set(null)
         removeLine()
@@ -202,11 +212,13 @@ class AiRoadMarker {
     }
 
     fun receive() {
+        Log.d(TAG, " --- receive --- 1 ---")
         V2XBizTrace.onAck("$TAG --- receive --- 1 ---", "")
         val poi = this.marker.get()
         val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
         if (poi != null) {
             val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
+            Log.d(TAG ," --- receive --- 2 ---car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance")
             V2XBizTrace.onAck(
                 "$TAG --- receive --- 2 ---",
                 "car:[${car.longitude}, ${car.latitude}] -> poi:[${poi.poi_lon}, ${poi.poi_lat}] --> distance:$distance"
@@ -214,6 +226,7 @@ class AiRoadMarker {
             if (distance < 500) {
                 checkExpired()
             } else {
+                unMarker(poi)
                 handler.removeCallbacks(checkExpiredTask)
             }
         } else {
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
index 4a6c46f7d9..af46c9d815 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/telematic/TeleMsgHandler.kt
@@ -149,6 +149,11 @@ class TeleMsgHandler : IMsgHandler {
                         CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.OPEN_ROMA_STATUS,it.body)
                     }
                 }
+                TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR -> {
+                    ThreadUtils.runOnUiThread {
+                        CallerTelematicListenerManager.invokeReceivedMsg(TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR,it.body)
+                    }
+                }
                 else -> {
                 }
             }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt
index 75af486bdf..38ca984932 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeAppNetWorkManager.kt
@@ -60,7 +60,7 @@ class UpgradeAppNetWorkManager private constructor() {
                 provider?.recordUpgradeRecord(sn ?: "", macAddress, type, FunctionBuildConfig.isSupportPatchUpgrade)
                 provider?.recordUpgradeRequestStart()
                 val info = mUpgradeApiService.getUpgradeInfo(requestBody)
-                SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.APP_UPGRADE_CONTENT, if (info.result != null) GsonUtils.toJson(info) + "--mac:$macAddress --type:$type --sn:$sn --versionName:$versionName" else "info.result == null  --mac:$macAddress --type:$type --sn:$sn --versionName:$versionName")
+                SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.APP_UPGRADE_CONTENT, if (info.result != null) GsonUtils.toJson(info) + "--mac:$macAddress --type:$type --sn:$sn --versionName:$versionName" else "info.result == null  --mac:$macAddress --type:$type --sn:$sn --versionName:$versionName --versionCode:$versionCode")
                 if (info.result != null) { 
                     provider?.recordUpgradeRequestSuccess(GsonUtils.toJson(info))
                     doUpgrade(info)
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 be7e822a58..1f7ab7769b 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
@@ -2,6 +2,7 @@ package com.zhjt.mogo_core_function_devatools.upgrade
 
 import android.content.Context
 import android.content.pm.PackageInstaller
+import android.util.Log
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.upgrade.IMoGoUpgradeProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
@@ -52,7 +53,7 @@ class UpgradeManager : IDownload {
 
 
     fun downLoadPackage(context: Context, type: DownloadType, downloadKey: String, downloadUrl: String) {
-        CallerLogger.d("${SceneConstant.M_OBU}${MogoObuConst.TAG_UPGRADE_OBU}", "UpgradeManager downLoadPackage = " + downloadUrl.contains(".zip") + "----downloadKey = $downloadKey  ---downloadUrl = $downloadUrl")
+        CallerLogger.d("$M_DEVA$TAG", "UpgradeManager downLoadPackage = " + downloadUrl.contains(".zip") + "---type =" + type +  "----downloadKey = $downloadKey  ---downloadUrl = $downloadUrl")
         types[downloadUrl] = type
         DownloadUtils.downLoad(
             context,
@@ -229,10 +230,17 @@ class UpgradeManager : IDownload {
         CallerDevaToolsUpgradeListenerManager.addListener(
             TAG,
             object : IMogoDevaToolsUpgradeListener {
-                override fun onStart(url: String?) {}
-                override fun onPause(url: String?) {}
+                override fun onStart(url: String?) {
+                    CallerLogger.d("$M_DEVA$TAG", "updateUpgradeProgress onStart ----> ")
+                }
+                override fun onPause(url: String?) {
+                    CallerLogger.d("$M_DEVA$TAG", "updateUpgradeProgress onPause ----> ")
+                }
                 override fun onProgress(url: String?, length: Int) {
-                    updateStatusBarDownloadView(true, "download", length)
+//                    CallerLogger.d("$M_DEVA$TAG", "updateUpgradeProgress onPause ----> length = $length")
+                    if (length in 1..99) {
+                        updateStatusBarDownloadView(true, "download", length)
+                    }
                 }
 
                 override fun onFinished(url: String?, localPath: String) {
@@ -242,6 +250,10 @@ class UpgradeManager : IDownload {
                 }
 
                 override fun onError(url: String?, errorMsg: String?) {
+                    CallerLogger.d("$M_DEVA$TAG", "updateUpgradeProgress errorMsg = $errorMsg")
+                    Log.e(TAG, "updateUpgradeProgress errorMsg = $errorMsg")
+                    //出错后，去掉下载进度ui，提示检查网络
+                    updateStatusBarDownloadView(false, "download", 0)
                 }
             })
     }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/BusPassengerMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/BusPassengerMsgBoxBubbleView.kt
index f88d023f2d..e867ee032b 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/BusPassengerMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/BusPassengerMsgBoxBubbleView.kt
@@ -52,7 +52,7 @@ class BusPassengerMsgBoxBubbleView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean){
-        UiThreadHandler.post{
+        UiThreadHandler.post({
             if(category == MsgCategory.NOTICE){
                 if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
                     || msgBoxList.type == MsgBoxType.OBU || msgBoxList.type == MsgBoxType.OPERATION){
@@ -65,7 +65,7 @@ class BusPassengerMsgBoxBubbleView @JvmOverloads constructor(
                     }
                 }
             }
-        }
+        },UiThreadHandler.MODE.QUEUE)
     }
 
     override fun onAttachedToWindow() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt
index 0bf5097f02..28c772f1db 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxBubbleView.kt
@@ -70,7 +70,7 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxBean: MsgBoxBean) {
-        UiThreadHandler.post {
+        UiThreadHandler.post({
             when (category) {
                 MsgCategory.NOTICE -> {
                     MsgBoxConfig.noticeList.add(msgBoxBean)
@@ -98,7 +98,7 @@ class DriverMsgBoxBubbleView @JvmOverloads constructor(
                     driverMsgBoxBubbleAdapter?.setData(dataList)
                 }
             }
-        }
+        }, UiThreadHandler.MODE.QUEUE)
     }
 
     override fun onAttachedToWindow() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxListView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxListView.kt
index 75e5e6f583..88e872b9c5 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxListView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/DriverMsgBoxListView.kt
@@ -171,7 +171,7 @@ class DriverMsgBoxListView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
-        UiThreadHandler.post{
+        UiThreadHandler.post({
             when (category) {
                 MsgCategory.NOTICE -> {
                     noticeList?.add(0,msgBoxList)
@@ -192,7 +192,7 @@ class DriverMsgBoxListView @JvmOverloads constructor(
                     }
                 }
             }
-        }
+        },UiThreadHandler.MODE.QUEUE)
     }
 
     override fun onAttachedToWindow() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MBoxBubbleView.kt
index 42f7fa8178..37e6065841 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MBoxBubbleView.kt
@@ -55,7 +55,7 @@ class MBoxBubbleView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
-        UiThreadHandler.post {
+        UiThreadHandler.post({
             if(category == MsgCategory.NOTICE){
                 if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
                     || msgBoxList.type == MsgBoxType.OBU || msgBoxList.type == MsgBoxType.OPERATION){
@@ -68,7 +68,7 @@ class MBoxBubbleView @JvmOverloads constructor(
                     }
                 }
             }
-        }
+        },UiThreadHandler.MODE.QUEUE)
     }
 
     override fun onAttachedToWindow() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
index e6daa2e3ed..67526ebbdb 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
@@ -49,14 +49,14 @@ class MMsgBoxBubbleView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
-        UiThreadHandler.post {
+        UiThreadHandler.post({
             if(category == MsgCategory.NOTICE){
                 if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
                     || msgBoxList.type == MsgBoxType.OBU || msgBoxList.type == MsgBoxType.OPERATION){
                     update(msgBoxList)
                 }
             }
-        }
+        },UiThreadHandler.MODE.QUEUE)
     }
 
     private fun update(msgBoxList: MsgBoxBean){
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt
index 726a6dae6d..69f68eb5eb 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt
@@ -56,7 +56,7 @@ class MMsgBoxListView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
-        UiThreadHandler.post{
+        UiThreadHandler.post({
             if(category == MsgCategory.NOTICE){
                 if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
                     || msgBoxList.type == MsgBoxType.OBU || msgBoxList.type == MsgBoxType.OPERATION){
@@ -66,7 +66,7 @@ class MMsgBoxListView @JvmOverloads constructor(
                     }
                 }
             }
-        }
+        },UiThreadHandler.MODE.QUEUE)
     }
 
     override fun onAttachedToWindow() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxBubbleView.kt
index 0ed1eb0622..fc0db9c448 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxBubbleView.kt
@@ -57,7 +57,7 @@ class PassengerMsgBoxBubbleView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
-        UiThreadHandler.post {
+        UiThreadHandler.post({
             if(category == MsgCategory.NOTICE){
                 if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
                     || msgBoxList.type == MsgBoxType.OBU){
@@ -70,7 +70,7 @@ class PassengerMsgBoxBubbleView @JvmOverloads constructor(
                     }
                 }
             }
-        }
+        },UiThreadHandler.MODE.QUEUE)
     }
 
     override fun onAttachedToWindow() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxListView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxListView.kt
index cc8418f8d2..fcda7aec3e 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxListView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/PassengerMsgBoxListView.kt
@@ -60,7 +60,7 @@ class PassengerMsgBoxListView @JvmOverloads constructor(
     }
 
     override fun onDataChanged(category: MsgCategory, msgBoxList: MsgBoxBean) {
-        UiThreadHandler.post{
+        UiThreadHandler.post({
             if(category == MsgCategory.NOTICE){
                 if(msgBoxList.type == MsgBoxType.NOTICE || msgBoxList.type == MsgBoxType.V2X
                     || msgBoxList.type == MsgBoxType.OBU){
@@ -70,7 +70,7 @@ class PassengerMsgBoxListView @JvmOverloads constructor(
                     }
                 }
             }
-        }
+        },UiThreadHandler.MODE.QUEUE)
     }
 
     override fun onAttachedToWindow() {
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 d7173cbe6c..a6ff3ad01a 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
@@ -45,6 +45,7 @@ import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
 import com.mogo.eagle.core.data.deva.report.ReportEntity
+import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsListener
@@ -581,6 +582,17 @@ internal class DebugSettingView @JvmOverloads constructor(
             }
         }
 
+        /**
+         * 控制乘客屏直播监控
+         */
+        tbControlPassengerDriverMonitor.setOnCheckedChangeListener { _, isChecked ->
+            if (isChecked) {
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR, "1".toByteArray())
+            } else {
+                CallerTelematicManager.sendMsgToAllClients(TelematicConstant.CONTROL_PASSENGER_DRIVER_MONITOR, "0".toByteArray())
+            }
+        }
+
         //设置鹰眼本地参数配置监听
         setEagleEyeConfigListener()
         //域控制器中心事件点击监听
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
index bfc61ae6ef..736037efd9 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
@@ -5,6 +5,7 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
@@ -31,6 +32,10 @@ class TakeOverView @JvmOverloads constructor(
         const val TAG = "TakeOverView"
     }
 
+    private var autopilotStatus: Int = 0  //自动驾驶状态   0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中,7:平行驾驶中
+    private var isParallel: Boolean = false //是否是平行驾驶
+
+
     init {
         LayoutInflater.from(context).inflate(R.layout.view_take_over, this, true)
     }
@@ -42,6 +47,20 @@ class TakeOverView @JvmOverloads constructor(
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
+    /**
+     * 自动驾驶状态信息
+     *
+     * @param autoPilotStatusInfo 状态信息
+     */
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        autopilotStatus = autoPilotStatusInfo.state
+        if(autoPilotStatusInfo.state == 7){
+            isParallel = true
+        }else if(autoPilotStatusInfo.state == 0 || autoPilotStatusInfo.state == 1){
+            isParallel = false
+        }
+    }
+
     /**
      * 工控机监控节点上报
      */
@@ -84,38 +103,41 @@ class TakeOverView @JvmOverloads constructor(
                                     takeOver = false
                                     visibility = View.GONE
                                 }
-                            },isFromObu = false
-                        )
+                            }
+                        ,isFromObu = false)
                     }
                     //弱网
                     MogoReport.Code.Error.EMAP.EPARALLEL_AICLOUD_NETWORK_WEAK,
                     MogoReport.Code.Error.EMAP.EPARALLEL_AICLOUD_CONNECTION_ERROR -> {
-                        CallerHmiManager.warningV2X(
-                            EventTypeEnumNew.NETWORK_WEAK_EVENT.poiType,
-                            EventTypeEnumNew.NETWORK_WEAK_EVENT.content,
-                            EventTypeEnumNew.NETWORK_WEAK_EVENT.tts,
-                            object : IMoGoWarningStatusListener {
-                                override fun onShow() {
-                                    takeOver = true
-                                    visibility = View.VISIBLE
-                                    //加入消息盒子
-                                    saveMsgBox(
-                                        MsgBoxBean(
-                                            MsgBoxType.V2X, V2XMsg(
-                                                EventTypeEnumNew.NETWORK_WEAK_EVENT.poiType,
-                                                EventTypeEnumNew.NETWORK_WEAK_EVENT.content,
-                                                EventTypeEnumNew.NETWORK_WEAK_EVENT.tts
+                        //如果是平行驾驶状态下，提示弱网接管
+                        if(isParallel){
+                            CallerHmiManager.warningV2X(
+                                EventTypeEnumNew.NETWORK_WEAK_EVENT.poiType,
+                                EventTypeEnumNew.NETWORK_WEAK_EVENT.content,
+                                EventTypeEnumNew.NETWORK_WEAK_EVENT.tts,
+                                object : IMoGoWarningStatusListener {
+                                    override fun onShow() {
+                                        takeOver = true
+                                        visibility = View.VISIBLE
+                                        //加入消息盒子
+                                        saveMsgBox(
+                                            MsgBoxBean(
+                                                MsgBoxType.V2X, V2XMsg(
+                                                    EventTypeEnumNew.NETWORK_WEAK_EVENT.poiType,
+                                                    EventTypeEnumNew.NETWORK_WEAK_EVENT.content,
+                                                    EventTypeEnumNew.NETWORK_WEAK_EVENT.tts
+                                                )
                                             )
                                         )
-                                    )
-                                }
+                                    }
 
-                                override fun onDismiss() {
-                                    takeOver = false
-                                    visibility = View.GONE
+                                    override fun onDismiss() {
+                                        takeOver = false
+                                        visibility = View.GONE
+                                    }
                                 }
-                            },isFromObu = false
-                        )
+                            ,isFromObu = false)
+                        }
                     }
                 }
             }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/DriverMonitorView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/DriverMonitorView.kt
index 4864257121..18412fbe52 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/DriverMonitorView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/DriverMonitorView.kt
@@ -15,7 +15,10 @@ 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
 import com.mogo.eagle.core.widget.RoundConstraintLayout
-import kotlinx.android.synthetic.main.view_driver_monitor.view.*
+import kotlinx.android.synthetic.main.view_driver_monitor.view.ivNormal
+import kotlinx.android.synthetic.main.view_driver_monitor.view.liveProgressBar
+import kotlinx.android.synthetic.main.view_driver_monitor.view.textureViewDriverMonitor
+import kotlinx.android.synthetic.main.view_driver_monitor.view.tvLoadingHit
 
 /**
  * 乘客端查看当前车辆驾驶舱的司机监控View
@@ -56,6 +59,8 @@ class DriverMonitorView :
         )
     }
 
+    var liveListener: LiveListener? = null
+
     constructor(context: Context?) : super(context) {
         initView(context)
     }
@@ -110,26 +115,41 @@ class DriverMonitorView :
 
     fun showLive() {
         if (!isLived) {
-//            sopShowDriverMap[CallerTelematicManager.getServerToken()]?.let {
-//                Logger.d(
-//                    "${SceneConstant.M_HMI}$TAG",
-//                    "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
-//                )
-//                CallerLogger.d(
-//                    "${SceneConstant.M_HMI}$TAG",
-//                    "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
-//                )
-//                MoGoAiCloudTrafficLive.viewDesignativeVehicleLive(
-//                    it,
-//                    textureViewDriverMonitor,
-//                    carLiveCallBack
-//                )
-//            }
-            MoGoAiCloudTrafficLive.viewDesignativeVehicleLive(
-                "F803EB2046PZD00164",
-                textureViewDriverMonitor,
-                carLiveCallBack
-            )
+            sopShowDriverMap[CallerTelematicManager.getServerToken()]?.let {
+                Logger.d(
+                    "${SceneConstant.M_HMI}$TAG",
+                    "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
+                )
+                CallerLogger.d(
+                    "${SceneConstant.M_HMI}$TAG",
+                    "检查司机直播……isLived=$isLived  当前车上的司机端SN=${sopShowDriverMap[CallerTelematicManager.getServerToken()]}"
+                )
+                MoGoAiCloudTrafficLive.viewDesignativeVehicleLive(
+                    it,
+                    textureViewDriverMonitor,
+                    carLiveCallBack
+                )
+            } ?: let {
+                //为空又怎么撸
+                if (CallerTelematicManager.getServerToken().isNotEmpty()) {
+                    Logger.d(
+                        "${SceneConstant.M_HMI}$TAG",
+                        "检查司机直播……isLived=$isLived  当前车辆SN=${CallerTelematicManager.getServerToken()} 不支持直播"
+                    )
+                    CallerLogger.d(
+                        "${SceneConstant.M_HMI}$TAG",
+                        "检查司机直播……isLived=$isLived  当前车辆SN=${CallerTelematicManager.getServerToken()} 不支持直播"
+                    )
+                    // 乘客屏幕连接上了司机屏，但是司机屏不在直播范围内，进行隐藏操作。
+                    liveListener?.onPlayError()
+                }
+            }
+            // TODO 测试用的
+//            MoGoAiCloudTrafficLive.viewDesignativeVehicleLive(
+//                "F803EB2046PZD00164",
+//                textureViewDriverMonitor,
+//                carLiveCallBack
+//            )
         }
     }
 
@@ -185,4 +205,8 @@ class DriverMonitorView :
         }
     }
 
+    interface LiveListener {
+        fun onPlayError()
+    }
+
 }
\ 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/RomaPassengerView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
index 91b4614747..abec42e15b 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
@@ -25,6 +25,9 @@ class RomaPassengerView @JvmOverloads constructor(
     @Volatile
     private var romaMode = false
 
+    @Volatile
+    private var click = true
+
     private val openRes: Int
     private val normalRes: Int
 
@@ -36,10 +39,16 @@ class RomaPassengerView @JvmOverloads constructor(
         normalRes = a.getResourceId(R.styleable.RomaPassengerView_roma_close, 0)
         a.recycle()
         setOnClickListener {
+            if(!click){
+                return@setOnClickListener
+            }
+            click = false
             romaMode = !romaMode
             romaTrigger(romaMode) { mode ->
+                click = true
                 romaMode = mode
             }
+
         }
     }
 
@@ -65,6 +74,7 @@ class RomaPassengerView @JvmOverloads constructor(
     }
 
     override fun romaStatus(status: Boolean) {
+        click = true
         if (status) {
             romaMode = true
             if (openRes != 0) {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaView.kt
index b4b5867f90..38e830b0b7 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaView.kt
@@ -24,9 +24,16 @@ class RomaView @JvmOverloads constructor(
     @Volatile
     private var romaMode = false
 
+    @Volatile
+    private var click = false
+
     init {
         LayoutInflater.from(context).inflate(R.layout.view_roma_bg, this, true)
         setOnClickListener {
+            if(!click){
+                return@setOnClickListener
+            }
+            click = false
             romaMode = !romaMode
             // 司机屏发送事件给乘客屏
             if (romaMode) {
@@ -49,6 +56,7 @@ class RomaView @JvmOverloads constructor(
     }
 
     override fun onReceivedMsg(type: Int, byteArray: ByteArray) {
+        click = true
         when(type){
             TelematicConstant.OPEN_ROMA_STATUS -> {
                 when (String(byteArray)) {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
index 1256f601a1..e7706741cc 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
@@ -143,6 +143,7 @@ class SystemVersionView @JvmOverloads constructor(
                         ToastUtils.showShort(resources.getString(R.string.location_try_again))
                     } else {// 拿到了高精的经纬度
                         val dialog = OfflineMapDialog(context)
+                        CallerLogger.i("$M_HMI$$TAG", "location lon is:${location?.longitude}, lat is:${location?.latitude}")
                         dialog.location = location
                         dialog.show()
                     }
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 61166d3c1d..937c4e07c3 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
@@ -1355,8 +1355,8 @@
                     android:background="@drawable/setting_toggle_button_background"
                     android:drawableEnd="@drawable/icon_right"
                     android:padding="@dimen/dp_20"
-                    android:textOff="HMI控制"
-                    android:textOn="HMI控制"
+                    android:textOff="打开HMI控制"
+                    android:textOn="关闭HMI控制"
                     android:textSize="@dimen/dp_24" />
 
                 <GridLayout
@@ -1367,6 +1367,20 @@
                     android:visibility="gone"
                     tools:visibility="visible">
 
+                    <ToggleButton
+                        android:id="@+id/tbControlPassengerDriverMonitor"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_columnWeight="1"
+                        android:layout_margin="2dp"
+                        android:gravity="center"
+                        android:textOff="开启乘客屏直播监控"
+                        android:textOn="关闭乘客屏直播监控"
+                        android:padding="@dimen/dp_20"
+                        android:textSize="@dimen/dp_24"
+                        app:layout_constraintLeft_toRightOf="@+id/tbChangeCurrentCarIcon"
+                        app:layout_constraintTop_toTopOf="@id/tbChangeCurrentCarIcon" />
+
                     <ToggleButton
                         android:id="@+id/tbChangeCurrentSkinMode"
                         android:layout_width="wrap_content"
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
index 410ef494da..30031b6f68 100644
--- 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
@@ -128,17 +128,14 @@ class AiCloudIdentifyDataManager : IMogoMapListener, IReceivedMsgListener,
 
     private fun openRoma() {
         if (!MogoMapUIController.getInstance().currentMapVisualAngle.isRoma) {
-            requestRangeOfIdentify(true)
             updateLongSightLevel(true)
+            requestRangeOfIdentify(true)
         }
     }
 
     private fun closeRoma(manual: Boolean = true) {
-        if (!showAiCloud.get()) {
-            return
-        }
-        requestRangeOfIdentify(false)
         updateLongSightLevel(false)
+        requestRangeOfIdentify(false)
         MapIdentifySubscriber.instance.clearAiCloudRoma()
         // 主动关闭roma，回到中景视角
         if (manual) {
@@ -157,6 +154,7 @@ class AiCloudIdentifyDataManager : IMogoMapListener, IReceivedMsgListener,
 //            CallerMapRomaListener.invokeMapRoma(false)
 //            sendMsgToServer(TelematicConstant.OPEN_ROMA_STATUS, "4".toByteArray())
 //        }
+        MapBizTrace.log(TAG,"开启请求，data:$dataReceive")
         aiCloudIdentifyNetWorkModel.requestIdentifyRange(dataReceive, serverSn, {
             MapBizTrace.log(
                 TAG,
@@ -176,6 +174,9 @@ class AiCloudIdentifyDataManager : IMogoMapListener, IReceivedMsgListener,
                 TAG,
                 "requestIdentifyRange error : $it , startRange:$START_METRE, endRange:$END_METRE, dataReceive:$dataReceive"
             )
+            updateLongSightLevel(false)
+            CallerMapRomaListener.invokeMapRoma(false)
+            sendMsgToServer(TelematicConstant.OPEN_ROMA_STATUS, "4".toByteArray())
             if(DebugConfig.isDebug()){
                 ToastUtils.showShort("漫游请求异常，msg:$it")
             }
@@ -194,8 +195,8 @@ class AiCloudIdentifyDataManager : IMogoMapListener, IReceivedMsgListener,
             else -> {
                 if (showAiCloud.get()) {
                     MapBizTrace.log(TAG, "onMapVisualAngleChanged, invoke close roma")
-                    closeRoma(false)
                     showAiCloud.set(false)
+                    closeRoma(false)
                     FunctionBuildConfig.isDrawIdentifyData = true
                 }
             }
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
index 57f6e064f3..41181c26be 100644
--- 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
@@ -18,7 +18,8 @@ class AiCloudIdentifyNetWorkModel private constructor(){
         }
     }
 
-    private fun getNetWorkApi(baseUrl: String = getEagleHost()): IAiCloudIdentifyApiService {
+//    private fun getNetWorkApi(baseUrl: String = getEagleHost()): IAiCloudIdentifyApiService {
+    private fun getNetWorkApi(baseUrl: String = "http://dzt-qa-city.zhidaozhixing.com/"): IAiCloudIdentifyApiService { //todo 2023/4/19 衡阳临时测试
         return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
             .create(IAiCloudIdentifyApiService::class.java)
     }
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
index 2a88126598..111ff9435d 100644
--- 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
@@ -8,7 +8,8 @@ import retrofit2.http.POST
 interface IAiCloudIdentifyApiService {
 
     @Headers("Content-type:application/json;charset=UTF-8")
-    @POST("eagle-eye-dns/yycp-c-v2x-service/dataFusion/remoteDrivingSet")
+//    @POST("eagle-eye-dns/yycp-c-v2x-service/dataFusion/remoteDrivingSet")
 //    @POST("yycp-data-center-service1/remoteDrivingSet")
+    @POST("yycp-c-v2x-service/dataFusion/remoteDrivingSet") //todo 2023/4/19 衡阳临时测试
     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/view/OverMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
index 924183d58e..f559cdd075 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
@@ -466,7 +466,7 @@ class OverMapView @JvmOverloads constructor(
         return bitmap
     }
 
-    private fun clearV2XMarkers() {
+    fun clearV2XMarkers() {
         if (currMarkerList != null) {
             for (marker in currMarkerList!!) {
                 marker.destroy()
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 584308b320..ed097621c4 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
@@ -52,10 +52,11 @@ class HttpDnsStartUp : AndroidStartup<Boolean>() {
 
     private var context: Context? = null
 
+    @Volatile
     private var gotToken = false
 
     private var httpDnsSimpleLocation by Delegates.observable(getDefaultSimpleLocation()) { _, oldValue, newValue ->
-        if (oldValue.cityCode != newValue.cityCode) {
+        if (gotToken && oldValue.cityCode != newValue.cityCode) {
             reConnectSocket(oldValue.cityCode, newValue.cityCode)
         }
     }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt
index b6f7e195bf..f5b05b667d 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/multidisplay/TelematicConstant.kt
@@ -12,5 +12,6 @@ class TelematicConstant {
         const val HIDE_TRAFFIC_LIGHT = 102
         const val OPEN_ROMA_STATUS = 103
         const val ROMA_UPDATE = 104
+        const val CONTROL_PASSENGER_DRIVER_MONITOR = 105
     }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IMoGoFuncBizProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IMoGoFuncBizProvider.kt
index def198adbf..6c12d57465 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IMoGoFuncBizProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/biz/IMoGoFuncBizProvider.kt
@@ -73,6 +73,8 @@ interface IMoGoFuncBizProvider : IMoGoFunctionServerProvider {
 
     fun getAllV2XEvents()
 
+    fun stopQueryV2XEvents()
+
     fun queryV2XEvents()
 
 
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/obu/obucombine/IMoGoObuDcCombineListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/obu/obucombine/IMoGoObuDcCombineListener.kt
deleted file mode 100644
index f4af18034d..0000000000
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/datacenter/obu/obucombine/IMoGoObuDcCombineListener.kt
+++ /dev/null
@@ -1,16 +0,0 @@
-package com.mogo.eagle.core.function.api.datacenter.obu.obucombine
-
-import mogo.v2x.ObuWarningEvent
-
-/**
- * obu和dc 通道打通融合
- */
-interface IMoGoObuDcCombineListener {
-
-    /**
-     * obu透传v2i数据，（标牌，弱势交通，红绿灯，限速，道路危险状况）
-     * @param obuWarningData
-     */
-    fun onMoGoObuDcCombineData(obuWarningData: ObuWarningEvent.ObuWarningData?)
-
- }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index 34facf277a..e86ce263b1 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -27,16 +27,12 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         if(newValue == null){
             return@observable
         }
-        M_AUTOPILOT_STATUS_LISTENERS.forEach {
+        M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotRouteLineId(newValue)
         }
     }
 
-    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
-    private val M_AUTOPILOT_STATUS_LISTENERS: ConcurrentHashMap<String, IMoGoAutopilotStatusListener> =
-            ConcurrentHashMap()
-
     @Volatile
     private var autoPilotMessageCode: String = ""
 
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obucombine/CallerObuDcCombineListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obucombine/CallerObuDcCombineListenerManager.kt
deleted file mode 100644
index 1650f26193..0000000000
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obucombine/CallerObuDcCombineListenerManager.kt
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.mogo.eagle.core.function.call.obucombine
-
-import com.mogo.eagle.core.function.api.datacenter.obu.obucombine.IMoGoObuDcCombineListener
-import com.mogo.eagle.core.function.call.base.CallerBase
-import mogo.v2x.ObuWarningEvent
-import java.util.concurrent.ConcurrentHashMap
-
-/**
- * obu和dc数据通道 回调监听
- */
-object CallerObuDcCombineListenerManager : CallerBase<IMoGoObuDcCombineListener>() {
-    // 存储所有注册了监听的对象，invokeXXXX进行遍历回调，将信息同步
-    private val M_DC_COMBINE_LISTENERS: ConcurrentHashMap<String, IMoGoObuDcCombineListener> =
-        ConcurrentHashMap()
-
-    /**
-     * v2i数据
-     */
-    fun invokeObuDcData(obuWarningData: ObuWarningEvent.ObuWarningData?){
-        M_DC_COMBINE_LISTENERS.forEach{
-            val listener = it.value
-            listener.onMoGoObuDcCombineData(obuWarningData)
-        }
-    }
-
-}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/telematic/CallerTelematicManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/telematic/CallerTelematicManager.kt
index b70b90befc..52fa082b05 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/telematic/CallerTelematicManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/telematic/CallerTelematicManager.kt
@@ -41,7 +41,7 @@ object CallerTelematicManager {
 
     /**
      * 发送数据给所有客户端
-     * type：保存在TelematicConstant中
+     * type：保存在 TelematicConstant 中
      */
     fun sendMsgToAllClients(type: Int, byteArray: ByteArray) {
         providerApi?.sendMsgToAllClients(type, byteArray)
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/callback/DownloadCallBack.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/callback/DownloadCallBack.java
index 0bda622268..31ada1d8f5 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/callback/DownloadCallBack.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/callback/DownloadCallBack.java
@@ -31,4 +31,10 @@ public interface DownloadCallBack {
      * @param localPath
      */
     void threadDownLoadFinished(String url, ThreadBean threadBean, String localPath);
+
+    /**
+     * 下载错误
+     * @param msg
+     */
+    void errorCallBack(String url, String msg);
 }
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/services/DownloadService.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/services/DownloadService.java
index 9a11b686d8..1f5832abe5 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/services/DownloadService.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/services/DownloadService.java
@@ -161,6 +161,14 @@ public class DownloadService implements InitThread.InitCallBack, DownloadCallBac
         }
     }
 
+    @Override
+    public void errorCallBack(String url, String msg) {
+        IDownload iDownload = callBacks.get(url);
+        if (iDownload != null) {
+            iDownload.onError(url, msg);
+        }
+    }
+
     @Override
     public void onConnected(NetworkUtils.NetworkType networkType) {
         //网络连接已连接
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadTask.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadTask.java
index 5e2a0280ba..70a8cc23ed 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadTask.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadTask.java
@@ -153,6 +153,11 @@ public class DownloadTask implements DownloadCallBack {
         }
     }
 
+    @Override
+    public void errorCallBack(String url, String msg) {
+        UiThreadHandler.post(() -> downloadCallBack.errorCallBack(url, msg));
+    }
+
     public FileBean getFileBean() {
         return fileBean;
     }
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadThread.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadThread.java
index d233fdbc73..fab591c394 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadThread.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/breakpoint/thread/DownloadThread.java
@@ -82,6 +82,8 @@ public class DownloadThread extends Thread {
             DownloadData downloadData = new DownloadData();
             downloadData.setUrl(fileBean.getUrl());
             downloadData.setMsg(e.getMessage());
+            UiThreadHandler.post(() -> callback.errorCallBack(this.fileBean.getUrl(), e.getMessage()));
+
 //            EventMessage eventMessage = new EventMessage(EventMessage.TYPE_ERROR,downloadData);
 //            EventBus.getDefault().post(eventMessage);
         } finally {
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ThreadUtils.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ThreadUtils.java
index 42044644ee..171817dd7d 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ThreadUtils.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/ThreadUtils.java
@@ -53,6 +53,18 @@ public final class ThreadUtils {
 
     private static Executor sDeliver;
 
+    public enum MODE {
+        /**
+         * 多次post同一个Runnable对象，只会执行最后一次
+         */
+        LATEST,
+
+        /**
+         * 多次post，在主线程消息队列中排队执行
+         */
+        QUEUE
+    }
+
     /**
      * Return whether the thread is the main thread.
      *
@@ -63,23 +75,40 @@ public final class ThreadUtils {
     }
 
     public static void runOnUiThread(final Runnable r) {
+        runOnUiThread(r, MODE.LATEST);
+    }
+
+    public static void runOnUiThread(final Runnable r, MODE mode) {
         if (Looper.myLooper() == Looper.getMainLooper()) {
             r.run();
         } else {
-            int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
-            HANDLER.removeMessages(what);
-            Message msg = Message.obtain(HANDLER, r);
-            msg.what = what;
-            HANDLER.sendMessage(msg);
+            if (mode == MODE.LATEST) {
+                int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
+                HANDLER.removeMessages(what);
+                Message msg = Message.obtain(HANDLER, r);
+                msg.what = what;
+                HANDLER.sendMessage(msg);
+            } else  {
+                HANDLER.post(r);
+            }
         }
     }
 
     public static void runOnUiThreadDelayed(final Runnable r, long delayMillis) {
-        int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
-        HANDLER.removeMessages(what);
-        Message msg = Message.obtain(HANDLER, r);
-        msg.what = what;
-        HANDLER.sendMessageDelayed(msg, delayMillis);
+        runOnUiThreadDelayed(r, delayMillis, MODE.LATEST);
+    }
+
+    public static void runOnUiThreadDelayed(final Runnable r, long delayMillis, MODE mode) {
+        if (mode == MODE.LATEST) {
+            int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
+            HANDLER.removeMessages(what);
+            Message msg = Message.obtain(HANDLER, r);
+            msg.what = what;
+            HANDLER.sendMessageDelayed(msg, delayMillis);
+        } else  {
+            HANDLER.postDelayed(r, delayMillis);
+        }
+
     }
 
     /**
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/UiThreadHandler.java b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/UiThreadHandler.java
index a8fc918cda..e4d3f8803a 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/UiThreadHandler.java
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/UiThreadHandler.java
@@ -10,24 +10,58 @@ public class UiThreadHandler {
 
     private UiThreadHandler() { }
 
+    public enum MODE {
+        /**
+         * 多次post同一个Runnable对象，只会执行最后一次
+         */
+        LATEST,
+
+        /**
+         * 多次post，在主线程消息队列中排队执行
+         */
+        QUEUE
+    }
+
     public static boolean post( Runnable r ) {
-        int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
-        sUiHandler.removeMessages(what);
-        Message msg = Message.obtain(sUiHandler, r);
-        msg.what = what;
-        return sUiHandler.sendMessage(msg);
+        return post(r, MODE.LATEST);
+    }
+
+    public static boolean post(Runnable r, MODE mode) {
+        if (mode == MODE.LATEST) {
+            int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
+            sUiHandler.removeMessages(what);
+            Message msg = Message.obtain(sUiHandler, r);
+            msg.what = what;
+            return sUiHandler.sendMessage(msg);
+        }
+        return sUiHandler.post(r);
     }
 
     public static boolean postDelayed( Runnable r, long delayMillis ) {
-        int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
-        sUiHandler.removeMessages(what);
-        Message msg = Message.obtain(sUiHandler, r);
-        msg.what = what;
-        return sUiHandler.sendMessageDelayed(msg, delayMillis);
+        return postDelayed(r, delayMillis, MODE.LATEST);
+    }
+
+    public static boolean postDelayed( Runnable r, long delayMillis, MODE mode ) {
+        if (mode == MODE.LATEST) {
+            int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
+            sUiHandler.removeMessages(what);
+            Message msg = Message.obtain(sUiHandler, r);
+            msg.what = what;
+            return sUiHandler.sendMessageDelayed(msg, delayMillis);
+        }
+        return sUiHandler.postDelayed(r, delayMillis);
     }
 
     public static void removeCallbacks( Runnable r ) {
-        int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
-        sUiHandler.removeMessages(what);
+        removeCallbacks(r, MODE.LATEST);
+    }
+
+    public static void removeCallbacks( Runnable r, MODE mode ) {
+        if (mode == MODE.LATEST) {
+            int what = ObjectHashCodeUtils.getHashCodeIfNeed(r);
+            sUiHandler.removeMessages(what);
+        } else  {
+            sUiHandler.removeCallbacks(r);
+        }
     }
 }
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index 55c8dff742..8fee8706d7 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -63,7 +63,7 @@ bytex.ASM_API=ASM7
 #SERVICE_BIZ_VERSION=1.2.4
 ################  外部依赖引用 ################
 # loglib
-LOGLIB_VERSION=1.5.26
+LOGLIB_VERSION=1.5.27
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
 MOGO_NETWORK_VERSION=1.4.6.7
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 06e1dd1641..f4276d4c34 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
@@ -1048,6 +1048,7 @@ public class AMapViewWrapper implements IMogoMapView,
     public void cacheHDDataByCity(IHdCacheListener listener) {
         if (mMapView.getMapAutoViewHelper() != null) {
             String gdCityCode = GDLocationClient.getInstance(getContext()).getLastCityCode();
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "gdCityCode is:" + gdCityCode);
             Integer id = HDMapUtils.getHDCityCode(gdCityCode);
             if (id != null) {
                 hdCacheListener = listener;
@@ -1090,6 +1091,7 @@ public class AMapViewWrapper implements IMogoMapView,
     public void cacheHDDataByCity(IHdCacheListener listener, MogoLocation location) {
         if (mMapView.getMapAutoViewHelper() != null) {
             hdCacheListener = listener;
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "location lon is:" + location.getLongitude() + ",lat is:" + location.getLatitude());
             mMapView.getMapAutoViewHelper().cacheHDDataByCityByLonLat(location.getLongitude(), location.getLatitude(), new OnHdDataDownByCityListener() {
                 @Override
                 public void onMapHDDataCacheProgressByCity(int cityId, double progress) {
@@ -1128,6 +1130,7 @@ public class AMapViewWrapper implements IMogoMapView,
     public boolean isCityDataCached() {
         if (mMapView.getMapAutoViewHelper() != null) {
             String gdCityCode = GDLocationClient.getInstance(getContext()).getLastCityCode();
+            CallerLogger.INSTANCE.i(M_MAP + TAG, "gdCityCode is:" + gdCityCode);
             Integer id = HDMapUtils.getHDCityCode(gdCityCode);
             if (id != null) {
                 List<CityInfo> cityInfoList = mMapView.getMapAutoViewHelper().getAllCityCode();