diff --git a/OCH/facade/src/main/java/com/mogo/och/facade/route/FacadeProvider.kt b/OCH/facade/src/main/java/com/mogo/och/facade/route/FacadeProvider.kt
index 47f941268c..7285bb32b3 100644
--- a/OCH/facade/src/main/java/com/mogo/och/facade/route/FacadeProvider.kt
+++ b/OCH/facade/src/main/java/com/mogo/och/facade/route/FacadeProvider.kt
@@ -214,7 +214,7 @@ abstract class FacadeProvider : IMoGoFunctionProvider, ILoginCallback {
             CallerHmiManager.hideToolsView()
             ToggleDebugView.toggleDebugView.dismiss()
             SopView.sopView.dismiss()
-            CallerHmiManager.dismissFSMStatusDetailWindow()
+            CallerHmiManager.dismissFSMExceptionStatusWindow()
             CallerHmiManager.hideStatusSummaryDialog()
             commonService?.resetFragment()
             val fragment = LoginStatusManager.getFragment()
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt
index 314aa5c913..5e7d1c0dd5 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/FSMImpl.kt
@@ -132,7 +132,7 @@ internal class FSMImpl(ctx: Context) : IFlow<FSMStatus>(ctx), IMoGoAutopilotStat
         super.onLoginStatusUpdate(isLogin)
         if (!isLogin) {
             CallerLogger.d(TAG, "onLoginStatusUpdate isLogin=$isLogin")
-            CallerHmiManager.dismissFSMStatusDetailWindow()
+            CallerHmiManager.dismissFSMExceptionStatusWindow()
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt
index 68e541a9da..fc975615d5 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/ui/adapter/StatusAdapter.kt
@@ -126,22 +126,24 @@ internal class StatusAdapter(val ctx: Context, var data: List<Status>) : Recycle
                     when (status.state) {
                         FSMStateCode.UnKnown -> {
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_not_connected)
-                            CallerHmiManager.dismissFSMStatusDetailWindow()
+                            CallerHmiManager.dismissFSMExceptionStatusWindow()
                         }
 
                         FSMStateCode.NotExist -> {
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_not_exist)
-                            CallerHmiManager.dismissFSMStatusDetailWindow()
+                            CallerHmiManager.dismissFSMExceptionStatusWindow()
                         }
 
                         FSMStateCode.ExistNormal -> {
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_normal)
-                            CallerHmiManager.dismissFSMStatusDetailWindow()
+                            CallerHmiManager.dismissFSMExceptionStatusWindow()
                         }
 
                         FSMStateCode.ExistError -> {
                             iv.background = ContextCompat.getDrawable(itemView.context, drawable.icon_dev_status_fsm_error)
-                            CallerHmiManager.showFSMStatusDetailWindow("FSM异常：", "#FF3B3B", status.desc)
+                            CallerHmiManager.showFSMExceptionStatusWindow(ArrayList<String>().also {
+                                it += status.desc
+                            })
                         }
                     }
                 }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
index 7281a6c3bc..57ca6cd7da 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
@@ -9,11 +9,11 @@ import androidx.core.content.ContextCompat
 import chassis.Chassis
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
-import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
 import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.BrakeStatus
@@ -131,9 +131,10 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
             }
 
             FSMStateCode.ExistError -> {
-                // TODO
                 fSMStatusLayout?.onClick {
-                    ToastUtils.showLong("onClick")
+                   CallerHmiManager.showFSMExceptionStatusWindow(ArrayList<String>().also {
+                       it += status.desc
+                   })
                 }
                 fSMStatusLayout?.setImageDrawable(
                     ContextCompat.getDrawable(
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/fsm/FSMStatusDetailView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/fsm/FSMStatusDetailView.kt
new file mode 100644
index 0000000000..47115ebe99
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/fsm/FSMStatusDetailView.kt
@@ -0,0 +1,163 @@
+package com.mogo.eagle.core.function.hmi.bone.status.fsm
+
+import android.content.Context
+import android.graphics.Color
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import android.view.View
+import android.widget.FrameLayout
+import android.widget.ImageView
+import android.widget.LinearLayout
+import android.widget.ScrollView
+import android.widget.TextView
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.kotlin.onClick
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.zhjt.mogo_core_function_devatools.status.StatusManager
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStateCode
+import com.zhjt.mogo_core_function_devatools.status.entity.FSMStatus
+import com.zhjt.mogo_core_function_devatools.status.entity.Status
+
+/**
+ * FSM状态展示 View
+ */
+class FSMStatusDetailView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : FrameLayout(
+    context,
+    attrs,
+    defStyleAttr
+), StatusManager.IStatusListener {
+    companion object {
+        private const val TAG = "FSMStatusDetailView"
+    }
+
+    private var tvTitle: TextView? = null
+    private var scrollLayout: ScrollView? = null
+    private var llFsmMsgContainerLayout: LinearLayout? = null
+    private var tvCloseBtn: TextView? = null
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_status_fsm_layout, this, true)
+        initView()
+    }
+
+    private fun initView() {
+        tvTitle = findViewById(R.id.tvTitle)
+        scrollLayout = findViewById(R.id.scrollLayout)
+        llFsmMsgContainerLayout = findViewById(R.id.fsmMsgContainerLayout)
+        tvCloseBtn = findViewById(R.id.btnClose)
+        tvCloseBtn?.onClick {
+            FSMStatusDetailWindowManager.fsmStatusDetailWindowManager.dismiss()
+        }
+    }
+
+    fun setFsmErrorStatus(msgArray: ArrayList<String>) {
+        tvTitle?.text = "FSM异常"
+        runCatching {
+            val c = Color.parseColor("#FF4E41")
+            tvTitle?.setTextColor(c)
+        }
+        addFsmMsgItemView(msgArray)
+
+        //监听最新 FSM 状态
+        StatusManager.addListener(TAG, this)
+    }
+
+    private fun setFsmNormalStatus() {
+        tvTitle?.text = "FSM正常"
+        runCatching {
+            val c = Color.parseColor("#2EACFF")
+            tvTitle?.setTextColor(c)
+        }
+        removeFsmMsgItemView()
+    }
+
+    private fun setFsmUnknownStatus() {
+        tvTitle?.text = "FSM状态未知"
+        runCatching {
+            val c = Color.parseColor("#FFFFFF")
+            tvTitle?.setTextColor(c)
+        }
+        removeFsmMsgItemView()
+    }
+
+    private fun setFsmNotExistStatus() {
+        tvTitle?.text = "FSM不存在"
+        runCatching {
+            val c = Color.parseColor("#FFFFFF")
+            tvTitle?.setTextColor(c)
+        }
+        removeFsmMsgItemView()
+    }
+
+    private fun addFsmMsgItemView(msgArray: ArrayList<String>) {
+        if (llFsmMsgContainerLayout == null) {
+            Logger.e(TAG, "addFsmMsmItemView llFsmMsgContainerLayout is null")
+            return
+        }
+        scrollLayout?.visibility = View.VISIBLE
+        llFsmMsgContainerLayout?.removeAllViews()
+        msgArray.forEach {
+            val itemView: View = LayoutInflater.from(context)
+                .inflate(R.layout.view_status_fsm_item_layout, llFsmMsgContainerLayout, false)
+            val leftImageView: ImageView = itemView.findViewById(R.id.leftImageView)
+            val rightTextView: TextView = itemView.findViewById(R.id.rightTextView)
+            rightTextView.text = it
+            llFsmMsgContainerLayout?.addView(itemView)
+        }
+    }
+
+    private fun removeFsmMsgItemView() {
+        llFsmMsgContainerLayout?.removeAllViews()
+        //scrollLayout?.visibility = View.GONE
+    }
+
+    /**
+     * @param changed: 变化的数据
+     * @param all: 所有状态数据
+     */
+    override fun onStatusChanged(changed: List<Status>, all: List<Status>) {
+        changed.filterIsInstance<FSMStatus>().forEach { status ->
+            when (status) {
+                is FSMStatus -> {
+                    handleFSMStatus(status)
+                }
+            }
+        }
+    }
+
+    private fun handleFSMStatus(status: FSMStatus) {
+        when (status.state) {
+            FSMStateCode.NotExist -> {
+                setFsmNotExistStatus()
+            }
+
+            FSMStateCode.UnKnown -> {
+                setFsmUnknownStatus()
+            }
+
+            FSMStateCode.ExistNormal -> {
+                setFsmNormalStatus()
+            }
+
+            FSMStateCode.ExistError -> {
+                // TODO 修改成多条
+                setFsmErrorStatus(ArrayList<String>().also {
+                    it += status.desc
+                    it += status.desc
+                    it += status.desc
+                    it += status.desc
+                    it += status.desc
+                })
+            }
+        }
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        StatusManager.removeListener(TAG)
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/fsm/FSMStatusDetailWindowManager.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/fsm/FSMStatusDetailWindowManager.kt
new file mode 100644
index 0000000000..8d9e54242e
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/fsm/FSMStatusDetailWindowManager.kt
@@ -0,0 +1,83 @@
+package com.mogo.eagle.core.function.hmi.bone.status.fsm
+
+import android.animation.Animator
+import android.content.Context
+import android.view.Gravity
+import android.view.View
+import android.view.WindowManager
+import android.view.animation.OvershootInterpolator
+import com.mogo.eagle.core.data.enums.SidePattern
+import com.mogo.eagle.core.function.hmi.notification.WarningFloat
+import com.mogo.eagle.core.function.hmi.notification.anim.DefaultAnimator
+
+/**
+ * FSM 状态弹框管理类
+ */
+class FSMStatusDetailWindowManager private constructor() {
+
+    private var mFSMStatusViewFloat: WarningFloat.Builder? = null
+    private var mFSMStatusDetailView: FSMStatusDetailView? = null
+
+    companion object {
+        val fsmStatusDetailWindowManager by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
+            FSMStatusDetailWindowManager()
+        }
+    }
+
+    fun showExceptionStatus(
+        context: Context, errorMsg: ArrayList<String>
+    ) {
+        if (mFSMStatusDetailView == null) {
+            mFSMStatusDetailView = FSMStatusDetailView(context)
+        }
+        if (mFSMStatusViewFloat?.isShow() == true) {
+            mFSMStatusDetailView?.apply {
+                setFsmErrorStatus(errorMsg)
+            }
+        } else {
+            mFSMStatusDetailView?.apply {
+                setFsmErrorStatus(errorMsg)
+            }
+            mFSMStatusViewFloat = WarningFloat.with(context)
+                .setTag("FSMStatusView")
+                .setLayout(mFSMStatusDetailView!!)
+                .setSidePattern(SidePattern.AUTO_SIDE)
+                .setGravity(Gravity.CENTER)
+                .setImmersionStatusBar(false)
+                .slideDel(false)
+                .setWindowHeight(WindowManager.LayoutParams.WRAP_CONTENT)
+                .setWindowWidth(WindowManager.LayoutParams.WRAP_CONTENT)
+                .setAnimator(object : DefaultAnimator() {
+                    override fun enterAnim(
+                        view: View,
+                        params: WindowManager.LayoutParams,
+                        windowManager: WindowManager,
+                        sidePattern: SidePattern
+                    ): Animator? =
+                        super.enterAnim(view, params, windowManager, sidePattern)
+                            ?.apply {
+                                interpolator = OvershootInterpolator()
+                            }
+
+                    override fun exitAnim(
+                        view: View,
+                        params: WindowManager.LayoutParams,
+                        windowManager: WindowManager,
+                        sidePattern: SidePattern
+                    ): Animator? {
+                        mFSMStatusViewFloat = null
+                        mFSMStatusDetailView = null
+                        return super.exitAnim(view, params, windowManager, sidePattern)
+                            ?.setDuration(200)
+                    }
+                })
+                .show()
+        }
+    }
+
+    fun dismiss() {
+        mFSMStatusViewFloat?.let {
+            WarningFloat.dismiss(it.config.floatTag, false)
+        }
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
index cad2aabef1..67e61a3bc0 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
@@ -35,7 +35,7 @@ import com.mogo.eagle.core.function.hmi.ui.notice.DispatchDialogManager
 import com.mogo.eagle.core.function.hmi.ui.notice.NoticeCheckDialog
 import com.mogo.eagle.core.function.hmi.ui.notice.traffic.NoticeTrafficDialog
 import com.mogo.eagle.core.function.hmi.ui.setting.CameraLiveView.Companion.cameraLiveView
-import com.mogo.eagle.core.function.hmi.ui.setting.FSMStatusDetailWindowManager
+import com.mogo.eagle.core.function.hmi.bone.status.fsm.FSMStatusDetailWindowManager
 import com.mogo.eagle.core.function.hmi.ui.setting.StatusView
 import com.mogo.eagle.core.function.hmi.ui.setting.ToolsView.Companion.toolsView
 import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
@@ -340,16 +340,16 @@ class MoGoHmiProvider : IMoGoHmiProvider {
     }
 
     /**
-     * 展示 FSM 状态详情弹框
+     * 展示 FSM 异常状态弹框
      */
-    override fun showFSMStatusDetailWindow(title: String, titleColor:String, content: String) {
-        context?.let { FSMStatusDetailWindowManager.fsmStatusDetailWindowManager.show(it, title, titleColor, content)}
+    override fun showFSMExceptionStatusWindow(errorMsg: ArrayList<String>) {
+        context?.let { FSMStatusDetailWindowManager.fsmStatusDetailWindowManager.showExceptionStatus(it, errorMsg)}
     }
 
     /**
-     * 关闭 FSM 状态详情弹框
+     * 关闭 FSM 异常状态弹框
      */
-    override fun dismissFSMStatusDetailWindow() {
+    override fun dismissFSMExceptionStatusWindow() {
         context?.let { FSMStatusDetailWindowManager.fsmStatusDetailWindowManager.dismiss()}
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_error_red_arrow.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_error_red_arrow.png
new file mode 100644
index 0000000000..e30e3b9265
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_error_red_arrow.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_fsm_status_detail_close.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_fsm_status_detail_close.xml
new file mode 100644
index 0000000000..49c0646059
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_fsm_status_detail_close.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <solid android:color="#000000" />
+    <corners android:radius="@dimen/dp_30" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/status_dialog_fsm_status_background.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/status_dialog_fsm_status_background.xml
index 8cc69fc2db..7e234745fd 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/status_dialog_fsm_status_background.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/status_dialog_fsm_status_background.xml
@@ -1,5 +1,22 @@
 <?xml version="1.0" encoding="utf-8"?>
-<shape xmlns:android="http://schemas.android.com/apk/res/android">
-    <solid android:color="#B3000000" />
-    <corners android:radius="@dimen/dp_30" />
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+
+    <gradient
+        android:angle="90"
+        android:endColor="#2E323A"
+        android:startColor="#3B3D44" />
+
+    <stroke
+        android:width="1dp"
+        android:color="#FFFFFF">
+        <shape>
+            <gradient
+                android:angle="90"
+                android:endColor="#6C6C6C"
+                android:startColor="#FFFFFF" />
+        </shape>
+    </stroke>
+
+    <corners android:radius="@dimen/dp_50" />
 </shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_item_layout.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_item_layout.xml
new file mode 100644
index 0000000000..995b38abe8
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_item_layout.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:orientation="horizontal">
+
+    <ImageView
+        android:id="@+id/leftImageView"
+        android:layout_width="@dimen/dp_18"
+        android:layout_height="@dimen/dp_18"
+        android:layout_gravity="top"
+        android:layout_marginTop="@dimen/dp_10"
+        android:src="@drawable/icon_fsm_error_red_arrow" />
+
+    <TextView
+        android:id="@+id/rightTextView"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:layout_gravity="left|center_vertical"
+        android:layout_marginStart="@dimen/dp_20"
+        android:text=""
+        android:textColor="#FFFFFF"
+        android:textSize="@dimen/sp_36"
+        tools:text="未收到全局轨迹状态 档位不是D 主车制动未释放 未收到SsmPilotState未收到" />
+
+</LinearLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml
index 8652efbd43..3e0d736fcb 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_status_fsm_layout.xml
@@ -2,43 +2,66 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="@dimen/dp_538"
+    android:layout_width="@dimen/dp_900"
     android:layout_height="wrap_content"
     android:background="@drawable/status_dialog_fsm_status_background"
-    android:paddingStart="@dimen/dp_30"
-    android:paddingTop="@dimen/dp_20"
-    android:paddingEnd="@dimen/dp_30"
-    android:paddingBottom="@dimen/dp_20"
     tools:ignore="MissingDefaultResource">
 
     <TextView
         android:id="@+id/tvTitle"
-        android:layout_width="wrap_content"
+        android:layout_width="match_parent"
         android:layout_height="wrap_content"
+        android:layout_marginStart="@dimen/dp_65"
+        android:layout_marginTop="@dimen/dp_82"
+        android:layout_marginEnd="@dimen/dp_65"
         android:ellipsize="end"
-        android:gravity="left|center_vertical"
-        android:maxLines="1"
+        android:gravity="center"
+        android:maxLines="2"
         android:text=""
-        android:textColor="#FF3B3B"
-        android:textSize="@dimen/dp_28"
+        android:textColor="#FF4E41"
+        android:textSize="@dimen/sp_46"
         app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent"
-        tools:text="FSM异常：" />
+        tools:text="FSM异常，无法启动AD" />
+
+    <ScrollView
+        android:id="@+id/scrollLayout"
+        android:layout_width="match_parent"
+        android:layout_height="@dimen/dp_300"
+        android:layout_marginStart="@dimen/dp_65"
+        android:layout_marginTop="@dimen/dp_61"
+        android:layout_marginEnd="@dimen/dp_65"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/tvTitle"
+        app:layout_goneMarginTop="0dp">
+
+        <LinearLayout
+            android:id="@+id/fsmMsgContainerLayout"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical">
+
+            <include
+                layout="@layout/view_status_fsm_item_layout"
+                android:visibility="visible" />
+        </LinearLayout>
+    </ScrollView>
 
     <TextView
-        android:id="@+id/tvContent"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginTop="3dp"
-        android:ellipsize="end"
-        android:gravity="left|center_vertical"
-        android:text=""
-        android:maxLines="5"
-        android:scrollbars="vertical"
-        android:textColor="#D5D5D5"
-        android:textSize="@dimen/dp_28"
+        android:id="@+id/btnClose"
+        android:layout_width="@dimen/dp_356"
+        android:layout_height="@dimen/dp_120"
+        android:layout_marginTop="@dimen/dp_61"
+        android:layout_marginBottom="@dimen/dp_65"
+        android:background="@drawable/bg_fsm_status_detail_close"
+        android:gravity="center"
+        android:text="关闭"
+        android:textColor="#FFFFFF"
+        android:textSize="@dimen/sp_40"
+        app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/tvTitle"
-        tools:text="FSM异常，不能启动自驾，刹车干预" />
-
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@+id/scrollLayout" />
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
index e6e5f4b47a..9187ba378f 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
@@ -2,12 +2,12 @@ package com.mogo.eagle.core.function.api.hmi.warning
 
 import android.view.ViewGroup
 import com.alibaba.android.arouter.facade.template.IProvider
-import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
 import com.mogo.eagle.core.data.biz.dispatch.DispatchAdasAutoPilotLocReceiverBean
-import com.mogo.eagle.core.data.enums.WarningDirectionEnum
-import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.data.biz.notice.NoticeNormalData
 import com.mogo.eagle.core.data.biz.notice.NoticeTrafficStylePushData
+import com.mogo.eagle.core.data.deva.bindingcar.IPCUpgradeStateInfo
+import com.mogo.eagle.core.data.enums.WarningDirectionEnum
+import com.mogo.eagle.core.data.map.Infrastructure
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.event.Event
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.listener.OnXiaoZhiStateChangeListener
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.state.State
@@ -158,14 +158,14 @@ interface IMoGoHmiProvider :IProvider{
     fun is360LookAroundShowing(): Boolean
 
     /**
-     * 展示 FSM 状态详情弹框
+     * 展示 FSM 异常状态弹框
      */
-    fun showFSMStatusDetailWindow(title: String, titleColor:String, content: String)
+    fun showFSMExceptionStatusWindow(errorMsg: ArrayList<String>)
 
     /**
-     * 关闭 FSM 状态详情弹框
+     * 关闭 FSM 异常状态弹框
      */
-    fun dismissFSMStatusDetailWindow()
+    fun dismissFSMExceptionStatusWindow()
 
     fun showStatusSummaryDialog()
 
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
index 2d9c0a0e37..89312f9ede 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
@@ -16,8 +16,6 @@ import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.event.Event
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.listener.OnXiaoZhiStateChangeListener
 import com.mogo.eagle.core.function.api.hmi.xiaozhi.state.State
-import com.mogo.eagle.core.function.call.order.CallerOrderListenerManager
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 
 /**
  * @author xiaoyuzhou
@@ -236,22 +234,17 @@ object CallerHmiManager {
     }
 
     /**
-     * 展示 FSM 状态详情弹框
+     * 展示 FSM 异常状态弹框
      */
-    fun showFSMStatusDetailWindow(title: String, titleColor:String, content: String) {
-//        if (!CallerOrderListenerManager.isLoginStatus()) {
-//            CallerLogger.i(TAG, "showFSMStatusDetailWindow isLogin=false dismiss")
-//            dismissFSMStatusDetailWindow()
-//            return
-//        }
-        hmiProviderApi?.showFSMStatusDetailWindow(title, titleColor, content)
+    fun showFSMExceptionStatusWindow(errorMsg: ArrayList<String>) {
+        hmiProviderApi?.showFSMExceptionStatusWindow(errorMsg)
     }
 
     /**
-     * 关闭 FSM 状态详情弹框
+     * 关闭 FSM 异常状态弹框
      */
-    fun dismissFSMStatusDetailWindow() {
-        hmiProviderApi?.dismissFSMStatusDetailWindow()
+    fun dismissFSMExceptionStatusWindow() {
+        hmiProviderApi?.dismissFSMExceptionStatusWindow()
     }
 
     fun showStatusSummaryDialog() {