[6.6.0] union the chassis state in one caller

2024-08-21 17:11:05 +08:00
parent c53b9359cf
commit cbe8c27e4c
55 changed files with 789 additions and 818 deletions
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -47,17 +47,10 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordConfig
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager.invokeAutopilotRecordResult
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager.invokeAutopilotStatistics
-import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerBackCameraVideoListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerBatteryManagementSystemListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisAccStateListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisGnssListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerFaultManagementStateListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerLocalizationStateListenerManager
@@ -194,27 +187,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
    ) {
        CallerAutopilotActionsListenerManager.setVehicleState(vehicleState)
        if (vehicleState != null) {
-            //刹车灯数据
-            CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(vehicleState.brakeLightStatus)
-            //方向盘转向角数据
-            CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
-            //挂档档位数据
-            CallerChassisGearStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
-            //加速度
-            CallerChassisAccStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
-            //油门
-            CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(vehicleState.throttle)
-            //刹车
-            CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(vehicleState.brake)
+            // 处理车辆状态
+            CallerChassisStatesListenerManager.invokeStates(vehicleState)
            //车门
            CallerChassisDoorStateListenerManager.invokeAutopilotDoorState(vehicleState.doorStateList)
-            //电量
-            if (vehicleState.hasBmsSoc()) {
-                CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(
-                    ChassisStatesOuterClass.BMSSystemStates.newBuilder()
-                        .setBmsSoc(vehicleState.bmsSoc).build()
-                )
-            }
            //清扫车（福田）清扫控制系统状态
            vehicleState.sweeperFutianCleanSystemState?.also { sweeperState ->
                val bytes: ByteArray = sweeperState.toByteArray()
@@ -233,7 +209,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
                }
            }
        } else {
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
+            CallerChassisStatesListenerManager.invokeStatesDataException(header.timestamp.toLong())
        }
    }

@@ -255,36 +231,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
    ) {
        CallerAutopilotActionsListenerManager.setChassisStates(chassisStates)
        if (chassisStates != null) {
-            chassisStates.bcmSystemStates?.let { bcmSystemStates ->
-                //刹车灯数据
-                CallerChassisLamplightListenerManager.invokeAutopilotBrakeLightData(bcmSystemStates.brakeLightState != 0)
-            }
-            chassisStates.steerSystemStates?.let {
-                //方向盘转向角数据
-                CallerChassisSteeringStateListenerManager.invokeAutopilotSteeringData(it.steeringWheelAngle)
-            }
-            chassisStates.gearSystemStates?.let { gearSystemStates ->
-                gearSystemStates.gearPosition?.let {
-                    //挂档档位数据
-                    CallerChassisGearStateListenerManager.invokeAutopilotGearData(it)
-                }
-            }
-            chassisStates.vehicleMotionStates?.let {
-                //加速度
-                CallerChassisAccStateListenerManager.invokeAutopilotAcc(it.acceleration)
-            }
-            chassisStates.drivingSystemStates?.let {
-                //油门
-                CallerChassisThrottleStateListenerManager.invokeAutopilotThrottle(it.throttleResponsePosition)
-            }
-            chassisStates.brakeSystemStates?.let {
-                //刹车
-                CallerChassisBrakeStateListenerManager.invokeAutopilotBrake(it.brakePedalResponsePosition)
-            }
-            chassisStates.bmsSystemStates?.let {
-                //电量
-                CallerBatteryManagementSystemListenerManager.invokeBatteryManagementSystemStates(it)
-            }
+            CallerChassisStatesListenerManager.invokeNewStates(chassisStates)
            chassisStates.taskSystemStates?.let { taskSystemStates ->
                taskSystemStates.sweeperFutianTaskSystemStates?.let {
                    //清扫车（福田）清扫控制系统状态
@@ -294,7 +241,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
                }
            }
        } else {
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
+            CallerChassisStatesListenerManager.invokeStatesDataException(header.timestamp.toLong())
        }
    }

@@ -308,7 +255,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
     */
    override fun onLightSwitch(light: Chassis.LightSwitch) {
        //转向灯数据
-        CallerChassisLamplightListenerManager.invokeAutopilotLightSwitchData(light)
+        CallerChassisStatesListenerManager.invokeAutopilotLightSwitchData(light)
    }

    //自动驾驶状态
@@ -324,7 +271,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
    ) {
        if (autopilotState != null) {
            //工控机模拟时间
-            CallerAutopilotVehicleStateListenerManager.invokeAutopilotTime(header.timestamp.toLong())
            updateAutoPilotStatus(autopilotState.state, autopilotState.autopilotMode)
        }
    }
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/AcceleratorImpl.kt
@@ -2,16 +2,17 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot

 import android.content.Context
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_THROTTLE
 import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow

-internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMoGoChassisThrottleStateListener, IMoGoAutopilotActionsListener {
+internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx),
+    IMoGoChassisStatesListener, IMoGoAutopilotActionsListener {


    companion object {
@@ -28,13 +29,13 @@ internal class AcceleratorImpl(ctx: Context): IFlow<AcceleratorStatus>(ctx), IMo
    private var extra: Any? = null

    override fun onCreate() {
-        CallerChassisThrottleStateListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerAutopilotActionsListenerManager.addListener(TAG, this)
    }

    override fun onDestroy() {
        super.onDestroy()
-        CallerChassisThrottleStateListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerAutopilotActionsListenerManager.removeListener(TAG)
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/BrakeImpl.kt
@@ -2,16 +2,16 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot

 import android.content.Context
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_BRAKE
 import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow

-internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBrakeStateListener, IMoGoAutopilotActionsListener {
+internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisStatesListener, IMoGoAutopilotActionsListener {

    companion object {
        private const val TAG = "BrakeImpl"
@@ -27,13 +27,13 @@ internal class BrakeImpl(ctx: Context): IFlow<BrakeStatus>(ctx), IMoGoChassisBra
    private var extra: Any? = null

    override fun onCreate() {
-        CallerChassisBrakeStateListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerAutopilotActionsListenerManager.addListener(TAG, this)
    }

    override fun onDestroy() {
        super.onDestroy()
-        CallerChassisBrakeStateListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerAutopilotActionsListenerManager.removeListener(TAG)
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/DoubleFlashImpl.kt
@@ -4,17 +4,19 @@ import android.content.Context
 import chassis.Chassis.LightSwitch
 import chassis.Chassis.LightSwitch.LIGHT_FLASH
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_DEVA
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_HAZARD_LIGHTS
 import com.zhjt.mogo_core_function_devatools.status.entity.DoubleFlashStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow

-internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx), IMoGoChassisLamplightListener, IMoGoAutopilotActionsListener {
+internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx),
+    IMoGoChassisStatesListener, IMoGoAutopilotActionsListener {

    companion object {
        private const val TAG = "DoubleFlashImpl"
@@ -30,19 +32,19 @@ internal class DoubleFlashImpl(ctx: Context): IFlow<DoubleFlashStatus>(ctx), IMo
    private var extra: Any? = null

    override fun onCreate() {
-        CallerChassisLamplightListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerAutopilotActionsListenerManager.addListener(TAG, this)
    }

    override fun onDestroy() {
        super.onDestroy()
-        CallerChassisLamplightListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerAutopilotActionsListenerManager.removeListener(TAG)
    }

    override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
        super.onAutopilotLightSwitchData(lightSwitch)
-        Logger.d(TAG, "-- onAutopilotLightSwitchData --: $lightSwitch")
+        CallerLogger.d("$M_DEVA$TAG", "-- onAutopilotLightSwitchData --: $lightSwitch")
        if (last != lightSwitch) {
            last = lightSwitch
            if (lightSwitch == LIGHT_FLASH) {
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/GearImpl.kt
@@ -4,16 +4,17 @@ import android.content.Context
 import chassis.Chassis.GearPosition
 import chassis.Chassis.GearPosition.GEAR_NONE
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_GEAR
 import com.zhjt.mogo_core_function_devatools.status.entity.GearStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow

-internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearStateListener, IMoGoAutopilotActionsListener {
+internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoAutopilotActionsListener,
+    IMoGoChassisStatesListener {

    companion object {
        private const val TAG = "GeerImpl"
@@ -29,13 +30,13 @@ internal class GearImpl(ctx: Context): IFlow<GearStatus>(ctx), IMoGoChassisGearS
    private var extra: Any? = null

    override fun onCreate() {
-        CallerChassisGearStateListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerAutopilotActionsListenerManager.addListener(TAG, this)
    }

    override fun onDestroy() {
        super.onDestroy()
-        CallerChassisGearStateListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerAutopilotActionsListenerManager.removeListener(TAG)
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/autopilot/SteerImpl.kt
@@ -2,9 +2,9 @@ package com.zhjt.mogo_core_function_devatools.status.flow.autopilot

 import android.content.Context
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo.adas.data.bean.LaunchConditionData
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
@@ -12,7 +12,7 @@ import com.zhjt.mogo.adas.data.bean.UnableLaunchReason.UnableType.CHASSIS_STEERI
 import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow

-internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisSteeringStateListener, IMoGoAutopilotActionsListener {
+internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisStatesListener, IMoGoAutopilotActionsListener {

    companion object {
        private const val TAG = "SteerImpl"
@@ -28,13 +28,13 @@ internal class SteerImpl(ctx: Context): IFlow<SteerStatus>(ctx), IMoGoChassisSte
    private var extra: Any? = null

    override fun onCreate() {
-        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerAutopilotActionsListenerManager.addListener(TAG, this)
    }

    override fun onDestroy() {
        super.onDestroy()
-        CallerChassisSteeringStateListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerAutopilotActionsListenerManager.removeListener(TAG)
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -5,8 +5,11 @@ import android.util.Log
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
 import chassis.ChassisStatesOuterClass
-import com.mogo.eagle.core.function.api.autopilot.*
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.utilcode.kotlin.safeCancel
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
@@ -19,19 +22,10 @@ import system_master.SystemStatusInfo.StatusInfo
 import java.util.concurrent.atomic.AtomicInteger

 internal class CanImpl(ctx: Context) :
-        IFlow<CanStatus>(ctx),
-
-        IMoGoAutopilotVehicleStateListener,
-
-        IMoGoChassisAccStateListener,
-        IMoGoChassisSteeringStateListener,
-        IMoGoChassisGearStateListener,
-        IMoGoChassisBrakeStateListener,
-        IMoGoChassisThrottleStateListener,
-
-        IMoGoAutopilotStatusListener,
-        IMoGoChassisLamplightListener,
-        IMoGoSweeperFutianCleanSystemListener {
+    IFlow<CanStatus>(ctx),
+    IMoGoChassisStatesListener,
+    IMoGoAutopilotStatusListener,
+    IMoGoSweeperFutianCleanSystemListener {

    companion object {
        const val TAG = "CanImpl"
@@ -43,14 +37,8 @@ internal class CanImpl(ctx: Context) :
    override fun onCreate() {
        send(CanStatus(CallerAutoPilotStatusListenerManager.isConnect()))

-        CallerChassisAccStateListenerManager.addListener(TAG, this)
-        CallerChassisBrakeStateListenerManager.addListener(TAG, this)
-        CallerChassisGearStateListenerManager.addListener(TAG, this)
-        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
-        CallerChassisThrottleStateListenerManager.addListener(TAG, this)
-
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
-        CallerChassisLamplightListenerManager.addListener(TAG, this)
    }

    override fun onAutopilotLightSwitchData(lightSwitch: LightSwitch?) {
@@ -75,7 +63,10 @@ internal class CanImpl(ctx: Context) :
        send(CanStatus(isCanEnabled()))
    }

-    override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {
+    override fun onAutopilotIpcConnectStatusChanged(
+        status: AdasConstants.IpcConnectionStatus,
+        reason: String?
+    ) {
        super.onAutopilotIpcConnectStatusChanged(status, reason)
        send(CanStatus(isCanEnabled()))
    }
@@ -101,16 +92,19 @@ internal class CanImpl(ctx: Context) :
    override fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
        send(CanStatus(isCanEnabled()))
    }
+
    override fun onSweeperFutianTaskIndexData(roboSweeperTaskIndex: RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex) {

    }
+
    override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?) {
        super.onAutopilotGuardian(guardianInfo)
        send(CanStatus(isCanEnabled()))
    }

    override fun onAutopilotStatusRespByQuery(status: StatusInfo) {
-        val state = status.healthInfoList?.find { "can_adapter".equals(it.name, true) }?.state?.ordinal
+        val state =
+            status.healthInfoList?.find { "can_adapter".equals(it.name, true) }?.state?.ordinal
        Log.d(TAG, "state: $state")
        if (state != null) {
            this.state.set(state)
@@ -118,7 +112,8 @@ internal class CanImpl(ctx: Context) :
    }

    override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
-        val state = statusInf.healthInfoList?.find { "can_adapter".equals(it.name, true) }?.state?.ordinal
+        val state =
+            statusInf.healthInfoList?.find { "can_adapter".equals(it.name, true) }?.state?.ordinal
        Log.d(TAG, "state: $state")
        if (state != null) {
            this.state.set(state)
@@ -128,12 +123,7 @@ internal class CanImpl(ctx: Context) :
    override fun onDestroy() {
        super.onDestroy()
        job?.safeCancel()
-        CallerChassisAccStateListenerManager.removeListener(TAG)
-        CallerChassisBrakeStateListenerManager.removeListener(TAG)
-        CallerChassisGearStateListenerManager.removeListener(TAG)
-        CallerChassisSteeringStateListenerManager.removeListener(TAG)
-        CallerChassisThrottleStateListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerAutoPilotStatusListenerManager.removeListener(TAG)
-        CallerChassisLamplightListenerManager.removeListener(TAG)
    }
 }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/lookaround/M1LookAroundView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/lookaround/M1LookAroundView.kt
@@ -24,7 +24,7 @@ import kotlinx.coroutines.flow.*
 import java.util.concurrent.atomic.AtomicReference
 import kotlin.math.*

-class M1LookAroundView: SurfaceView, SurfaceHolder.Callback, Runnable, IMoGoChassisSteeringStateListener {
+class M1LookAroundView: SurfaceView, SurfaceHolder.Callback, Runnable, IMoGoChassisStatesListener {

    constructor(context: Context?) : super(context)
    constructor(context: Context?, attrs: AttributeSet?) : super(context, attrs)
@@ -279,7 +279,7 @@ class M1LookAroundView: SurfaceView, SurfaceHolder.Callback, Runnable, IMoGoChas

    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
-        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(true)
        scope.launch(ThreadUtils.getCpuPool().asCoroutineDispatcher()) {
            CallerDevaToolsManager.lookAroundProvider()?.flow()?.also { flow ->
@@ -306,7 +306,7 @@ class M1LookAroundView: SurfaceView, SurfaceHolder.Callback, Runnable, IMoGoChas

    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
-        CallerChassisSteeringStateListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerAutoPilotControlManager.setIsSubscribeM1StitchedVideo(false)
        handler.get()?.looper?.quitSafely()
    }
--- 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
@@ -27,7 +27,6 @@ import androidx.core.view.MenuCompat
 import androidx.core.view.isVisible
 import androidx.lifecycle.lifecycleScope
 import chassis.Chassis
-import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.cloud.network.cronet.NetworkQualityListener
 import com.mogo.cloud.network.cronet.QuicConfig
 import com.mogo.cloud.passport.MoGoAiCloudClient
@@ -41,7 +40,6 @@ import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
-import com.mogo.eagle.core.data.config.JunkConfig
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig.Companion.BIZ_BAG_RECORD
@@ -58,7 +56,13 @@ import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.data.obu.ObuStatusInfo
-import com.mogo.eagle.core.function.api.autopilot.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
 import com.mogo.eagle.core.function.api.cloud.IMoGoCloudListener
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuConnectListener
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuInfoListener
@@ -68,14 +72,20 @@ import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.api.setting.ISopSettingListener
-import com.mogo.eagle.core.function.call.autopilot.*
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudCertManager
 import com.mogo.eagle.core.function.call.cloud.CallerCloudListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsFuncConfigListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.call.obu.CallerObuConnectListenerManager
@@ -98,22 +108,213 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.mogo.permissions.BackgrounderPermission
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast
-import com.mogo.eagle.core.utilcode.util.*
+import com.mogo.eagle.core.utilcode.util.ActivityUtils
+import com.mogo.eagle.core.utilcode.util.AppUtils
+import com.mogo.eagle.core.utilcode.util.BarUtils
+import com.mogo.eagle.core.utilcode.util.CommonUtils
+import com.mogo.eagle.core.utilcode.util.DeviceUtils
+import com.mogo.eagle.core.utilcode.util.KeyboardUtils
+import com.mogo.eagle.core.utilcode.util.NetworkUtils
+import com.mogo.eagle.core.utilcode.util.ParseVersionUtils
+import com.mogo.eagle.core.utilcode.util.ScreenUtils
+import com.mogo.eagle.core.utilcode.util.StringUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.eagle.core.utilcode.util.Utils
 import com.mogo.map.MogoData.Companion.mogoMapData
 import com.mogo.map.uicontroller.VisualAngleMode
-import com.mogo.map.uicontroller.VisualAngleMode.*
-import com.mogo.test.crashreport.CrashReportConstants
-import com.mogo.test.crashreport.ITestCrashReportProvider
+import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_300
+import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_CROSS
+import com.mogo.map.uicontroller.VisualAngleMode.MAP_STYLE_VR_ANGLE_TOP
+import com.mogo.map.uicontroller.VisualAngleMode.MODE_LONG_SIGHT
 import com.mogo.tts.base.IMogoTTSCallback
-import com.zhidaoauto.map.data.road.RoadCross
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.service.chain.ChainLog
-import kotlinx.android.synthetic.main.view_debug_setting.view.*
-import kotlinx.coroutines.*
+import kotlinx.android.synthetic.main.view_debug_setting.view.appVersionInfoLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.brakeThresholdDivider
+import kotlinx.android.synthetic.main.view_debug_setting.view.btChangeEnv
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnAppReboot
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnBrakeThreshold
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnConnectServerIp
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnDisconnectIpc
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnDrawFusion
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnIpcReboot
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnPointCloudColor
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnPointCloudSize
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnRecordBag
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnRecordPackage
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnSetAutopilotIP
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnSetFifty
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnSetObuIP
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnSetOneHundred
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnStartTTS
+import kotlinx.android.synthetic.main.view_debug_setting.view.btnThresholdDefine
+import kotlinx.android.synthetic.main.view_debug_setting.view.btn_cache_hd_map
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbAdasAutoPilot
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbAdasDataTrack
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbAdasLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbAdasTrafficlight
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbAdasTrajectory
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbAdasVehicle
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbBusLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbDevaLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbHmiLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbMapLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbNetworkLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbObuLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbSsl
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbSweeperPLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbTaxiLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbTaxiPLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbTraceLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.cbV2xLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.changesight_back_btn
+import kotlinx.android.synthetic.main.view_debug_setting.view.changesight_cross_btn
+import kotlinx.android.synthetic.main.view_debug_setting.view.changesight_far_btn
+import kotlinx.android.synthetic.main.view_debug_setting.view.changesight_top_btn
+import kotlinx.android.synthetic.main.view_debug_setting.view.clDebugContain
+import kotlinx.android.synthetic.main.view_debug_setting.view.commonLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.controlCenterLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.deviceBindLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.domainControllerLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.eagleEyeControllerLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.etAutopilotIP
+import kotlinx.android.synthetic.main.view_debug_setting.view.etConnectServerIp
+import kotlinx.android.synthetic.main.view_debug_setting.view.etInputBrakeThreshold
+import kotlinx.android.synthetic.main.view_debug_setting.view.etInputRecordBagTime
+import kotlinx.android.synthetic.main.view_debug_setting.view.etInputRecordTime
+import kotlinx.android.synthetic.main.view_debug_setting.view.etLogCatch
+import kotlinx.android.synthetic.main.view_debug_setting.view.etObuIP
+import kotlinx.android.synthetic.main.view_debug_setting.view.etPointCloudColor
+import kotlinx.android.synthetic.main.view_debug_setting.view.etPointCloudSize
+import kotlinx.android.synthetic.main.view_debug_setting.view.etTTSContent
+import kotlinx.android.synthetic.main.view_debug_setting.view.etThreshold
+import kotlinx.android.synthetic.main.view_debug_setting.view.exportAllLogs
+import kotlinx.android.synthetic.main.view_debug_setting.view.hdMapControllerLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.hmiControllerLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.logLoadingView
+import kotlinx.android.synthetic.main.view_debug_setting.view.logcatCenterLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.obuConnectStatusTv
+import kotlinx.android.synthetic.main.view_debug_setting.view.obuControllerLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.reportMsgLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.reset_changesight
+import kotlinx.android.synthetic.main.view_debug_setting.view.rgGpsProvider
+import kotlinx.android.synthetic.main.view_debug_setting.view.statusCenterLayout
+import kotlinx.android.synthetic.main.view_debug_setting.view.swDevelopMode
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbADASLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbAppUpgrade
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbAppVersionInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbBeautyMode
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbBusStationStrategyBorderPoint
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbCarAperture
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbChangeAutoPilotStatus
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbChangeCurrentCarIcon
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbChangeCurrentSkinMode
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbControlCenter
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbControlPassengerDriverMonitor
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbCronet
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbDeviceBind
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbDomainController
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbDrawPointCloudData
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbEagleEyeController
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbHdMapController
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbHdMapLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbHmiController
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbIsDemoMode
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbIsDrawAutopilotTrajectoryData
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbIsDrawIdentifyData
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbIsDrawPath
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbIsDrawUnknownIdentifyData
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbIsRainMode
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbIsStrictMode
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbLogCatch
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbLogDebugView
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbLogcatCenter
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbNetLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbObuController
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbObuLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbObuWarningFusionUnion
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbOpenAcceleration
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbOpenSnBinding
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbReportMore
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbReportWarning
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbRouteDynamicEffect
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbSelfLog
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbStartAutopilotCommand
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbStatusCenter
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbTTSCenter
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbTraceEnable
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbVehicleStateController
+import kotlinx.android.synthetic.main.view_debug_setting.view.trackerIPCProvider
+import kotlinx.android.synthetic.main.view_debug_setting.view.trackerProvider
+import kotlinx.android.synthetic.main.view_debug_setting.view.ttsCenterContainer
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAppBuildTimeInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAppContent
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAppHost
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAppVersionName
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAppVersionNameKey
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAutopilotConnectStatus
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAutopilotInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvAutopilotProtocolVersionInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvBackgroundOperation
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvCarInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvCarInfoCopy
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvCarInfoCopyClip
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvCertFile
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvCmdbCarInfoContent
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvCurEnv
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvDriverServerStartupStatus
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvGearInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvGitBranchInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIPCMac
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIdentifyInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIdentifyInfoCopy
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvInternetEnvironment
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIpcConnectStatus
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIpcInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIpcInfoKey
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIpcProtocolVersionInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIpcVersionInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIpcVersionInfoClip
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvIpcVersionInfoKey
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvLocationEnabled
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvMoGoMapVersion
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvMoGoMapVersionKey
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvObuConnectStatus
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvObuInfoContent
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvPadCopyrightId
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvPadSn
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvPadSnClip
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvPadSnKey
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvPlateNumber
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvReportActions
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvReportCode
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvReportLevel
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvReportMsg
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvReportResult
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvReportSrc
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvRouteInfoSize
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvRouteInfoSizeCopy
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvServerEnvironment
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvServerSocketStatus
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvSteeringInfo
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvTelematicTimeStamp
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvTrajectoryInfoSize
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvTrajectoryInfoSizeCopy
+import kotlinx.android.synthetic.main.view_debug_setting.view.tvUniqueDeviceId
+import kotlinx.android.synthetic.main.view_debug_setting.view.vehicleStateLayout
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
 import java.text.SimpleDateFormat
-import java.util.*
+import java.util.Date
+import java.util.Timer
+import java.util.TimerTask
 import java.util.concurrent.TimeUnit
 import kotlin.collections.component1
 import kotlin.collections.component2
@@ -142,13 +343,8 @@ internal class DebugSettingView @JvmOverloads constructor(
    IMoGoPlanningRottingListener,
    IMoGoPlanningTrajectoryListener,
    IMoGoDevaToolsFuncConfigListener,
-    IMoGoChassisLamplightListener,
    IMoGoDevaToolsListener,
-    IMoGoChassisAccStateListener,
-    IMoGoChassisSteeringStateListener,
-    IMoGoChassisGearStateListener,
-    IMoGoChassisBrakeStateListener,
-    IMoGoChassisThrottleStateListener,
+    IMoGoChassisStatesListener,
    IMoGoSweeperFutianCleanSystemListener,
    IMoGoObuInfoListener,
    ISopSettingListener, IViewControlListener, IMoGoCloudListener {
@@ -255,16 +451,10 @@ internal class DebugSettingView @JvmOverloads constructor(
        // 添加 规划路径相关回调 监听
        CallerPlanningRottingListenerManager.addListener(TAG, this)
        CallerPlanningTrajectoryListenerManager.addListener(TAG, this)
-        //添加 车辆底盘数据回调 监听
-        CallerChassisAccStateListenerManager.addListener(TAG, this)
-        CallerChassisBrakeStateListenerManager.addListener(TAG, this)
-        CallerChassisGearStateListenerManager.addListener(TAG, this)
-        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
-        CallerChassisThrottleStateListenerManager.addListener(TAG, this)
        //添加 开发套件工具接口 监听
        CallerDevaToolsListenerManager.addListener(TAG, this)
-        //添加 底盘灯光数据 监听
-        CallerChassisLamplightListenerManager.addListener(TAG, this)
+        //添加 底盘数据 监听
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        //雨天、美化、点云设置同步
        CallerSopSettingManager.addListener(TAG, this)

@@ -304,16 +494,10 @@ internal class DebugSettingView @JvmOverloads constructor(
        // 移除 规划路径相关回调 监听
        CallerPlanningRottingListenerManager.removeListener(TAG)
        CallerPlanningTrajectoryListenerManager.removeListener(TAG)
-        // 移除 车辆底盘数据回调 监听
-        CallerChassisAccStateListenerManager.removeListener(TAG)
-        CallerChassisBrakeStateListenerManager.removeListener(TAG)
-        CallerChassisGearStateListenerManager.removeListener(TAG)
-        CallerChassisSteeringStateListenerManager.removeListener(TAG)
-        CallerChassisThrottleStateListenerManager.removeListener(TAG)
        // 移除 开发套件工具接口 监听
        CallerDevaToolsListenerManager.removeListener(TAG)
-        // 移除 底盘灯光数据 监听
-        CallerChassisLamplightListenerManager.removeListener(TAG)
+        // 移除 底盘数据 监听
+        CallerChassisStatesListenerManager.removeListener(TAG)
        // 移除 obu获取信息 监听
        CallerObuInfoListenerManager.removeListener(TAG)
        //雨天、美化、点云设置同步
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
@@ -8,14 +8,14 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import chassis.Chassis
 import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.commons.storage.SharedPrefsMgr
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.Utils
 import kotlinx.android.synthetic.main.view_steering_brake.view.*
@@ -25,7 +25,7 @@ import kotlinx.android.synthetic.main.view_steering_brake.view.*
 * 刹车，调用模型的逻辑暂时放入view。 转向不受影响
 */
 class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayout(context, attrs),
-    IMoGoChassisLamplightListener, IMoGoChassisLocationWGS84Listener {
+    IMoGoChassisStatesListener, IMoGoChassisLocationWGS84Listener {

    companion object {
        private const val TAG = "SteeringBrakeView"
@@ -41,7 +41,7 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo

    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
-        CallerChassisLamplightListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
    }

@@ -91,7 +91,7 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo

    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
-        CallerChassisLamplightListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
@@ -12,9 +12,9 @@ import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import chassis.Chassis
 import com.mogo.eagle.core.data.config.HmiBuildConfig
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTurnLightListener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTurnLightListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
@@ -30,7 +30,7 @@ open class TurnLightViewStatus @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null,
    defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoChassisLamplightListener,
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoChassisStatesListener,
    IMoGoTurnLightListener {

    companion object {
@@ -72,13 +72,13 @@ open class TurnLightViewStatus @JvmOverloads constructor(

    override fun onAttachedToWindow() {
        super.onAttachedToWindow()
-        CallerChassisLamplightListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        CallerTurnLightListenerManager.addListener(TAG,this)
    }

    override fun onDetachedFromWindow() {
        super.onDetachedFromWindow()
-        CallerChassisLamplightListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        CallerTurnLightListenerManager.removeListener(TAG)
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.kt
@@ -13,11 +13,9 @@ import chassis.Chassis.GearPosition
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisSteeringStateListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils.isBus
@@ -35,8 +33,7 @@ import kotlin.math.abs
 * 档位随CAN数据做切换和高亮显示
 * @since: 4/7/22
 */
-class SteeringWheelView : ConstraintLayout, IMoGoChassisSteeringStateListener,
-    IMoGoChassisGearStateListener {
+class SteeringWheelView : ConstraintLayout, IMoGoChassisStatesListener {
    private var autopilotIV: ImageView? = null
    private var steeringTVL: TextView? = null
    private var steeringTVR: TextView? = null
@@ -57,8 +54,7 @@ class SteeringWheelView : ConstraintLayout, IMoGoChassisSteeringStateListener,
        }
        initView()
        CallerAutoPilotStatusListenerManager.addListener(TAG, mGoAutopilotStatusListener)
-        CallerChassisGearStateListenerManager.addListener(TAG, this)
-        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
        tapPositionView?.updateWithGear(GearPosition.GEAR_R)
    }

--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -1,169 +0,0 @@
-package com.mogo.eagle.core.function.hmi.ui.widget;
-
-import static com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING;
-
-import android.annotation.SuppressLint;
-import android.content.Context;
-import android.os.Handler;
-import android.os.Message;
-import android.util.AttributeSet;
-import android.view.LayoutInflater;
-import android.widget.ImageView;
-import android.widget.TextView;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-import androidx.constraintlayout.widget.ConstraintLayout;
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisThrottleStateListener;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisBrakeStateListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisGearStateListenerManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisThrottleStateListenerManager;
-import com.mogo.eagle.core.function.hmi.R;
-import com.mogo.eagle.core.utilcode.util.ThreadUtils;
-
-import org.jetbrains.annotations.NotNull;
-
-import chassis.Chassis;
-import mogo.telematics.pad.MessagePad;
-
-/**
- * @author Jing
- * @description 速度 加速度 档位 刹车 油门状态值
- * @since: 6/24/22
- */
-public class TrafficDataView extends ConstraintLayout implements
-        IMoGoChassisGearStateListener ,
-        IMoGoChassisBrakeStateListener,
-        IMoGoChassisThrottleStateListener,
-        IMoGoAutopilotPlanningActionsListener {
-    private static final String TAG = "TrafficDataView";
-    private TapPositionView tapPositionView;
-    private TextView speedTextView;
-    private TextView accTextView;
-    private ImageView speedImage;
-    private ImageView brakeStatus;
-
-    private static final int MSG_SEND_UPDATE = 1;
-    private volatile double acceleration;
-    private volatile float mBrake;
-    private volatile float mThrottle;
-
-    @SuppressLint("HandlerLeak")
-    private final Handler handler = new Handler() {
-        @Override
-        public void handleMessage(@NonNull Message msg) {
-            super.handleMessage(msg);
-            if (msg.what == MSG_SEND_UPDATE) {
-                java.text.DecimalFormat mFormat = new java.text.DecimalFormat("0.0");
-                String accStr = mFormat.format(Math.abs(acceleration));
-                if (acceleration > 0f) {
-                    accTextView.setText(accStr);
-                } else {
-                    accTextView.setText("- " + accStr);
-                }
-                int state = CallerAutoPilotStatusListenerManager.INSTANCE.getState();
-                if (state < STATUS_AUTOPILOT_RUNNING) {
-                    if (mBrake > 0) {
-                        brakeStatus.setImageResource(R.drawable.traffic_data_brake);
-                    } else if (mThrottle >= 0 && mBrake == 0) {
-                        brakeStatus.setImageResource(R.drawable.traffic_data_accelerator);
-                    } else {
-                        brakeStatus.setImageResource(R.drawable.traffic_data_empty);
-                    }
-                }
-                if (state == 2) {
-                    brakeStatus.setImageResource(R.drawable.traffic_data_empty);
-                }
-            }
-            handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
-        }
-    };
-
-    public TrafficDataView(@NonNull Context context) {
-        super(context);
-    }
-
-    public TrafficDataView(@NonNull Context context, @Nullable AttributeSet attrs) {
-        super(context, attrs);
-        initView(context);
-    }
-
-    public TrafficDataView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
-        super(context, attrs, defStyleAttr);
-    }
-
-    public TrafficDataView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr, int defStyleRes) {
-        super(context, attrs, defStyleAttr, defStyleRes);
-    }
-
-    @Override
-    protected void onAttachedToWindow() {
-        super.onAttachedToWindow();
-        handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L);
-        CallerChassisGearStateListenerManager.INSTANCE.addListener(TAG, this);
-        CallerChassisBrakeStateListenerManager.INSTANCE.addListener(TAG, this);
-        CallerChassisThrottleStateListenerManager.INSTANCE.addListener(TAG, this);
-        CallerPlanningActionsListenerManager.INSTANCE.addListener(TAG, this);
-    }
-
-    private void initView(@NonNull Context context) {
-        LayoutInflater.from(context).inflate(R.layout.hmi_traffic_data, this);
-        tapPositionView = findViewById(R.id.traffic_position);
-        speedImage = findViewById(R.id.speedImage);
-        speedTextView = findViewById(R.id.speedTextView);
-        accTextView = findViewById(R.id.speedAccTextView);
-        brakeStatus = findViewById(R.id.brakeStatus);
-    }
-
-    @Override
-    protected void onDetachedFromWindow() {
-        super.onDetachedFromWindow();
-        CallerChassisGearStateListenerManager.INSTANCE.removeListener(TAG);
-        CallerChassisBrakeStateListenerManager.INSTANCE.removeListener(TAG);
-        CallerChassisThrottleStateListenerManager.INSTANCE.removeListener(TAG);
-        CallerPlanningActionsListenerManager.INSTANCE.removeListener(TAG);
-    }
-
-    @Override
-    public void pncActions(@NonNull MessagePad.PlanningActionMsg planningActionMsg) {
-        acceleration = planningActionMsg.getDestinationAcc();
-    }
-
-    /**
-     * 档位
-     */
-    @Override
-    public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
-        ThreadUtils.runOnUiThread(() -> {
-            if (tapPositionView != null) {
-                tapPositionView.updateWithGear(gear);
-            }
-        });
-    }
-
-    @Override
-    public void onAutopilotBrake(float brake) {
-        mBrake = brake;
-    }
-
-    @Override
-    public void onAutopilotThrottle(float throttle) {
-        mThrottle = throttle;
-    }
-
-    /**
-     * value呈现
-     */
-    public void updateSpeedWithValue(int newSpeed) {
-        if (speedTextView != null) {
-            speedTextView.setText(String.valueOf(newSpeed));
-        }
-    }
-
-}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.kt
@@ -0,0 +1,148 @@
+package com.mogo.eagle.core.function.hmi.ui.widget
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.os.Handler
+import android.os.Looper
+import android.os.Message
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.constraintlayout.widget.ConstraintLayout
+import chassis.Chassis.GearPosition
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getState
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import mogo.telematics.pad.MessagePad.PlanningActionMsg
+import java.text.DecimalFormat
+import kotlin.math.abs
+
+/**
+ * @author Jing
+ * @description 速度 加速度 档位 刹车 油门状态值
+ * @since: 6/24/22
+ */
+open class TrafficDataView : ConstraintLayout, IMoGoChassisStatesListener,
+    IMoGoAutopilotPlanningActionsListener {
+    private var tapPositionView: TapPositionView? = null
+    private var speedTextView: TextView? = null
+    private var accTextView: TextView? = null
+    private var speedImage: ImageView? = null
+    private var brakeStatus: ImageView? = null
+
+    @Volatile
+    private var acceleration = 0.0
+
+    @Volatile
+    private var mBrake = 0f
+
+    @Volatile
+    private var mThrottle = 0f
+
+    @SuppressLint("HandlerLeak")
+    private val handler: Handler = object : Handler(Looper.getMainLooper()) {
+        override fun handleMessage(msg: Message) {
+            super.handleMessage(msg)
+            if (msg.what == MSG_SEND_UPDATE) {
+                val mFormat = DecimalFormat("0.0")
+                val accStr = mFormat.format(abs(acceleration))
+                if (acceleration > 0f) {
+                    accTextView?.text = accStr
+                } else {
+                    accTextView?.text = "- $accStr"
+                }
+                val state = getState()
+                if (state < IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+                    if (mBrake > 0) {
+                        brakeStatus?.setImageResource(R.drawable.traffic_data_brake)
+                    } else if (mThrottle >= 0 && mBrake == 0f) {
+                        brakeStatus?.setImageResource(R.drawable.traffic_data_accelerator)
+                    } else {
+                        brakeStatus?.setImageResource(R.drawable.traffic_data_empty)
+                    }
+                }
+                if (state == 2) {
+                    brakeStatus?.setImageResource(R.drawable.traffic_data_empty)
+                }
+            }
+            sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L)
+        }
+    }
+
+    constructor(context: Context) : super(context)
+
+    constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
+        initView(context)
+    }
+
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(
+        context,
+        attrs,
+        defStyleAttr
+    )
+
+    constructor(
+        context: Context,
+        attrs: AttributeSet?,
+        defStyleAttr: Int,
+        defStyleRes: Int
+    ) : super(context, attrs, defStyleAttr, defStyleRes)
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        handler.sendEmptyMessageDelayed(MSG_SEND_UPDATE, 1000L)
+        CallerChassisStatesListenerManager.addListener(TAG, this)
+        CallerPlanningActionsListenerManager.addListener(TAG, this)
+    }
+
+    private fun initView(context: Context) {
+        LayoutInflater.from(context).inflate(R.layout.hmi_traffic_data, this)
+        tapPositionView = findViewById(R.id.traffic_position)
+        speedImage = findViewById(R.id.speedImage)
+        speedTextView = findViewById(R.id.speedTextView)
+        accTextView = findViewById(R.id.speedAccTextView)
+        brakeStatus = findViewById(R.id.brakeStatus)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerChassisStatesListenerManager.removeListener(TAG)
+        CallerPlanningActionsListenerManager.removeListener(TAG)
+    }
+
+    override fun pncActions(planningActionMsg: PlanningActionMsg) {
+        acceleration = planningActionMsg.destinationAcc
+    }
+
+    override fun onAutopilotGearData(gear: GearPosition) {
+        ThreadUtils.runOnUiThread {
+            tapPositionView?.updateWithGear(gear)
+        }
+    }
+
+    override fun onAutopilotBrake(brake: Float) {
+        mBrake = brake
+    }
+
+    override fun onAutopilotThrottle(throttle: Float) {
+        mThrottle = throttle
+    }
+
+    /**
+     * value呈现
+     */
+    fun updateSpeedWithValue(newSpeed: Int) {
+        speedTextView?.text = newSpeed.toString()
+    }
+
+    companion object {
+        private const val TAG = "TrafficDataView"
+        private const val MSG_SEND_UPDATE = 1
+    }
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
@@ -7,12 +7,10 @@ import androidx.lifecycle.LifecycleObserver
 import chassis.Chassis
 import com.mogo.eagle.core.data.config.FunctionBuildConfig.accThreshold
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.map.MogoMap
 import com.mogo.map.MogoMapView
 import com.mogo.map.overlay.line.Polyline
@@ -24,7 +22,7 @@ import kotlin.properties.Delegates


 class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context, attrs),
-    IMoGoChassisLocationWGS84Listener, IMoGoChassisLamplightListener, LifecycleObserver {
+    IMoGoChassisLocationWGS84Listener, IMoGoChassisStatesListener, LifecycleObserver {

    companion object {
        private const val TAG = "MapBizView"
@@ -35,7 +33,7 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
        map?.uiController?.showMyLocation(true)
        initMapView()
        CallerChassisLocationWGS84ListenerManager.addListener(TAG, 20, this)
-        CallerChassisLamplightListenerManager.addListener(TAG, this)
+        CallerChassisStatesListenerManager.addListener(TAG, this)

    }

@@ -138,7 +136,7 @@ class MapBizView(context: Context?, attrs: AttributeSet?) : MogoMapView(context,
    override fun onDestroy() {
        // 先取消注册数据，再onDestroy
        CallerChassisLocationWGS84ListenerManager.removeListener(TAG)
-        CallerChassisLamplightListenerManager.removeListener(TAG)
+        CallerChassisStatesListenerManager.removeListener(TAG)
        super.onDestroy()
    }