From e41b04687b8a54aeed0f605862e18162f75db648 Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Wed, 13 Mar 2024 20:11:01 +0800
Subject: [PATCH] =?UTF-8?q?[630][adas]=20=E4=BF=AE=E6=94=B9=E8=AF=81?=
 =?UTF-8?q?=E4=B9=A6=E8=AE=A4=E8=AF=81=E6=B5=81=E7=A8=8B?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../mogo/och/bus/presenter/BusPresenter.java  |  2 +-
 .../mogo/och/bus/presenter/BusPresenter.java  |  2 +-
 .../passenger/model/BusPassengerModel.java    |  2 +-
 .../cloud/model/SweeperCloudTaskModel.java    |  2 +-
 .../presenter/SweeperOperatePresenter.java    |  2 +-
 .../com/mogo/och/taxi/model/TaxiModel.java    |  2 +-
 .../autopilot/adapter/MoGoAdasListenerImpl.kt | 20 +++++--
 .../MoGoAdasMsgConnectStatusListenerImpl.kt   |  3 +-
 .../autopilot/IMoGoAutopilotStatusListener.kt |  2 +-
 .../CallerAutoPilotStatusListenerManager.kt   |  4 +-
 .../zhidao/support/adas/high/AdasChannel.java | 58 ++++++++++++++-----
 .../zhidao/support/adas/high/AdasManager.java | 13 +++++
 .../zhidao/support/adas/high/AdasOptions.java | 27 ++++++++-
 .../support/adas/high/IAdasNetCommApi.java    |  9 +++
 .../support/adas/high/OnAdasListener.java     | 17 +++++-
 15 files changed, 133 insertions(+), 32 deletions(-)

diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index 53bddb220b..4b1aa8e26a 100644
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -155,7 +155,7 @@ public class BusPresenter extends Presenter<BusFragment>
     }
 
     @Override
-    public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) {
+    public void onAutopilotSNRequest(@NonNull MessagePad.BasicInfoReq basicInfoReq) {
 
     }
 
diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index c30bb7af1e..af2f321ce0 100644
--- a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -154,7 +154,7 @@ public class BusPresenter extends Presenter<ShuttleFragment>
     }
 
     @Override
-    public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) {
+    public void onAutopilotSNRequest(@NonNull MessagePad.BasicInfoReq basicInfoReq) {
     }
 
     @Override
diff --git a/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java b/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java
index 360931bfe6..35432b5f6c 100644
--- a/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java
+++ b/OCH/shuttle/passenger/src/main/java/jinlv/com/mogo/och/shuttle/passenger/model/BusPassengerModel.java
@@ -545,7 +545,7 @@ public class BusPassengerModel {
         private boolean arriveAtEnd = false; //乘客app专用字段
 
         @Override
-        public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) {
+        public void onAutopilotSNRequest(@NonNull MessagePad.BasicInfoReq basicInfoReq) {
 
         }
 
diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
index f40b3fbf78..0479089cfa 100644
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
@@ -702,7 +702,7 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
     }
 
     @Override
-    public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) {
+    public void onAutopilotSNRequest(@NonNull MessagePad.BasicInfoReq basicInfoReq) {
 
     }
 
diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
index 9759a67aad..10e3690435 100644
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
@@ -245,7 +245,7 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
     }
 
     @Override
-    public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) {
+    public void onAutopilotSNRequest(@NonNull MessagePad.BasicInfoReq basicInfoReq) {
     }
 
     @Override
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 46bfaf17aa..f1928219a7 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1292,7 +1292,7 @@ public class TaxiModel {
         }
 
         @Override
-        public void onAutopilotSNRequest(@NonNull AdasConstants.CertificationStatus status) {
+        public void onAutopilotSNRequest(@NonNull  MessagePad.BasicInfoReq basicInfoReq) {
         }
 
         @Override
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index 1a8df5bae1..de61dc577f 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -360,15 +360,27 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
     /**
      * 自动驾驶设备基础信息请求
-     * 连接时启用认证 后才会有认证结果
+     * 如果启用认证后，在AdasOptions中未传递RootCrt需要在此回调中调用{@link AdasManager#certification(String, ByteString)}进行域控证书认证
+     *
+     * @param header       头
+     * @param basicInfoReq 数据
+     */
+    override fun onBasicInfoReq(header: MessagePad.Header?, basicInfoReq: MessagePad.BasicInfoReq) {
+        invokeAutopilotSNRequest(basicInfoReq)
+    }
+
+    /**
+     * 域控证书认证状态
+     * 启用认证需要配置 AdasOptions.setEnableCertification()
+     * 连接时启用认证 后才会有证认结果
      * ROOT证书异常会影响校验域控证书
      * PAD证书异常会影响域控端校验的证书校验，域控端证书校验失败将会断开连接，且并不会给出断开原因，ADAS LIB会执行重连操作（如果配置启用重连）
-     * 校验域控证书认证失败会主动断开连接，且不进行重连
+     * 假如校验域控证书认证失败会主动断开连接，且不进行重连
      *
      * @param status 域控证书认证结果{@link AdasConstants.CertificationStatus}
      */
-    override fun onBasicInfoReq(status: AdasConstants.CertificationStatus) {
-        invokeAutopilotSNRequest(status)
+    override fun onCertification(status: AdasConstants.CertificationStatus) {
+
     }
 
     //工控机基础配置信息
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
index 49248e37c1..c36c6cfd54 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -33,6 +33,7 @@ import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.TEST
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
 import com.zhjt.mogo.adas.data.AdasConstants
+import mogo.telematics.pad.MessagePad
 
 /**
  * ADAS-SDK与工控机连接状态回调
@@ -265,7 +266,7 @@ class MoGoAdasMsgConnectStatusListenerImpl :
     /**
      * 工控机获取SN
      */
-    override fun onAutopilotSNRequest(status: AdasConstants.CertificationStatus) {
+    override fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {
         syncBasicInfoToAutopilot()
     }
 
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
index 1906b51a45..96c4d80018 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -36,7 +36,7 @@ interface IMoGoAutopilotStatusListener {
     /**
      * 工控机获取SN
      */
-    fun onAutopilotSNRequest(status: AdasConstants.CertificationStatus) {}
+    fun onAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {}
 
     /**
      * 工控机监控节点
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index fb74c36f47..fd1fcd4406 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -187,10 +187,10 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
      * 工控机获取SN 回调
      */
     @Synchronized
-    fun invokeAutopilotSNRequest(status: AdasConstants.CertificationStatus) {
+    fun invokeAutopilotSNRequest(basicInfoReq: MessagePad.BasicInfoReq) {
         M_LISTENERS.forEach {
             val listener = it.value
-            listener.onAutopilotSNRequest(status)
+            listener.onAutopilotSNRequest(basicInfoReq)
         }
     }
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index ab977897aa..55e45fbec8 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -551,25 +551,38 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     private final Runnable certificationTimeoutRunnable = new Runnable() {
         @Override
         public void run() {
-            certification(true, null);
+            certification(true, "", com.google.protobuf.ByteString.EMPTY);
         }
     };
 
-    private void certification(boolean isTimeout, String ipcCrt) {
+    /**
+     * 域控证书校验
+     *
+     * @param rootCrt root证书
+     * @param ipcCrt  域控证书
+     * @return 调用是否成功 false：AdasOptions中如果传入了RootCrt将会自动进行认证，无需再次调用
+     */
+    @Override
+    public boolean certification(@NonNull String rootCrt, @NonNull com.google.protobuf.ByteString ipcCrt) {
+        if (TextUtils.isEmpty(adasOptions.getRootCrt())) {
+            certification(false, rootCrt, ipcCrt);
+            return true;
+        }
+        return false;
+    }
+
+    private void certification(boolean isTimeout, @NonNull String rootCrt, @NonNull com.google.protobuf.ByteString ipcCertification) {
         AdasConstants.CertificationStatus result = AdasConstants.CertificationStatus.NOT_ENABLED;
         //检查是否开启验证
         if (adasOptions.isCertification()) {
             if (isTimeout) {
                 result = AdasConstants.CertificationStatus.TIMEOUT;
             } else {
-                if (defaultDispatchHandler != null) {
-                    defaultDispatchHandler.removeCallbacks(certificationTimeoutRunnable);
-                }
-                String rootCrt = adasOptions.getRootCrt();
                 if (rootCrt == null || rootCrt.length() == 0) {
                     //提示证书验证失败
                     result = AdasConstants.CertificationStatus.ROOT_CRT_ERROR;
                 } else {
+                    String ipcCrt = CertificateUtils.decode(ipcCertification);
                     if (ipcCrt == null || ipcCrt.length() == 0) {
                         //提示域控证书失败
                         result = AdasConstants.CertificationStatus.IPC_CRT_ERROR;
@@ -581,7 +594,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             }
         }
         if (mAdasListener != null) {
-            mAdasListener.onBasicInfoReq(result);
+            mAdasListener.onCertification(result);
         }
         CupidLogUtils.log(TAG, "证书验证状态=" + result);
         if (result == AdasConstants.CertificationStatus.CERTIFICATE_CHAIN_SUCCESS) {
@@ -613,9 +626,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                     receivedAckManager.receiveReceivedAck(time, ack);
                     CupidLogUtils.log(TAG, "收到回执=" + ack);
                 } else if (messageType == MessageType.TYPE_RECEIVE_BASIC_INFO_REQ.typeCode) {
-                    MessagePad.BasicInfoReq autopilotState = MessagePad.BasicInfoReq.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
-                    String ipcCrt = CertificateUtils.decode(autopilotState.getCertification());
-                    certification(false, ipcCrt);
+                    //移除证书超时
+                    if (defaultDispatchHandler != null) {
+                        defaultDispatchHandler.removeCallbacks(certificationTimeoutRunnable);
+                    }
+                    MessagePad.BasicInfoReq basicInfoReq = MessagePad.BasicInfoReq.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+                    if (mAdasListener != null) {
+                        mAdasListener.onBasicInfoReq(header, basicInfoReq);
+                    }
+                    String rootCrt = adasOptions.getRootCrt();
+                    if (!TextUtils.isEmpty(rootCrt)) {
+                        certification(rootCrt, basicInfoReq.getCertification());
+                    }
                 } else {
                     IMsg iMsg = myMessageFactory.createMessage(messageType);
                     if (iMsg == null) {
@@ -1142,10 +1164,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         if (!TextUtils.isEmpty(version)) {
             builder.setVersion(version);
         }
-        if (deviceCrt != null && deviceCrt.length() > 0) {
-            com.google.protobuf.ByteString crt = CertificateUtils.encode(deviceCrt);
-            if (crt != null) {
-                builder.setCertification(crt);
+        if (adasOptions.isCertification()) {
+            if (TextUtils.isEmpty(deviceCrt)) {
+                String tem = adasOptions.getDeviceCrt();
+                if (!TextUtils.isEmpty(tem)) {
+                    deviceCrt = tem;
+                }
+            }
+            if (deviceCrt != null && deviceCrt.length() > 0) {
+                com.google.protobuf.ByteString crt = CertificateUtils.encode(deviceCrt);
+                if (crt != null) {
+                    builder.setCertification(crt);
+                }
             }
         }
         MessagePad.BasicInfoResp resp = builder.build();
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
index 4d33092508..b85ecec0d1 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -5,6 +5,7 @@ import android.text.TextUtils;
 
 import androidx.annotation.NonNull;
 
+import com.google.protobuf.ByteString;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
@@ -1766,6 +1767,18 @@ public class AdasManager implements IAdasNetCommApi {
         }
     }
 
+    /**
+     * 域控证书校验
+     *
+     * @param rootCrt root证书
+     * @param ipcCrt  域控证书
+     * @return 调用是否成功 false：AdasOptions中如果传入了RootCrt将会自动进行认证，无需再次调用
+     */
+    @Override
+    public boolean certification(@NonNull String rootCrt, @NonNull ByteString ipcCrt) {
+        return mChannel != null && mChannel.certification(rootCrt, ipcCrt);
+    }
+
     /**
      * 自动连接
      * 不会存储 下次启动恢复默认
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
index 92459f3953..a72b8ba6ed 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasOptions.java
@@ -1,6 +1,8 @@
 package com.zhidao.support.adas.high;
 
+import com.google.protobuf.ByteString;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOption;
+import com.zhjt.mogo.adas.data.AdasConstants;
 
 import java.util.HashSet;
 import java.util.Set;
@@ -46,6 +48,7 @@ public class AdasOptions {
     private final int reconnectCount;
     private final boolean isCertification;
     private final String rootCrt;
+    private final String deviceCrt;
     private final boolean isAutoConnect;
     private final Set<SubscribeInterfaceOption> subscribeInterfaceOptions;
     private final Set<Chassis.GearPosition> unableLaunchAutopilotGear;
@@ -60,6 +63,7 @@ public class AdasOptions {
         this.reconnectCount = builder.reconnectCount;
         this.isCertification = builder.isCertification;
         this.rootCrt = builder.rootCrt;
+        this.deviceCrt = builder.deviceCrt;
         this.isAutoConnect = builder.isAutoConnect;
         this.subscribeInterfaceOptions = builder.subscribeInterfaceOptions;
         this.unableLaunchAutopilotGear = builder.unableLaunchAutopilotGear;
@@ -97,6 +101,10 @@ public class AdasOptions {
         return rootCrt;
     }
 
+    public String getDeviceCrt() {
+        return deviceCrt;
+    }
+
     public boolean isAutoConnect() {
         return isAutoConnect;
     }
@@ -130,6 +138,7 @@ public class AdasOptions {
         private int reconnectCount = DEFAULT.RECONNECT_COUNT;
         private boolean isCertification = DEFAULT.IS_CERTIFICATION;
         private String rootCrt;
+        private String deviceCrt;
         private boolean isAutoConnect = DEFAULT.IS_AUTO_CONNECT;
         private Set<SubscribeInterfaceOption> subscribeInterfaceOptions;
         private Set<Chassis.GearPosition> unableLaunchAutopilotGear;
@@ -147,6 +156,7 @@ public class AdasOptions {
             this.reconnectCount = options.reconnectCount;
             this.isCertification = options.isCertification;
             this.rootCrt = options.rootCrt;
+            this.deviceCrt = options.deviceCrt;
             this.isAutoConnect = options.isAutoConnect;
             this.subscribeInterfaceOptions = options.subscribeInterfaceOptions;
             this.unableLaunchAutopilotGear = options.unableLaunchAutopilotGear;
@@ -164,6 +174,7 @@ public class AdasOptions {
          * *reconnectCount
          * *isCertification
          * *rootCrt
+         * *deviceCrt
          * *isAutoConnect
          * *subscribeInterfaceOptions
          * *unableLaunchAutopilotGear
@@ -252,7 +263,7 @@ public class AdasOptions {
 
         /**
          * ROOT证书
-         * 启用认证必须传
+         * 启用认证后如果不传递，认证域控证书可以主动调用{@link AdasManager#certification(String, ByteString)}
          *
          * @param rootCrt root证书
          * @return Builder
@@ -262,6 +273,20 @@ public class AdasOptions {
             return this;
         }
 
+        /**
+         * 设备证书
+         * 启用认证后如果不传递，必须在调用以下方法时传递
+         * {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, String)}
+         * {@link AdasManager#sendBasicInfoResp(String, AdasConstants.Environment, AdasConstants.TerminalRole, int, String, String)}
+         *
+         * @param deviceCrt root证书
+         * @return Builder
+         */
+        public Builder setDeviceCrt(String deviceCrt) {
+            this.deviceCrt = deviceCrt;
+            return this;
+        }
+
         /**
          * 是否自动连接
          * create之后是否自动连接域控
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
index 896c97b85f..c1e78865be 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -126,6 +126,15 @@ public interface IAdasNetCommApi {
      */
     void setRootCrt(String rootCrt);
 
+    /**
+     * 域控证书校验
+     *
+     * @param rootCrt root证书
+     * @param ipcCrt  域控证书
+     * @return 调用是否成功 false：AdasOptions中如果传入了RootCrt将会自动进行认证，无需再次调用
+     */
+    boolean certification(@NonNull String rootCrt, @NonNull com.google.protobuf.ByteString ipcCrt);
+
     /**
      * 自动连接
      * 不会存储 下次启动恢复默认
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index 9329e325e0..205c062c41 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
+import com.google.protobuf.ByteString;
 import com.mogo.support.obu.ObuScene;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhjt.mogo.adas.common.MessageType;
@@ -147,14 +148,24 @@ public interface OnAdasListener {
 
     /**
      * 自动驾驶设备基础信息请求
-     * 连接时启用认证 后才会有认证结果
+     * 如果启用认证后，在AdasOptions中未传递RootCrt需要在此回调中调用{@link AdasManager#certification(String, ByteString)}进行域控证书认证
+     *
+     * @param header       头
+     * @param basicInfoReq 数据
+     */
+    void onBasicInfoReq(MessagePad.Header header, @NonNull MessagePad.BasicInfoReq basicInfoReq);
+
+    /**
+     * 域控证书认证状态
+     * 启用认证需要配置 AdasOptions.setEnableCertification()
+     * 连接时启用认证 后才会有证认结果
      * ROOT证书异常会影响校验域控证书
      * PAD证书异常会影响域控端校验的证书校验，域控端证书校验失败将会断开连接，且并不会给出断开原因，ADAS LIB会执行重连操作（如果配置启用重连）
-     * 校验域控证书认证失败会主动断开连接，且不进行重连
+     * 假如校验域控证书认证失败会主动断开连接，且不进行重连
      *
      * @param status 域控证书认证结果{@link AdasConstants.CertificationStatus}
      */
-    void onBasicInfoReq(@NonNull AdasConstants.CertificationStatus status);
+    void onCertification(@NonNull AdasConstants.CertificationStatus status);
 
     /**
      * 车机基础信息应答