diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
index 54e2773b9e..f8e5b3bd17 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -683,6 +683,7 @@ public class BusOrderModel {
     private void closeBeautificationMode() {
         if (FunctionBuildConfig.isDemoMode) {//收车结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
+            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
             CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（收车）");
         }
@@ -802,6 +803,7 @@ public class BusOrderModel {
                 && backgroundCurrentStationIndex <= stationList.size()-1)
                 && stationList.get(backgroundCurrentStationIndex).isLeaving()){//行驶过程中设置美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
+            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
             CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为true（每次滑动出发）");
         }
@@ -948,6 +950,7 @@ public class BusOrderModel {
 
         if (FunctionBuildConfig.isDemoMode && backgroundCurrentStationIndex <= stationList.size() - 1) {//到达一站结束美化
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
+            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
             CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_BUS + TAG, "美化模式-ignore：置为false（到最后一站）");
         }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 873e27282b..06b77b0491 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -859,6 +859,7 @@ public class TaxiModel {
                 && mCurrentOCHOrder.orderStatus == TaxiOrderStatusEnum.OnTheWayToEnd.getCode()) {
             // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
+            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
             CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（更新本地order信息）");
         }
@@ -874,6 +875,7 @@ public class TaxiModel {
         if (FunctionBuildConfig.isDemoMode) {
             // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
+            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
             CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（已完成or清除当前订单）");
         }
@@ -1163,6 +1165,7 @@ public class TaxiModel {
                         if (FunctionBuildConfig.isDemoMode) {
                             // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
                             FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
+                            CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(true);
                             CallerAutoPilotManager.INSTANCE.setIPCDemoMode(true);
                             CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）");
                         }
@@ -1231,6 +1234,7 @@ public class TaxiModel {
             if (FunctionBuildConfig.isDemoMode) {
                 // 当美化模式（演示模式）开启时: 到达目的地，置false
                 FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
+                CallerAutoPilotManager.INSTANCE.setIgnoreConditionDraw(false);
                 CallerAutoPilotManager.INSTANCE.setIPCDemoMode(false);
                 CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为false（到达目的地）");
             }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
index 0153576032..8f74c6ff54 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
@@ -470,6 +470,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
                         showOrHideNavi(false);
                         setOrRemoveMapMaker(false, TaxiConst.TAXI_START_MAP_MAKER,order.startSitePoint,R.raw.star_marker);
                         setOrRemoveMapMaker(false, TaxiConst.TAXI_END_MAP_MAKER,order.endSitePoint,R.raw.end_marker);
+                        clearSmallMapRouteLine();
                         break;
                     case JourneyCompleted:
                         mCurrentOrder = null;
@@ -497,6 +498,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment implement
                 mNoDataView.setVisibility(View.GONE);
                 mBeingOrderLayout.setVisibility(View.VISIBLE);
                 mTaxiFragment.changeOperationViewVisible(View.GONE);
+                clearSmallMapRouteLine();
             } else {
                 mNoDataView.setVisibility(View.VISIBLE);
                 mNoDatasTv.setText("暂无进行中订单");
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
index af84d17295..27c23d222a 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -109,11 +109,7 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
         }
 
         tvOperationStatus.setVisibility(View.VISIBLE);
-
-        if (DebugConfig.isDebug()) {
-            initOrderTestBar();
-        }
-
+        initOrderTestBar();
     }
 
     private void initFragment() {
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiPersonalDialogFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiPersonalDialogFragment.java
index 1b2df283a0..0cbec4fdce 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiPersonalDialogFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiPersonalDialogFragment.java
@@ -65,7 +65,7 @@ public class TaxiPersonalDialogFragment extends DialogFragment implements View.O
     private List<OrderQueryRespBean.Result> orders = new ArrayList<>();
     private String[] mTabTitles = {"在线时长","订单完成数"};
     private List<TaxiOperationDatasFragment> fragments = new ArrayList<>();
-    private int mNextPage = 0;
+    private int mNextPage = 1;//订单列表分页从1开始
     private int mPerPageSize = 10;
     private static TaxiFragment mTaxiFragment;
     private static boolean serverHadNoData = false;
diff --git a/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml b/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
index 4608e957b9..49fb0eda5f 100644
--- a/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
@@ -62,7 +62,6 @@
             android:id="@+id/test_bar_to_start"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:onClick="testToStart"
             android:text="到达上车点"
             android:textSize="12sp" />
         <Button
@@ -70,7 +69,6 @@
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:textSize="12sp"
-            android:onClick="testWayToEnd"
             android:text="开启服务"/>
 
         <Button
@@ -78,14 +76,12 @@
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:textSize="12sp"
-            android:onClick="testWayToEnd"
             android:text="开启自动驾驶"/>
 
         <Button
             android:id="@+id/test_bar_to_end"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:onClick="testToEnd"
             android:text="到达目的地"
             android:textSize="12sp" />
 
diff --git a/app/build.gradle b/app/build.gradle
index ec88716351..d7334c8151 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -33,19 +33,19 @@ if (!isAndroidTestBuild()) {
     apply plugin: 'apm-plugin'
 }
 
-if (!isAndroidTestBuild()) {
-    apply plugin: 'bytex.threadOpt'
-    thread_opt {
-        enable true
-        enableInDebug true
-        logLevel "DEBUG"
-        //白名单中的类不进行替换
-        white_list = [
-                'leakcanary.*',
-                'com.loc.*'
-        ]
-    }
-}
+//if (!isAndroidTestBuild()) {
+//    apply plugin: 'bytex.threadOpt'
+//    thread_opt {
+//        enable true
+//        enableInDebug true
+//        logLevel "DEBUG"
+//        //白名单中的类不进行替换
+//        white_list = [
+//                'leakcanary.*',
+//                'com.loc.*'
+//        ]
+//    }
+//}
 
 //if (!isAndroidTestBuild()) {
 //    /**
diff --git a/app/src/main/java/com/mogo/launcher/MogoApplication.java b/app/src/main/java/com/mogo/launcher/MogoApplication.java
index 2427ed9414..c472f0a6d4 100644
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -3,14 +3,14 @@ package com.mogo.launcher;
 import com.mogo.eagle.core.function.main.MainMoGoApplication;
 import android.content.Context;
 
-import androidx.annotation.NonNull;
+//import androidx.annotation.NonNull;
 import com.mogo.eagle.core.utilcode.mogo.logger.LogLevel;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.launcher.crash.CrashSystem;
-import com.mogo.thread.ext.core.ThreadManager;
-import com.mogo.thread.ext.core.config.ThreadConfig;
-
-import java.util.concurrent.ThreadPoolExecutor;
+//import com.mogo.thread.ext.core.ThreadManager;
+//import com.mogo.thread.ext.core.config.ThreadConfig;
+//
+//import java.util.concurrent.ThreadPoolExecutor;
 
 /**
  * @author congtaowang
@@ -23,36 +23,36 @@ public class MogoApplication extends MainMoGoApplication {
     @Override
     protected void attachBaseContext(Context base) {
         super.attachBaseContext(base);
-        ThreadConfig.Builder builder = new ThreadConfig.Builder().listener(new ThreadConfig.TaskExecuteListener() {
-            @Override
-            public boolean isEnabled() {
-                return true; // 如果返回true，会有后续的回调；如果返回false, 不会有后续的回调
-            }
-
-            @Override
-            public void onExecutorBefore(@NonNull Runnable runnable) {
-                //每个任务执行前回调
-            }
-
-            @Override
-            public void onExecutorAfter(@NonNull Runnable runnable) {
-                //每个任务执行后回调
-            }
-
-            /**
-             * @param core 线程池的核心数
-             * @param max  线程池的最大线程数
-             * @param active 线程池正在活跃的任务数
-             * @param completed 线程池已完成的任务数
-             */
-            @Override
-            public void onExecutorStateChanged(@NonNull ThreadPoolExecutor pool, int core, int max, int active, long completed) {
-                //线程池在执行过程，状态变化回调
-                //Log.d("POOL", "core:" + core + ";max:" + max + ";active:" + active + ";completed:" + completed);
-            }
-        });
-        builder.loggable(false);
-        ThreadManager.INSTANCE.init(builder);
+//        ThreadConfig.Builder builder = new ThreadConfig.Builder().listener(new ThreadConfig.TaskExecuteListener() {
+//            @Override
+//            public boolean isEnabled() {
+//                return true; // 如果返回true，会有后续的回调；如果返回false, 不会有后续的回调
+//            }
+//
+//            @Override
+//            public void onExecutorBefore(@NonNull Runnable runnable) {
+//                //每个任务执行前回调
+//            }
+//
+//            @Override
+//            public void onExecutorAfter(@NonNull Runnable runnable) {
+//                //每个任务执行后回调
+//            }
+//
+//            /**
+//             * @param core 线程池的核心数
+//             * @param max  线程池的最大线程数
+//             * @param active 线程池正在活跃的任务数
+//             * @param completed 线程池已完成的任务数
+//             */
+//            @Override
+//            public void onExecutorStateChanged(@NonNull ThreadPoolExecutor pool, int core, int max, int active, long completed) {
+//                //线程池在执行过程，状态变化回调
+//                //Log.d("POOL", "core:" + core + ";max:" + max + ";active:" + active + ";completed:" + completed);
+//            }
+//        });
+//        builder.loggable(false);
+//        ThreadManager.INSTANCE.init(builder);
     }
 
     @Override
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
index a95120b060..ec53f2ee68 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -379,7 +379,7 @@ class MoGoAutopilotProvider :
     override fun setDemoMode(isEnable: Boolean) {
         // 同步给乘客端
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            var byteArray = if (isEnable) byteArrayOf(1) else byteArrayOf(0)
+            val byteArray = if (isEnable) byteArrayOf(1) else byteArrayOf(0)
             if (NSDNettyManager.getInstance().isServerStart) {
                 NSDNettyManager.getInstance()
                     .sendMsgToAllClients(
@@ -395,6 +395,25 @@ class MoGoAutopilotProvider :
         }
     }
 
+    override fun setIgnoreConditionDraw(isIgnore: Boolean) {
+        // 同步给乘客端
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            val byteArray = if (isIgnore) byteArrayOf(1) else byteArrayOf(0)
+            if (NSDNettyManager.getInstance().isServerStart) {
+                NSDNettyManager.getInstance()
+                    .sendMsgToAllClients(
+                        MogoProtocolMsg(
+                            11,
+                            byteArray.size,
+                            byteArray
+                        )
+                    )
+            } else {
+                CallerLogger.d("$M_ADAS_IMPL$TAG", "同步美化模式状态时司机端Server未启动！")
+            }
+        }
+    }
+
     /**
      * 设置工控机演示模式（美化模式）开启、关闭
      * isEnable = true  开启
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
index 758f6e6cd6..fbf3c04fb7 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_LINK_LOG_CONNECT_STATUS
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setDemoMode
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager.setIgnoreConditionDraw
 import com.mogo.eagle.core.function.call.bindingcar.CallerBindingcarManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
@@ -60,7 +61,7 @@ class TeleMsgHandler : IMsgHandler {
                         1 -> true
                         else -> false
                     }
-                    setDemoMode(FunctionBuildConfig.isDemoMode)
+                    invokeNettyConnResult("乘客屏收到的美化模式DemoMode为：${FunctionBuildConfig.isDemoMode}")
                 }
                 MogoProtocolMsg.REQ_MAC_ADDRESS -> {
                     val carConfig = MessagePad.CarConfigResp.parseFrom(msg.body)
@@ -78,11 +79,20 @@ class TeleMsgHandler : IMsgHandler {
                         MoGoAiCloudClientConfig.getInstance().sn
                     )
                 }
+                // SN
                 10 -> {
                     val sn = String(it.body)
                     isReceiveSN = true
                     NettyTcpClient.sSERVER_SN = sn
                 }
+                // 美化模式是否忽略条件直接绘制
+                11 -> {
+                    FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = when (it.body[0].toInt()) {
+                        1 -> true
+                        else -> false
+                    }
+                    invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
+                }
                 else -> {
                 }
             }
@@ -140,17 +150,8 @@ class TeleMsgHandler : IMsgHandler {
     override fun handleClientConn2Server(channel: Channel?) {
         val socketAddress = channel?.remoteAddress().toString()
         CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", "Client ip is:${socketAddress}")
-        val byteArray =
-            if (FunctionBuildConfig.isDemoMode) byteArrayOf(1) else byteArrayOf(0)
-        NSDNettyManager.getInstance().sendMsgToSpecifiedClient(
-            MogoProtocolMsg(
-                MogoProtocolMsg.SYNC_MODE_STATUS,
-                byteArray.size,
-                byteArray
-            ), channel
-        ) {
-            CallerLogger.d("${SceneConstant.M_ADAS_IMPL}$TAG", "同步美化模式状态是否成功：${it.isSuccess}")
-        }
+        setDemoMode(FunctionBuildConfig.isDemoMode)
+        setIgnoreConditionDraw(FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
     }
 
     override fun handleClientConnStatus(statusCode: Int, content: String?, channel: Channel) {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
index 6639a3fb46..1804b27ecd 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
@@ -200,12 +200,10 @@ class TracingStatus(var state: Tracing = UNKNOWN): Status() {
         UNKNOWN;
 
         fun isException(): Boolean {
-            val c1 = when (this) {
-                TRACK_FINDED, TRACK_NOT_EXIST, TRACK_LOAD_FAIL, ROUTE_FAILED, UNKNOWN -> true
-                else -> false
+            if (this == TRACK_LOADED || this == ROUTE_LOADED) {
+                return false
             }
-            val c2 = CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
-            return c1 and c2
+            return true
         }
     }
 
@@ -230,18 +228,13 @@ class TracingStatus(var state: Tracing = UNKNOWN): Status() {
     override fun isException(): Boolean = state.isException()
 }
 
-fun String.toState(): Tracing? {
-    val ss = split("|")
-    var code = ""
-    if (ss.isNotEmpty()) {
-        code = ss[0]
-    }
+fun String.toState(msg: String?): Tracing? {
+    val ss = msg?.split("|")
     var extra: Map<String, String>? = null
-    if (ss.size > 1) {
-
+    if (ss != null && ss.isNotEmpty()) {
         val sb = StringBuilder()
-        for (i in 1 until ss.size) {
-            sb.append(ss[i])
+        for (element in ss) {
+            sb.append(element)
             sb.append(",")
         }
         if (sb.isNotEmpty()) {
@@ -249,7 +242,7 @@ fun String.toState(): Tracing? {
         }
         extra = mutableMapOf("extra" to sb.toString())
     }
-    return when(code) {
+    return when(this) {
         "IMAP_TRA_EXIST" -> TRACK_FINDED.apply {
             this.extra = extra
         }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
index c44b3372dc..9728d4c1ba 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/trace/TracingImpl.kt
@@ -1,7 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.status.flow.trace
 
 import android.content.*
-import android.util.*
 import com.mogo.eagle.core.data.autopilot.*
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.Companion.STATUS_AUTOPILOT_RUNNING
@@ -21,7 +20,8 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
 
     override fun onCreate() {
         val code = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageCode()
-        val state = code.toState() ?: UNKNOWN
+        val msg = CallerAutoPilotStatusListenerManager.getAutoPilotReportMessageContent()
+        val state = code.toState(msg) ?: UNKNOWN
         old = state
         send(TracingStatus(state))
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
@@ -31,7 +31,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
     override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
         super.onAutopilotGuardian(guardianInfo)
         val current = guardianInfo?.code
-        val newState = current?.toState()
+        val newState = current?.toState(guardianInfo.msg)
         if (newState != null && newState != old) {
             send(TracingStatus(newState))
             old = newState
@@ -41,6 +41,7 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
     override fun onAutopilotIpcConnectStatusChanged(status: Int, reason: String?) {
         super.onAutopilotIpcConnectStatusChanged(status, reason)
         if (!CallerAutoPilotManager.isConnected()) {
+            old = UNKNOWN
             send(TracingStatus(UNKNOWN))
         }
     }
@@ -48,10 +49,12 @@ internal class TracingImpl(ctx: Context): IFlow<TracingStatus>(ctx), IMoGoAutopi
     override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
         super.onAutopilotStatusResponse(autoPilotStatusInfo)
         if (autoPilotStatusInfo.state != STATUS_AUTOPILOT_RUNNING) {
+            old = UNKNOWN
             send(TracingStatus(UNKNOWN))
             return
         }
-        if (old.isException() && autoPilotStatusInfo.state == STATUS_AUTOPILOT_RUNNING) {
+        if (old.isException()) {
+            old = TRACK_LOADED
             send(TracingStatus(TRACK_LOADED))
         }
     }
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
index 3bb1317489..083e93fb7e 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotProvider.kt
@@ -125,11 +125,18 @@ interface IMoGoAutopilotProvider : IMoGoFunctionServerProvider {
 
     /**
      * 演示模式（美化模式）该设置作用域只限定于鹰眼
+     * 司机屏同步给乘客屏
      * isEnable = true  开启
      * isEnable = false 关闭
      */
     fun setDemoMode(isEnable: Boolean)
 
+    /**
+     * 是否忽略条件直接绘制
+     * 司机屏同步给乘客屏
+     */
+    fun setIgnoreConditionDraw(isIgnore: Boolean)
+
     /**
      * 设置工控机演示模式（美化模式）开启、关闭
      * isEnable = true  开启
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
index c2bbe23556..a9d63a6b1b 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotManager.kt
@@ -160,6 +160,14 @@ object CallerAutoPilotManager {
         providerApi?.setDemoMode(isEnable)
     }
 
+    /**
+     * 是否忽略条件直接绘制
+     * 司机屏同步给乘客屏
+     */
+    fun setIgnoreConditionDraw(isIgnore: Boolean) {
+        providerApi?.setIgnoreConditionDraw(isIgnore)
+    }
+
     /**
      * 设置工控机演示模式（美化模式）开启、关闭
      * isEnable = true  开启
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 df63a364f3..0c915a5f31 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
@@ -1,10 +1,12 @@
 package com.mogo.eagle.core.function.call.autopilot
 
+import android.util.*
 import androidx.annotation.Nullable
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.kotlin.*
+import com.mogo.eagle.core.utilcode.mogo.logger.*
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -29,6 +31,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
     @Volatile
     private var autoPilotMessageCode: String = ""
 
+
+    @Volatile
+    private var autoPilotMessageContent: String = ""
+
     /**
      * 查询AutoPilot状态
      */
@@ -45,6 +51,8 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
 
     fun getAutoPilotReportMessageCode(): String = autoPilotMessageCode
 
+    fun getAutoPilotReportMessageContent(): String = autoPilotMessageContent
+
     /**
      * 通过Gnss定位更新来同步更新自动驾驶状态
      */
@@ -171,6 +179,8 @@ object CallerAutoPilotStatusListenerManager : CallerBase() {
         M_AUTOPILOT_STATUS_LISTENERS.forEach {
             val listener = it.value
             autoPilotMessageCode = guardianInfo?.code ?: ""
+            autoPilotMessageContent = guardianInfo?.msg ?: ""
+            Logger.d("XXXXX", "code: ${guardianInfo?.code}, msg: ${guardianInfo?.msg}")
             listener.onAutopilotGuardian(guardianInfo)
         }
     }
diff --git a/libraries/mogo-adas-data/src/main/proto/chassis.proto b/libraries/mogo-adas-data/src/main/proto/chassis.proto
index 52e3dfe9eb..be6cada7fb 100644
--- a/libraries/mogo-adas-data/src/main/proto/chassis.proto
+++ b/libraries/mogo-adas-data/src/main/proto/chassis.proto
@@ -39,3 +39,61 @@ enum EPSSteeringMode {
   ManualFromEPSFailure = 3;
   TemporaryInhibited = 4;
 }
+
+enum EPBWorkStatus {
+  EPBSTATUS_NONE = 0;
+  EPBSTATUS_LOCKED = 1;
+  EPBSTATUS_RELEASED = 2;
+  EPBSTATUS_LOCKED_FAIL = 3;
+  EPBSTATUS_RELEASE_FAIL = 4;
+  EPBSTATUS_FAULT = 5;
+}
+
+enum VehicleTakeOverStatus {
+  None_TakeOver = 0;
+  Vehicle_TakeOver = 1;
+  Longitude_TakeOver = 2;
+  Latteral_TakeOver = 3;
+}
+
+enum VehicleFaultLevel {
+  None_Fault = 0;
+  General_Fault = 1;
+  Serious_Fault = 2;
+  Critical_Fault = 3;
+}
+
+enum VehicleControlMode {
+  VehicleControl_Manual = 0;
+  VehicleControl_Nonemanualdefault = 1;
+  VehicleControl_Autostandby = 2;
+  VehicleControl_Autoactive = 3;
+  VehicleControl_Remotestandby = 4;
+  VehicleControl_Remoteactive = 5;
+  VehicleControl_Telecontrolstandby = 6;
+  VehicleControl_Telecontrolactive = 7;
+  VehicleControl_Fault = 8;
+}
+
+enum VehicleWireControlModeRequest {
+  NoneWireControl = 0;
+  WireControl = 1;
+}
+
+enum CleanSystemControlMode {
+  Clean_Off_Line = 0;
+  Clean_Ready = 1;
+  Clean_Work_Standby = 2;
+  Clean_Sweeping_Standby = 3;
+  Clean_Sweeping_Both_Side_Work = 4;
+  Clean_Sweeping_Left_Work = 5;
+  Clean_Sweeping_Right_Work = 6;
+  Clean_WashSweep_Standby = 7;
+  Clean_WashSweep_Both_Side_Work = 8;
+  Clean_WashSweep_Left_Work = 9;
+  Clean_WashSweep_Right_Wrok = 10;
+  Clean_PureWash_Standby = 11;
+  Clean_PureWash_Both_Side_Work = 12;
+  Clean_PureWash_Left_Work = 13;
+  Clean_PureWash_Right_Work = 14;
+}
\ No newline at end of file
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index ac536c7c6b..3c16b7d91f 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -83,7 +83,7 @@ message Trajectory
 // message definition for MsgTypeTrackedObjects
 message SubSource
 {
-    uint32 source = 1; //[default = 0] v2v_bsm = 1(v2x他车自车信息) v2i_rsm = 2(v2x路侧感知交通参与者信息) v2v_ssm = 3(v2x他车感知信息) v2n_cloud = 4(v2x云端感知信息)
+    uint32 source = 1; //[default = 0] v2v_bsm = 1 v2i_rsm = 2 v2v_ssm = 3 v2n_rsm = 4 v2n_rsi = 5
     string id = 2; //HEX_string
 }
 
@@ -97,7 +97,8 @@ message TrackedObject
 {
     uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle, 
                      //5:TrafficSign, 6:Bus, 7:CellPhone, 8:Truck, 9:Bottle, 10:TrafficLight,
-                     //11:Rider, 12:TriangleRoadblock, 13:WarningTriangle, 100:Unknown
+                     //11:Rider, 12:TriangleRoadblock, 13:WarningTriangle, 100:Unknown,
+                     //501:RoadWork_occupy_0501, 502:RoadWork_break_0502
     double longitude = 2; //经度
     double latitude = 3; //纬度
     double altitude = 4; //海拔
@@ -111,6 +112,7 @@ message TrackedObject
     uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
     double driverTime = 13; //驱动感知时间, abandoned
     repeated TrackedSource tracked_source = 14;
+    repeated Location polygon = 15;
 }
 
 message TrackedObjects
diff --git a/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto b/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
index 69a2d6fc3d..87d2f9619f 100644
--- a/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
+++ b/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
@@ -1,10 +1,12 @@
 syntax = "proto2";
 package chassis;
 
+import "header.proto";
+
 message RoboSweeperFuTianCleanCmd {
     optional uint32 clean_open_requirement = 1 [default = 0]; //  清扫作业开启需求 0--no req 1--Req_clean_work, 2--No_clean_work
-    optional uint32 clean_mode_requirement = 2 [default = 0]; //  清扫作业模式需求 0--no req, 1--Sweeping mode, 2--Wash sweeper mode, 3--Pure wash mode, 4--Pure draw mode
-    optional uint32 clean_direction_requirement = 3 [default = 0]; //  清扫方向需求指 0--no req, 1--both side work, 2--left side work, 3--right side work
+    optional uint32 clean_mode_requirement = 2 [default = 0]; //  清扫作业模式需求 0--no req, 1--Sweeping mode, 2--Wash sweeper mode, 3--Pure wash mode, 4--Pure draw mode, 5--close clean mode
+    optional uint32 clean_direction_requirement = 3 [default = 0]; //  清扫方向需求指 0--no req, 1--both side work, 2--left side work, 3--right side work, 4--close side work
     optional uint32 clean_intensity_requirement = 4 [default = 0]; //  作业强度需求 0--no req, 1--stand clean work, 2--strong clean work
     optional uint32 dusk_close_requirement = 5 [default = 0];  //  降尘关闭需求 0--no req, 1--close dusk, 2--open dusk
     optional uint32 suction_nozzlefle_open_requirement = 6 [default = 0]; //  吸嘴挡板需求 0--no req, 1--open, 2--close
@@ -22,6 +24,7 @@ message RoboVanSkywellTaskCmd {
 }
 
 message SpecialVehicleTaskCmd {
-    optional RoboSweeperFuTianTaskCmd robo_sweeper_futian_task_cmd = 1; // 福田清扫车业务指令
-    optional RoboVanSkywellTaskCmd robo_van_skywell_task_cmd = 2; // 开沃小巴业务指令
+    optional common.Header header = 1;
+    optional RoboSweeperFuTianTaskCmd robo_sweeper_futian_task_cmd = 2; // 福田清扫车业务指令
+    optional RoboVanSkywellTaskCmd robo_van_skywell_task_cmd = 3; // 开沃小巴业务指令
 }
diff --git a/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto b/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
index 8bce80eb61..b0046c2df6 100644
--- a/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
+++ b/libraries/mogo-adas-data/src/main/proto/vehicle_state.proto
@@ -4,6 +4,51 @@ package chassis;
 import "header.proto";
 import "chassis.proto";
 
+message SweeperFuTianCleanSystemState {
+    optional bool secu_rem_ctrl_sts = 1 [default = false];   // 远程控制使能信号
+    optional bool secu_mot_work_sts = 2 [default = false];   // 电机启停控制状态信号
+    optional bool secu_dup_tail_door_open_sts = 3 [default = false];   // 垃圾箱尾门开状态信号
+    optional bool secu_dup_tail_door_close_sts = 4 [default = false];  // 垃圾箱尾门关状态信号
+    optional bool secu_auto_dup_tail_tip_sts = 5 [default = false];   // 垃圾箱倾翻状态信号
+    optional bool secu_dup_tail_ret_sts = 6 [default = false];   // 垃圾箱回位状态信号
+    optional bool secu_work_stand_sts = 7 [default = false];   // 标准作业状态信号
+    optional bool secu_work_strong_sts = 8 [default = false];   // 强力作业状态信号
+    optional bool secu_suctionnozzlebaffle_sts = 9 [default = false];   // 吸嘴挡板开状态信号
+    optional bool secu_dusk_close_sts = 10 [default = false];    // 降尘关闭状态信号
+    optional bool secu_work_left_sts = 11 [default = false];   // 左侧作业状态信号
+    optional bool secu_work_on_bothsides_sts = 12 [default = false];   // 两侧作业状态信号
+    optional bool secu_work_right_sts = 13 [default = false];    //  右侧作业状态信号
+    optional bool secu_work_ton_sts = 14 [default = false];   // 纯吸作业状态信号
+    optional bool secu_work_spray_gun_sts = 15 [default = false];   // 喷雾喷枪作业状态信号
+    optional bool secu_work_enc_des_sts = 16 [default = false];   // 箱体清淤作业状态信号
+    optional bool secu_mod_wash_sweep_sts = 17 [default = false];   // 洗扫模式状态信号
+    optional bool secu_mod_wash_sts = 18 [default = false];   // 纯洗模式状态信号
+    optional bool secu_sweepdisk_red_sts = 19 [default = false];   // 扫盘减速开关状态信号
+    optional bool secu_sweepdisk_acc_sts = 20 [default = false];   // 扫盘加速开关状态信号
+    optional bool secu_arrowlight_sts = 21 [default = false];  // 箭头灯开关状态信号
+    optional bool secu_floodlight_sts = 22 [default = false];   //  照明灯开关状态信号
+    optional bool secu_work_cleaning_sts = 23 [default = false];   // 保洁作业状态信号
+    optional bool secu_clean_music_sts = 24 [default = false];   // 音乐开关状态信号
+
+    optional bool secu_motor_oil_com_fail = 25 [default = false];   // 油泵电机通讯失败报警
+    optional bool secu_motor_water_com_fail = 26 [default = false];   // 水泵电机通讯失败报警
+    optional bool secu_motor_air_com_fail = 27 [default = false];   //  风机电机通讯失败报警
+    optional bool secu_fan_fault = 28 [default = false];   // 散热风扇故障报警
+    optional bool secu_chassis_com_fail = 29 [default = false];   // 底盘通讯失败报警
+    optional bool secu_panel_com_fail = 30 [default = false];   // 操作面板通讯失败报警
+    optional bool secu_oillevel_check = 31 [default = false];   // 液压油位低请停机检查报警信号
+    optional bool secu_oilstmjam_check = 32 [default = false];   // 液压油滤堵塞请停机检查报警信号
+    optional bool secu_water_valve_close = 33 [default = false];   // 出水阀门关闭不能清洗作业报警信号
+    optional bool secu_clean_water_tank_low = 34 [default = false];   // 清水箱水位低不能清洗作业报警信号
+    optional bool secu_sewage_water_tank_full = 35 [default = false];   // 污水箱满请停止作业报警信号
+    optional bool secu_coolwatertemp_high = 36 [default = false];   // 水温过高请停机检查报警信号
+    optional bool secu_coolwater_less = 37 [default = false];   // 冷却液位低报警信号
+    optional bool secu_tail_gate_open = 38 [default = false];   // 尾门打开接近开关
+    optional bool secu_manual_intervention_sts = 39 [default = false];   // 提示是否有人为介入
+    optional bool secu_ready_finish_sts = 40 [default = false];   // 上装ready完成
+    optional float secu_sweepdisk_speed = 41 [default = 0];   // 扫盘转速
+}
+
 message VehicleState {
     optional common.Header header = 1;
     optional chassis.PilotMode pilot_mode = 2 [default = MODE_MANUAL];
@@ -38,4 +83,19 @@ message VehicleState {
     optional bool chassis_status_missing = 29 [default = false]; //未收到车辆底盘反馈信息
     optional bool brake_light_status = 30 [default = false]; //自驾模式下制动灯状态
     optional bool pilot_mode_condition_met = 31 [default = false];
+    
+    optional float steeringSpd = 32 [default = 0]; // steering angle speed in degrees/s
+
+    optional float leftFrontWheelAngle = 33 [default = 0];//左前轮角度（deg）,左负右正
+    optional float rightFrontWheelAngle = 34 [default = 0]; //右前轮角度（deg）,左负右正
+
+    optional chassis.EPBWorkStatus epb = 35 [default = EPBSTATUS_NONE]; // EPB工作状态
+
+    optional chassis.VehicleTakeOverStatus vehicletakeoverstatus = 36 [default = None_TakeOver]; // 车辆人工接管状态
+    optional bool Emergency_Stop_Switch = 37 [default = false]; // 急停开关状态
+    optional chassis.VehicleFaultLevel vehiclefaultlevel = 38 [default = None_Fault]; // 整车故障状态
+
+    reserved 39 to 199;
+
+    optional SweeperFuTianCleanSystemState sweeper_futian_clean_system_state = 200; // 福田清扫车上装状态信息
 }
diff --git a/test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java b/test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java
index c905cf456b..398ff821c7 100644
--- a/test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java
+++ b/test/crashreport-apmbyte/src/main/java/com/mogo/test/crashreport/apm/ApmCrashReportProvider.java
@@ -12,6 +12,7 @@ import com.bytedance.apm.insight.ApmInsight;
 import com.bytedance.apm.insight.ApmInsightAgent;
 import com.bytedance.apm.insight.ApmInsightInitConfig;
 import com.mogo.commons.constants.SharedPrefsConstants;
+import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.bindingcar.CarInfo;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr;
@@ -35,6 +36,7 @@ import java.util.Map;
 @Route(path = CrashReportConstants.PATH)
 public class ApmCrashReportProvider implements ITestCrashReportProvider {
     private static final String BYTEAMP_APPID = "302368";
+    private static final String BYTEAMP_APPID_DEV = "379950";
 
     private static final String TAG = "ApmCrashReportProvider";
     private static final String MAP_SDK_VERSION = "MAP_SDK_VERSION";
@@ -50,8 +52,7 @@ public class ApmCrashReportProvider implements ITestCrashReportProvider {
     }
 
     private void initCrash(final Context context) {
-
-        MonitorCrash crash = MonitorCrash.init(context, BYTEAMP_APPID, CommonUtils.getVersionCode(context), CommonUtils.getVersionName(context))
+        MonitorCrash crash = MonitorCrash.init(context, DebugConfig.isDebug() ? BYTEAMP_APPID_DEV : BYTEAMP_APPID, CommonUtils.getVersionCode(context), CommonUtils.getVersionName(context))
                 .setCustomDataCallback(new AttachUserData() {
                     @Override
                     public Map<? extends String, ? extends String> getUserData(CrashType type) {