Merge branch 'refs/heads/dev_robotaxi-d_240912_6.7.0' into dev_robotaxi-d_240912_6.7.2_local

2024-10-15 19:43:18 +08:00
parent e66c0c5090 4c27166aca
commit d9a8b7cb92
29 changed files with 483 additions and 482 deletions
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
@@ -133,12 +133,13 @@ object LineManager : CallerBase<ILineCallback>() {
        }else {
            setAutopilotControlParameters()
        }
-        OchChainLogManager.writeChainLogAutopilot("自驾参数", "${startStation}---${endStation}")
+        OchChainLogManager.writeChainLogAutopilot("自驾参数", "站点信息:${startStation}---${endStation}")
    }

    fun setContraiInfo(contraiInfo: ContraiInfo?){
        this._contraiInfo = contraiInfo
        setAutopilotControlParameters()
+        OchChainLogManager.writeChainLogAutopilot("自驾参数", "轨迹信息:${contraiInfo}")
    }

    @JvmStatic
@@ -159,6 +160,7 @@ object LineManager : CallerBase<ILineCallback>() {
                CallerEagleBaseFunctionCall4OchManager.updateOrderLine(sb.toString())
            }
        }
+        OchChainLogManager.writeChainLogAutopilot("自驾参数", "线路信息:${contraiInfo}")
    }

    fun getStations(): Pair<BusStationBean?, BusStationBean?> {
--- a/OCH/common/data/src/main/java/com/mogo/och/data/bean/ContraiInfo.kt
+++ b/OCH/common/data/src/main/java/com/mogo/och/data/bean/ContraiInfo.kt
@@ -33,4 +33,5 @@ data class ContraiInfo(

    var passPoints: MutableList<BusStationBean>?=null, //  用于算路的经停点
    var blackPoints: MutableList<BusStationBean>?=null, //  用于算路的黑名單點
+    val source:Int = 1, //轨迹来源：1 录制；2 自主计算
 )
--- a/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/LineModel.kt
+++ b/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/LineModel.kt
@@ -249,10 +249,6 @@ object LineModel {
        }
    }

-    // 到站
-    fun arrivedStation() {
-
-    }
    fun arrivedStationSuccess(){
        mBusLinesCallbackMap.forEach {callback->
            callback.value.onArriveStationSuccess()
--- a/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/OrderModel.kt
+++ b/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/model/OrderModel.kt
@@ -267,11 +267,15 @@ object OrderModel {
     * 渲染站点信息
     * 服务端返回的OchBusRoutesResult逻辑， 离开站为当前站， 到达下一站后才会将下一站置为当前站，
     * 车机端展示 三站： 中间为即将到到达或者刚到达的站
+     * queryBusRoutes
+     * queryBusRoutes
+     * queryBusRoutes
+     * driveToNextStation
+     * onArriveAt
     */
    private fun updateBusStatus() {
        val (startStation, endStation) = LineManager.getStations()
        if(startStation!=null&&endStation!=null){
-            MapMakerManager.removeAllMapMarkerByOwner(TAG)
            if(startStation.isLeaving){// 出发需要移除
                MapMakerManager.removeMapMaker(BusConst.BUS_START_MAP_MAKER,startStation.lat,startStation.lon)
            }else{// 为出发展示
@@ -378,19 +382,6 @@ object OrderModel {
        //MAP 280 每隔100ms左右返回一次到站， 导致在到达中间站后再次滑动出发后会有时间差，收到一次到站，出现问题
        //此处比对 自驾告诉的到站站点坐标和本地应到站站点坐标， 一致时才能到站
        LineManager.getStations { start, end ->
-            if (data != null && data.endLocation != null) {
-                val latitude = NumberFormatUtil.cutOutNumber(data.endLocation.latitude, 5) //wgs
-                val longitude = NumberFormatUtil.cutOutNumber(data.endLocation.longitude, 5)
-
-                val arriveLat = NumberFormatUtil.cutOutNumber(end.lat, 5)
-                val arriveLon = NumberFormatUtil.cutOutNumber(end.lon, 5)
-
-                if (latitude != arriveLat || longitude != arriveLon) {
-                    e(M_BUS + TAG, "行程日志-到站拦截,到站坐标不一致")
-                    OchChainLogManager.writeChainLog("shuttle弱网","$type 行程日志-到站拦截,到站坐标不一致")
-                    return@getStations
-                }
-            }

            if (isArrivedStation) return@getStations

--- a/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/switchtask/SwitchTaskView.kt
+++ b/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/switchtask/SwitchTaskView.kt
@@ -154,6 +154,10 @@ class SwitchTaskView: WindowRelativeLayout, SwtichTaskModel.SwtichLineViewCallba
        viewbizModel?.showSwitchTaskInfo()
    }

+    override fun resetRecycleView() {
+        mAdapter.setDataList(mutableListOf())
+    }
+
    private fun showEmptyView(){
        actv_submit_task.setTextColor(ResourcesUtils.getColor(R.color.bus_color_66666))
        actv_submit_task.isEnabled = false
--- a/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/switchtask/SwtichTaskModel.kt
+++ b/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/switchtask/SwtichTaskModel.kt
@@ -77,6 +77,7 @@ class SwtichTaskModel :  ViewModel(), IBusLinesCallback {
        fun hideLoading()
        fun startTaskSuccess()
        fun showErrorInfo()
+        fun resetRecycleView()
    }

    fun onBusLineTasks(o: MutableList<TaskDataBean>?) {
@@ -96,6 +97,7 @@ class SwtichTaskModel :  ViewModel(), IBusLinesCallback {
        BizLoopManager.runInMainThread{
            viewCallback?.hideLoading()
            viewCallback?.startTaskSuccess()
+            viewCallback?.resetRecycleView()
        }
    }
    // 选择线路失败
--- a/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/util/BusTrajectoryManager.java
+++ b/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/util/BusTrajectoryManager.java
@@ -53,6 +53,7 @@ public class BusTrajectoryManager {
     * 同步Bus路线信息
     */
    public void syncTrajectoryInfo() {
+        OchChainLogManager.writeChainLog("轨迹监控","开始或者结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
        if (LoginStatusManager.isLogin() && LineModel.INSTANCE.getCurrentTask() != null
                && LineModel.getStartStationIndex() == 0
                && !OrderModel.isGoingToNextStation()) {
@@ -159,6 +160,7 @@ public class BusTrajectoryManager {
    }

    private void startTrajReqLoop() {
+        OchChainLogManager.writeChainLog("轨迹监控","开始下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
        if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
            return;
        }
@@ -180,6 +182,7 @@ public class BusTrajectoryManager {
    }

    public void stopTrajReqLoop() {
+        OchChainLogManager.writeChainLog("轨迹监控","结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
        if (mSendReqDisposable != null) {
            CallerLogger.d(M_BUS + TAG, "stopTrajReqLoop()");
            mSendReqDisposable.dispose();
--- a/OCH/shuttle/driver_weaknet/src/main/res/layout/shuttle_weak_switch_line.xml
+++ b/OCH/shuttle/driver_weaknet/src/main/res/layout/shuttle_weak_switch_line.xml
@@ -47,16 +47,16 @@
        app:layout_constraintTop_toBottomOf="@+id/actv_last_refresh_date"
        app:layout_constraintBottom_toBottomOf="parent"
        android:layout_marginTop="@dimen/dp_22" />
-    
-    <include
+
+    <com.mogo.och.common.module.wigets.commonview.EmptyView
        android:id="@+id/include_empty"
-        layout="@layout/shuttle_weak_empty_view"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
        app:layout_constraintStart_toStartOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
        android:visibility="gone"
+        app:empty_title="暂无线路"
        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>

 </androidx.constraintlayout.widget.ConstraintLayout>
--- a/OCH/shuttle/driver_weaknet/src/main/res/layout/shuttle_weak_switch_task.xml
+++ b/OCH/shuttle/driver_weaknet/src/main/res/layout/shuttle_weak_switch_task.xml
@@ -101,16 +101,16 @@
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintEnd_toEndOf="parent" />

-    <include
+    <com.mogo.och.common.module.wigets.commonview.EmptyView
        android:id="@+id/include_empty"
-        layout="@layout/shuttle_weak_empty_view"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
        app:layout_constraintStart_toStartOf="parent"
        app:layout_constraintEnd_toEndOf="parent"
        android:visibility="gone"
+        app:empty_title="暂无班次"
        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>

    <include
        android:id="@+id/include_error"
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiDriverTaskWithOrderBean.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiDriverTaskWithOrderBean.kt
@@ -4,6 +4,8 @@ import com.mogo.eagle.core.data.BaseData
 import com.mogo.och.data.taxi.BaseOrderBean
 import com.mogo.och.unmanned.taxi.constant.TaskStatusEnum
 import com.mogo.och.common.module.biz.order.TaxiOrderStatusEnum
+import com.mogo.och.data.bean.BusStationBean
+import com.mogo.och.data.bean.ContraiInfo

 /**
 * @author: wangmingjun
@@ -73,6 +75,17 @@ data class Site(
        if (wgs84Lat != other.wgs84Lat) return false
        return true
    }
+    fun toCommonStation(): BusStationBean {
+        val result = BusStationBean()
+        result.siteId = siteId.toInt()
+        result.name = siteName
+        result.gcjLat = gcjLat
+        result.gcjLon = gcjLon
+        result.lat = wgs84Lat
+        result.lon = wgs84Lon
+        result.isLeaving = true
+        return result
+    }
 }

 data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
@@ -254,6 +267,11 @@ data class TrajectoryListRespBean(var data: MutableList<Result>?) : BaseData() {
        var txtFileUrlDPQP: String,
        var txtFileMd5DPQP: String,
        var contrailSaveTimeDPQP: Long
-    )
+    ){
+        fun toCommonContraiInfo(): ContraiInfo {
+            val result = ContraiInfo(lineId,csvFileUrl,csvFileMd5,txtFileUrl,txtFileMd5,contrailSaveTime,source = source)
+            return result
+        }
+    }
 }

--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiADASStatusCallback.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiADASStatusCallback.java
@@ -6,23 +6,5 @@ package com.mogo.och.unmanned.taxi.callback;
 * Model->Presenter回调：ADAS相关（自动驾驶状态回调，到达终点等等）
 */
 public interface ITaxiADASStatusCallback {
-    // 自动驾驶触发的已到达目的地：暂未用到
-    void onAutopilotArriveEnd();

-    // 自动驾驶可用状态
-    void onAutopilotEnable(boolean canStartAuto);
-
-    // 自动驾驶不可用状态
-    void onAutopilotDisable(boolean canStartAuto);
-
-    // 自动驾驶运行中
-    void onAutopilotRunning(boolean canStartAuto);
-
-    //人机共驾
-    void onParallelDrivingStatus(boolean canStartAuto);
-
-    //自驾返回失败
-    void onStartAdasFailure();
-
-    void updateAutopilotStatus(boolean canStartAuto);
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiControllerStatusCallback.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiControllerStatusCallback.java
@@ -9,9 +9,6 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 */
 public interface ITaxiControllerStatusCallback {

-    //开始开启自动驾驶
-    void startOpenAutopilot();
-
    //自动开启自动驾驶
    void startOpenAutopilotNonManual();

--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiFragment.kt
@@ -39,6 +39,7 @@ import com.mogo.och.unmanned.taxi.ui.navi.auto.TaxiRoutingNaviFragment
 import com.mogo.och.unmanned.taxi.ui.operational.TaxiOperationalDialogFragment
 import com.mogo.och.unmanned.taxi.ui.task.TaxiTaskModel
 import com.mogo.och.unmanned.taxi.ui.task.TaxiTaskTabFragment
+import com.mogo.och.unmanned.taxi.ui.task.itinerarycurrent.ItineraryCurrentView
 import com.mogo.och.unmanned.taxi.utils.TPRouteDataTestUtils
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.unmannedMapCL
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.module_mogo_och_navi_panel_container
@@ -86,11 +87,6 @@ class TaxiFragment :MvpFragment<TaxiFragment?, TaxiPresenter?>(),
    @SuppressLint("UseCompatLoadingForDrawables")
    override fun initViews() {

-        onAutopilotStatusChanged(
-            getState(),
-            CallerAutoPilotControlManager.isCanStartAutopilot(false)
-        )
-
        CallerHmiViewControlListenerManager.invokeMainPageViewVisible(View.VISIBLE)

        taxi_close_navi_icon.setOnClickListener {
@@ -200,92 +196,8 @@ class TaxiFragment :MvpFragment<TaxiFragment?, TaxiPresenter?>(),
        super.onDestroyView()
    }

-    /**
-     * 改变自动驾驶状态
-     *
-     * @param status 2 - running  1 - enable  2 - disable
-     */
-    fun onAutopilotStatusChanged(status: Int, canStartAuto: Boolean) {
-        activity?.runOnUiThread(Runnable runOnUiThread@{
-            if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING != status) {
-                // 1. 主动开启自动驾驶中，不为2（为0、1）则继续loading
-                return@runOnUiThread
-            }
-            if (isStarting && IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status
-            ) {
-                // 2. 主动开启自动驾驶中，为2则停止loading，并isStarting = false
-                startAutopilotDone(true)
-                return@runOnUiThread
-            }
-            // 3. 其他过程直接更新
-            startOrStopLoadingAnim(false)
-        })
-    }
-
-    /**
-     * 停止【开启自动驾驶按钮】动画，并更新按钮状态
-     */
-    fun stopAnimAndUpdateBtnStatus() {
-        startOrStopLoadingAnim(false)
-        startAutopilotDone(false)
-    }
-
-
    var isStarting = false

-    @SuppressLint("ObjectAnimatorBinding")
-    fun startOrStopLoadingAnim(start: Boolean) {
-        if (start) {
-            isStarting = true
-            startingAutopilotCountDown()
-        } else {
-            isStarting = false
-        }
-    }
-
-    private fun startAutopilotDone(success: Boolean) {
-        UiThreadHandler.postDelayed({
-            startOrStopLoadingAnim(false)
-            onAutopilotStatusChanged(
-                getState(),
-                CallerAutoPilotControlManager.isCanStartAutopilot(false)
-            )
-        }, 1000L)
-    }
-
-    private fun startingAutopilotCountDown() {
-        UiThreadHandler.postDelayed({
-            //未启动成功10s后做处理
-            if (isStarting) { //判断动画是否在进行
-                //并且根据状态来设置自动驾驶启动成功还是失败
-                if (getState()
-                    == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
-                ) {
-                    startAutopilotDone(true)
-                } else {
-                    startAutopilotDone(false)
-                }
-            }
-        }, TaxiUnmannedConst.TIMER_START_AUTOPILOT_INTERVAL)
-    }
-
-
-    /**
-     * 重新开启自动驾驶
-     */
-
-    fun startAutopilot() {
-        // 在自动驾驶中，或者自己确认车辆环境可开启自动驾驶 则可点击
-        if (!isStarting) {
-            d(SceneConstant.M_TAXI + TAG, "startAutopilot")
-            mPresenter?.startAutoPilot()
-        }
-    }
-
-    fun changeOperationViewVisible(visible: Int) {
-
-    }
-
    override fun onMapVisualAngleChanged(visualAngleMode: VisualAngleMode?) {
    }

@@ -401,9 +313,6 @@ class TaxiFragment :MvpFragment<TaxiFragment?, TaxiPresenter?>(),
    fun setGuidHide() {
    }

-    fun updateAutopilotStatus(status: Int, canStartAuto: Boolean) {
-        onAutopilotStatusChanged(status, canStartAuto)
-    }
    /**
     * 状态变更
     * @param inOperation true 可以接单  false 暂停接单
@@ -423,9 +332,8 @@ class TaxiFragment :MvpFragment<TaxiFragment?, TaxiPresenter?>(),
            if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode) {
                showAmapNaviToStationFragment(isShow)
            } else {
-                // TODO: 需要复原
-//                if (null == taskTabFragment || taskTabFragment!!.get() == null) return
-//                taskTabFragment!!.get()!!.onNaviToEndStationByAMap(isShow)
+                val currentItinerary =  findViewById<ItineraryCurrentView>(R.id.currentItinerary)
+                currentItinerary?.onNaviToEndStationByAMap(isShow)
            }
        } else if (isShow) { //使用routing数据
            showRoutingToStationFragment(true)
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiPresenter.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiPresenter.java
@@ -79,7 +79,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
        TaxiTaskModel.INSTANCE.startAutopilotByClick();
    }

-    private OchTransformDispatch ochTransform = new OchTransformDispatch(){
+    private final OchTransformDispatch ochTransform = new OchTransformDispatch(){
        @Override
        public void logout() {
            TaxiTaskModel.INSTANCE.logout();
@@ -92,82 +92,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
    }


-    @Override
-    public void onAutopilotArriveEnd() {
-    }
-
-    @Override
-    public void onAutopilotEnable(boolean canStartAuto) {
-        UiThreadHandler.post(new Runnable() {
-            @Override
-            public void run() {
-                if(mView!=null) {
-                    mView.updateAutopilotStatus(
-                            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE,canStartAuto);
-                }
-            }
-        }, UiThreadHandler.MODE.QUEUE);
-
-    }
-
-    @Override
-    public void onAutopilotDisable(boolean canStartAuto) {
-        UiThreadHandler.post(new Runnable() {
-            @Override
-            public void run() {
-                if(mView!=null) {
-                    mView.updateAutopilotStatus(
-                            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE,canStartAuto);
-                }
-            }
-        }, UiThreadHandler.MODE.QUEUE);
-
-    }
-
-    @Override
-    public void onAutopilotRunning(boolean canStartAuto) {
-        UiThreadHandler.post(new Runnable() {
-            @Override
-            public void run() {
-                if(mView!=null) {
-                    mView.updateAutopilotStatus(
-                            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING,canStartAuto);
-                }
-            }
-        }, UiThreadHandler.MODE.QUEUE);
-
-    }
-
-    @Override
-    public void onParallelDrivingStatus(boolean canStartAuto) {
-        UiThreadHandler.post(new Runnable() {
-            @Override
-            public void run() {
-
-            }
-        }, UiThreadHandler.MODE.QUEUE);
-
-    }
-
-    @Override
-    public void onStartAdasFailure() {
-        UiThreadHandler.post(new Runnable() {
-            @Override
-            public void run() {
-                if(mView!=null) {
-                    mView.stopAnimAndUpdateBtnStatus();
-                }
-            }
-        }, UiThreadHandler.MODE.QUEUE);
-
-    }
-
-    @Override
-    public void updateAutopilotStatus(boolean canStartAuto) {
-        if(mView!=null) {
-            mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState(), canStartAuto);
-        }
-    }

    @Override
    public void onNaviToEnd(boolean isAmap, boolean isShow) {
@@ -182,18 +106,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS

    }

-    @Override
-    public void startOpenAutopilot() {
-        UiThreadHandler.post(new Runnable() {
-            @Override
-            public void run() {
-                if(mView!=null) {
-                    mView.startOrStopLoadingAnim(true);
-                }
-            }
-        }, UiThreadHandler.MODE.QUEUE);
-
-    }

    @Override
    public void startOpenAutopilotNonManual() {
@@ -201,7 +113,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
            @Override
            public void run() {
                if(mView!=null) {
-                    mView.startOrStopLoadingAnim(true);
                    mView.showStartAutopilotBlinkAnimation();
                }
            }
@@ -215,8 +126,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
            @Override
            public void run() {
                if(mView!=null) {
-                    mView.startOrStopLoadingAnim(false);
-                    mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState(),canStartAuto);
                    mView.stopAutopilotBlinkAnimation();
                }
            }
@@ -230,8 +139,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
            @Override
            public void run() {
                if(mView!=null) {
-                    mView.startOrStopLoadingAnim(false);
-                    mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState(),canStartAuto);
                    mView.pauseAutopilotBlinkAnimation();
                }
            }
@@ -245,7 +152,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
            @Override
            public void run() {
                if(mView!=null) {
-                    mView.startOrStopLoadingAnim(true);
                    mView.resumeAutopilotBlinkAnimation();
                }
            }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt
@@ -45,6 +45,7 @@ import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatu
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutopilotAnalytics
+import com.mogo.och.common.module.manager.autopilot.line.ILineCallback
 import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.autopilot.location.OchLocationManager
 import com.mogo.och.common.module.manager.distance.IDistanceListener
@@ -214,6 +215,7 @@ object TaxiTaskModel {
        OchAutoPilotStatusListenerManager.addListener(TAG, mMogoAutopilotStatusListener)
        //定位监听， 传false是高德坐标系 10 -> 100ms一次
        OchLocationManager.addGCJ02Listener(TAG, 5, mMapLocationListener)
+        LineManager.addListener(TAG,iLineCallback)
        //2021.11.1 自动驾驶路线规划接口
        CallerPlanningRottingListenerManager.addListener(TAG, mMogoAutopilotPlanningListener)
        //开启自驾后 异常信息返回
@@ -235,6 +237,7 @@ object TaxiTaskModel {

        // 注销地图监听
        OchLocationManager.removeGCJ02Listener(TAG)
+        LineManager.removeListener(TAG)
        OCHSocketMessageManager.releaseSocketMessageListener(OCHSocketMessageManager.msgMonitorType)
        OchAutoPilotStatusListenerManager.removeListener(mMogoAutopilotStatusListener)
        CallerPlanningRottingListenerManager.removeListener(mMogoAutopilotPlanningListener)
@@ -276,14 +279,6 @@ object TaxiTaskModel {
    private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener =
        object : IOchAutopilotStatusListener {
            override fun onAutopilotIpcConnectStatusChanged(status: AdasConstants.IpcConnectionStatus, reason: String?) {
-//                DebugView.printInfoMsg(
-//                    "[域控连接状态变化] status=$status, reason=${
-//                        if (TextUtils.isEmpty(
-//                                reason
-//                            )
-//                        ) "" else reason
-//                    }"
-//                )
            }

            override fun onAutopilotGuardian(guardianInfo: MogoReportMessage?, lineId: Long) {
@@ -311,7 +306,6 @@ object TaxiTaskModel {
                i(TAG, "onAutopilotStatusResponse autopilotsState= $state")
                if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                    DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_RUNNING，meaning=自动驾驶中")
-                    mADASStatusCallback?.onAutopilotRunning(CallerAutoPilotControlManager.isCanStartAutopilot(false))
                    if ((QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder))) {
                        OchAutopilotAnalytics.triggerStartAutopilotEvent(
                            isRestartAutopilot,
@@ -334,7 +328,6 @@ object TaxiTaskModel {
                        // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
                        return
                    }
-                    mADASStatusCallback?.onAutopilotEnable(CallerAutoPilotControlManager.isCanStartAutopilot(false))
                } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
                    DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_DISABLE，meaning=不可自动驾驶")
                    if ((FunctionBuildConfig.isDemoMode
@@ -345,7 +338,6 @@ object TaxiTaskModel {
                        // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
                        return
                    }
-                    mADASStatusCallback?.onAutopilotDisable(CallerAutoPilotControlManager.isCanStartAutopilot(false))
                } else if (state == IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING) {
                    DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_PARALLEL_DRIVING，meaning=平行驾驶中")
                    if (FunctionBuildConfig.isDemoMode) {
@@ -357,11 +349,9 @@ object TaxiTaskModel {
                        ) {  //订单中
                            // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
                        } else { //美化模式下没订单，显示人工驾驶
-                            mADASStatusCallback?.onAutopilotDisable(CallerAutoPilotControlManager.isCanStartAutopilot(false))
                        }
                        return
                    }
-                    mADASStatusCallback?.onParallelDrivingStatus(CallerAutoPilotControlManager.isCanStartAutopilot(false))
                }
            }

@@ -395,10 +385,10 @@ object TaxiTaskModel {
                    ).toDouble()
                    if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE){// 两坐标小于15米
                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点15米内, 请求到站")
-                        autopilotArriveAtStation()
                    }else{
                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点不一致, 不请求到站")
                    }
+                    autopilotArriveAtStation()
                }else{
                    DebugView.printInfoMsg("[MAP到站通知] endSiteLat = $endSiteLat, endSiteLon = $endSiteLon, " +
                            "mapEndSiteLat = $mapEndSiteLatWgs, mapEndSiteLon = $mapEndSiteLonWgs")
@@ -415,11 +405,17 @@ object TaxiTaskModel {
                }
            }

-            override fun canStartAutopilot(canStart: Boolean) {
-                super.canStartAutopilot(canStart)
-                mADASStatusCallback?.updateAutopilotStatus(CallerAutoPilotControlManager.isCanStartAutopilot(false))
+        }
+    private val iLineCallback: ILineCallback =
+        object : ILineCallback {
+            override fun arrivedStationSuccessBySearch() {
+                super.arrivedStationSuccessBySearch()
+                if (checkCurrentTaskCondition()
+                    && QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
+                ) {
+                    judgeTaskEndSiteStation()
+                }
            }
-
        }

    // 自车定位
@@ -428,18 +424,12 @@ object TaxiTaskModel {
            override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
                //位置变化时，通过围栏判断是否到达x点
                if (null == mogoLocation) return
-
-                OCHThreadPoolManager.getsInstance().locationExecute {
-                    if (mDriveToNearestStationTask != null) {
-                        judgeDriveToNearestStationTaskStation(mDriveToNearestStationTask, mogoLocation)
+                if (mDriveToNearestStationTask != null) {
+                    OCHThreadPoolManager.getsInstance().locationExecute {
+                        if (mDriveToNearestStationTask != null) {
+                            judgeDriveToNearestStationTaskStation(mDriveToNearestStationTask, mogoLocation)
+                        }
                    }
-
-                    if (checkCurrentTaskCondition()
-                        && QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
-                    ) {
-                        judgeTaskEndSiteStation(mogoLocation)
-                    }
-
                }
            }
        }
@@ -487,7 +477,6 @@ object TaxiTaskModel {
                        TAG,
                        "onStartAutopilotFailure: startFailedMessage=$startFailedMessage"
                    )
-                    mADASStatusCallback?.onStartAdasFailure()
                }
            }
        }
@@ -778,6 +767,7 @@ object TaxiTaskModel {
                            }
                            clearCurrentOCHOrder()
                            clearLocalCalculateStation()
+                            LineManager.setStartAndEndStation(null,null)
                            return
                        }

@@ -789,13 +779,16 @@ object TaxiTaskModel {
                                listener.onTaskStarted(result)
                            }
                        }
+                        if (result.startSite!=null && result.endSite!=null) {
+                            LineManager.setStartAndEndStation(result.startSite!!.toCommonStation(),result.endSite!!.toCommonStation())
+                        }
+

                        //当前任务完成且订单状态到达乘客上车点, 则立马去拉取任务 不再等120s,否则送驾任务要等120s后才能去执行(8.29废)
                        //8.29更新: 当前任务完成且订单状态为乘客已上车, 则立马去拉取任务 不再等120s,否则送驾任务要等120s后才能去执行
                        // 主要是解决A-B演练任务同时接到A-B订单状态流转的问题
                        //注意: 需要去除到达乘客上车点的节点, 这个节点不拉取任务
                        if (QueryCurrentTaskRespBean.isTaskCompleteTaskType(result)) {
-                            mADASStatusCallback?.updateAutopilotStatus(CallerAutoPilotControlManager.isCanStartAutopilot(false))
                            mTaxiTaskWithOrderCallbackMap.forEach {
                                val listener = it.value
                                listener.onTaskCompleted(result)
@@ -1095,6 +1088,7 @@ object TaxiTaskModel {
                        mCurrentTaskTrajectory = it.first { currentTaskLineId == it.lineId }
                        mCurrentTaskTrajectory?.let {traj->
                            LineManager.setLineInfo(LineInfo(traj.lineId,traj.lineName))
+                            LineManager.setContraiInfo(traj.toCommonContraiInfo())
                        }
                    }
                    mTaxiTaskWithOrderCallbackMap.forEach {
@@ -1221,15 +1215,6 @@ object TaxiTaskModel {

    fun startAutoPilot() {

-        /**
-         * 存在Session
-         */
-        if (!OchAutoPilotManager.canStartAutopilotBySessionId()) {
-            return
-        }
-
-        OchAutopilotAnalytics.triggerClickStartAutopilotTime(System.currentTimeMillis())
-
        DebugView.printInfoMsg("[启自驾] startAutoPilot")
        if (!checkCurrentTaskCondition()) {
            e(TAG, "no order or order is empty.")
@@ -1264,81 +1249,7 @@ object TaxiTaskModel {
            TAG, "isPassStartAutopilotCommand = " +
                    FunctionBuildConfig.isPassStartAutopilotCommand
        )
-        //2、6个条件判断
-        if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
-            return
-        }
-        // 3、距离轨迹15m计算
-        mCurrentTaskWithOrder?.let {
-            var resion = OchAutoPilotManager.canStartAutoPilotByDistance(it.lineId)
-            if (TrajectoryAndDistanceManager.errorTypeNoneLineId == resion) {
-                val curTaskAndOrder = getCurrentTaskWithOrder()
-                if (curTaskAndOrder!=null) {
-                    if (curTaskAndOrder.startSite != null && curTaskAndOrder.endSite != null) {
-                        val startStation = MogoLocation()
-                        startStation.longitude = curTaskAndOrder.startSite!!.gcjLon
-                        startStation.latitude = curTaskAndOrder.startSite!!.gcjLat
-                        val endStation = MogoLocation()
-                        endStation.longitude = curTaskAndOrder.endSite!!.gcjLon
-                        endStation.latitude = curTaskAndOrder.endSite!!.gcjLat
-                        TrajectoryAndDistanceManager.setStationPoint(
-                            startStation,
-                            endStation,
-                            curTaskAndOrder.lineId
-                        )
-                    }
-                }
-                resion = OchAutoPilotManager.canStartAutoPilotByDistance(it.lineId)
-            }
-            if(!StringUtils.isEmpty(resion)){
-                ToastUtils.showShort(resion)
-                VoiceNotice.showNotice(resion)
-                return
-            }
-        }
-        // 4、ssm 给出数据
-        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
-            DebugView.printErrorMsg("[启自驾] ${OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason}")
-            val orderNo = mCurrentTaskWithOrder?.order?.orderNo
-            OchAutopilotAnalytics.triggerUnableStartAPReasonEvent(
-                mCurrentTaskWithOrder!!.startSite!!.siteName,
-                mCurrentTaskWithOrder!!.endSite!!.siteName,
-                mCurrentTaskWithOrder!!.lineId.toString(), // todo 这里原来传的是订单号, 现在是任务没有订单号,传了路线id
-                orderNo?:"",
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason
-            )
-            return
-        }
-
-        //点击开始自动驾驶按钮订单状态去流转， 不再与自动驾驶是否启动成功挂钩
-        isRestartAutopilot = mCurrentTaskWithOrder!!.currentStatus != TaskStatusEnum.StartTask.code
-
-        val parameters = initAutopilotControlParameters()
-        if (null == parameters) {
-            e(TAG, "AutopilotControlParameters is empty.")
-            return
-        }
-
-        val sessionId = OchAutoPilotManager.startAutoPilot(parameters)
-        DebugView.printInfoMsg("[启自驾] 调用成功")
-        d(
-            TAG, "start autopilot with parameter: %s",
-            GsonUtil.jsonFromObject(parameters)
-                    + " ,startSiteName=" + mCurrentTaskWithOrder?.startSite?.siteName
-                    + " ,endSiteName=" + mCurrentTaskWithOrder?.endSite?.siteName
-                    + "isRestartAutopilot = " + isRestartAutopilot
-        )
-        OchAutopilotAnalytics.triggerStartAutopilotEvent(
-            isRestartAutopilot,
-            false,
-            mCurrentTaskWithOrder!!.startSite!!.siteName,
-            mCurrentTaskWithOrder!!.endSite!!.siteName,
-            mCurrentTaskWithOrder!!.lineId.toInt(),
-            if (mCurrentTaskWithOrder!!.order != null) mCurrentTaskWithOrder!!.order!!.orderNo else "",
-            System.currentTimeMillis(),0
-        )
-        OchAutopilotAnalytics.triggerUpdateStartAutoPilotSessionId(sessionId)
-        mControllerStatusCallback?.startOpenAutopilot()
+        LineManager.startAutopilot()
    }

    fun initAutopilotControlParameters(): AutopilotControlParameters? {
@@ -1395,65 +1306,20 @@ object TaxiTaskModel {
        }
    }

-    private fun judgeTaskEndSiteStation(currentLocation: MogoLocation) {
+    private fun judgeTaskEndSiteStation() {
        if (!checkCurrentTaskCondition() || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)) {
            return
        }
        val endSite = mCurrentTaskWithOrder!!.endSite ?: return

-        val endLon = endSite.gcjLon
-        val endLat = endSite.gcjLat
-        val distance = CoordinateUtils.calculateLineDistance(
-            endLon, endLat,
-            currentLocation.longitude, currentLocation.latitude
-        ).toDouble()
-        i(TAG, "judgeEndStation() distance = $distance")
-        if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) { //1、当前位置和站点围栏15m内
-
-            //2、开始计算当前位置和站点的向量角度 < 90度 未经过 >90度 经过
-            val stationAngle = DrivingDirectionUtils.getDegreeOfCar2Poi(
-                currentLocation.longitude,
-                currentLocation.latitude,
-                endLon,
-                endLat, currentLocation.heading.toInt()
-            ).toDouble()
-            i(
-                TAG,
-                "judgeEndStation() stationAngle = $stationAngle"
-            )
-
-            if (!checkCurrentTaskCondition()
-                || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
-            ) {
-                i(TAG, "task null or TaskStatus = ${getCurTaskStatus()}")
-                return
-            }
-            //3、刚过站且过站距离在15m内， 提交到站
-            if (stationAngle > 90) {
-                i(TAG, "judgeEndStation() = 刚过站且在15m内")
-                DebugView.printInfoMsg(
-                    "[自车定位围栏] 触发围栏，任务类型：${
-                        TaskTypeEnum.valueOf(
-                            mCurrentTaskWithOrder?.taskType ?: 0
-                        )?.name
-                    }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
-                )
-                submitArriveSite(endSite.siteId, true)
-            } else {
-                // 4、 没有过站距离小于15m 速度小于0.3(根据M1来的模数 可能要调)
-                if (currentLocation.gnssSpeed < 0.3) {
-                    i(TAG, "judgeEndStation() = 没有过站、速度基本为零且在15m内")
-                    DebugView.printInfoMsg(
-                        "[自车定位围栏] 触发围栏，任务类型：${
-                            TaskTypeEnum.valueOf(
-                                mCurrentTaskWithOrder?.taskType ?: 0
-                            )?.name
-                        }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
-                    )
-                    submitArriveSite(endSite.siteId, true)
-                }
-            }
+        if (!checkCurrentTaskCondition()
+            || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
+        ) {
+            i(TAG, "task null or TaskStatus = ${getCurTaskStatus()}")
+            return
        }
+
+        submitArriveSite(endSite.siteId, true)
    }

    /**
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/itinerarycurrent/ItineraryCurrentView.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/itinerarycurrent/ItineraryCurrentView.kt
@@ -58,6 +58,7 @@ import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.aciv_task_
 import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.aciv_task_type_order
 import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.actv_distance_end
 import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.actv_end_order
+import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.actv_order_phone
 import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.actv_submit_task
 import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.cancelOrder
 import kotlinx.android.synthetic.main.unmanned_itinerary_current.view.commonSlideViewStartServer
@@ -145,12 +146,13 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
                        updateNextTaskFragment(currentTaskWithOrder)
                    }

+                    // 全程距离和时间
                    is TaskWithOrderUIState.UpdateOrderTripInfo -> {
                        dialog?.setOrderMileage(taskAndOrderUiState.mileage*1000)
                        actv_distance_end.text = TaskUtils.getCurrentTaskDistance(taskAndOrderUiState.mileage.toLong())
                        actv_time_end.text = TaskUtils.getCurrentTaskTime(taskAndOrderUiState.duration.toLong())
                    }
-
+                    // 根据轨迹计算剩余距离和时间
                    is TaskWithOrderUIState.UpdateTaskTripLocalCalculateInfo -> {
                        actv_distance_end.text = TaskUtils.getCurrentTaskDistance(taskAndOrderUiState.meters.toLong())
                        actv_time_end.text = TaskUtils.getCurrentTaskTime(taskAndOrderUiState.timeInSecond.toLong())
@@ -299,6 +301,11 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
        group_itinerary_info.visibility = GONE
        include_empty.visibility = VISIBLE
        prepareTaskCountdownTv.visibility = GONE
+
+        actv_end_order.visibility = GONE
+        commonSlideViewStartServer.visibility = GONE
+        actv_submit_task.visibility = GONE
+
    }

    private fun initOnClickListener() {
@@ -410,7 +417,7 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi

            naviToStart.id,
            naviToEnd.id -> {
-                showNaviToEndStationFragment(true)
+                showNaviToEndStationFragment()
            }
        }
    }
@@ -420,10 +427,9 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
     *
     * @param isShow
     */
-    private fun showNaviToEndStationFragment(isShow: Boolean) {
+    private fun showNaviToEndStationFragment() {
        fragment?.let {
-            FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_START_NAVI_TO_END_STATION)
-                .post(it.lifecycleScope, isShow)
+            TaxiTaskModel.startNaviToEndStation(true);
        }
    }

@@ -455,6 +461,12 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
            aciv_task_type_exercise.visibility = View.GONE
            // 轨迹标识
            trajectoryType.visibility = View.GONE
+
+
+            actv_end_order.visibility = GONE
+            commonSlideViewStartServer.visibility = GONE
+            actv_submit_task.visibility = GONE
+
        }
    }

@@ -505,6 +517,21 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
            order.bookingUserPhone,
            order.passengerSize
        )
+
+        var tempPhone = order.bookingUserPhone
+        tempPhone.let {
+            if (it.length > 8) {
+                //截取电话号码前三位
+                val phoneNumPre = it.substring(0, 3)
+                //截取电话号码后四位
+                val phoneNumFix = it.substring(7)
+                tempPhone = "$phoneNumPre****$phoneNumFix"
+            }
+        }
+        actv_order_phone.text = tempPhone
+        orderPhoneAndNum.text = "${ order.passengerSize}人"
+
+
        startStationName.text = order.orderStartSite?.siteName
        endStationName.text = order.orderEndSite?.siteName
        TaxiTaskModel.getCurrentOrderTrajectoryList().also {
@@ -518,6 +545,9 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
                dismissDialog()
                initContainerView(false)
                removeAllMapMarker()
+                actv_end_order.visibility = GONE
+                commonSlideViewStartServer.visibility = GONE
+                actv_submit_task.visibility = GONE
            }

            TaxiOrderStatusEnum.ArriveAtEnd.code -> { //到达目的地
@@ -549,15 +579,14 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
                taskStatus.text = resources.getString(R.string.arrived_start_site)

                actv_end_order.visibility = GONE
-                commonSlideViewStartServer.visibility = GONE
-                actv_submit_task.visibility = VISIBLE
+
                if (order.orderStatus == TaxiOrderStatusEnum.UserArriveAtStart.code) {
-                    actv_submit_task.text =
-                        ResourcesUtils.getString(R.string.module_och_taxi_order_server_start)
+                    commonSlideViewStartServer.visibility = VISIBLE
+                    actv_submit_task.visibility = GONE
                }
                else {
-                    actv_submit_task.text =
-                        ResourcesUtils.getString(R.string.module_och_taxi_order_server_start_wait_check)
+                    commonSlideViewStartServer.visibility = GONE
+                    actv_submit_task.visibility = VISIBLE
                }
                hideNaviBtns()
                actv_time_end.text = TaskUtils.getCurrentTaskWaitTimeHtml()
@@ -567,7 +596,12 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
                dismissDialog()
                taskStatus.text = resources.getString(R.string.task_start_start_site)
                actv_end_order.visibility = GONE
-                commonSlideViewStartServer.visibility = VISIBLE
+                commonSlideViewStartServer.visibility = GONE
+                actv_submit_task.visibility = GONE
+            }
+            else ->{
+                actv_end_order.visibility = GONE
+                commonSlideViewStartServer.visibility = GONE
                actv_submit_task.visibility = GONE
            }
        }
@@ -597,6 +631,10 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
        // 演练单标识
        aciv_task_type_exercise.visibility = View.VISIBLE

+        actv_end_order.visibility = GONE
+        commonSlideViewStartServer.visibility = GONE
+        actv_submit_task.visibility = GONE
+
        naviToStart.visibility = View.GONE
        naviToEnd.visibility = if (currentStatus >= TaskStatusEnum.StartTask.code) View.VISIBLE else View.GONE

@@ -719,9 +757,11 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
        } else if (currentTaskWithOrder.currentStatus == TaskStatusEnum.CompleteTask.code &&
            currentTaskWithOrder.taskType <= TaskTypeEnum.ToOrderStartTask.code
        ) {
-            actv_distance_end.text = "已到达 ${currentTaskWithOrder.endSite?.siteName}"
+            actv_distance_end.text = ""
+            actv_time_end.text = ""
        } else {
-            actv_distance_end.text = "距离 -- 公里, 用时 -- 分钟"
+            actv_distance_end.text = "-- 公里"
+            actv_time_end.text = "-- 分钟"
        }
    }

@@ -815,4 +855,23 @@ class ItineraryCurrentView: ConstraintLayout, ItineraryCurrentModel.SwtichLineVi
        }, 3000)
    }

+    fun onNaviToEndStationByAMap(isShow: Boolean) {
+        val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder() ?: return
+        fragment?.let {
+            if (currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code)
+                isShow else true
+            FlowBus.with<Boolean>(TaxiDriverEventConst.TaxiFragmentEvent.EVENT_TYPE_SHOW_AMAP_NAVI_TO_STATION_FRAGMENT)
+                .post(it.lifecycleScope,
+                    if (currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code)
+                        isShow
+                    else
+                        true
+                )
+            updateRemainDistanceAndTime(
+                if (currentTaskWithOrder.currentStatus == TaskStatusEnum.StartTask.code)
+                    isShow else true
+            )
+        }
+    }
+
 }
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/utils/TaxiTrajectoryManager.java
@@ -70,6 +70,7 @@ public class TaxiTrajectoryManager {
     * 同步订单信息
     */
    public void syncTrajectoryInfo() {
+        OchChainLogManager.writeChainLog("轨迹监控","开始或者结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
        QueryCurrentTaskRespBean.Result taskAndOrder = TaxiTaskModel.INSTANCE.getCurrentTaskWithOrder();
        if (taskAndOrder == null || taskAndOrder.getCurrentStatus() >= TaskStatusEnum.StartTask.getCode()) {
            CallerLogger.d(M_TAXI + TAG, "syncTrajectoryInfo() stop.");
@@ -251,6 +252,7 @@ public class TaxiTrajectoryManager {
    }

    private void startTrajReqLoop() {
+        OchChainLogManager.writeChainLog("轨迹监控","开始下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
        if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
            return;
        }
@@ -274,6 +276,7 @@ public class TaxiTrajectoryManager {
    }

    private void stopTrajReqLoop() {
+        OchChainLogManager.writeChainLog("轨迹监控","结束下发轨迹 轨迹id"+mAutoPilotLine.getLineId(), true, OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY);
        DebugView.Companion.printInfoMsg("[下发轨迹] stopTrajectoryReqLoop");
        if (mSendReqDisposable != null) {
            CallerLogger.d(M_TAXI + TAG, "stopTrajReqLoop()");
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_itinerary_current.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_itinerary_current.xml
@@ -298,14 +298,6 @@
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"/>

-    <androidx.constraintlayout.widget.Group
-        android:id="@+id/group_itinerary_actions"
-        android:visibility="gone"
-        app:constraint_referenced_ids="actv_submit_task,commonSlideViewStartServer,actv_end_order"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"/>
-
-
    <com.mogo.och.common.module.wigets.commonview.EmptyView
        android:id="@+id/include_empty"
        android:layout_width="wrap_content"
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
@@ -25,6 +25,7 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoGetParamResponseListener
 import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangProvider
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
@@ -33,6 +34,7 @@ import com.mogo.eagle.core.function.api.setting.ISopSettingListener
 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.CallerAutopilotCarConfigListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
@@ -58,6 +60,8 @@ import com.mogo.eagle.core.utilcode.mogo.vehicle.SweeperVehicleConfigUtils
 import com.mogo.eagle.core.utilcode.rv.divider.CommonDividerItemDecoration
 import com.mogo.eagle.core.utilcode.util.AppStateManager
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.data.bean.AdasParam
 import kotlinx.android.synthetic.main.layout_operate_panel.view.iv_operate_panel_close
 import kotlinx.coroutines.launch
 import me.jessyan.autosize.utils.AutoSizeUtils
@@ -915,7 +919,7 @@ class OperatePanelLayout : LinearLayout {
        }
    }

-    class VehiclesPreferenceFragmentCompat : OperatePanelDetailBase(), IMoGoAutopilotCarConfigListener, ISopSettingListener, IViewControlListener {
+    class VehiclesPreferenceFragmentCompat : OperatePanelDetailBase(), IMoGoAutopilotCarConfigListener, ISopSettingListener, IViewControlListener, IMoGoGetParamResponseListener {
        companion object {
            private const val TAG = "VehiclesPreferenceFragmentCompat"
            private const val KEY_PNC_PARK_INTERSECTION_CAR = "pnc_park_intersection_car"
@@ -938,15 +942,28 @@ class OperatePanelLayout : LinearLayout {
        private var prevCheckedKeyForFusionMode: String? = null

        override fun onCreateView(inflater: LayoutInflater, container: ViewGroup?, savedInstanceState: Bundle?): View {
+            Logger.d(TAG, "--- onCreateView --- 1 ---")
            if (AppConfigInfo.isConnectAutopilot) {
-                CallerAutoPilotControlManager.getCarConfig()
+                Logger.d(TAG, "--- onCreateView --- 2 ---") //获取车辆配置
+                CallerAutoPilotControlManager.getCarConfig() //查询融合模式
+                CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.FUSION_MODE)
+                CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.OVERTAKE_MAX_SPEED)
            }
+            CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
            CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
            CallerSopSettingManager.addListener(TAG, this)
            CallerHmiViewControlListenerManager.addListener(TAG, this)
            return super.onCreateView(inflater, container, savedInstanceState)
        }

+        override fun onDestroyView() {
+            CallerAutopilotGetParamResponseDispatcher.removeListener(TAG)
+            CallerAutopilotCarConfigListenerManager.removeListener(TAG)
+            CallerSopSettingManager.removeListener(TAG)
+            CallerHmiViewControlListenerManager.removeListener(TAG)
+            super.onDestroyView()
+        }
+
        override fun updateFuncMode(tag: String, boolean: Boolean) {
            super.updateFuncMode(tag, boolean)
            if (tag == FUNC_MODE_RAIN) {
@@ -957,11 +974,86 @@ class OperatePanelLayout : LinearLayout {
            }
        }

-        override fun onDestroyView() {
-            CallerAutopilotCarConfigListenerManager.removeListener(TAG)
-            CallerSopSettingManager.removeListener(TAG)
-            CallerHmiViewControlListenerManager.removeListener(TAG)
-            super.onDestroyView()
+        override fun onGetParamResp(header: MessagePad.Header, getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) {
+            Logger.d(TAG, "-- onGetParamResp --: fusion-mode:${adasParam.fusionMode}, over-take-speed:${adasParam.overtakeMaxSpeed} ")
+            lifecycleScope.launch {
+                when(adasParam.fusionMode) {
+                    1 -> {
+                        //全融合模式
+                        FunctionBuildConfig.fusionMode = 1
+                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_ALL_MERGE_MODE }?.let {
+                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
+                        }?.also {
+                            changeValue(it, false)
+                        }
+                        prevCheckedKeyForFusionMode = KEY_ALL_MERGE_MODE
+                        preferenceScreen.findPreferenceReal<TwoStatePreference>(KEY_ALL_MERGE_MODE)?.also {
+                            it.extras.putBoolean("is_checked", true)
+                            changeValue(it, true)
+                        }
+                    }
+                    2 -> {
+                        //盲区模式
+                        FunctionBuildConfig.fusionMode = 2
+                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_BLIND_AREA_MODE }?.let {
+                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
+                        }?.also {
+                            changeValue(it, false)
+                        }
+                        prevCheckedKeyForFusionMode = KEY_BLIND_AREA_MODE
+                        preferenceScreen.findPreferenceReal<TwoStatePreference>(KEY_BLIND_AREA_MODE)?.also {
+                            it.extras.putBoolean("is_checked", true)
+                            changeValue(it, true)
+                        }
+                    }
+                    3 -> {
+                        //超视距模式
+                        FunctionBuildConfig.fusionMode = 3
+                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_BEYOND_VISUAL_RANGE_MODE }?.let {
+                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
+                        }?.also {
+                            changeValue(it, false)
+                        }
+                        prevCheckedKeyForFusionMode = KEY_BEYOND_VISUAL_RANGE_MODE
+                        preferenceScreen.findPreferenceReal<TwoStatePreference>(KEY_BEYOND_VISUAL_RANGE_MODE)?.also {
+                            it.extras.putBoolean("is_checked", true)
+                            changeValue(it, true)
+                        }
+                    }
+                    4 -> {
+                        //透传模式
+                        FunctionBuildConfig.fusionMode = 4
+                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_TRANSPARENT_TRANSFER_MODE }?.let {
+                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
+                        }?.also {
+                            changeValue(it, false)
+                        }
+                        prevCheckedKeyForFusionMode = KEY_TRANSPARENT_TRANSFER_MODE
+                        preferenceScreen.findPreferenceReal<TwoStatePreference>(KEY_TRANSPARENT_TRANSFER_MODE)?.also {
+                            it.extras.putBoolean("is_checked", true)
+                            changeValue(it, true)
+                        }
+                    }
+                    5 -> {
+                        //纯路侧模式
+                        FunctionBuildConfig.fusionMode = 5
+                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_PURE_OBU_MODE }?.let {
+                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
+                        }?.also {
+                            changeValue(it, false)
+                        }
+                        prevCheckedKeyForFusionMode = KEY_PURE_OBU_MODE
+                        preferenceScreen.findPreferenceReal<TwoStatePreference>(KEY_PURE_OBU_MODE)?.also {
+                            it.extras.putBoolean("is_checked", true)
+                            changeValue(it, true)
+                        }
+                    }
+                }
+                if (adasParam.overtakeMaxSpeed > 0) {
+                    FunctionBuildConfig.overTakeSpeed = adasParam.overtakeMaxSpeed
+                    preferenceScreen.findPreferenceReal<PreferenceWithSpeedSetting>(KEY_OVERTAKE_SPEED_THRESHOLDSS)?.update(listOf("3.0", "12.5", "${FunctionBuildConfig.overTakeSpeed}", "0.5", "m/s"))
+                }
+            }
        }

        override fun onCreatePreferences(savedInstanceState: Bundle?, rootKey: String?) {
@@ -983,7 +1075,7 @@ class OperatePanelLayout : LinearLayout {
            lifecycleScope.launch {
                if (carConfigResp.speedLimit > 0) {
                    FunctionBuildConfig.maxSpeedLimit = min(carConfigResp.speedLimit * 3.6, 60.0)
-                    preferenceScreen.findPreferenceReal<PreferenceWithSpeedSetting>(KEY_AUTO_PILOT_SPEED_THRESHOLDS)?.update(listOf("0", "60.0", "${FunctionBuildConfig.maxSpeedLimit}", "5"))
+                    preferenceScreen.findPreferenceReal<PreferenceWithSpeedSetting>(KEY_AUTO_PILOT_SPEED_THRESHOLDS)?.update(listOf("0", "60.0", "${FunctionBuildConfig.maxSpeedLimit}", "5", "km/h"))
                }
            }
        }
@@ -1018,48 +1110,28 @@ class OperatePanelLayout : LinearLayout {
                    return FunctionBuildConfig.isFaultSlowDown
                }
                KEY_ALL_MERGE_MODE -> {
-                    val checked = FunctionBuildConfig.fusionMode == 1
-                    if (checked) {
-                        prevCheckedKeyForFusionMode = KEY_ALL_MERGE_MODE
-                    }
-                    return checked
+                    return false
                }
                KEY_BLIND_AREA_MODE -> {
-                    val checked = FunctionBuildConfig.fusionMode == 2
-                    if (checked) {
-                        prevCheckedKeyForFusionMode = KEY_BLIND_AREA_MODE
-                    }
-                    return checked
+                    return false
                }
                KEY_BEYOND_VISUAL_RANGE_MODE -> {
-                    val checked = FunctionBuildConfig.fusionMode == 3
-                    if (checked) {
-                        prevCheckedKeyForFusionMode = KEY_BEYOND_VISUAL_RANGE_MODE
-                    }
-                    return checked
+                    return false
                }
                KEY_TRANSPARENT_TRANSFER_MODE -> {
-                    val checked = FunctionBuildConfig.fusionMode == 4
-                    if (checked) {
-                        prevCheckedKeyForFusionMode = KEY_TRANSPARENT_TRANSFER_MODE
-                    }
-                    return checked
+                    return false
                }
                KEY_PURE_OBU_MODE -> {
-                    val checked = FunctionBuildConfig.fusionMode == 5
-                    if (checked) {
-                        prevCheckedKeyForFusionMode = KEY_PURE_OBU_MODE
-                    }
-                    return checked
+                    return false
                }
                KEY_AUTO_PILOT_SPEED_THRESHOLDS -> {
-                    return listOf("0.0", "60.0", "${FunctionBuildConfig.maxSpeedLimit}", "5.0")
+                    return listOf("0.0", "60.0", "${FunctionBuildConfig.maxSpeedLimit}", "5.0", "km/h")
                }
                KEY_CHANGE_LANE_SPEED_THRESHOLDS -> {
-                    return listOf("3.0", "7.0", "${FunctionBuildConfig.detouringSpeed}", "0.5")
+                    return listOf("3.0", "7.0", "${FunctionBuildConfig.detouringSpeed}", "0.5", "m/s")
                }
                KEY_OVERTAKE_SPEED_THRESHOLDSS -> {
-                    return listOf("3.0", "12.5", "${FunctionBuildConfig.overTakeSpeed}", "0.5")
+                    return listOf("3.0", "12.5", "${FunctionBuildConfig.overTakeSpeed}", "0.5", "m/s")
                }
            }
            return super.getDefaultVal(pref)
@@ -1181,6 +1253,10 @@ class OperatePanelLayout : LinearLayout {
                    return true
                }
                KEY_ALL_MERGE_MODE -> {
+                    if (preference.extras.containsKey("is_checked")) {
+                        preference.extras.remove("is_checked")
+                        return true
+                    }
                    val isChecked = newValue as? Boolean ?: false
                    if (isChecked) {
                        FunctionBuildConfig.fusionMode = 1
@@ -1197,6 +1273,10 @@ class OperatePanelLayout : LinearLayout {
                    return isChecked
                }
                KEY_BLIND_AREA_MODE -> {
+                    if (preference.extras.containsKey("is_checked")) {
+                        preference.extras.remove("is_checked")
+                        return true
+                    }
                    val isChecked = newValue as? Boolean ?: false
                    if (isChecked) {
                        FunctionBuildConfig.fusionMode = 2
@@ -1213,15 +1293,19 @@ class OperatePanelLayout : LinearLayout {
                    return isChecked
                }
                KEY_BEYOND_VISUAL_RANGE_MODE -> {
+                    if (preference.extras.containsKey("is_checked")) {
+                        preference.extras.remove("is_checked")
+                        return true
+                    }
                    val isChecked = newValue as? Boolean ?: false
                    if (isChecked) {
                        FunctionBuildConfig.fusionMode = 3
                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_BEYOND_VISUAL_RANGE_MODE }?.let {
-                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
-                        }?.also {
-                            prevCheckedKeyForFusionMode = KEY_BEYOND_VISUAL_RANGE_MODE
-                            changeValue(it, false)
-                        }
+                                    preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
+                                }?.also {
+                                    prevCheckedKeyForFusionMode = KEY_BEYOND_VISUAL_RANGE_MODE
+                                    changeValue(it, false)
+                                }
                        hmiAction("SOP 融合模式, ", FunctionBuildConfig.fusionMode)
                        clickEventAnalytics("融合模式", true)
                        CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
@@ -1229,15 +1313,19 @@ class OperatePanelLayout : LinearLayout {
                    return isChecked
                }
                KEY_TRANSPARENT_TRANSFER_MODE -> {
+                    if (preference.extras.containsKey("is_checked")) {
+                        preference.extras.remove("is_checked")
+                        return true
+                    }
                    val isChecked = newValue as? Boolean ?: false
                    if (isChecked) {
                        FunctionBuildConfig.fusionMode = 4
                        prevCheckedKeyForFusionMode?.takeIf { it != KEY_TRANSPARENT_TRANSFER_MODE }?.let {
-                            preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
-                        }?.also {
-                            prevCheckedKeyForFusionMode = KEY_TRANSPARENT_TRANSFER_MODE
-                            changeValue(it, false)
-                        }
+                                    preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
+                                }?.also {
+                                    prevCheckedKeyForFusionMode = KEY_TRANSPARENT_TRANSFER_MODE
+                                    changeValue(it, false)
+                                }
                        hmiAction("SOP 融合模式, ", FunctionBuildConfig.fusionMode)
                        clickEventAnalytics("融合模式", true)
                        CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
@@ -1245,6 +1333,10 @@ class OperatePanelLayout : LinearLayout {
                    return isChecked
                }
                KEY_PURE_OBU_MODE -> {
+                    if (preference.extras.containsKey("is_checked")) {
+                        preference.extras.remove("is_checked")
+                        return true
+                    }
                    val isChecked = newValue as? Boolean ?: false
                    if (isChecked) {
                        FunctionBuildConfig.fusionMode = 5
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/preferences/PreferenceWithSpeedSetting.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/preferences/PreferenceWithSpeedSetting.kt
@@ -42,13 +42,14 @@ class PreferenceWithSpeedSetting : Preference {
    override fun onBindViewHolder(holder: PreferenceViewHolder) {
        super.onBindViewHolder(holder)
        val speedData = mSpeedData ?: return
-        if (speedData !is List<*> || speedData.size != 4) {
+        if (speedData !is List<*> || speedData.size != 5) {
            throw AssertionError()
        }
        val min = (speedData.elementAt(0) as String).toDouble()
        val max = (speedData.elementAt(1) as String).toDouble()
        var cur = (speedData.elementAt(2) as String).toDouble()
        val step = (speedData.elementAt(3) as String).toDouble()
+        val unit = speedData.elementAt(4) as String
        if (min > max) {
            throw AssertionError()
        }
@@ -60,6 +61,8 @@ class PreferenceWithSpeedSetting : Preference {
        }
        val ll = holder.findViewById(R.id.ll_speed)
        val btnOk = holder.findViewById(R.id.bt_ok)
+        val speedUnit = holder.findViewById(R.id.tv_speed_unit) as? TextView
+        speedUnit?.text = unit
        val speedLimit = holder.findViewById(R.id.tv_speed_limit) as? TextView
        if (cache.containsKey(key)) {
            cur = max(cur, cache[key] ?: 0.0)
@@ -73,7 +76,7 @@ class PreferenceWithSpeedSetting : Preference {
        minus.onClickWidthDuration(100) {
            val minusAfter = cur - step
            if (minusAfter < min) {
-                ToastUtils.showShort("阈值最小可为${BigDecimal.valueOf(min).setScale(1)}km/h")
+                ToastUtils.showShort("阈值最小为${BigDecimal.valueOf(min).setScale(1)}$unit")
                return@onClickWidthDuration
            }
            cur = minusAfter
@@ -89,7 +92,7 @@ class PreferenceWithSpeedSetting : Preference {
        add.onClickWidthDuration(100) {
            val addAfter = cur + step
            if (addAfter > max) {
-                ToastUtils.showShort("阈值最大可为${BigDecimal.valueOf(max).setScale(1)}km/h")
+                ToastUtils.showShort("阈值最大为${BigDecimal.valueOf(max).setScale(1)}$unit")
                return@onClickWidthDuration
            }
            holder.itemView.isEnabled = false
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ColdStartView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ColdStartView.kt
@@ -0,0 +1,80 @@
+package com.mogo.eagle.core.function.hmi.ui.widget
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
+import com.mogo.eagle.core.function.hmi.R
+import com.zhjt.mogo.adas.data.AdasConstants
+import system_master.SsmInfo
+import system_master.SystemStatusInfo
+
+/**
+ * 冷启动呈现二期
+ * 前置展示冷启动过程和结果
+ */
+class ColdStartView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener {
+
+    companion object {
+        const val TAG = "ColdStartView"
+    }
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_cold_start, this, true)
+        initView()
+    }
+
+    private fun initView(){
+
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotIpcConnectStatusChanged(
+        status: AdasConstants.IpcConnectionStatus,
+        reason: String?
+    ){
+        if(status == AdasConstants.IpcConnectionStatus.CONNECTED){
+            //域控连接成功
+
+        }else{
+            //域控连接失败
+
+        }
+    }
+
+    /**
+     * 状态查询应答
+     * @param status 数据
+     * HQ、M1 MAP350开始弃用，其他车型MAP360开始弃用
+     */
+    override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {
+
+    }
+
+
+    /**
+     * 定频SSM接口
+     * 1hz  hq m1 MAP350开始支持，其他车型MAP360开始支持
+     * 定频SSM接入后 onStatusQueryResp 状态查询应答接口将弃用
+     * @param statusInf 数据
+     */
+    override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
+
+    }
+
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_cold_start_fail.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_cold_start_fail.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_cold_start_process.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_cold_start_process.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_cold_start_success.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_cold_start_success.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_cold_start_divider.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_cold_start_divider.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <corners android:radius="@dimen/dp_2"/>
+    <solid android:color="#4CFFFFFF" />
+
+</shape>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/layout_operate_panel_preference_widget_edit_with_button.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/layout_operate_panel_preference_widget_edit_with_button.xml
@@ -47,11 +47,12 @@
    </LinearLayout>

    <TextView
+        android:id="@+id/tv_speed_unit"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_gravity="center_vertical"
        android:layout_marginStart="@dimen/dp_10"
-        android:text="km/h"
+        tools:text="km/h"
        android:textColor="#ffffff"
        android:textSize="@dimen/dp_30"
        tools:ignore="HardcodedText,SpUsage" />
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_cold_start.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_cold_start.xml
@@ -0,0 +1,84 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <TextView
+        android:id="@+id/tvSystemStartupTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="@color/white"
+        android:textSize="@dimen/sp_70"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        />
+
+    <ImageView
+        android:id="@+id/ivIpcConnectStatus"
+        android:layout_width="@dimen/dp_40"
+        android:layout_height="@dimen/dp_40"
+        app:layout_constraintTop_toBottomOf="@id/tvSystemStartupTitle"
+        app:layout_constraintLeft_toLeftOf="@id/tvSystemStartupTitle"
+        android:contentDescription="@string/ipc_connect_icon"
+        />
+
+    <TextView
+        android:id="@+id/tvIpcConnectContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/ivIpcConnectStatus"
+        app:layout_constraintBottom_toBottomOf="@id/ivIpcConnectStatus"
+        app:layout_constraintLeft_toRightOf="@id/ivIpcConnectStatus"
+        android:textSize="@dimen/sp_36"
+        android:textColor="@color/white"
+        android:layout_marginStart="@dimen/dp_15"
+        />
+
+    <View
+        android:id="@+id/viewSsmConnectDivider"
+        android:layout_width="@dimen/dp_4"
+        android:layout_height="@dimen/dp_26"
+        app:layout_constraintLeft_toLeftOf="@id/ivIpcConnectStatus"
+        app:layout_constraintRight_toRightOf="@id/ivIpcConnectStatus"
+        app:layout_constraintTop_toBottomOf="@id/ivIpcConnectStatus"
+        android:layout_marginTop="@dimen/dp_5"
+        android:background="@drawable/bg_cold_start_divider"
+        />
+
+    <ImageView
+        android:id="@+id/ivSsmConnectStatus"
+        android:layout_width="@dimen/dp_40"
+        android:layout_height="@dimen/dp_40"
+        app:layout_constraintTop_toBottomOf="@id/viewSsmConnectDivider"
+        app:layout_constraintLeft_toLeftOf="@id/viewSsmConnectDivider"
+        app:layout_constraintRight_toRightOf="@id/viewSsmConnectDivider"
+        android:contentDescription="@string/ssm_connect_icon"
+        />
+
+    <TextView
+        android:id="@+id/tvSsmConnectContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/ivSsmConnectStatus"
+        app:layout_constraintBottom_toBottomOf="@id/ivSsmConnectStatus"
+        app:layout_constraintLeft_toRightOf="@id/ivSsmConnectStatus"
+        android:textSize="@dimen/sp_36"
+        android:textColor="@color/white"
+        android:layout_marginStart="@dimen/dp_15"
+        />
+
+    <View
+        android:id="@+id/viewColdStartDivider"
+        android:layout_width="@dimen/dp_4"
+        android:layout_height="@dimen/dp_26"
+        app:layout_constraintLeft_toLeftOf="@id/ivSsmConnectStatus"
+        app:layout_constraintRight_toRightOf="@id/ivSsmConnectStatus"
+        app:layout_constraintTop_toBottomOf="@id/ivSsmConnectStatus"
+        android:layout_marginTop="@dimen/dp_5"
+        android:background="@drawable/bg_cold_start_divider"
+        />
+
+
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -213,4 +213,7 @@
    <string name="traffic_light_source">红绿灯信号来源</string>
    <string name="report_success">已发起上报</string>

+    <string name="ipc_connect_icon">域控连接状态图标</string>
+    <string name="ssm_connect_icon">SSM连接状态图标</string>
+
 </resources>
--- a/core/mogo-core-res/src/main/res/values/dimens.xml
+++ b/core/mogo-core-res/src/main/res/values/dimens.xml
@@ -1112,6 +1112,7 @@
    <dimen name="sp_55">55dp</dimen>
    <dimen name="sp_57">57dp</dimen>
    <dimen name="sp_69">69dp</dimen>
+    <dimen name="sp_70">70dp</dimen>
    <dimen name="sp_72">72dp</dimen>
    <dimen name="sp_76">76dp</dimen>
    <dimen name="sp_80">80dp</dimen>