diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
index bfef8a0271..daaf6b231c 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -117,8 +117,8 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private IOCHTaxiPassengerADASStatusCallback mADASStatusCallback; //Model->Presenter：自动驾驶状态相关
     private IOCHTaxiPassengerAutopilotPlanningCallback mAutopilotPlanningCallback; //Model->Presenter：自动驾驶线路规划
 
-    private Map<String,IOCHTaxiPassengerOrderStatusCallback> mOrderStatusCallbackMap = new ConcurrentHashMap<>();
-    private Map<String,IOCHTaxiPassengerControllerStatusCallback> mControllerStatusCallbackMap = new ConcurrentHashMap<>();
+    private final Map<String,IOCHTaxiPassengerOrderStatusCallback> mOrderStatusCallbackMap = new ConcurrentHashMap<>();
+    private final Map<String,IOCHTaxiPassengerControllerStatusCallback> mControllerStatusCallbackMap = new ConcurrentHashMap<>();
 
     private ITaxiPassengerVeloctityCallback mVeloctityCallback;//道路限速返回
 
@@ -130,7 +130,7 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
     private double mLongitude, mLatitude;
     private MogoLocation mLocation = null;
 
-    private List<MogoLocation> mLocationsModels = new ArrayList<>();
+    private final List<MogoLocation> mLocationsModels = new ArrayList<>();
 
     private TaxiPassengerModel() {
     }
@@ -517,7 +517,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
 
         @Override
         public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-            if (autopilotStatusInfo == null) return;
             int state = autopilotStatusInfo.getState();
 //            CallerLogger.INSTANCE.d( M_TAXI_P + TAG, "state = %s", state );
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
diff --git a/app/build.gradle b/app/build.gradle
index a74eef3605..fcec11c180 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -149,6 +149,7 @@ android {
     packagingOptions {
         exclude 'META-INF/proguard/coroutines.pro'
         exclude 'META-INF/*'
+        exclude "/lib/armeabi-v7a/*.so"
     }
 
     signingConfigs {
diff --git a/app/src/main/java/com/mogo/launcher/lancet/CrashFix.kt b/app/src/main/java/com/mogo/launcher/lancet/CrashFix.kt
index 09ae7d1c42..73d69c4931 100644
--- a/app/src/main/java/com/mogo/launcher/lancet/CrashFix.kt
+++ b/app/src/main/java/com/mogo/launcher/lancet/CrashFix.kt
@@ -1,6 +1,7 @@
 package com.mogo.launcher.lancet
 
 import android.content.ComponentName
+import android.content.Context
 import android.content.Intent
 import androidx.annotation.*
 import com.knightboost.lancet.api.Origin
@@ -29,4 +30,25 @@ class CrashFix {
             null
         }
     }
+
+    /**
+     * https://console.volcengine.com/apmplus/app/crash/detail/java/bb387ccd9c1a3c6ad2ede4e6f501a5e7?aid=302368&date=%7B%22granularity%22%3A%221h%22%2C%22duration%22%3A%22recently%22%2C%22range%22%3A%221w%22%7D&filters=%7B%22type%22%3A%22and%22%2C%22sub_conditions%22%3A%5B%7B%22dimension%22%3A%22os%22%2C%22op%22%3A%22in%22%2C%22type%22%3A%22expression%22%2C%22values%22%3A%5B%22Android%22%5D%7D%5D%7D&org_id=2100068151&os=Android&page_number=6&status=%5B%22pending%22%2C%22processing%22%2C%22solved%22%2C%22reopen%22%5D
+     * java.lang.IllegalArgumentException: Invalid audio buffer size.
+     *  at android.media.AudioTrack.audioBuffSizeCheck(AudioTrack.java:1857)
+        at android.media.AudioTrack.<init>(AudioTrack.java:812)
+        at android.media.AudioTrack.<init>(AudioTrack.java:754)
+        at android.media.AudioTrack.<init>(AudioTrack.java:708)
+        at android.media.AudioTrack.<init>(AudioTrack.java:649)
+        at com.aispeech.lite.tts.a.a(SourceFile:70)
+     */
+    @Insert
+    @TargetClass("com.aispeech.lite.tts.a")
+    @TargetMethod(methodName = "a")
+    fun fixAiSpeechCrash(context: Context, arg1: Int, arg2: Int) {
+        try {
+            Origin.callVoid()
+        } catch (t: Throwable) {
+            t.printStackTrace()
+        }
+    }
 }
\ No newline at end of file
diff --git a/app_ipc_monitoring/build.gradle b/app_ipc_monitoring/build.gradle
index d52b8fbaea..3790b2cfd8 100644
--- a/app_ipc_monitoring/build.gradle
+++ b/app_ipc_monitoring/build.gradle
@@ -130,6 +130,7 @@ dependencies {
     androidTestImplementation 'androidx.test.ext:junit:1.1.3'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
     implementation rootProject.ext.dependencies.gson
+    implementation 'com.github.bumptech.glide:glide:4.11.0'
     implementation project(':libraries:mogo-adas')
     implementation project(':libraries:mogo-adas-data')
     implementation project(':libraries:mogo-obu')
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
index 2952be1594..0f4edc2f79 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
@@ -9,7 +9,6 @@ import com.zhidao.adas.client.bean.ObuMap;
 import com.zhidao.adas.client.bean.ObuRsi;
 import com.zhidao.adas.client.bean.ObuRsm;
 import com.zhidao.adas.client.bean.ObuSpat;
-import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
 import com.zhidao.adas.client.bean.PlanningDecisionState;
 import com.zhidao.adas.client.bean.PlanningObjects;
@@ -119,6 +118,7 @@ public class DataDistribution {
     public final List<DataShow> listPlanningDecisionState = new ArrayList<>();
     public final List<DataShow> listChassisStates = new ArrayList<>();
     public final List<DataShow> listFSMFunctionStates = new ArrayList<>();
+    public final List<DataShow> listBackCameraVideo = new ArrayList<>();
     public final List<DataShow> listRoboSweeperTaskIndex = new ArrayList<>();
     public final List<DataShow> listBagManagerCmd = new ArrayList<>();
     public final List<DataShow> listObuSpat = new ArrayList<>();
@@ -146,6 +146,7 @@ public class DataDistribution {
     private long listPlanningDecisionStateSize = 0;
     private long listChassisStatesSize = 0;
     private long listFSMFunctionStatesSize = 0;
+    private long listBackCameraVideoSize = 0;
     private long listRoboSweeperTaskIndexSize = 0;
     private long listBagManagerCmdSize = 0;
     private long listObuSpatSize = 0;
@@ -175,6 +176,7 @@ public class DataDistribution {
         listPlanningDecisionStateSize = 1;
         listChassisStatesSize = 1;
         listFSMFunctionStatesSize = 1;
+        listBackCameraVideoSize = 1;
         listRoboSweeperTaskIndexSize = 1;
         listBagManagerCmdSize = 1;
         listObuSpatSize = 1;
@@ -423,14 +425,6 @@ public class DataDistribution {
                 if (listener != null && Constants.TITLE.RECEIVE_ERROR.equals(listener.first)) {
                     listener.second.onRefresh();
                 }
-            } else if (data instanceof OriginalPointCloudData) {
-                listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
-                if (listOriginalPointCloud.size() > LIST_SIZE) {
-                    listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
-                }
-                if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
-                    listener.second.onRefresh();
-                }
             }
         } else {
             MessagePad.MessageType messageType = data.header.getMsgType();
@@ -590,6 +584,22 @@ public class DataDistribution {
                 if (listener != null && Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(listener.first)) {
                     listener.second.onRefresh();
                 }
+            } else if (messageType == MessagePad.MessageType.MsgTypePointCloud) {
+                listOriginalPointCloud.add(0, new DataShow(listOriginalPointCloudSize++, time + str));
+                if (listOriginalPointCloud.size() > LIST_SIZE) {
+                    listOriginalPointCloud.remove(listOriginalPointCloud.size() - 1);
+                }
+                if (listener != null && Constants.TITLE.RECEIVE_POINT_CLOUD_ORIGINAL.equals(listener.first)) {
+                    listener.second.onRefresh();
+                }
+            } else if (messageType == MessagePad.MessageType.MsgTypeBackCameraVideo) {
+                listBackCameraVideo.add(0, new DataShow(listBackCameraVideoSize++, time + str));
+                if (listBackCameraVideo.size() > LIST_SIZE) {
+                    listBackCameraVideo.remove(listBackCameraVideo.size() - 1);
+                }
+                if (listener != null && Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(listener.first)) {
+                    listener.second.onRefresh();
+                }
             } else if (data instanceof PerceptionTrafficLight) {
                 listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str));
                 if (listPerceptionTrafficLight.size() > LIST_SIZE) {
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
index f67a2ee02a..41b65e5472 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
@@ -18,7 +18,11 @@ public abstract class BaseInfo {
         this.action = action;
         this.payloadLen = len;
         nowTime = System.currentTimeMillis();
-        this.len = 8 + header.getSerializedSize() + len;
+        int headerSize = 0;
+        if (header != null) {
+            headerSize = header.getSerializedSize();
+        }
+        this.len = 8 + headerSize + len;
         this.header = header;
         this.sdf = sdf;
     }
@@ -33,8 +37,12 @@ public abstract class BaseInfo {
 
     @Override
     public String toString() {
-        return "原始数据长度：" + len + "\tPayload数据长度：" + payloadLen + "\nHeader:[" + "MessageID:" + header.getMsgID() +
-                " MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
-                + " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
+        String str = "原始数据长度：" + len + "\tPayload数据长度：" + payloadLen + '\n';
+        if (header != null) {
+            str += "Header:[" + "MessageID:" + header.getMsgID() +
+                    " MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
+                    + " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
+        }
+        return str;
     }
 }
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java
index 3973ba0938..b47e46b909 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ErrorData.java
@@ -15,6 +15,6 @@ public class ErrorData extends BaseInfo {
 
     @Override
     public String toString() {
-        return status + "\n原始数据：" + ByteUtil.byteArrToHex(bytes);
+        return super.toString() + status + "\n原始数据：" + ByteUtil.byteArrToHex(bytes);
     }
 }
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
deleted file mode 100644
index 44143d894a..0000000000
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
+++ /dev/null
@@ -1,24 +0,0 @@
-package com.zhidao.adas.client.bean;
-
-import com.google.protobuf.TextFormat;
-
-import java.text.SimpleDateFormat;
-
-import mogo.telematics.pad.MessagePad;
-import rule_segement.MogoPointCloudOuterClass;
-
-public class MyPointCloud extends BaseInfo {
-    public final MogoPointCloudOuterClass.MogoPointCloud bean;
-
-    public MyPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud bean, SimpleDateFormat sdf) {
-        super("接收", bean.getSerializedSize(), header, sdf);
-        this.bean = bean;
-    }
-
-
-    @Override
-    public String toString() {
-        return super.toString() + TextFormat.printer().escapingNonAscii(false).printToString(bean);
-    }
-
-}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java
deleted file mode 100644
index b51c9c4cd6..0000000000
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/OriginalPointCloudData.java
+++ /dev/null
@@ -1,17 +0,0 @@
-package com.zhidao.adas.client.bean;
-
-import com.zhidao.support.adas.high.common.ByteUtil;
-
-public class OriginalPointCloudData extends BaseInfo {
-    private final byte[] pointCloud;
-
-    public OriginalPointCloudData(byte[] pointCloud) {
-        super("接收", pointCloud.length);
-        this.pointCloud = pointCloud;
-    }
-
-    @Override
-    public String toString() {
-        return "\n" + ByteUtil.byteArrToHex(pointCloud);
-    }
-}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java
new file mode 100644
index 0000000000..ac72a5b7cf
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/ReceiveBytesData.java
@@ -0,0 +1,23 @@
+package com.zhidao.adas.client.bean;
+
+import com.zhidao.support.adas.high.common.ByteUtil;
+
+import java.text.SimpleDateFormat;
+
+import mogo.telematics.pad.MessagePad;
+
+public class ReceiveBytesData extends BaseInfo {
+    public final byte[] data;
+
+    public ReceiveBytesData(MessagePad.Header header, byte[] data, SimpleDateFormat sdf) {
+        super("接收", data.length, header, sdf);
+        this.data = data;
+    }
+
+
+    @Override
+    public String toString() {
+        return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(data);
+    }
+
+}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java
new file mode 100644
index 0000000000..5d57765dbb
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/BackCameraFloatWindow.java
@@ -0,0 +1,201 @@
+package com.zhidao.adas.client.ui;
+
+import android.app.Activity;
+import android.graphics.PixelFormat;
+import android.os.Handler;
+import android.os.Message;
+import android.util.DisplayMetrics;
+import android.view.Gravity;
+import android.view.LayoutInflater;
+import android.view.MotionEvent;
+import android.view.View;
+import android.view.WindowManager;
+import android.widget.ImageView;
+
+import com.zhidao.adas.client.R;
+import com.zhidao.adas.client.utils.SysBarUtil;
+import com.zhidao.adas.client.utils.image.ImageLoaderManager;
+
+import java.lang.ref.WeakReference;
+
+/**
+ * 摄像头数据展示
+ *
+ * @author xuxinchao
+ * @description
+ * @since: 2022/4/20
+ */
+public class BackCameraFloatWindow implements View.OnTouchListener {
+
+    private final Activity mContext;
+    private WindowManager.LayoutParams mWindowParams;
+    private WindowManager mWindowManager;
+
+    private View mFloatLayout;
+    private float mInViewX;
+    private float mInViewY;
+    private float mDownInScreenX;
+    private float mDownInScreenY;
+    private float mInScreenX;
+    private float mInScreenY;
+    private ImageView image_view;
+
+    public BackCameraFloatWindow(Activity context) {
+        this.mContext = context;
+        initHandler();
+        initFloatWindow();
+    }
+
+
+    private void initFloatWindow() {
+        LayoutInflater inflater = LayoutInflater.from(mContext);
+        if (inflater == null)
+            return;
+        mFloatLayout = (View) inflater.inflate(R.layout.layout_back_camera, null);
+        image_view = mFloatLayout.findViewById(R.id.image_view);
+        mFloatLayout.setOnTouchListener(this);
+        mWindowParams = new WindowManager.LayoutParams();
+//        mWindowManager = (WindowManager) mContext.getSystemService(Context.WINDOW_SERVICE);
+//        if (Build.VERSION.SDK_INT >= 26) {//8.0新特性
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY;
+//        }else{
+//            mWindowParams.type = WindowManager.LayoutParams.TYPE_SYSTEM_ALERT;
+//        }
+
+        mWindowManager = mContext.getWindowManager();
+
+        mWindowParams.format = PixelFormat.RGBA_8888;
+        mWindowParams.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE;
+        mWindowParams.gravity = Gravity.START | Gravity.TOP;
+//        mWindowParams.width = WindowManager.LayoutParams.WRAP_CONTENT;
+//        mWindowParams.height = WindowManager.LayoutParams.WRAP_CONTENT;
+        mWindowParams.width = 1280;
+        mWindowParams.height = 720;
+//        mWindowParams.alpha = 0.9F;
+    }
+
+    @Override
+    public boolean onTouch(View view, MotionEvent motionEvent) {
+        return floatLayoutTouch(motionEvent);
+    }
+
+    private boolean floatLayoutTouch(MotionEvent motionEvent) {
+        switch (motionEvent.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.getX();
+                mInViewY = motionEvent.getY();
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mDownInScreenX = motionEvent.getRawX();
+                mDownInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
+                mInScreenX = motionEvent.getRawX();
+                mInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
+                break;
+            case MotionEvent.ACTION_MOVE:
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.getRawX();
+                mInScreenY = motionEvent.getRawY() - SysBarUtil.getSysBarHeight(mContext);
+                mWindowParams.x = (int) (mInScreenX - mInViewX);
+                mWindowParams.y = (int) (mInScreenY - mInViewY);
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager.updateViewLayout(mFloatLayout, mWindowParams);
+                break;
+            case MotionEvent.ACTION_UP:
+                // 如果手指离开屏幕时，xDownInScreen和xInScreen相等，且yDownInScreen和yInScreen相等，则视为触发了单击事件。
+                if (mDownInScreenX == mInScreenX && mDownInScreenY == mInScreenY) {
+
+                }
+                break;
+        }
+        return true;
+    }
+
+    public void showFloatWindow(float y) {
+        if (mFloatLayout.getParent() == null) {
+            DisplayMetrics metrics = new DisplayMetrics();
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager.getDefaultDisplay().getMetrics(metrics);
+            mWindowParams.x = metrics.widthPixels;
+            mWindowParams.y = (int) (y);
+            mWindowManager.addView(mFloatLayout, mWindowParams);
+        }
+    }
+
+
+    public void hideFloatWindow() {
+        if (mFloatLayout.getParent() != null)
+            mWindowManager.removeView(mFloatLayout);
+    }
+
+    public void setFloatLayoutAlpha(boolean alpha) {
+        if (alpha)
+            mFloatLayout.setAlpha((float) 0.5);
+        else
+            mFloatLayout.setAlpha(1);
+    }
+
+
+    public void onBackCameraVideo(byte[] data) {
+        Message msg = Message.obtain();
+        msg.obj = data;
+        msg.what = 1;
+        getHandler().sendMessage(msg);
+
+
+    }
+
+
+    private BaseHandler mBaseHandler;
+
+
+    /**
+     * 初始化一个Handler，如果需要使用Handler，先调用此方法，
+     * 然后可以使用postRunnable(Runnable runnable)，
+     * sendMessage在handleMessage（Message msg）中接收msg
+     */
+    public void initHandler() {
+        mBaseHandler = new BaseHandler(this);
+    }
+
+    /**
+     * 返回Handler，在此之前确定已经调用initHandler（）
+     *
+     * @return Handler
+     */
+    public Handler getHandler() {
+        return mBaseHandler;
+    }
+
+
+    /**
+     * 同Handler 的 handleMessage，
+     * getHandler.sendMessage,发送的Message在此接收
+     * 在此之前确定已经调用initHandler（）
+     *
+     * @param msg
+     */
+    protected void handleMessage(Message msg) {
+        switch (msg.what) {
+            case 1:
+                ImageLoaderManager.loadByteImage(mContext, (byte[]) msg.obj, image_view);
+                break;
+        }
+    }
+
+
+    protected static class BaseHandler extends Handler {
+        private final WeakReference<BackCameraFloatWindow> mObjects;
+
+        public BaseHandler(BackCameraFloatWindow mPresenter) {
+            mObjects = new WeakReference<BackCameraFloatWindow>(mPresenter);
+        }
+
+        @Override
+        public void handleMessage(Message msg) {
+            BackCameraFloatWindow mPresenter = mObjects.get();
+            if (mPresenter != null)
+                mPresenter.handleMessage(msg);
+        }
+    }
+
+}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
index 06da977405..9d29c6f204 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
@@ -32,6 +32,7 @@ public class InfoFragment extends BaseFragment {
     private DataShowAdapter adapter;
     private TextView tvTitle;
     private String subTitle;
+    private BackCameraFloatWindow backCameraFloatWindow;
 
     public InfoFragment() {
     }
@@ -65,6 +66,27 @@ public class InfoFragment extends BaseFragment {
         }
     }
 
+    @Override
+    public void onPause() {
+        super.onPause();
+        hideFloatWindow();
+    }
+
+    @Override
+    public void onHiddenChanged(boolean hidden) {
+        super.onHiddenChanged(hidden);
+        if (hidden) {
+            hideFloatWindow();
+        }
+    }
+
+    private void hideFloatWindow() {
+        if (backCameraFloatWindow != null) {
+            backCameraFloatWindow.hideFloatWindow();
+            backCameraFloatWindow = null;
+        }
+    }
+
     private void initView(View view) {
         tvTitle = view.findViewById(R.id.tv_title);
         RecyclerView rvInfo = view.findViewById(R.id.rv_info);
@@ -76,6 +98,23 @@ public class InfoFragment extends BaseFragment {
             subTitle = null;
         }
         tvTitle.setGravity(Gravity.CENTER);
+        if (Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(title)) {
+            Button button = view.findViewById(R.id.btn_render);
+            button.setVisibility(View.VISIBLE);
+            button.setOnClickListener(new View.OnClickListener() {
+                @Override
+                public void onClick(View v) {
+                    if (backCameraFloatWindow == null) {
+                        backCameraFloatWindow = new BackCameraFloatWindow(getActivity());
+                        final int[] location = new int[2];
+                        button.getLocationOnScreen(location);
+                        backCameraFloatWindow.showFloatWindow(location[1]);
+                    } else {
+                        hideFloatWindow();
+                    }
+                }
+            });
+        }
         //创建默认的线性LayoutManager  横向的GridLayoutManager
         MyLinearLayoutManager linearLayoutManager = new MyLinearLayoutManager(this.getContext());
 //        linearLayoutManager.setStackFromEnd(true);//列表再底部开始展示，反转后由上面开始展示
@@ -162,6 +201,8 @@ public class InfoFragment extends BaseFragment {
             adapter.setData(DataDistribution.getInstance().listPlanningDecisionState);
         } else if (Constants.TITLE.RECEIVE_FUNCTION_STATES.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listFSMFunctionStates);
+        } else if (Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listBackCameraVideo);
         } else if (Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listRoboSweeperTaskIndex);
         } else {
@@ -197,4 +238,10 @@ public class InfoFragment extends BaseFragment {
             adapter.refreshView();
         }
     }
+
+    public void onBackCameraVideo(byte[] data) {
+        if (backCameraFloatWindow != null) {
+            backCameraFloatWindow.onBackCameraVideo(data);
+        }
+    }
 }
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
index 3a92a7f8dc..0a6ab82bdd 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -57,8 +57,8 @@ import com.zhidao.adas.client.bean.ObuMap;
 import com.zhidao.adas.client.bean.ObuRsi;
 import com.zhidao.adas.client.bean.ObuRsm;
 import com.zhidao.adas.client.bean.ObuSpat;
-import com.zhidao.adas.client.bean.OriginalPointCloudData;
 import com.zhidao.adas.client.bean.PerceptionTrafficLight;
+import com.zhidao.adas.client.bean.ReceiveBytesData;
 import com.zhidao.adas.client.bean.ReceiveData;
 import com.zhidao.adas.client.bean.SpecialVehicleBean;
 import com.zhidao.adas.client.bean.StatusInfo;
@@ -84,6 +84,8 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhidao.support.adas.high.common.ReceiveTimeoutManager;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
+import org.jetbrains.annotations.NotNull;
+
 import java.net.Inet4Address;
 import java.net.InetAddress;
 import java.net.NetworkInterface;
@@ -644,6 +646,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_RSM);
         titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_MAP);
         titleFragmentData.add(Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO);
         titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
         titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
 
@@ -919,25 +922,31 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 ////        LogSave.getInstance().saveLog("转换数据=" + data);
 //    }
 
+    //    @Override
+//    public void onPointCloud(byte[] pointCloud) {
+////        try {
+////            MogoPointCloudOuterClass.MogoPointCloud pointCloud1 = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
+////            HeaderOuterClass.Time time = pointCloud1.getHeader().getStamp();
+////            int s = time.getSec();
+////            int ns = time.getNsec();
+////            long t = (long) (s * 1000L) + (long) (ns / 1000000.d);
+////            Log.i(TAG, "PointCloud=" + sdf.format(new Date(t)));
+////        } catch (InvalidProtocolBufferException e) {
+////            e.printStackTrace();
+////        }
+////        try {
+////            MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
+////            Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
+////        } catch (InvalidProtocolBufferException e) {
+////            e.printStackTrace();
+////        }
+//        ReceiveBytesData base = new ReceiveBytesData(null, pointCloud, sdf);
+//        DataDistribution.getInstance().addData(base);
+//    }
+//
     @Override
-    public void onPointCloud(byte[] pointCloud) {
-//        try {
-//            MogoPointCloudOuterClass.MogoPointCloud pointCloud1 = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
-//            HeaderOuterClass.Time time = pointCloud1.getHeader().getStamp();
-//            int s = time.getSec();
-//            int ns = time.getNsec();
-//            long t = (long) (s * 1000L) + (long) (ns / 1000000.d);
-//            Log.i(TAG, "PointCloud=" + sdf.format(new Date(t)));
-//        } catch (InvalidProtocolBufferException e) {
-//            e.printStackTrace();
-//        }
-//        try {
-//            MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
-//            Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
-//        } catch (InvalidProtocolBufferException e) {
-//            e.printStackTrace();
-//        }
-        OriginalPointCloudData base = new OriginalPointCloudData(pointCloud);
+    public void onPointCloud(MessagePad.Header header, byte[] pointCloud) {
+        ReceiveBytesData base = new ReceiveBytesData(header, pointCloud, sdf);
         DataDistribution.getInstance().addData(base);
     }
 
@@ -1041,6 +1050,16 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onBackCameraVideo(@NotNull MessagePad.Header header, @NotNull byte[] data) {
+        if (fromFragment instanceof InfoFragment) {
+            InfoFragment fragment = (InfoFragment) fromFragment;
+            fragment.onBackCameraVideo(data);
+        }
+        ReceiveBytesData base = new ReceiveBytesData(header, data, sdf);
+        DataDistribution.getInstance().addData(base);
+    }
+
     @Override
     public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
         ReceiveData base = new ReceiveData(header, roboSweeperTaskIndex, sdf);
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
index 1a0e9f160e..1f19125e06 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
@@ -153,6 +153,7 @@ public class Constants {
         String RECEIVE_CHASSIS_STATES = MessageType.TYPE_RECEIVE_CHASSIS_STATES.desc;
         String RECEIVE_AUTOPILOT_STATE = MessageType.TYPE_RECEIVE_AUTOPILOT_STATE.desc;
         String RECEIVE_FUNCTION_STATES = MessageType.TYPE_RECEIVE_FUNCTION_STATES.desc;
+        String RECEIVE_BACK_CAMERA_VIDEO = MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO.desc;
         String RECEIVE_REPORT_MESSAGE = MessageType.TYPE_RECEIVE_REPORT_MESSAGE.desc;
         String RECEIVE_PERCEPTION_TRAFFIC_LIGHT = MessageType.TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT.desc;
         String RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY = MessageType.TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY.desc;
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java
new file mode 100644
index 0000000000..d224c9800f
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/BlurTransformation.java
@@ -0,0 +1,99 @@
+package com.zhidao.adas.client.utils.image;
+
+
+/**
+ * Copyright (C) 2018 Wasabeef
+ * <p>
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * <p>
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * <p>
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+import android.graphics.Paint;
+
+import androidx.annotation.NonNull;
+
+import com.bumptech.glide.load.engine.bitmap_recycle.BitmapPool;
+import com.bumptech.glide.load.resource.bitmap.BitmapTransformation;
+
+import java.security.MessageDigest;
+
+/**
+ * 高斯模糊
+ */
+public class BlurTransformation extends BitmapTransformation {
+
+    private static final int VERSION = 1;
+    private static final String ID ="com.zhidao.adas.client.utils.image.BlurTransformation." + VERSION;
+    private static int MAX_RADIUS = 25;
+    private static int DEFAULT_DOWN_SAMPLING = 1;
+
+    private int radius;
+    private int sampling;
+
+    public BlurTransformation() {
+        this(MAX_RADIUS, DEFAULT_DOWN_SAMPLING);
+    }
+
+
+    public BlurTransformation(int radius) {
+        this(radius, DEFAULT_DOWN_SAMPLING);
+    }
+
+    public BlurTransformation(int radius, int sampling) {
+        this.radius = radius;
+        this.sampling = sampling;
+    }
+
+    @Override
+    public String toString() {
+        return "BlurTransformation(radius=" + radius + ", sampling=" + sampling + ")";
+    }
+
+    @Override
+    protected Bitmap transform(@NonNull BitmapPool pool, @NonNull Bitmap toTransform, int outWidth, int outHeight) {
+        int width = toTransform.getWidth();
+        int height = toTransform.getHeight();
+        int scaledWidth = width / sampling;
+        int scaledHeight = height / sampling;
+
+        Bitmap bitmap = pool.get(scaledWidth, scaledHeight, Bitmap.Config.ARGB_4444);
+
+        Canvas canvas = new Canvas(bitmap);
+        canvas.scale(1 / (float) sampling, 1 / (float) sampling);
+        Paint paint = new Paint();
+        paint.setFlags(Paint.FILTER_BITMAP_FLAG);
+        canvas.drawBitmap(toTransform, 0, 0, paint);
+
+        bitmap = FastBlur.blur(bitmap, radius, true);
+
+        return bitmap;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        return o instanceof BlurTransformation &&
+                ((BlurTransformation) o).radius == radius &&
+                ((BlurTransformation) o).sampling == sampling;
+    }
+
+    @Override
+    public int hashCode() {
+        return ID.hashCode() + radius * 1000 + sampling * 10;
+    }
+
+    @Override
+    public void updateDiskCacheKey(@NonNull MessageDigest messageDigest) {
+        messageDigest.update((ID + radius + sampling).getBytes(CHARSET));
+    }
+}
\ No newline at end of file
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java
new file mode 100644
index 0000000000..66028e2ecb
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/FastBlur.java
@@ -0,0 +1,257 @@
+package com.zhidao.adas.client.utils.image;
+
+import android.graphics.Bitmap;
+
+/**
+ * Copyright (C) 2018 Wasabeef
+ * <p>
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * <p>
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * <p>
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+public class FastBlur {
+
+    public static Bitmap blur(Bitmap sentBitmap, int radius, boolean canReuseInBitmap) {
+
+        // Stack Blur v1.0 from
+        // http://www.quasimondo.com/StackBlurForCanvas/StackBlurDemo.html
+        //
+        // Java Author: Mario Klingemann <mario at quasimondo.com>
+        // http://incubator.quasimondo.com
+        // created Feburary 29, 2004
+        // Android port : Yahel Bouaziz <yahel at kayenko.com>
+        // http://www.kayenko.com
+        // ported april 5th, 2012
+
+        // This is a compromise between Gaussian Blur and Box blur
+        // It creates much better looking blurs than Box Blur, but is
+        // 7x faster than my Gaussian Blur implementation.
+        //
+        // I called it Stack Blur because this describes best how this
+        // filter works internally: it creates a kind of moving stack
+        // of colors whilst scanning through the image. Thereby it
+        // just has to add one new block of color to the right side
+        // of the stack and remove the leftmost color. The remaining
+        // colors on the topmost layer of the stack are either added on
+        // or reduced by one, depending on if they are on the right or
+        // on the left side of the stack.
+        //
+        // If you are using this algorithm in your code please add
+        // the following line:
+        //
+        // Stack Blur Algorithm by Mario Klingemann <mario@quasimondo.com>
+
+        Bitmap bitmap;
+        if (canReuseInBitmap) {
+            bitmap = sentBitmap;
+        } else {
+            bitmap = sentBitmap.copy(sentBitmap.getConfig(), true);
+        }
+
+        if (radius < 1) {
+            return (null);
+        }
+
+        int w = bitmap.getWidth();
+        int h = bitmap.getHeight();
+
+        int[] pix = new int[w * h];
+        bitmap.getPixels(pix, 0, w, 0, 0, w, h);
+
+        int wm = w - 1;
+        int hm = h - 1;
+        int wh = w * h;
+        int div = radius + radius + 1;
+
+        int r[] = new int[wh];
+        int g[] = new int[wh];
+        int b[] = new int[wh];
+        int rsum, gsum, bsum, x, y, i, p, yp, yi, yw;
+        int vmin[] = new int[Math.max(w, h)];
+
+        int divsum = (div + 1) >> 1;
+        divsum *= divsum;
+        int dv[] = new int[256 * divsum];
+        for (i = 0; i < 256 * divsum; i++) {
+            dv[i] = (i / divsum);
+        }
+
+        yw = yi = 0;
+
+        int[][] stack = new int[div][3];
+        int stackpointer;
+        int stackstart;
+        int[] sir;
+        int rbs;
+        int r1 = radius + 1;
+        int routsum, goutsum, boutsum;
+        int rinsum, ginsum, binsum;
+
+        for (y = 0; y < h; y++) {
+            rinsum = ginsum = binsum = routsum = goutsum = boutsum = rsum = gsum = bsum = 0;
+            for (i = -radius; i <= radius; i++) {
+                p = pix[yi + Math.min(wm, Math.max(i, 0))];
+                sir = stack[i + radius];
+                sir[0] = (p & 0xff0000) >> 16;
+                sir[1] = (p & 0x00ff00) >> 8;
+                sir[2] = (p & 0x0000ff);
+                rbs = r1 - Math.abs(i);
+                rsum += sir[0] * rbs;
+                gsum += sir[1] * rbs;
+                bsum += sir[2] * rbs;
+                if (i > 0) {
+                    rinsum += sir[0];
+                    ginsum += sir[1];
+                    binsum += sir[2];
+                } else {
+                    routsum += sir[0];
+                    goutsum += sir[1];
+                    boutsum += sir[2];
+                }
+            }
+            stackpointer = radius;
+
+            for (x = 0; x < w; x++) {
+
+                r[yi] = dv[rsum];
+                g[yi] = dv[gsum];
+                b[yi] = dv[bsum];
+
+                rsum -= routsum;
+                gsum -= goutsum;
+                bsum -= boutsum;
+
+                stackstart = stackpointer - radius + div;
+                sir = stack[stackstart % div];
+
+                routsum -= sir[0];
+                goutsum -= sir[1];
+                boutsum -= sir[2];
+
+                if (y == 0) {
+                    vmin[x] = Math.min(x + radius + 1, wm);
+                }
+                p = pix[yw + vmin[x]];
+
+                sir[0] = (p & 0xff0000) >> 16;
+                sir[1] = (p & 0x00ff00) >> 8;
+                sir[2] = (p & 0x0000ff);
+
+                rinsum += sir[0];
+                ginsum += sir[1];
+                binsum += sir[2];
+
+                rsum += rinsum;
+                gsum += ginsum;
+                bsum += binsum;
+
+                stackpointer = (stackpointer + 1) % div;
+                sir = stack[(stackpointer) % div];
+
+                routsum += sir[0];
+                goutsum += sir[1];
+                boutsum += sir[2];
+
+                rinsum -= sir[0];
+                ginsum -= sir[1];
+                binsum -= sir[2];
+
+                yi++;
+            }
+            yw += w;
+        }
+        for (x = 0; x < w; x++) {
+            rinsum = ginsum = binsum = routsum = goutsum = boutsum = rsum = gsum = bsum = 0;
+            yp = -radius * w;
+            for (i = -radius; i <= radius; i++) {
+                yi = Math.max(0, yp) + x;
+
+                sir = stack[i + radius];
+
+                sir[0] = r[yi];
+                sir[1] = g[yi];
+                sir[2] = b[yi];
+
+                rbs = r1 - Math.abs(i);
+
+                rsum += r[yi] * rbs;
+                gsum += g[yi] * rbs;
+                bsum += b[yi] * rbs;
+
+                if (i > 0) {
+                    rinsum += sir[0];
+                    ginsum += sir[1];
+                    binsum += sir[2];
+                } else {
+                    routsum += sir[0];
+                    goutsum += sir[1];
+                    boutsum += sir[2];
+                }
+
+                if (i < hm) {
+                    yp += w;
+                }
+            }
+            yi = x;
+            stackpointer = radius;
+            for (y = 0; y < h; y++) {
+                // Preserve alpha channel: ( 0xff000000 & pix[yi] )
+                pix[yi] = (0xff000000 & pix[yi]) | (dv[rsum] << 16) | (dv[gsum] << 8) | dv[bsum];
+
+                rsum -= routsum;
+                gsum -= goutsum;
+                bsum -= boutsum;
+
+                stackstart = stackpointer - radius + div;
+                sir = stack[stackstart % div];
+
+                routsum -= sir[0];
+                goutsum -= sir[1];
+                boutsum -= sir[2];
+
+                if (x == 0) {
+                    vmin[y] = Math.min(y + r1, hm) * w;
+                }
+                p = x + vmin[y];
+
+                sir[0] = r[p];
+                sir[1] = g[p];
+                sir[2] = b[p];
+
+                rinsum += sir[0];
+                ginsum += sir[1];
+                binsum += sir[2];
+
+                rsum += rinsum;
+                gsum += ginsum;
+                bsum += binsum;
+
+                stackpointer = (stackpointer + 1) % div;
+                sir = stack[stackpointer];
+
+                routsum += sir[0];
+                goutsum += sir[1];
+                boutsum += sir[2];
+
+                rinsum -= sir[0];
+                ginsum -= sir[1];
+                binsum -= sir[2];
+
+                yi += w;
+            }
+        }
+
+        bitmap.setPixels(pix, 0, w, 0, 0, w, h);
+
+        return (bitmap);
+    }
+}
\ No newline at end of file
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java
new file mode 100644
index 0000000000..b2a7d10cdb
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/image/ImageLoaderManager.java
@@ -0,0 +1,199 @@
+package com.zhidao.adas.client.utils.image;
+
+import android.content.Context;
+import android.widget.ImageView;
+
+import com.bumptech.glide.Glide;
+import com.bumptech.glide.Priority;
+import com.bumptech.glide.load.engine.DiskCacheStrategy;
+import com.bumptech.glide.load.resource.bitmap.CenterCrop;
+import com.bumptech.glide.load.resource.bitmap.CircleCrop;
+import com.bumptech.glide.load.resource.bitmap.RoundedCorners;
+import com.bumptech.glide.load.resource.drawable.DrawableTransitionOptions;
+import com.bumptech.glide.request.RequestOptions;
+
+import java.io.File;
+
+/**
+ * create by libo
+ * create on 2018/12/26
+ * description Glide图片加载工具类
+ */
+public class ImageLoaderManager {
+
+    /**
+     * 默认加载方式
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     */
+    public static void loadImage(Context context, String url, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .dontAnimate();
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载圆形图片
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     */
+    public static void loadCircleImage(Context context, String url, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .dontAnimate()
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .bitmapTransform(new CircleCrop());
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载圆角图片
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     * @param radius    圆角大小
+     */
+    public static void loadRoundImage(Context context, String url, ImageView imageView, int radius) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .dontAnimate()
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .transforms(new CenterCrop(), new RoundedCorners(radius));
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载图片指定大小
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     * @param width
+     * @param height
+     */
+    public static void loadSizeImage(Context context, String url, ImageView imageView, int width, int height) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .override(width, height)
+                .diskCacheStrategy(DiskCacheStrategy.RESOURCE);
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载资源文件
+     *
+     * @param context
+     * @param resId
+     * @param imageView
+     */
+    public static void loadImage(Context context, int resId, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .centerCrop();
+
+        Glide.with(context)
+                .load(resId)
+                .apply(requestOptions)
+                .into(imageView);
+    }
+
+    /**
+     * 加载本地图片文件
+     *
+     * @param context
+     * @param file
+     * @param imageView
+     */
+    public static void loadFileImage(Context context, File file, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .centerCrop();
+
+        Glide.with(context)
+                .load(file)
+                .apply(requestOptions)
+                .into(imageView);
+    }
+
+    /**
+     * 加载字节数组
+     *
+     * @param context
+     * @param data
+     * @param imageView
+     */
+    public static void loadByteImage(Context context, byte[] data, ImageView imageView) {
+        RequestOptions requestOptions = new RequestOptions()
+                .priority(Priority.HIGH)
+                .diskCacheStrategy(DiskCacheStrategy.ALL)
+                .centerCrop();
+
+        Glide.with(context)
+                .load(data)
+                .apply(requestOptions)
+                .placeholder(imageView.getDrawable())
+                .into(imageView);
+    }
+
+    /**
+     * 加载高斯模糊
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     * @param radius    模糊级数 最大25
+     */
+    public static void loadBlurImage(Context context, String url, ImageView imageView, int radius) {
+        RequestOptions requestOptions = new RequestOptions()
+                .override(300)
+                .transforms(new BlurTransformation(radius));
+
+        Glide.with(context)
+                .load(url)
+                .apply(requestOptions)
+                .transition(DrawableTransitionOptions.withCrossFade())
+                .into(imageView);
+    }
+
+    /**
+     * 加载gif图
+     *
+     * @param context
+     * @param url
+     * @param imageView
+     */
+    public static void loadGifImage(Context context, String url, ImageView imageView) {
+        Glide.with(context)
+                .load(url)
+                .into(imageView);
+    }
+}
\ No newline at end of file
diff --git a/app_ipc_monitoring/src/main/res/layout/fragment_info.xml b/app_ipc_monitoring/src/main/res/layout/fragment_info.xml
index 2199310982..adad72cb90 100644
--- a/app_ipc_monitoring/src/main/res/layout/fragment_info.xml
+++ b/app_ipc_monitoring/src/main/res/layout/fragment_info.xml
@@ -24,6 +24,21 @@
             android:textSize="16sp"
             android:textStyle="bold" />
 
+
+        <androidx.appcompat.widget.AppCompatButton
+            android:id="@+id/btn_render"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentEnd="true"
+            android:layout_gravity="center_vertical"
+            android:layout_marginEnd="5dp"
+            android:background="@drawable/btn_bg"
+            android:text="渲染"
+            android:textColor="@color/colorWhile"
+            android:textSize="16dp"
+            android:textStyle="bold"
+            android:visibility="gone" />
+
     </RelativeLayout>
 
     <LinearLayout
diff --git a/app_ipc_monitoring/src/main/res/layout/layout_back_camera.xml b/app_ipc_monitoring/src/main/res/layout/layout_back_camera.xml
new file mode 100644
index 0000000000..0149073d89
--- /dev/null
+++ b/app_ipc_monitoring/src/main/res/layout/layout_back_camera.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ImageView xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/image_view"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:background="#000" />
\ No newline at end of file
diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
index 2f9f6dd4d2..6ba404fbea 100644
--- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
+++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
@@ -26,6 +26,7 @@ import android.widget.RadioGroup;
 import android.widget.TextView;
 import android.widget.Toast;
 
+import androidx.annotation.NonNull;
 import androidx.appcompat.app.AlertDialog;
 import androidx.appcompat.widget.AppCompatButton;
 import androidx.recyclerview.widget.GridLayoutManager;
@@ -45,11 +46,13 @@ import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.AdasOptions;
 import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
 import com.zhidao.support.adas.high.OnAdasListener;
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.Constants.IPC_CONNECTION_STATUS;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
+
+import org.jetbrains.annotations.NotNull;
 
 import java.net.Inet4Address;
 import java.net.InetAddress;
@@ -500,7 +503,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
 
     @Override
-    public void onPointCloud(byte[] pointCloud) {
+    public void onPointCloud(MessagePad.Header header, byte[] pointCloud) {
     }
 
     @Override
@@ -573,6 +576,11 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     }
 
+    @Override
+    public void onBackCameraVideo(@NonNull MessagePad.Header header, @NonNull byte[] data) {
+
+    }
+
     @Override
     public void onSweeperTaskIndexData(MessagePad.Header header, RoboSweeperTaskIndexOuterClass.RoboSweeperTaskIndex roboSweeperTaskIndex) {
 
diff --git a/config.gradle b/config.gradle
index a0654f8743..c0e098760b 100644
--- a/config.gradle
+++ b/config.gradle
@@ -226,9 +226,9 @@ ext {
             commonIndependentAmapApiValue  : "1c3fbc5f5e183619ffb1e7bc01e6751f",
             compileSdkVersion              : 29,
             buildToolsVersion              : "29.0.2",
-            minSdkVersion                  : 27,
+            minSdkVersion                  : 23,
             targetSdkVersion               : 27,
-            minSdkVersionPadLenovo         : 27,
+            minSdkVersionPadLenovo         : 23,
             targetSdkVersionPadLenovo      : 27,
             koomxhook                    : "com.kuaishou.koom:xhook-static:2.2.0",
     ]
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
index dbdc2e34c7..2e1ff638f6 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
@@ -14,7 +14,7 @@ interface IDispatchAdasApiService {
      * @return [BaseData]
      */
     @FormUrlEncoded
-    @POST("eagle-eye-dns/eagle-eye-dns/dataService/autoDriver/receiveCarPreSetPath")
+    @POST("eagle-eye-dns/dataService/autoDriver/receiveCarPreSetPath")
     fun uploadAutopilotRoute(@FieldMap parameters: Map<String, String>): Observable<BaseData>
 
     /**
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/ILineUploadApi.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/ILineUploadApi.kt
index efe9aa66bf..c97a3e6078 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/ILineUploadApi.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/ILineUploadApi.kt
@@ -10,7 +10,7 @@ import retrofit2.http.POST
 interface ILineUploadApi {
 
     @Headers("Content-type:application/json;charset=UTF-8" )
-    @POST( "/yycp-data-center-service/carTrack/receiveCarTrack/" )
+    @POST( "eagle-eye-dns/yycp-data-center-service/carTrack/receiveCarTrack/" )
     fun uploadLineId(@Body lineId: LineUploadData): Observable<BaseData>
 
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt
index 790ca44ab0..27780b4702 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/road/LineUploadManager.kt
@@ -3,6 +3,7 @@ package com.mogo.eagle.function.biz.v2x.road
 import android.content.Context
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.commons.constants.HostConst.DATA_CENTER_HOST
+import com.mogo.commons.constants.HostConst.getEagleHost
 import com.mogo.eagle.core.data.v2x.LineUploadData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
@@ -54,7 +55,7 @@ class LineUploadManager private constructor(context: Context) : IMoGoAutopilotSt
 
     private fun uploadLine(lineId: Long) {
         val lineUploadData = LineUploadData(lineId, MoGoAiCloudClientConfig.getInstance().sn)
-        disposable = MoGoRetrofitFactory.getInstance(DATA_CENTER_HOST)
+        disposable = MoGoRetrofitFactory.getInstance(getEagleHost())
             .create(ILineUploadApi::class.java)
             .uploadLineId(lineUploadData)
             .subscribeOn(Schedulers.io())
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
index 32fd455865..8ac9e08005 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/V2XEventManager.kt
@@ -159,9 +159,6 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
                 handleWarningTargetEvent(event.data)
             }
             is V2XEvent.RoadAI -> {
-                if (FunctionBuildConfig.isV2NFromCar) {
-                    return
-                }
                 handleRoadMarkerEvent(event.data.toRoadMarker())
             }
             is V2XEvent.RoadEventX -> {
@@ -173,12 +170,16 @@ object V2XEventManager : IMoGoChassisLocationGCJ02Listener, IV2XCallback,
         }
     }
 
-    @SuppressLint("NewApi")
+    @ChainLog(
+        linkChainLog = CHAIN_LINK_LOG_CLOUD_V2N,
+        linkCode = CHAIN_LINK_CLOUD,
+        endpoint = TracingConstants.Endpoint.PAD,
+        nodeAliasCode = CHAIN_ALIAS_CODE_CLOUD_V2N,
+        paramIndexes = [0],
+        clientPkFileName = "sn"
+    )
     override fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?) {
         super.onAutopilotIdentifyPlanningObj(planningObjects)
-        if (!FunctionBuildConfig.isV2NFromCar) {
-            return
-        }
         planningObjects?.let {
             if (it.isNotEmpty()) {
                 val first = it.stream()
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/aicloud/AiCloudSocketBizProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/aicloud/AiCloudSocketBizProvider.kt
index 971e7b2af2..624477723d 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/aicloud/AiCloudSocketBizProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/aicloud/AiCloudSocketBizProvider.kt
@@ -12,6 +12,7 @@ class AiCloudSocketBizProvider : IMoGoFunctionServerProvider {
         get() = "AiCloudSocketBizProvider"
 
     override fun init(context: Context?) {
+        //todo bus加载
         context?.let {
             SocketManager.getInstance().init(it, 0.0, 0.0)
             SocketManager.getInstance().registerOnMessageListener(401012, V2XMessageListener401012())
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 80cf30f787..575b42b953 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
@@ -134,8 +134,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
 
         if (gnssInfo != null) {
             if (1 == FunctionBuildConfig.gpsProvider) {
-                // 同步给MAP地图
-                //CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(gnssInfo)
                 // 同步更新经纬度和系统时间至 AutoPilotStatusListener
                 CallerAutoPilotStatusListenerManager.updateAutoPilotLatLon(
                     gnssInfo.satelliteTime,
@@ -146,7 +144,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
-
     /**
      * 老底盘信息,透传底盘状态，pb参考底盘
      * TODO 目前由于M1车型不会在新底盘PB添加新的字段 所以临时保留
@@ -369,7 +366,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         //他车轨迹预测
     }
 
-    override fun onPointCloud(pointCloud: ByteArray?) {
+    override fun onPointCloud(header: MessagePad.Header, pointCloud: ByteArray?) {
         //点云数据透传
         CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(pointCloud)
     }
@@ -595,6 +592,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
     ) {
 
     }
+    /**
+     * 清扫车后部摄像头视频 10Hz
+     *
+     * @param header 头
+     * @param data   数据
+     */
+    override fun onBackCameraVideo(header: MessagePad.Header, data: ByteArray) {
+        CallerSweeperFutianBackCameraVideoListenerManager.invokeSweeperFutianBackCameraVideo(data)
+    }
+
     /**
      * 清扫车指标数据
      *
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
index 7a0b107842..6027695b0e 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MoGoObuProvider.kt
@@ -6,8 +6,6 @@ import com.mogo.eagle.core.data.constants.MoGoConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuProvider
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_OBU
 import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.CommonUtils
 
@@ -24,13 +22,12 @@ class MoGoObuProvider : IMoGoObuProvider {
         get() = TAG
 
     override fun onDestroy() {
-
+        MogoObuDcCombineManager.INSTANCE.destoryListener()
     }
 
     override fun init(context: Context) {
         //obu融合数据
         MogoObuDcCombineManager.INSTANCE.init(context)
-        CallerLogger.d("$M_OBU$TAG", "初始化蘑菇自研OBU…… localIp = " + CommonUtils.getLocalIPAddress())
 
         //bus乘客版本obu功能去掉，大理项目需要全部车辆接收，不再限制
         mContext = context
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
index dc894bbaf4..f22ffd93a5 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoObuDcCombineManager.kt
@@ -56,19 +56,27 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
     }
 
     override fun onMoGoObuRsiWarning(rsiWarningData: ObuScene.RsiWarningData) {
-        onMogoObuDcRsiWarning(rsiWarningData)
+        if (HmiBuildConfig.isShowObuV2iView) {
+            onMogoObuDcRsiWarning(rsiWarningData)
+        }
     }
 
     override fun onMoGoObuRsmWarning(rsmWarningData: ObuScene.RsmWarningData) {
-        onMogoObuDcRsmWarning(rsmWarningData)
+        if (HmiBuildConfig.isShowObuV2iView) {
+            onMogoObuDcRsmWarning(rsmWarningData)
+        }
     }
 
     override fun onMoGoObuSpatWarning(spatWarningData: ObuScene.SpatWarningData) {
-        onMogoObuDcSpatWarning(spatWarningData)
+        if (HmiBuildConfig.isShowObuV2iView) {
+            onMogoObuDcSpatWarning(spatWarningData)
+        }
     }
 
     override fun onMoGoObuMapMath(mapMatchData: ObuScene.MapMatchData) {
-        onMogoObuMapMath(mapMatchData)
+        if (HmiBuildConfig.isShowObuV2iView) {
+            onMogoObuMapMath(mapMatchData)
+        }
     }
 
     /**
@@ -119,13 +127,13 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                     ttsContent = EventTypeEnumNew.getWarningTts(appId)
                     alertContent = String.format( //事件才有影响范围
                         alertContent,
-                        Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
-                        Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
+                        Math.round(rsiWarningData.warningMsgList[0].distance).toString(),
+                        Math.round(rsiWarningData.warningMsgList[0].eventRadius).toString()
                     )
                     ttsContent = String.format(
                         ttsContent,
-                        Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
-                        Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
+                        Math.round(rsiWarningData.warningMsgList[0].distance).toString(),
+                        Math.round(rsiWarningData.warningMsgList[0].eventRadius).toString()
                     )
                 }
 
@@ -202,11 +210,11 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                     ttsContent = EventTypeEnumNew.getWarningTts(appId)
                     alertContent = String.format( //标牌是没有影响范围的
                         alertContent,
-                        Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString()
+                        Math.round(rsiWarningData.warningMsgList[0].distance).toString()
                     )
                     ttsContent = String.format(
                         ttsContent,
-                        Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString()
+                        Math.round(rsiWarningData.warningMsgList[0].distance).toString()
                     )
                 }
 
@@ -217,13 +225,13 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                     ttsContent = EventTypeEnumNew.getWarningTts(appId)
                     alertContent = String.format( //事件才有影响范围
                         alertContent,
-                        Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
-                        Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
+                        Math.round(rsiWarningData.warningMsgList[0].distance).toString(),
+                        Math.round(rsiWarningData.warningMsgList[0].eventRadius).toString()
                     )
                     ttsContent = String.format(
                         ttsContent,
-                        Math.round(rsiWarningData.warningMsgList[0].distance / 100.0).toString(),
-                        Math.round(rsiWarningData.warningMsgList[0].eventRadius / 10.0).toString()
+                        Math.round(rsiWarningData.warningMsgList[0].distance).toString(),
+                        Math.round(rsiWarningData.warningMsgList[0].eventRadius).toString()
                     )
                 }
 
@@ -237,16 +245,18 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
 
             CallerLogger.d(
                 "${M_OBU}${TAG}",
-                "MogoObuDcCombineManager ttsContent = $ttsContent --alertContent = $alertContent --appId = $appId ---direction = ${direction.direction} --distance = ${rsiWarningData.warningMsgList[0].distance} ---eventRadius = ${rsiWarningData.warningMsgList[0].eventRadius} --speedMaxLimit  = ${rsiWarningData.warningMsgList[0].speedMaxLimit}"
-            )
+                "MogoObuDcCombineManager ttsContent = $ttsContent --alertContent = $alertContent --appId = $appId ---direction = ${direction.direction} --distance = ${rsiWarningData.warningMsgList[0].distance} ---eventRadius = ${rsiWarningData.warningMsgList[0].eventRadius} --speedMaxLimit  = ${rsiWarningData.warningMsgList[0].speedMaxLimit}")
             when (status) {
                 // 添加
                 MogoObuConstants.STATUS.ADD -> {
                     if (alertContent.isEmpty() || ttsContent.isEmpty()) {
                         return
                     }
-                    saveObuToDcData(appId, alertContent, ttsContent)
-                    showWarning(appId, alertContent, ttsContent, direction)
+                    //大于10m，才提示rsi
+                    if (Math.round(rsiWarningData.warningMsgList[0].distance) > 10) {
+                        saveObuToDcData(appId, alertContent, ttsContent)
+                        showWarning(appId, alertContent, ttsContent, direction)
+                    }
                 }
 
                 MogoObuConstants.STATUS.UPDATE -> { // 更新
@@ -380,33 +390,31 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
      * 地图匹配 是OBU算法输出地图匹配结果，主车匹配道路哪条路或者哪条车道
      */
     fun onMogoObuMapMath(data: ObuScene.MapMatchData?) {
-        if (HmiBuildConfig.isShowObuLimitSpeedView) {
-            if (data != null) {
-                CallerLogger.d(
-                    "${M_OBU}${TAG}",
-                    "MogoObuDcCombineManager onMogoObuMapMath = ${data.status} --speedMaxLimit = ${
-                        Math.round(
-                            (data.speedMaxLimit * 0.02 * 3.6)
-                        )
-                    } --- data.speedMaxLimit = ${data.speedMaxLimit}"
-                )
-                when (data.status) {
-                    MogoObuConstants.STATUS.ADD -> { // 添加
-                        CallerLimitingVelocityListenerManager.invokeUnion(
-                            (data.speedMaxLimit * 0.02 * 3.6).roundToInt().toInt(),
-                            DataSourceType.OBU
-                        )
-                    }
+        if (data != null) {
+            CallerLogger.d(
+                "${M_OBU}${TAG}",
+                "MogoObuDcCombineManager onMogoObuMapMath = ${data.status} --speedMaxLimit = ${
+                    Math.round(
+                        (data.speedMaxLimit * 3.6)
+                    )
+                } --- data.speedMaxLimit = ${data.speedMaxLimit}"
+            )
+            when (data.status) {
+                MogoObuConstants.STATUS.ADD -> { // 添加
+                    CallerLimitingVelocityListenerManager.invokeUnion(
+                        (data.speedMaxLimit * 3.6).roundToInt(),
+                        DataSourceType.OBU
+                    )
+                }
 
-                    MogoObuConstants.STATUS.UPDATE -> { // 更新
-                    }
+                MogoObuConstants.STATUS.UPDATE -> { // 更新
+                }
 
-                    MogoObuConstants.STATUS.DELETE -> { // 删除
-                        CallerLimitingVelocityListenerManager.invokeUnion(
-                            -1,
-                            DataSourceType.OBU
-                        )
-                    }
+                MogoObuConstants.STATUS.DELETE -> { // 删除
+                    CallerLimitingVelocityListenerManager.invokeUnion(
+                        -1,
+                        DataSourceType.OBU
+                    )
                 }
             }
         }
@@ -521,15 +529,15 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
                         "MogoObuDcCombineManager 绿波通行引导 --------> speed_min = ${currentLight.suggestMinSpeed} --speed_max = ${currentLight.suggestMaxSpeed}"
                     )
                     val adviceSpeed =
-                        "${Math.round(currentLight.suggestMinSpeed * 3.6 * 0.02)} - ${
+                        "${Math.round(currentLight.suggestMinSpeed * 3.6)} - ${
                             Math.round(
-                                currentLight.suggestMaxSpeed * 3.6 * 0.02
+                                currentLight.suggestMaxSpeed * 3.6
                             )
                         }"
                     val adviceSpeedTts =
-                        "${Math.round(currentLight.suggestMinSpeed * 3.6 * 0.02)} - ${
+                        "${Math.round(currentLight.suggestMinSpeed * 3.6)} - ${
                             Math.round(
-                                currentLight.suggestMaxSpeed * 3.6 * 0.02
+                                currentLight.suggestMaxSpeed * 3.6
                             )
                         }"
 
@@ -566,7 +574,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             }
             // 红灯
             2, 3 -> {
-                val red = (currentLight.countDown / 10).toInt()
+                val red = currentLight.countDown.toInt()
                 CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
                     TrafficLightEnum.RED,
                     red,
@@ -575,7 +583,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             }
             // 绿灯
             4, 5, 6 -> {
-                val green = (currentLight.countDown / 10).toInt()
+                val green = currentLight.countDown.toInt()
                 CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
                     TrafficLightEnum.GREEN,
                     green,
@@ -584,7 +592,7 @@ class MogoObuDcCombineManager private constructor() : IMoGoObuWarningRsiListener
             }
             // 黄灯
             7, 8 -> {
-                val yellow = (currentLight.countDown / 10).toInt()
+                val yellow = currentLight.countDown.toInt()
                 CallerTrafficLightListenerManager.invokeTrafficLightPlusSource(
                     TrafficLightEnum.YELLOW,
                     yellow,
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
index 868498b8ac..5f182177b6 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -407,6 +407,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
 
                                 alertContent = EventTypeEnumNew.getWarningContent(appId)
                                 ttsContent = EventTypeEnumNew.getWarningTts(appId)
+
                                 alertContent = String.format( //标牌是没有影响范围的
                                     alertContent,
                                     Math.round(data.warningMsgList[0].distance).toString()
@@ -455,8 +456,11 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
                                 if (alertContent.isEmpty() || ttsContent.isEmpty()) {
                                     return
                                 }
-                                saveObuData(appId, alertContent, ttsContent)
-                                showWarning(appId, alertContent, ttsContent, direction)
+                                //大于10m，才提示rsi
+                                if (Math.round(data.warningMsgList[0].distance) > 10) {
+                                    saveObuData(appId, alertContent, ttsContent)
+                                    showWarning(appId, alertContent, ttsContent, direction)
+                                }
 
                                 // 更新数据
                                 TrafficDataConvertUtilsNew.cvxRtiThreatIndInfo2TrafficData(data)
@@ -661,7 +665,7 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
 
     /**
      * 构造对应展示数据和场景 根据obu的场景，add change delete确定是否展示
-     * @param appId    使用WarningTypeEnum获取icon、提示内容、tts内容  TODO 添加事件频繁播报拦截
+     * @param appId    使用WarningTypeEnum获取icon、提示内容、tts内容
      * @see com.mogo.module.common.enums.EventTypeEnumNew
      * EventTypeEnumNew在定义的id为了防止重复，和原始数据是不一样的，有对应关系
      */
@@ -806,7 +810,6 @@ class MogoPrivateObuNewManager private constructor() : OnUpgradeListener {
                     EventTypeEnumNew.getWarningTts(EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType)
                 v2xType = EventTypeEnumNew.TYPE_USECASE_ID_EVW.poiType
             }
-
         }
 
         when (status) {
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
index 521aa5c3a4..4112baf491 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -50,9 +50,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     private var mContext: Context? = null
 
     //是否有AI获取红绿灯灯态
+    @Volatile
     private var hasAiLightStatus: Boolean = false
 
     //obu数据
+    @Volatile
     private var hasObuLightStatus: Boolean = false
 
     fun initServer(context: Context) {
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt
index 7c25c50613..50281064c0 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/msgbox/DataManager.kt
@@ -1,26 +1,35 @@
 package com.mogo.eagle.core.function.msgbox
 
+import android.annotation.SuppressLint
 import android.content.Context
 import android.os.Looper
+import com.mogo.eagle.core.data.deva.report.ReportEntity
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.msgbox.*
-import com.mogo.eagle.core.data.deva.report.ReportEntity
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
 import com.mogo.eagle.core.function.msgbox.db.MsgBoxDb
 import com.mogo.eagle.core.function.msgbox.db.MsgBoxInfo
 import com.mogo.eagle.core.utilcode.kotlin.lifeCycleScope
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.util.GsonUtils
+import com.mogo.eagle.core.utilcode.util.ProcessUtils
+import com.mogo.eagle.core.utilcode.util.SPUtils
 import com.mogo.eagle.core.utilcode.util.Utils
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
+import java.io.File
+import java.text.SimpleDateFormat
+import java.util.*
 
 object DataManager {
 
 //    private val msgBoxMap: EnumMap<MsgBoxType, MutableList<MsgBoxBean>> = EnumMap(MsgBoxType::class.java)
 
+    const val TAG = "DataManager"
+
     // 消失时间5000ms
     const val DISMISS_TIME = 5000L
 
@@ -148,6 +157,10 @@ object DataManager {
      * 从本地数据库中查询数据
      */
     fun queryAllMessages(context: Context) {
+        if (!ProcessUtils.isMainProcess(context)) {
+            return
+        }
+        clearMessageBoxTable(context)
         scope.launch {
             initCache()
             try {
@@ -158,6 +171,38 @@ object DataManager {
         }
     }
 
+    @SuppressLint("SimpleDateFormat")
+    private fun clearMessageBoxTable(context: Context) {
+        Thread {
+            val lastLaunchTimeStr = SPUtils.getInstance().getString("last_launch", "")
+            val format = SimpleDateFormat("yyyy-MM-dd")
+            val currDate = Date(System.currentTimeMillis())
+            val currTimeStr = format.format(currDate)
+            try {
+                if (lastLaunchTimeStr != null && lastLaunchTimeStr.isNotEmpty()) {
+                    val isSameDay = currTimeStr == lastLaunchTimeStr
+                    // 超过一天需要清除消息盒子中的数据，并把时间戳存入SP
+                    if (!isSameDay) {
+                        val file: File = context.getDatabasePath(MsgBoxDb.INTERNAL_DB_NAME)
+                        if (file != null && file.exists()) {
+                            context.deleteDatabase(MsgBoxDb.INTERNAL_DB_NAME)
+                        }
+                        SPUtils.getInstance().put("last_launch", currTimeStr)
+                    }
+                } else {
+                    // 首次使用App或中途仅删除sp文件
+                    val file: File = context.getDatabasePath(MsgBoxDb.INTERNAL_DB_NAME)
+                    if (file != null && file.exists()) {
+                        context.deleteDatabase(MsgBoxDb.INTERNAL_DB_NAME)
+                    }
+                    SPUtils.getInstance().put("last_launch", currTimeStr)
+                }
+            } catch (e: Exception) {
+                e(TAG, e.message)
+            }
+        }.start()
+    }
+
     private fun initCache() {
         if (cacheNotifyList.isNotEmpty()) {
             cacheNotifyList.clear()
@@ -170,86 +215,87 @@ object DataManager {
         }
     }
 
-    private suspend fun getCacheMessages(context: Context): List<MsgBoxBean> = withContext(Dispatchers.IO) {
-        delay(2000)
-        return@withContext MsgBoxDb.getDb(context)
-            .monitorDao()
-            .getAllCachedMessages()
-            .map { msgInfo ->
-                val json = msgInfo.bean2Json
-                when (msgInfo.obj2JsonType) {
-                    MsgBoxType.V2X.ordinal -> {
-                        return@map MsgBoxBean(
-                            MsgBoxType.V2X,
-                            GsonUtils.fromJson(json, V2XMsg::class.java)
-                        ).apply {
-                            this.timestamp = msgInfo.timeStamp
-                            withContext(Dispatchers.Main) {
-                                cacheNotifyList.add(this@apply)
+    private suspend fun getCacheMessages(context: Context): List<MsgBoxBean> =
+        withContext(Dispatchers.IO) {
+            delay(2000)
+            return@withContext MsgBoxDb.getDb(context)
+                .monitorDao()
+                .getAllCachedMessages()
+                .map { msgInfo ->
+                    val json = msgInfo.bean2Json
+                    when (msgInfo.obj2JsonType) {
+                        MsgBoxType.V2X.ordinal -> {
+                            return@map MsgBoxBean(
+                                MsgBoxType.V2X,
+                                GsonUtils.fromJson(json, V2XMsg::class.java)
+                            ).apply {
+                                this.timestamp = msgInfo.timeStamp
+                                withContext(Dispatchers.Main) {
+                                    cacheNotifyList.add(this@apply)
+                                }
                             }
                         }
-                    }
-                    MsgBoxType.OBU.ordinal -> {
-                        return@map MsgBoxBean(
-                            MsgBoxType.OBU,
-                            GsonUtils.fromJson(json, V2XMsg::class.java)
-                        ).apply {
-                            this.timestamp = msgInfo.timeStamp
-                            withContext(Dispatchers.Main) {
-                                cacheNotifyList.add(this@apply)
+                        MsgBoxType.OBU.ordinal -> {
+                            return@map MsgBoxBean(
+                                MsgBoxType.OBU,
+                                GsonUtils.fromJson(json, V2XMsg::class.java)
+                            ).apply {
+                                this.timestamp = msgInfo.timeStamp
+                                withContext(Dispatchers.Main) {
+                                    cacheNotifyList.add(this@apply)
+                                }
                             }
                         }
-                    }
-                    MsgBoxType.OPERATION.ordinal -> {
-                        return@map MsgBoxBean(
-                            MsgBoxType.OPERATION,
-                            GsonUtils.fromJson(json, OperationMsg::class.java)
-                        ).apply {
-                            this.timestamp = msgInfo.timeStamp
-                            withContext(Dispatchers.Main) {
-                                cacheNotifyList.add(this@apply)
+                        MsgBoxType.OPERATION.ordinal -> {
+                            return@map MsgBoxBean(
+                                MsgBoxType.OPERATION,
+                                GsonUtils.fromJson(json, OperationMsg::class.java)
+                            ).apply {
+                                this.timestamp = msgInfo.timeStamp
+                                withContext(Dispatchers.Main) {
+                                    cacheNotifyList.add(this@apply)
+                                }
                             }
                         }
-                    }
-                    MsgBoxType.REPORT.ordinal -> {
-                        return@map MsgBoxBean(
-                            MsgBoxType.REPORT,
-                            GsonUtils.fromJson(json, ReportEntity::class.java)
-                        ).apply {
-                            this.timestamp = msgInfo.timeStamp
-                            withContext(Dispatchers.Main) {
-                                cacheSysInfoList.add(this@apply)
+                        MsgBoxType.REPORT.ordinal -> {
+                            return@map MsgBoxBean(
+                                MsgBoxType.REPORT,
+                                GsonUtils.fromJson(json, ReportEntity::class.java)
+                            ).apply {
+                                this.timestamp = msgInfo.timeStamp
+                                withContext(Dispatchers.Main) {
+                                    cacheSysInfoList.add(this@apply)
+                                }
                             }
                         }
-                    }
-                    MsgBoxType.RECORD.ordinal -> {
-                        return@map MsgBoxBean(
-                            MsgBoxType.RECORD,
-                            GsonUtils.fromJson(json, RecordBagMsg::class.java)
-                        ).apply {
-                            this.timestamp = msgInfo.timeStamp
-                            withContext(Dispatchers.Main) {
-                                cacheRecordList.add(this@apply)
+                        MsgBoxType.RECORD.ordinal -> {
+                            return@map MsgBoxBean(
+                                MsgBoxType.RECORD,
+                                GsonUtils.fromJson(json, RecordBagMsg::class.java)
+                            ).apply {
+                                this.timestamp = msgInfo.timeStamp
+                                withContext(Dispatchers.Main) {
+                                    cacheRecordList.add(this@apply)
+                                }
                             }
                         }
-                    }
-                    MsgBoxType.NOTICE.ordinal -> {
-                        return@map MsgBoxBean(
-                            MsgBoxType.NOTICE,
-                            GsonUtils.fromJson(json, NoticeFrCloudMsg::class.java)
-                        ).apply {
-                            this.timestamp = msgInfo.timeStamp
-                            withContext(Dispatchers.Main) {
-                                cacheNotifyList.add(this@apply)
+                        MsgBoxType.NOTICE.ordinal -> {
+                            return@map MsgBoxBean(
+                                MsgBoxType.NOTICE,
+                                GsonUtils.fromJson(json, NoticeFrCloudMsg::class.java)
+                            ).apply {
+                                this.timestamp = msgInfo.timeStamp
+                                withContext(Dispatchers.Main) {
+                                    cacheNotifyList.add(this@apply)
+                                }
                             }
                         }
-                    }
-                    else -> {
-                        return@map MsgBoxBean(MsgBoxType.V2X, V2XMsg())
+                        else -> {
+                            return@map MsgBoxBean(MsgBoxType.V2X, V2XMsg())
+                        }
                     }
                 }
-            }
-    }
+        }
 
     /**
      * 存储到本地数据库
@@ -298,7 +344,8 @@ object DataManager {
     fun delMsgBoxBean(context: Context, msgBoxBean: MsgBoxBean) {
         scope.launch {
             withContext(Dispatchers.Default) {
-                val msgBoxInfo = MsgBoxInfo(msgBoxBean.bean2Json, msgBoxBean.type.ordinal, msgBoxBean.timestamp)
+                val msgBoxInfo =
+                    MsgBoxInfo(msgBoxBean.bean2Json, msgBoxBean.type.ordinal, msgBoxBean.timestamp)
                 MsgBoxDb.getDb(context)
                     .monitorDao()
                     .deleteMsg(msgBoxInfo)
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
index 668c80ee3c..0e4b4aa983 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -173,9 +173,6 @@ class DevaToolsProvider : IDevaToolsProvider {
 
     override fun updateUpgradeProgress() {
         upgradeManager.updateUpgradeProgress(mContext!!)
-    }
-
-    override fun updateObuUpgradeStatus() {
         upgradeManager.updateObuUpgradeStatus(mContext!!)
     }
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
index 9191619b4e..a6b0fccc0f 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
@@ -86,10 +86,18 @@ class BindingCarNetWorkManager private constructor() {
                             SharedPrefsConstants.CAR_INFO,
                             GsonUtils.toJson(info.getData())
                         )
+                    } else {
+//                        SharedPrefsMgr.getInstance(context).putString(
+//                            SharedPrefsConstants.CAR_INFO, "null")
+                        e(
+                            SceneConstant.M_BINDING + TAG, "getBindingCarInfo data = null "
+                        )
                     }
                 }
 
                 override fun onError(e: Throwable) {
+//                    SharedPrefsMgr.getInstance(context).putString(
+//                        SharedPrefsConstants.CAR_INFO, e.message.toString())
                     e(
                         SceneConstant.M_BINDING + TAG,
                         "getBindingCarInfo onError e = " + e.toString() + "---e.getMessage = " + e.message
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
index 27ffcea085..28ab73c903 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/mofang/MoFangManager.kt
@@ -9,6 +9,7 @@ import android.content.Intent
 import android.content.IntentFilter
 import android.view.KeyEvent
 import com.mogo.commons.context.ContextHolderUtil
+import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.mofang.MfConstants
 import com.mogo.eagle.core.function.api.devatools.mofang.IMoGoMoFangListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendOperatorChangeLaneLeft
@@ -46,7 +47,6 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
     private lateinit var mBluetoothAdapter: BluetoothAdapter
     private var isMfConnect: Boolean = false //添加状态判断
 
-    private val isShowToast = false //toast 控制,自测使用
     private var startPressTime: Long = 0 //开始按键时间
     private var isPressEnd = false //按键是否结束
     @Volatile
@@ -171,23 +171,23 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                 startPressTime = System.currentTimeMillis()
             }
             e(M_F + "MoFangManager",
-                "dispatchKeyEvent ------ bluetoothName = $bluetoothName ---code = $keyCode -----action = $action ")
+                "dispatchKeyEvent ------ bluetoothName = $bluetoothName ---code = $keyCode -----action = $action ---HmiBuildConfig.isShowMfToastView = ${HmiBuildConfig.isShowMfToastView}")
             if (keyCode == KeyEvent.KEYCODE_A) { //单击 -1，长按无操作，AB组合-2
                 if (action == KeyEvent.ACTION_DOWN) {
                     pressADownTime = System.currentTimeMillis()
                     d(M_F + "MoFangManager",
                         "dispatchKeyEvent A down pressADownTime = " + pressADownTime + "---" + (pressADownTime - startPressTime) + "----isCombinationKey = " + isCombinationKey + "--pressBDownTime = " + pressBDownTime)
                     if (pressADownTime - startPressTime in (clickTimeInterval + 1) until longPressTime && pressBDownTime > 0) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 A 按AB组合 +1 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 A 按AB组合 +1 timeInterval: ${pressADownTime - startPressTime}ms---$pressBDownTime")
                         }
                         sendAcc(true, +1.0)
                         isCombinationKey = 3
                     }
                     if (isCombinationKey != 3 && isCombinationKey != 1) {
                         if (pressADownTime - startPressTime > longPressTimeInterval) {
-                            if (isShowToast) {
-                                ToastUtils.showShort("方块 长按A -2 ")
+                            if (HmiBuildConfig.isShowMfToastView) {
+                                ToastUtils.showShort("方块 长按A -2 timeInterval: ${pressADownTime - startPressTime}ms")
                             }
                             sendAcc(true, -2.0)
                             isCombinationKey = 2
@@ -199,8 +199,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                         "dispatchKeyEvent A up    pressAUpTime = " + pressAUpTime + "---" + (pressAUpTime - startPressTime) + "--pressBDownTime = " + pressBDownTime + "---isCombinationKey = $isCombinationKey")
                     if (pressAUpTime - startPressTime < clickTime && isCombinationKey != 3) {
                         isCombinationKey = 1
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击A -1 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 单击A -1 timeInterval: ${pressAUpTime - startPressTime}ms")
                         }
                         sendAcc(true, -1.0)
                     }
@@ -215,16 +215,16 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                         "dispatchKeyEvent B down pressBDownTime = " + pressBDownTime + "--差-" + (pressBDownTime - startPressTime) + "---isCombinationKey = " + isCombinationKey + "--pressADownTime = " + pressADownTime
                     )
                     if (pressBDownTime - startPressTime > clickTimeInterval && pressBDownTime - startPressTime < longPressTime && pressADownTime > 0) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 B 按AB组合 +1 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 B 按AB组合 +1 timeInterval: ${pressBDownTime - startPressTime}ms ---pressADownTime = $pressADownTime ")
                         }
                         sendAcc(true, +1.0)
                         isCombinationKey = 3
                     }
                     if (isCombinationKey != 3 && isCombinationKey != 1) {
                         if (pressBDownTime - startPressTime > longPressTimeInterval) {
-                            if (isShowToast) {
-                                ToastUtils.showShort("方块 长按B 无操作 ")
+                            if (HmiBuildConfig.isShowMfToastView) {
+                                ToastUtils.showShort("方块 长按B 无操作 timeInterval: ${pressBDownTime - startPressTime}ms")
                             }
                             isCombinationKey = 2
                         }
@@ -234,8 +234,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                     d(M_F + "MoFangManager",
                         "dispatchKeyEvent B up   pressBUpTime = " + pressBUpTime + "--差-" + (pressBUpTime - startPressTime) + "--pressADownTime = " + pressADownTime + "----isCombinationKey = $isCombinationKey")
                     if (pressBUpTime - startPressTime < clickTime && isCombinationKey != 3) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击B  0 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 单击B  0  timeInterval: ${pressBUpTime - startPressTime}ms")
                         }
                         sendAcc(false, 0.0)
                         isCombinationKey = 1
@@ -250,8 +250,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                     d(M_F + "MoFangManager",
                         "dispatchKeyEvent 方块 长按C 无操作 time dif = " + (pressCDownTime - startPressTime))
                     if (pressCDownTime - startPressTime > longPressTimeInterval) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 长按C 无操作 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 长按C 无操作 timeInterval: ${pressCDownTime - startPressTime}ms")
                         }
                     }
                 } else if (action == KeyEvent.ACTION_UP) {
@@ -260,8 +260,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                     d(M_F + "MoFangManager",
                         "dispatchKeyEvent 方块 单击C ← 向左变道 time dif = " + (pressCUpTime - startPressTime))
                     if (pressCUpTime - startPressTime < clickTime) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击C ← 向左变道 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 单击C ← 向左变道 timeInterval: ${pressCUpTime - startPressTime}ms")
                         }
                         sendOperatorChangeLaneLeft()
                     }
@@ -272,8 +272,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                     d(M_F + "MoFangManager",
                         "dispatchKeyEvent 方块 长按D 无操作 time dif = " + (pressDDownTime - startPressTime))
                     if (pressDDownTime - startPressTime > longPressTimeInterval) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 长按D 无操作 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 长按D 无操作 timeInterval: ${pressDDownTime - startPressTime}ms")
                         }
                     }
                 } else if (action == KeyEvent.ACTION_UP) {
@@ -282,8 +282,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                     d(M_F + "MoFangManager",
                         "dispatchKeyEvent 方块 单击D → 向右变道 time dif = " + (pressDUpTime - startPressTime))
                     if (pressDUpTime - startPressTime < clickTime) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击D → 向右变道 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 单击D → 向右变道 timeInterval: ${pressDUpTime - startPressTime}ms")
                         }
                         sendOperatorChangeLaneRight()
                     }
@@ -294,8 +294,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                     d(M_F + "MoFangManager",
                         "dispatchKeyEvent 方块 长按E 鸣笛 time dif = " + (pressEDownTime - startPressTime))
                     if (pressEDownTime - startPressTime > longPressTimeInterval) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 长按E 鸣笛 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 长按E 鸣笛 timeInterval: ${pressEDownTime - startPressTime}ms")
                         }
                         sendOperatorSetHorn(1.0)
                         if (timerHorn == null) {
@@ -314,8 +314,8 @@ class MoFangManager private constructor() : IMoGoMoFangListener {
                     d(M_F + "MoFangManager",
                         "方块 单击E 开启自动驾驶 time dif = " + (pressEUpTime - startPressTime))
                     if (pressEUpTime - startPressTime < clickTime) {
-                        if (isShowToast) {
-                            ToastUtils.showShort("方块 单击E 开启自动驾驶 ")
+                        if (HmiBuildConfig.isShowMfToastView) {
+                            ToastUtils.showShort("方块 单击E 开启自动驾驶 timeInterval: ${pressEUpTime - startPressTime}ms")
                         }
                         startAutoPilot(getAutoPilotStatusInfo().autopilotControlParameters)
                     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt
index b554611acd..31db42443e 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/scene/SceneManager.kt
@@ -83,7 +83,7 @@ class SceneManager {
                 }
             }
             //call back
-            CallerDevaToolsListenerManager.invokeDevaToolsModuleLogChanges(sceneModuleTAG.map)
+//            CallerDevaToolsListenerManager.invokeDevaToolsModuleLogChanges(sceneModuleTAG.map)
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
index e0acfc917a..c36e6f8542 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/UpgradeManager.kt
@@ -1,8 +1,6 @@
 package com.zhjt.mogo_core_function_devatools.upgrade
 
-import android.app.NotificationManager
 import android.content.Context
-import androidx.core.app.NotificationCompat
 import com.elegant.utils.UiThreadHandler
 import com.mogo.eagle.core.data.obu.MogoObuConst
 import com.mogo.eagle.core.function.api.devatools.IMogoDevaToolsUpgradeListener
@@ -128,31 +126,20 @@ class UpgradeManager : IDownload {
     }
 
     /**
-     * 鹰眼app下载监听 liyz
+     * 鹰眼app下载监听
      */
     fun updateUpgradeProgress(context: Context) {
-        val builder = NotificationCompat.Builder(context)
-        //        builder.setSmallIcon(R.mipmap.icon1001);//todo emArrow 更换图标，去除地图下载图标的依赖关系
-        builder.setContentTitle("下载")
-        builder.setContentText("正在下载")
-        val manager = context.getSystemService(Context.NOTIFICATION_SERVICE) as NotificationManager
         CallerDevaToolsUpgradeListenerManager.addListener(
             TAG,
             object : IMogoDevaToolsUpgradeListener {
                 override fun onStart(url: String?) {}
                 override fun onPause(url: String?) {}
                 override fun onProgress(url: String?, length: Int) {
-                    builder.setProgress(100, length, false)
-                    manager.notify(0x3, builder.build())
-                    //下载进度提示
-                    builder.setContentText("已下载$length%")
                     updateStatusBarDownloadView(true, "download", length)
                 }
 
                 override fun onFinished(url: String?) {
-                    builder.setContentText("已下载" + 100 + "%")
                     UiThreadHandler.postDelayed({
-                        manager.cancel(0x3)
                         updateStatusBarDownloadView(false, "download", 100)
                     }, 1000)
                 }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml b/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml
index 80b72654c5..05975cc293 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/AndroidManifest.xml
@@ -98,20 +98,20 @@
 
         </activity>
 
-        <activity
-            android:name="com.mogo.eagle.core.function.main.VideoAdAtc"
-            android:configChanges="mcc|mnc|locale|touchscreen|keyboard|keyboardHidden|navigation|screenLayout|fontScale|uiMode|orientation|screenSize|smallestScreenSize"
-            android:enabled="true"
-            android:exported="true"
-            android:process=":video_ad"
-            android:resizeableActivity="false"
-            android:resumeWhilePausing="true"
-            android:screenOrientation="landscape"
-            android:stateNotNeeded="true"
-            android:theme="@style/Main"
-            android:windowSoftInputMode="adjustPan|stateHidden">
+<!--        <activity-->
+<!--            android:name="com.mogo.eagle.core.function.main.VideoAdAtc"-->
+<!--            android:configChanges="mcc|mnc|locale|touchscreen|keyboard|keyboardHidden|navigation|screenLayout|fontScale|uiMode|orientation|screenSize|smallestScreenSize"-->
+<!--            android:enabled="true"-->
+<!--            android:exported="true"-->
+<!--            android:process=":video_ad"-->
+<!--            android:resizeableActivity="false"-->
+<!--            android:resumeWhilePausing="true"-->
+<!--            android:screenOrientation="landscape"-->
+<!--            android:stateNotNeeded="true"-->
+<!--            android:theme="@style/Main"-->
+<!--            android:windowSoftInputMode="adjustPan|stateHidden">-->
 
-        </activity>
+<!--        </activity>-->
 
         <activity
             android:name="com.mogo.eagle.core.function.main.AppListActivity"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
index 0c4c752c14..78f9002e4a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxBubbleView.kt
@@ -9,6 +9,7 @@ import androidx.recyclerview.widget.LinearLayoutManager
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.MsgCategory
+import com.mogo.eagle.core.data.msgbox.OperationMsg
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxListenerManager
@@ -62,6 +63,16 @@ class MMsgBoxBubbleView @JvmOverloads constructor(
                         mMsgBoxBubbleAdapter?.setData(dataList)
                     }
                 }
+                if(msgBoxList.type == MsgBoxType.OPERATION){
+                    if((msgBoxList.bean as OperationMsg).type == 2){
+                        MsgBoxConfig.noticeList.add(msgBoxList)
+                        if(isShowData){
+                            CallerMsgBoxEventListenerManager.invokeUpdateTipListener(true)
+                            dataList.add(msgBoxList)
+                            mMsgBoxBubbleAdapter?.setData(dataList)
+                        }
+                    }
+                }
             }
         }
     }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt
index 6b71ed67b8..e881c94369 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/MMsgBoxListView.kt
@@ -10,6 +10,7 @@ import androidx.recyclerview.widget.LinearLayoutManager
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
 import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.data.msgbox.MsgCategory
+import com.mogo.eagle.core.data.msgbox.OperationMsg
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxEventListener
 import com.mogo.eagle.core.function.api.datacenter.msgbox.IMsgBoxListener
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
@@ -64,6 +65,15 @@ class MMsgBoxListView @JvmOverloads constructor(
                         mMsgBoxListAdapter?.setData(it)
                     }
                 }
+                if(msgBoxList.type == MsgBoxType.OPERATION){
+                    if((msgBoxList.bean as OperationMsg).type == 2){
+                        noticeList?.add(0,msgBoxList)
+                        noticeList?.let {
+                            mMsgBoxListAdapter?.setData(it)
+                        }
+                    }
+                }
+
             }
         }
     }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt
index 1a91c045e8..6c27709cbf 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/DriverMsgBoxListAdapter.kt
@@ -367,7 +367,7 @@ class DriverMsgBoxListAdapter(private val activity: Activity) :
                         TimeUtils.millis2String(it[position].timestamp, getHourMinFormat())
                     holder.tvV2XContent.text = v2XMsg.content
                     holder.ivV2XImage.setImageDrawable(activity.resources.getDrawable(
-                            EventTypeEnumNew.getUpdateIconRes(v2XMsg.type))
+                        EventTypeEnumNew.getUpdateIconRes(v2XMsg.type))
                     )
                 }
             }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxBubbleAdapter.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxBubbleAdapter.kt
index 057bdf0cb6..a679403300 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxBubbleAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxBubbleAdapter.kt
@@ -28,6 +28,7 @@ class MMsgBoxBubbleAdapter(private val activity: Activity): RecyclerView.Adapter
     private val notice: Int = 1
     private val v2x: Int = 2
     private val summary: Int = 3
+    private val operation: Int = 4
 
     var countDownTimer: CountDownTimer?=null
 
@@ -49,6 +50,10 @@ class MMsgBoxBubbleAdapter(private val activity: Activity): RecyclerView.Adapter
                 val view = LayoutInflater.from(parent.context).inflate(R.layout.item_m_msg_box_summary,parent,false)
                 BubbleSummaryHolder(view)
             }
+            operation -> {
+                val view = LayoutInflater.from(parent.context).inflate(R.layout.item_m_msg_box_operation,parent,false)
+                BubbleOperationHolder(view)
+            }
             else -> {
                 val view = LayoutInflater.from(parent.context).inflate(R.layout.item_m_msg_box_v2x,parent,false)
                 BubbleV2XHolder(view)
@@ -120,6 +125,13 @@ class MMsgBoxBubbleAdapter(private val activity: Activity): RecyclerView.Adapter
                     }
                 }
             }
+            is BubbleOperationHolder ->{
+                data?.let {
+                    val operationMsg = it[position].bean as OperationMsg
+                    holder.tvMOperationTime.text = TimeUtils.millis2String(it[position].timestamp,getHourMinFormat())
+                    holder.tvMOperationContent.text = operationMsg.content
+                }
+            }
         }
 
         val msgBoxBean: MsgBoxBean = data!![position]
@@ -146,6 +158,8 @@ class MMsgBoxBubbleAdapter(private val activity: Activity): RecyclerView.Adapter
             notice
         }else if(data!![position].type == MsgBoxType.V2X && data!![position].sourceType == DataSourceType.SUMMARY){
             summary
+        }else if(data!![position].type == MsgBoxType.OPERATION){
+            operation
         } else{
             v2x
         }
@@ -175,4 +189,10 @@ class MMsgBoxBubbleAdapter(private val activity: Activity): RecyclerView.Adapter
         var tvMSummaryTime: TextView = itemView.findViewById(R.id.tvMSummaryTime)
     }
 
+    //通知消息
+    class BubbleOperationHolder(itemView: View): RecyclerView.ViewHolder(itemView){
+        var tvMOperationTime: TextView = itemView.findViewById(R.id.tvMOperationTime)
+        var tvMOperationContent: TextView = itemView.findViewById(R.id.tvMOperationContent)
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxListAdapter.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxListAdapter.kt
index 9e44371868..9b2c0c0e9d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxListAdapter.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/msgbox/adapter/MMsgBoxListAdapter.kt
@@ -9,10 +9,7 @@ import android.widget.TextView
 import androidx.recyclerview.widget.RecyclerView
 import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
-import com.mogo.eagle.core.data.msgbox.MsgBoxBean
-import com.mogo.eagle.core.data.msgbox.MsgBoxType
-import com.mogo.eagle.core.data.msgbox.NoticeFrCloudMsg
-import com.mogo.eagle.core.data.msgbox.V2XMsg
+import com.mogo.eagle.core.data.msgbox.*
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxEventListenerManager
 import com.mogo.eagle.core.function.hmi.R
@@ -28,6 +25,7 @@ class MMsgBoxListAdapter(private val activity: Activity): RecyclerView.Adapter<R
     private val notice: Int = 1
     private val v2x: Int = 2
     private val summary: Int = 3
+    private val operation: Int = 4
 
     fun setData(data: List<MsgBoxBean>){
         this.data = data
@@ -44,6 +42,10 @@ class MMsgBoxListAdapter(private val activity: Activity): RecyclerView.Adapter<R
                 val view = LayoutInflater.from(parent.context).inflate(R.layout.item_m_msg_list_summary,parent,false)
                 ListSummaryHolder(view)
             }
+            operation -> {
+                val view = LayoutInflater.from(parent.context).inflate(R.layout.item_m_msg_list_operation,parent,false)
+                ListOperationHolder(view)
+            }
             else -> {
                 val view = LayoutInflater.from(parent.context).inflate(R.layout.item_m_msg_list_v2x,parent,false)
                 ListV2XHolder(view)
@@ -111,6 +113,13 @@ class MMsgBoxListAdapter(private val activity: Activity): RecyclerView.Adapter<R
                     }
                 }
             }
+            is ListOperationHolder -> {
+                data?.let {
+                    val operationMsg = it[position].bean as OperationMsg
+                    holder.tvMOperationTime.text = TimeUtils.millis2String(it[position].timestamp,getHourMinFormat())
+                    holder.tvMOperationContent.text = operationMsg.content
+                }
+            }
         }
     }
 
@@ -121,7 +130,9 @@ class MMsgBoxListAdapter(private val activity: Activity): RecyclerView.Adapter<R
             notice
         }else if(data!![position].type == MsgBoxType.V2X && data!![position].sourceType == DataSourceType.SUMMARY){
             summary
-        } else{
+        }else if(data!![position].type == MsgBoxType.OPERATION){
+            operation
+        }else{
             v2x
         }
     }
@@ -149,4 +160,10 @@ class MMsgBoxListAdapter(private val activity: Activity): RecyclerView.Adapter<R
         var tvMSummaryTime: TextView = itemView.findViewById(R.id.tvMSummaryTime)
     }
 
+    //运营消息
+    class ListOperationHolder(itemView: View): RecyclerView.ViewHolder(itemView){
+        var tvMOperationTime: TextView = itemView.findViewById(R.id.tvMOperationTime)
+        var tvMOperationContent: TextView = itemView.findViewById(R.id.tvMOperationContent)
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 4595efc47c..a486ceae31 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -9,6 +9,7 @@ import android.graphics.Color
 import android.os.Build
 import android.text.Html
 import android.util.AttributeSet
+import android.util.Log
 import android.view.LayoutInflater
 import android.view.View
 import androidx.annotation.RequiresApi
@@ -21,6 +22,7 @@ import chassis.Chassis
 import chassis.ChassisStatesOuterClass
 import com.mogo.cloud.passport.MoGoAiCloudClient
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.constants.SharedPrefsConstants
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.app.AppConfigInfo
@@ -76,6 +78,8 @@ import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.map.uicontroller.VisualAngleMode.*
 import kotlinx.android.synthetic.main.view_debug_setting.view.*
+import kotlinx.android.synthetic.main.view_debug_setting.view.tbRouteDynamicEffect
+import kotlinx.android.synthetic.main.view_sop_setting.view.*
 import kotlinx.coroutines.launch
 import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg
@@ -123,6 +127,7 @@ internal class DebugSettingView @JvmOverloads constructor(
     private var logInfoView: LogInfoView? = null
     private var logViewAttach = false
 
+    @Volatile
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
     private var mGnssInfo: MogoLocation? = null
 
@@ -132,15 +137,19 @@ internal class DebugSettingView @JvmOverloads constructor(
     private var accelerationThresholdNum: Double = 0.0
 
     // 感知识别「已知类型」数据个数
+    @Volatile
     private var mIdentifyDataSize = 0
 
     // 感知识别「未知类型」数据个数
+    @Volatile
     private var mUnknownIdentifyDataSize = 0
 
     // 引导线点个数
+    @Volatile
     private var mTrajectoryInfoSize = 0
 
     // 全局路径规划点个数
+    @Volatile
     private var mRouteInfoSize = 0
 
     //日志过滤标签集合
@@ -208,7 +217,6 @@ internal class DebugSettingView @JvmOverloads constructor(
         CallerChassisGearStateListenerManager.addListener(TAG, this)
         CallerChassisSteeringStateListenerManager.addListener(TAG, this)
         CallerChassisThrottleStateListenerManager.addListener(TAG, this)
-
         //添加 开发套件工具接口 监听
         CallerDevaToolsListenerManager.addListener(TAG, this)
         //添加 底盘灯光数据 监听
@@ -259,6 +267,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         CallerChassisLamplightListenerManager.removeListener(TAG)
         // 移除 obu获取信息 监听
         CallerObuInfoListenerManager.removeListener(TAG)
+
         // 移除 业务配置监听
         CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener(
             FuncBizConfig.FOUNDATION,
@@ -296,21 +305,22 @@ internal class DebugSettingView @JvmOverloads constructor(
             }
         }
 
-        /**
-         * 魔戒控制
-         */
         tbMojie.setOnCheckedChangeListener { buttonView, isChecked ->
             if (isChecked) {
                 buttonView.setCompoundDrawables(null, null, iconDown, null)
-                btnOpenAllGestures.visibility = View.VISIBLE
+                tbOpenMfView.visibility = View.VISIBLE
             } else {
                 buttonView.setCompoundDrawables(null, null, iconRight, null)
-                btnOpenAllGestures.visibility = View.GONE
+                tbOpenMfView.visibility = View.GONE
             }
         }
 
-        btnOpenAllGestures.setOnClickListener {
-            CallerMapUIServiceManager.getMapUIController()?.setAllGesturesEnabled(true)
+        /**
+         * 蘑方控制 默认关闭
+         */
+        tbOpenMfView.isChecked = HmiBuildConfig.isShowMfToastView
+        tbOpenMfView.setOnCheckedChangeListener { _, isChecked ->
+            HmiBuildConfig.isShowMfToastView = isChecked
         }
 
         /**
@@ -361,6 +371,7 @@ internal class DebugSettingView @JvmOverloads constructor(
                 swDevelopMode.visibility = View.GONE
             }
         }
+
         /**
          * 开发者模式
          */
@@ -634,12 +645,6 @@ internal class DebugSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isBeautyMode = isChecked
         }
 
-        tbV2NFromCar.isChecked = FunctionBuildConfig.isV2NFromCar
-        //v2n车端预警
-        tbV2NFromCar.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isV2NFromCar = isChecked
-        }
-
         tbDrawAiCloudFusion.isChecked = FunctionBuildConfig.isDrawAiCloudFusion
         //云端感知绘制
         tbDrawAiCloudFusion.setOnCheckedChangeListener { _, isChecked ->
@@ -1597,6 +1602,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tvAutopilotInfo.text = autopilotJson
         tvIpcInfo.text = autopilotJson
         tvIpcInfoKey.text = autopilotJson
+        tvCmdbCarInfoContent.text = SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.CAR_INFO)
 
         tvCarInfo.text =
             "GPS时间：${(mGnssInfo?.satelliteTime?.times(1000))?.toLong()}\n" +
@@ -2056,4 +2062,5 @@ internal class DebugSettingView @JvmOverloads constructor(
     override fun onObuDeviceId(obuDeviceId: String) {
         mObuDeviceId = obuDeviceId
     }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index 116662754b..8861936c58 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -73,11 +73,11 @@ internal class SOPSettingView @JvmOverloads constructor(
         /**
          * obu弱势交通控制
          */
-        tbObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
-        tbObuWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
-            // 默认开启
-            HmiBuildConfig.isShowObuWeaknessTrafficView = !isChecked
-        }
+//        tbObuWeaknessTrafficSop.isChecked = HmiBuildConfig.isShowObuWeaknessTrafficView
+//        tbObuWeaknessTrafficSop.setOnCheckedChangeListener { _, isChecked ->
+//            // 默认开启
+//            HmiBuildConfig.isShowObuWeaknessTrafficView = !isChecked
+//        }
 
         /**
          * 云端弱势交通控制
@@ -88,14 +88,6 @@ internal class SOPSettingView @JvmOverloads constructor(
             HmiBuildConfig.isShowCloudWeaknessTrafficView = isChecked
         }
 
-        /**
-         * 限速数据来源开关
-         */
-        tbRoadLimitSpeedSop.setOnCheckedChangeListener { _, isChecked ->
-            // 默认关闭
-            HmiBuildConfig.isShowObuLimitSpeedView = isChecked
-        }
-
         /**
          * obu V2V开关，默认打开
          */
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/WrapContentLinearLayoutManager.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/WrapContentLinearLayoutManager.kt
deleted file mode 100644
index 75a93e3901..0000000000
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/WrapContentLinearLayoutManager.kt
+++ /dev/null
@@ -1,36 +0,0 @@
-package com.mogo.eagle.core.function.hmi.ui.setting
-
-import android.content.Context
-import android.util.AttributeSet
-import androidx.recyclerview.widget.LinearLayoutManager
-import androidx.recyclerview.widget.RecyclerView
-
-/**
- * @author XuXinChao
- * @description fix java.lang.IndexOutOfBoundsException：检测到不一致。视图持有者适配器positionViewHolder无效
- * @since: 2022/6/7
- */
-class WrapContentLinearLayoutManager : LinearLayoutManager {
-    constructor(context: Context?) : super(context) {}
-
-    constructor(context: Context?, orientation: Int, reverseLayout: Boolean) : super(
-        context,
-        orientation,
-        reverseLayout
-    ) {}
-
-    constructor(
-        context: Context?,
-        attrs: AttributeSet?,
-        defStyleAttr: Int,
-        defStyleRes: Int
-    ) : super(context, attrs, defStyleAttr, defStyleRes) {}
-
-    override fun onLayoutChildren(recycler: RecyclerView.Recycler?, state: RecyclerView.State?) {
-        try {
-            super.onLayoutChildren(recycler, state)
-        } catch (e: IndexOutOfBoundsException) {
-            e.printStackTrace()
-        }
-    }
-}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
index 1ad27de6c1..effcdf840c 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/AutoPilotAndCheckView.kt
@@ -51,6 +51,7 @@ internal class AutoPilotAndCheckView @JvmOverloads constructor(
 
     private var clickListener: ClickListener? = null
     private var keyBoardUtil: KeyBoardUtil? = null
+    @Volatile
     private var connectStatus = false
     private var lastTime = 0L
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
index 5d073ae54e..58bfe45c84 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
@@ -40,6 +40,7 @@ class PncActionsView @JvmOverloads constructor(
     @Volatile
     private var mTrafficLightResult: TrafficLightResult? = null
 
+    @Volatile
     private var mAutoPilotStatusInfo: AutopilotStatusInfo? = null
 
     private val bgResources: Int
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BatteryView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BatteryView.kt
index c88cc7a1bb..18c0f70988 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BatteryView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/BatteryView.kt
@@ -11,6 +11,7 @@ import android.view.View
 import com.mogo.eagle.core.function.api.setting.IMoGoSkinModeChangeListener
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import kotlin.math.abs
 
 
@@ -139,17 +140,19 @@ class BatteryView : View , IMoGoSkinModeChangeListener {
     }
 
     override fun onSkinModeChange(skinMode: Int) {
-        when (skinMode) {
-            0 -> {
-                batteryColor = resources.getColor(R.color.color_27FFFFFF)
-                powerColor = Color.WHITE
-            }
-            1 -> {
-                batteryColor = resources.getColor(R.color.color_1E111111)
-                powerColor = resources.getColor(R.color.color_2C2E30)
+        ThreadUtils.runOnUiThread {
+            when (skinMode) {
+                0 -> {
+                    batteryColor = resources.getColor(R.color.color_27FFFFFF)
+                    powerColor = Color.WHITE
+                }
+                1 -> {
+                    batteryColor = resources.getColor(R.color.color_1E111111)
+                    powerColor = resources.getColor(R.color.color_2C2E30)
+                }
             }
+            invalidate()
         }
-        invalidate()
     }
 
     override fun onAttachedToWindow() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt
index b07b0292b1..f6a1f0bd87 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CheckSystemView.kt
@@ -29,7 +29,9 @@ class CheckSystemView @JvmOverloads constructor(
         const val TAG = "CheckSystemView"
     }
 
+    @Volatile
     private var connectStatus = false //是否连接工控机
+    @Volatile
     private var autopilotStatus: Int? = null   //自动驾驶状态   0代表不可自动驾驶,1代表可自动驾驶,2代表自动驾驶中
     private var dockerRebootDialog: DockerRebootDialog? = null
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
index b7f531c972..325c33de50 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
@@ -27,6 +27,7 @@ class SpeedPanelView @JvmOverloads constructor(
 
     var mContext: Context
     var mSpeedChartView: SpeedChartView
+    @Volatile
     var mLatLng: MogoLocation? = null
 
     init {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
index 1205cba30a..cc791d43cd 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/StatusBarView.kt
@@ -14,6 +14,7 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.setting.CallerSkinModeListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.BarUtils
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import kotlinx.android.synthetic.main.view_status_bar.view.*
 import java.util.concurrent.CopyOnWriteArrayList
 
@@ -55,9 +56,11 @@ class StatusBarView @JvmOverloads constructor(
     }
 
     override fun onSkinModeChange(skinMode: Int) {
-        when (skinMode) {
-            0 -> setStatusBarDarkOrLight(false)
-            1 -> setStatusBarDarkOrLight(true)
+        ThreadUtils.runOnUiThread {
+            when (skinMode) {
+                0 -> setStatusBarDarkOrLight(false)
+                1 -> setStatusBarDarkOrLight(true)
+            }
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
index bc404b047d..383f583392 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/VersionNameView.kt
@@ -31,6 +31,7 @@ class VersionNameView @JvmOverloads constructor(
         const val TAG = "VersionNameView"
     }
 
+    @Volatile
     private var dockerVersion: String? = null //工控机版本
 
     init{
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
index 814487cf90..c7d20aea1f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainActivity.kt
@@ -293,11 +293,13 @@ open class MainActivity : MvpActivity<MainView?, MainPresenter?>(), MainView,
     }
 
     override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
-        val status = autoPilotStatusInfo.ipcConnStatus
-        if (mLastStatus != status) {
-            val statusInfo = autoPilotStatusInfo.clone()
-            rvConnectInfo.post { updateConnectInfoView(statusInfo) }
-            mLastStatus = status
+        UiThreadHandler.post {
+            val status = autoPilotStatusInfo.ipcConnStatus
+            if (mLastStatus != status) {
+                val statusInfo = autoPilotStatusInfo.clone()
+                rvConnectInfo.post { updateConnectInfoView(statusInfo) }
+                mLastStatus = status
+            }
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
index 1e80ca8ec3..26370c9ed6 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/MainMoGoApplication.java
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.main;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_HMI;
 
-import android.annotation.SuppressLint;
 import android.content.Context;
 import android.os.Process;
 
@@ -18,20 +17,15 @@ import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.function.api.chat.biz.ChatConsts;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager;
-import com.mogo.eagle.core.function.msgbox.db.MsgBoxDb;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.AppLaunchTimeUtils;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.ProcessUtils;
-import com.mogo.eagle.core.utilcode.util.SPUtils;
 
-import java.io.File;
 import java.lang.reflect.Field;
-import java.text.SimpleDateFormat;
-import java.util.Date;
 
 /**
- * 默认初始化一些基础服务配置  todo 分离 msgBox去自己的模块中 --- 扶风
+ * 默认初始化一些基础服务配置
  */
 public abstract class MainMoGoApplication extends AbsMogoApplication {
 
@@ -50,12 +44,8 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         initLogConfig();
         initTipToast();
         initModules();
-        if (ProcessUtils.isMainProcess(this)) {
-            clearMessageBoxTable();
-            CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
-        }
+        CallerMsgBoxManager.INSTANCE.queryAllMessages(this);
         CallerDevaToolsManager.INSTANCE.updateUpgradeProgress();
-        CallerDevaToolsManager.INSTANCE.updateObuUpgradeStatus();
     }
 
     @Override
@@ -64,38 +54,6 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         return true;
     }
 
-    @SuppressLint("SimpleDateFormat")
-    private void clearMessageBoxTable() {
-        new Thread(() -> {
-            String lastLaunchTimeStr = SPUtils.getInstance().getString("last_launch", "");
-            SimpleDateFormat format = new SimpleDateFormat("yyyy-MM-dd");
-            Date currDate = new Date(System.currentTimeMillis());
-            String currTimeStr = format.format(currDate);
-            try {
-                if (lastLaunchTimeStr != null && !lastLaunchTimeStr.isEmpty()) {
-                    boolean isSameDay = currTimeStr.equals(lastLaunchTimeStr);
-                    // 超过一天需要清除消息盒子中的数据，并把时间戳存入SP
-                    if (!isSameDay) {
-                        File file = this.getDatabasePath(MsgBoxDb.INTERNAL_DB_NAME);
-                        if (file != null && file.exists()) {
-                            this.deleteDatabase(MsgBoxDb.INTERNAL_DB_NAME);
-                        }
-                        SPUtils.getInstance().put("last_launch", currTimeStr);
-                    }
-                } else {
-                    // 首次使用App或中途仅删除sp文件
-                    File file = this.getDatabasePath(MsgBoxDb.INTERNAL_DB_NAME);
-                    if (file != null && file.exists()) {
-                        this.deleteDatabase(MsgBoxDb.INTERNAL_DB_NAME);
-                    }
-                    SPUtils.getInstance().put("last_launch", currTimeStr);
-                }
-            } catch (Exception e) {
-                CallerLogger.INSTANCE.e(TAG, e.getMessage());
-            }
-        }).start();
-    }
-
     /**
      * 初始化异常采集配置
      */
@@ -126,11 +84,11 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_V2X_OBU_MOGO, "IMoGoObuProvider"));
         // BIZ
         MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_FUNC_BIZ, "IMoGoNoticeProvider"));
-        // todo 后置 车聊聊，IM
+        // 后置 车聊聊，IM
         MogoModulePaths.addModuleFunctionServer(new MogoModule(ChatConsts.CHAT_PROVIDER_PATH, ChatConsts.CHAT_MODULE_NAME));
         // 司机身份专属
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            // todo 后置 地图数据收集模块
+            // 后置 地图数据收集模块
             MogoModulePaths.addModuleFunctionServer(new MogoModule(MogoServicePaths.PATH_MAP_DATA_COLLECT_PROVIDER, "MoGoMapDataCollector"));
         }
         CallerLogger.INSTANCE.i(M_HMI + TAG, "App launch timer cost " + (System.currentTimeMillis() - start) + "ms");
@@ -141,7 +99,7 @@ public abstract class MainMoGoApplication extends AbsMogoApplication {
         super.attachBaseContext(base);
         /*如果是主进程**/
 //        if (ProcessUtils.isMainProcess(this)) {
-            AppLaunchTimeUtils.beginTimeCalculate(AppLaunchTimeUtils.COLD_START);
+        AppLaunchTimeUtils.beginTimeCalculate(AppLaunchTimeUtils.COLD_START);
 //        }
         BoostMultiDex.install(base);
         AbsMogoApplication.sApp = this;
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/VideoAdAtc.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/VideoAdAtc.kt
index 907a96144d..cc73895c23 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/VideoAdAtc.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/VideoAdAtc.kt
@@ -11,19 +11,19 @@ import com.mogo.eagle.core.widget.TextureVideoView
  */
 class VideoAdAtc : AppCompatActivity() {
 
-    private lateinit var svpFrame: TextureVideoView
-
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        setContentView(R.layout.activity_video_ad_atc)
-
-        svpFrame = findViewById(R.id.svp_frame)
-
-        val url = "android.resource://" + packageName + "/" + R.raw.mogo_ad
-        svpFrame.videoPath = url
-        svpFrame.start()
-
-        BarUtils.hideStatusBarAndSticky(this.window)
-    }
+//    private lateinit var svpFrame: TextureVideoView
+//
+//    override fun onCreate(savedInstanceState: Bundle?) {
+//        super.onCreate(savedInstanceState)
+//        setContentView(R.layout.activity_video_ad_atc)
+//
+//        svpFrame = findViewById(R.id.svp_frame)
+//
+//        val url = "android.resource://" + packageName + "/" + R.raw.mogo_ad
+//        svpFrame.videoPath = url
+//        svpFrame.start()
+//
+//        BarUtils.hideStatusBarAndSticky(this.window)
+//    }
 
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_m_msg_box_operation.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_m_msg_box_operation.xml
new file mode 100644
index 0000000000..d8d1747997
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_m_msg_box_operation.xml
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<com.mogo.eagle.core.widget.RoundConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="450dp"
+    android:layout_height="110dp"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:background="#FFFFFFFF"
+    app:roundLayoutRadius="@dimen/dp_18"
+    android:layout_marginTop="@dimen/dp_10"
+    android:layout_marginBottom="@dimen/dp_10">
+
+    <ImageView
+        android:id="@+id/ivMOperationImage"
+        android:layout_width="@dimen/dp_83"
+        android:layout_height="@dimen/dp_83"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        android:layout_marginStart="@dimen/dp_13"
+        android:src="@drawable/icon_msg_box_operation_stop"
+        />
+
+    <TextView
+        android:id="@+id/tvMOperationTime"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        android:textColor="#99203555"
+        android:textSize="18dp"
+        android:layout_marginEnd="@dimen/dp_20"
+        />
+
+    <TextView
+        android:id="@+id/tvMOperationContent"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/ivMOperationImage"
+        app:layout_constraintRight_toLeftOf="@id/tvMOperationTime"
+        android:gravity="start"
+        android:textColor="#FF203555"
+        android:textSize="20dp"
+        android:layout_marginStart="@dimen/dp_13"
+        android:layout_marginEnd="@dimen/dp_13"
+        />
+
+
+
+</com.mogo.eagle.core.widget.RoundConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_m_msg_list_operation.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_m_msg_list_operation.xml
new file mode 100644
index 0000000000..d2a3127cbc
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_m_msg_list_operation.xml
@@ -0,0 +1,46 @@
+<?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="@dimen/dp_100"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <ImageView
+        android:id="@+id/ivMOperationImage"
+        android:layout_width="@dimen/dp_68"
+        android:layout_height="@dimen/dp_68"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        android:layout_marginStart="@dimen/dp_16"
+        android:src="@drawable/icon_msg_box_operation_stop"
+        />
+
+    <TextView
+        android:id="@+id/tvMOperationTime"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        android:textColor="#FF4A5B76"
+        android:textSize="@dimen/dp_18"
+        android:layout_marginEnd="@dimen/dp_10"
+        />
+
+    <TextView
+        android:id="@+id/tvMOperationContent"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/ivMOperationImage"
+        app:layout_constraintRight_toLeftOf="@id/tvMOperationTime"
+        android:gravity="start"
+        android:textColor="#FF203555"
+        android:textSize="@dimen/dp_20"
+        android:layout_marginStart="@dimen/dp_16"
+        android:layout_marginEnd="@dimen/dp_16"
+        />
+
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index 971434f8bc..27d514d3b1 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -206,6 +206,29 @@
                 android:layout_height="1dp"
                 android:background="#F0F0F0" />
 
+            <TextView
+                android:id="@+id/tvCmdbCarInfo"
+                style="@style/DebugSettingText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:text="车辆信息: " />
+
+            <View
+                android:layout_width="match_parent"
+                android:layout_height="1dp"
+                android:background="#F0F0F0" />
+            <TextView
+                android:id="@+id/tvCmdbCarInfoContent"
+                style="@style/DebugSettingText"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:minLines="5" />
+
+            <View
+                android:layout_width="match_parent"
+                android:layout_height="1dp"
+                android:background="#F0F0F0" />
+
             <ToggleButton
                 android:id="@+id/tbIsDemoMode"
                 android:layout_width="match_parent"
@@ -242,18 +265,6 @@
                 android:textOn="关闭感知优化模式"
                 android:textSize="@dimen/dp_24" />
 
-            <ToggleButton
-                android:id="@+id/tbV2NFromCar"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="@dimen/dp_10"
-                android:padding="@dimen/dp_20"
-                android:background="@drawable/radio_button_normal_background_right"
-                android:textColor="#000"
-                android:textOff="开启车端V2N预警"
-                android:textOn="关闭车端V2N预警"
-                android:textSize="@dimen/dp_24" />
-
             <ToggleButton
                 android:id="@+id/tbDrawAiCloudFusion"
                 android:layout_width="match_parent"
@@ -298,21 +309,22 @@
                 android:background="@drawable/radio_button_normal_background_right"
                 android:drawableEnd="@drawable/icon_right"
                 android:padding="@dimen/dp_20"
-                android:textOff="魔戒控制"
-                android:textOn="魔戒控制"
+                android:textOff="蘑方控制"
+                android:textOn="蘑方控制"
                 android:textSize="@dimen/dp_24" />
 
-            <Button
-                android:id="@+id/btnOpenAllGestures"
+            <androidx.appcompat.widget.SwitchCompat
+                android:id="@+id/tbOpenMfView"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:gravity="center"
-                android:padding="@dimen/dp_20"
-                android:text="开启手势滑动"
-                android:textSize="@dimen/dp_24"
+                android:text="打开蘑方按键Toast"
+                android:paddingTop="5dp"
+                android:paddingBottom="5dp"
                 android:visibility="gone"
-                app:layout_constraintLeft_toLeftOf="parent"
-                app:layout_constraintTop_toTopOf="parent" />
+                android:layout_marginLeft="10dp"
+                android:scaleY="1"
+                android:scaleX="1"
+                />
 
             <Button
                 android:id="@+id/btnIpcReboot"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
index 4558cc99a4..cb84b6d654 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
@@ -163,11 +163,13 @@
         app:layout_constraintRight_toRightOf="parent"
         />
 
+    <!--这个后面产品会统一去掉-->
     <androidx.appcompat.widget.SwitchCompat
         android:id="@+id/tbObuToDcView"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:text="OBU到工控机V2I显示"
+        android:visibility="gone"
         android:paddingTop="25dp"
         android:paddingBottom="25dp"
         android:scaleY="1.2"
@@ -200,7 +202,7 @@
         android:paddingBottom="25dp"
         android:scaleY="1.2"
         android:scaleX="1.2"
-        app:layout_constraintTop_toBottomOf="@id/tbObuToDcView"
+        app:layout_constraintTop_toBottomOf="@id/tbObuV2vView"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toLeftOf="@id/verticalGuideLine"
         />
@@ -214,23 +216,9 @@
         android:paddingBottom="25dp"
         android:scaleY="1.2"
         android:scaleX="1.2"
-        app:layout_constraintTop_toBottomOf="@id/tbObuToDcView"
-        app:layout_constraintLeft_toRightOf="@id/verticalGuideLine"
-        app:layout_constraintRight_toRightOf="parent"
-        />
-
-    <androidx.appcompat.widget.SwitchCompat
-        android:id="@+id/tbRoadLimitSpeedSop"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:text="路侧限速提醒"
-        android:paddingTop="25dp"
-        android:paddingBottom="25dp"
-        android:scaleY="1.2"
-        android:scaleX="1.2"
-        app:layout_constraintTop_toBottomOf="@id/tbCloudWeaknessTrafficSop"
-        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tbObuWeaknessTrafficSop"
         app:layout_constraintRight_toLeftOf="@id/verticalGuideLine"
+        app:layout_constraintLeft_toLeftOf="parent"
         />
 
     <TextView
@@ -238,7 +226,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toBottomOf="@id/tbRoadLimitSpeedSop"
+        app:layout_constraintTop_toBottomOf="@id/tbIPCReport"
         android:text="变道速度阈值："
         android:textSize="@dimen/dp_36"
         android:textColor="#1A1A1A"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/raw/mogo_ad.mp4 b/core/function-impl/mogo-core-function-hmi/src/main/res/raw/mogo_ad.mp4
deleted file mode 100644
index c73fca4389..0000000000
Binary files a/core/function-impl/mogo-core-function-hmi/src/main/res/raw/mogo_ad.mp4 and /dev/null differ
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java
index 60c7d0eba3..7d77a80af3 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/SpeedLimitDataManager.java
@@ -23,7 +23,7 @@ public class SpeedLimitDataManager implements IMoGoChassisLocationGCJ02Listener
 
     private final static String TAG = "SpeedLimitDataManager";
     private static volatile SpeedLimitDataManager instance;
-    private MogoLocation mLocation;
+    private volatile MogoLocation mLocation;
 
     private SpeedLimitDataManager() {
     }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
index 8ad4ad3521..bde91cf45c 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/AiCloudIdentifyNetWorkModel.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.business.ai.net
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.commons.constants.HostConst
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.BaseResponse
 import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.END_METRE
@@ -27,7 +28,7 @@ class AiCloudIdentifyNetWorkModel {
         return host
     }
 
-    private fun getNetWorkApi(baseUrl: String = getHost()): IAiCloudIdentifyApiService {
+    private fun getNetWorkApi(baseUrl: String = HostConst.getEagleHost()): IAiCloudIdentifyApiService {
         return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
             .create(IAiCloudIdentifyApiService::class.java)
     }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
index 3ddaac5e43..2e8ec4357f 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/net/IAiCloudIdentifyApiService.kt
@@ -8,6 +8,6 @@ import retrofit2.http.POST
 interface IAiCloudIdentifyApiService {
 
     @Headers("Content-type:application/json;charset=UTF-8")
-    @POST("yycp-c-v2x-service/dataFusion/remoteDrivingSet")
+    @POST("eagle-eye-dns/yycp-c-v2x-service/dataFusion/remoteDrivingSet")
     suspend fun identifyRange(@Body map: MutableMap<String, Any>): BaseResponse<Any>
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
index f78a2c274e..1c916ecbf7 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
@@ -1,10 +1,10 @@
 package com.mogo.eagle.core.function.smp
 
 import android.content.Context
-import android.util.Log
 import com.amap.api.maps.CoordinateConverter
 import com.amap.api.maps.model.LatLng
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import io.reactivex.Observable
 import io.reactivex.ObservableOnSubscribe
 import io.reactivex.android.schedulers.AndroidSchedulers
@@ -35,7 +35,7 @@ object MarkerDrawerManager {
     var lastArrivedIndex: Int = -1
 
     @Volatile
-    var lonLat = Pair(0.0, 0.0)
+    var lonLatHeading = Triple(0.0, 0.0, 0.0)
 
     var callback: Callback? = null
 
@@ -59,16 +59,17 @@ object MarkerDrawerManager {
     private fun getLoopCalCarObservable(): Observable<Int> {
         return Observable.create(ObservableOnSubscribe { emitter ->
             if (emitter.isDisposed) return@ObservableOnSubscribe
-            loopRouteAndWipe(planningPoints, lonLat.first, lonLat.second)
+            loopRouteAndWipe(planningPoints, lonLatHeading.first, lonLatHeading.second, lonLatHeading.third)
             emitter.onComplete()
         })
     }
 
-    private fun loopRouteAndWipe(routePoints: List<LatLng>?, lon: Double, lat: Double) {
+    private fun loopRouteAndWipe(routePoints: List<LatLng>?, lon: Double, lat: Double, heading: Double) {
         if (routePoints != null && routePoints.isNotEmpty()) {
-            val arrivedIndex: Int = getArrivedPointIndex(routePoints, lon, lat)
+            val newPointList = ArrayList<LatLng>()
+            val arrivedIndex: Int = getArrivedPointIndex(routePoints, newPointList, lon, lat, heading)
             if (arrivedIndex != -1 && lastArrivedIndex != arrivedIndex) {
-                callback?.onLocationChanged(routePoints, arrivedIndex)
+                callback?.onLocationChanged(newPointList, arrivedIndex)
                 lastArrivedIndex = arrivedIndex
             }
         }
@@ -90,8 +91,10 @@ object MarkerDrawerManager {
      */
     private fun getArrivedPointIndex(
         routePoints: List<LatLng>,
+        newPoints: MutableList<LatLng>,
         realLon: Double,
-        realLat: Double
+        realLat: Double,
+        heading: Double
     ): Int {
         var currentIndex = 0 //记录疑似点
         if (routePoints.isNotEmpty()) {
@@ -100,6 +103,7 @@ object MarkerDrawerManager {
             var baseDiffDis = CoordinateUtils.calculateLineDistance(
                 realLon, realLat, baseLatLng.longitude, baseLatLng.latitude
             ) // lon,lat, prelon, prelat
+//            val lastIndex = if (lastArrivedIndex >= 1 && lastArrivedIndex <= routePoints.size - 1) lastArrivedIndex else 1
             for (i in 1 until routePoints.size) {
                 val latLng = routePoints[i]
                 val diff = CoordinateUtils.calculateLineDistance(
@@ -107,12 +111,17 @@ object MarkerDrawerManager {
                 )
                 if (baseDiffDis > diff) {
                     baseDiffDis = diff
-                    currentIndex = i
+                    // 距离最近的时候判断是否走过
+                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(realLon, realLat, latLng.longitude, latLng.latitude, heading) >= 90) {
+                        currentIndex = i
+                    }
                 }
             }
-            return currentIndex
+            newPoints.addAll(routePoints)
+            newPoints.add(currentIndex + 1, LatLng(realLat, realLon))
+            return currentIndex + 1
         }
-        return currentIndex
+        return 0
     }
 
     /**
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
index 823d45079c..aca9bd6ecd 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
@@ -4,7 +4,6 @@ import android.content.Context
 import android.graphics.Color
 import android.os.Bundle
 import android.util.AttributeSet
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.MotionEvent
 import android.widget.RelativeLayout
@@ -52,6 +51,7 @@ class SmallMapView @JvmOverloads constructor(
     private var mContext: Context? = null
     private var mLocation: MogoLocation? = null
 
+    @Volatile
     private var autoPilotStatus = 0
 
     companion object {
@@ -216,7 +216,7 @@ class SmallMapView @JvmOverloads constructor(
         uiSettings?.setAllGesturesEnabled(false) // 所有手势
         uiSettings?.isMyLocationButtonEnabled = false // 显示默认的定位按钮
         uiSettings?.setLogoBottomMargin(-150) //设置Logo下边界距离屏幕底部的边距,设置为负值即可
-        mAMap?.setOnMapLoadedListener(AMap.OnMapLoadedListener {
+        mAMap?.setOnMapLoadedListener {
             CallerLogger.d(
                 SceneConstant.M_MAP + TAG,
                 "smp---onMapLoaded"
@@ -237,7 +237,7 @@ class SmallMapView @JvmOverloads constructor(
                 mAMapNaviView!!.width / 2,
                 mAMapNaviView!!.height / 2
             )
-        })
+        }
     }
 
     private fun coordinateConverterFrom84(mContext: Context?, mogoLatLng: MogoLatLng): LatLng {
@@ -283,36 +283,39 @@ class SmallMapView @JvmOverloads constructor(
         if (mCarMarker == null) {
             return
         }
-        val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
-        val bearing = floor(mLocation!!.heading).toFloat()
-        //更新车辆位置
-        mCarMarker!!.position = currentLatLng
-        if (mCoordinatesLatLng.size > 1) {
-            // 结束位置
-            val endLatLng = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
-            val calculateDistance = CoordinateUtils.calculateLineDistance(
-                endLatLng.latitude, endLatLng.longitude,
-                currentLatLng.latitude, currentLatLng.longitude
-            )
-            CallerLogger.d(
-                SceneConstant.M_MAP + TAG,
-                "calculateDistance=$calculateDistance"
-            )
-            if (calculateDistance <= 5) {
+        UiThreadHandler.post {
+            val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
+            val bearing = floor(mLocation!!.heading).toFloat()
+            //更新车辆位置
+            mCarMarker!!.position = currentLatLng
+            if (mCoordinatesLatLng.size > 1) {
+                // 结束位置
+                val endLatLng = mCoordinatesLatLng[mCoordinatesLatLng.size - 1]
+                val calculateDistance = CoordinateUtils.calculateLineDistance(
+                    endLatLng.latitude, endLatLng.longitude,
+                    currentLatLng.latitude, currentLatLng.longitude
+                )
                 CallerLogger.d(
-                    SceneConstant.M_MAP + TAG, "onChassisLocationGCJ02 ----->  calculateDistance <= 5 ")
-                clearPolyline()
-                mCoordinatesLatLng.clear()
+                    SceneConstant.M_MAP + TAG,
+                    "calculateDistance=$calculateDistance"
+                )
+                if (calculateDistance <= 5) {
+                    CallerLogger.d(
+                        SceneConstant.M_MAP + TAG, "onChassisLocationGCJ02 ----->  calculateDistance <= 5 ")
+                    clearPolyline()
+                    mCoordinatesLatLng.clear()
+                }
             }
+            val cameraPosition: CameraPosition =
+                CameraPosition.Builder()
+                    .target(mCarMarker!!.position)
+                    .tilt(0f)
+                    .bearing(bearing)
+                    .zoom(zoomLevel.toFloat())
+                    .build()
+            mAMap?.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
         }
-        val cameraPosition: CameraPosition =
-            CameraPosition.Builder()
-                .target(mCarMarker!!.position)
-                .tilt(0f)
-                .bearing(bearing)
-                .zoom(zoomLevel.toFloat())
-                .build()
-        mAMap?.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+
     }
 
     override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
index f7d42bc526..dd56a3045b 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -36,7 +36,7 @@ import com.mogo.eagle.core.function.smp.MakerWithCount
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.callback
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.coordinateConverterWgsToGcj
-import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lonLat
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lonLatHeading
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.planningPoints
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.startLoopCalCarLocation
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateRoutePoints
@@ -636,6 +636,8 @@ class OverMapView @JvmOverloads constructor(
             texIndexList.clear()
         }
         for (i in coordinates.indices) {
+            // 线段数比点数少一个
+            if (i == 0) continue
             if (i <= locIndex) {
                 if (isClearArrived) {
                     textureList.add(transparentBitmap)
@@ -647,7 +649,7 @@ class OverMapView @JvmOverloads constructor(
                 // 未走过的纹理
                 textureList.add(unArrivedBitmap)
             }
-            texIndexList.add(i)
+            texIndexList.add(i - 1)
         }
         if (mAMap != null && coordinates.size > 2) {
             //设置线段纹理
@@ -670,7 +672,7 @@ class OverMapView @JvmOverloads constructor(
     override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
         gnssInfo?.let {
             mLocation = it
-            lonLat = Pair(it.longitude, it.latitude)
+            lonLatHeading = Triple(it.longitude, it.latitude, it.heading)
             drawCarMarker(it)
             if (isFirstLocation) {
                 displayCustomOverView()
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index c92de25581..c02056061b 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -49,14 +49,6 @@ object FunctionBuildConfig {
     @JvmField
     var detouringSpeed = 3
 
-    /**
-     * 是否从车端融合过来的v2n事件
-     * 默认关闭，开启后接收车端融合预警，关闭云端长链V2N
-     */
-    @Volatile
-    @JvmField
-    var isV2NFromCar = false
-
     /**
      * 是否是感知优化模式
      * 默认开启
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt
index ffffb227fa..877e7cc4df 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt
@@ -50,11 +50,11 @@ object HmiBuildConfig {
     var isShowCloudWeaknessTrafficView = false
 
     /**
-     * 是否展示obu的限速
+     * 是否展示蘑方的toast
      */
     @JvmField
     @Volatile
-    var isShowObuLimitSpeedView = false
+    var isShowMfToastView = false
 
     /**
      * 是否展示obu的v2v
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt
index bddc074309..727e05201d 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/DataSourceType.kt
@@ -5,7 +5,7 @@ package com.mogo.eagle.core.data.enums
 enum class DataSourceType(name: String) {
     DEFAULT("defalut"),
     OBU("OBU"),
-    MAP("MAP"),
+    MAP("HDMAP"),
     TELEMATIC("TELEMATIC"),
     AICLOUD("AI云"),
     SUMMARY("汇总");// V2X事件汇总
@@ -15,7 +15,7 @@ enum class DataSourceType(name: String) {
         fun getName(type :DataSourceType):String{
             return when(type){
                 OBU -> "OBU"
-                MAP -> "MAP"
+                MAP -> "HDMAP"
                 TELEMATIC -> "TELEMATIC"
                 AICLOUD -> "AI云"
                 SUMMARY -> "汇总"
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt
new file mode 100644
index 0000000000..225832cf39
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoSweeperFutianBackCameraVideoListener.kt
@@ -0,0 +1,11 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+/**
+ * 清扫车（福田）后摄像头视频数据
+ */
+interface IMoGoSweeperFutianBackCameraVideoListener {
+    /**
+     * 清扫车（福田）后摄像头视频数据 10Hz 每一帧为一张图片
+     */
+    fun onSweeperFutianBackCameraVideo(data: ByteArray)
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
index 830f983b58..3a4835bb04 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
@@ -125,11 +125,6 @@ interface IDevaToolsProvider : IProvider {
      */
     fun updateUpgradeProgress()
 
-    /**
-     * obu下载进度
-     */
-    fun updateObuUpgradeStatus()
-
     /**
      * 展示状态栏
      */
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
new file mode 100644
index 0000000000..95d2dde9e8
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerSweeperFutianBackCameraVideoListenerManager.kt
@@ -0,0 +1,23 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import chassis.ChassisStatesOuterClass
+import chassis.VehicleStateOuterClass
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianBackCameraVideoListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoSweeperFutianCleanSystemListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 清扫车（福田）后摄像头视频数据
+ */
+object CallerSweeperFutianBackCameraVideoListenerManager : CallerBase<IMoGoSweeperFutianBackCameraVideoListener>() {
+
+    /**
+     * 后摄像头视频数据
+     */
+    fun invokeSweeperFutianBackCameraVideo(data: ByteArray) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onSweeperFutianBackCameraVideo(data)
+        }
+    }
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
index c17d108ec6..0cc3944c46 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
@@ -169,13 +169,6 @@ object CallerDevaToolsManager {
         devaToolsProviderApi?.updateUpgradeProgress()
     }
 
-    /**
-     * obu下载状态
-     */
-    fun updateObuUpgradeStatus() {
-        devaToolsProviderApi?.updateObuUpgradeStatus()
-    }
-
     /**
      * 展示状态栏
      */
diff --git a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/MultiDisplayUtils.kt b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/MultiDisplayUtils.kt
index 878e1127c9..060abda7b6 100644
--- a/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/MultiDisplayUtils.kt
+++ b/core/mogo-core-utils/src/main/java/com/mogo/eagle/core/utilcode/util/MultiDisplayUtils.kt
@@ -39,7 +39,7 @@ object MultiDisplayUtils {
         // 获取除了内置屏幕（主屏幕）的其它屏幕
         val displays = mDisplayManager.getDisplays(DisplayManager.DISPLAY_CATEGORY_PRESENTATION)
         // 初始化新的集合进行接收排序后的屏幕信息,防止数组越界初始化列表相同的集合，集合中会有null，需要在使用判断，null即没有连接屏幕
-        var displaysList = arrayOfNulls<Display>(lcd_sub_port_six_lcd_mode.size)
+        var displaysList = arrayOf<Display?>()
         Log.d(TAG, "displays:$displays")
 
         // 判断副屏个数
@@ -67,10 +67,10 @@ object MultiDisplayUtils {
         // 处理EB5副屏幕
         else {
             if (mDisplayManager.displays.isNotEmpty()) {
-                displaysList = arrayOfNulls(1)
                 // EB5目前副屏幕ID为固定4096
                 for (i in mDisplayManager.displays.indices) {
                     if (mDisplayManager.displays[i].displayId == 4096) {
+                        displaysList = arrayOfNulls(1)
                         displaysList[0] = mDisplayManager.displays[i]
                     }
                 }
diff --git a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java
index c41290ce40..1a377a0b79 100644
--- a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java
+++ b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/locationinfo/MogoLocationInfoServices.java
@@ -14,7 +14,7 @@ public class MogoLocationInfoServices {
     private static final String TAG = "MogoLocationInfoServices-sdk";
 
     private static volatile MogoLocationInfoServices sInstance;
-    private MogoLocation mLocation;
+    private volatile MogoLocation mLocation;
 
     private MogoLocationInfoServices() {
     }
diff --git a/gradle.properties b/gradle.properties
index a4d3562a94..d19145ba33 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -66,23 +66,23 @@ SERVICE_BIZ_VERSION=1.2.4
 LOGLIB_VERSION=1.5.11
 ######## MogoAiCloudSDK Version ########
 # 网络请求LOGLIB_VERSION
-MOGO_NETWORK_VERSION=1.4.5.6
+MOGO_NETWORK_VERSION=1.4.5.7
 # 鉴权
-MOGO_PASSPORT_VERSION=1.4.5.6
+MOGO_PASSPORT_VERSION=1.4.5.7
 # 常链接
-MOGO_SOCKET_VERSION=1.4.5.6
+MOGO_SOCKET_VERSION=1.4.5.7
 # 数据采集
-MOGO_REALTIME_VERSION=1.4.5.6
+MOGO_REALTIME_VERSION=1.4.5.7
 # 探路，道路事件发布，获取
-MOGO_TANLU_VERSION=1.4.5.6
+MOGO_TANLU_VERSION=1.4.5.7
 # 直播推流
-MOGO_LIVE_VERSION=1.4.5.6
+MOGO_LIVE_VERSION=1.4.5.7
 # 直播拉流
-MOGO_TRAFFICLIVE_VERSION=1.4.5.6
+MOGO_TRAFFICLIVE_VERSION=1.4.5.7
 # 定位服务
-MOGO_LOCATION_VERSION=1.4.5.6
+MOGO_LOCATION_VERSION=1.4.5.7
 # 远程通讯模块
-MOGO_TELEMATIC_VERSION=1.4.5.6
+MOGO_TELEMATIC_VERSION=1.4.5.7
 ######## MogoAiCloudSDK Version ########
 # 自研地图
 MAP_SDK_VERSION=2.10.0.9
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index 4fbde4e724..e32a91efa3 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -6,7 +6,7 @@ import "geometry.proto";
 enum ProtocolVersion
 {
     Defaultver = 0;
-    CurrentVersion = 10; //每次修改proto文件增加1
+    CurrentVersion = 12; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -30,6 +30,7 @@ enum MessageType
     MsgTypeOBU = 0x1000a; //OBU
     MsgTypeChassisStates = 0x1000b; //重构后的底盘状态, 透传
     MsgTypeFunctionStates = 0x1000c; //重构后的功能状态, 透传
+    MsgTypeBackCameraVideo = 0x1000d; //清扫车后部摄像头视频 10hz
 
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
     MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -60,6 +61,7 @@ enum MessageType
     MsgTypeTripInfoEvent = 0x1011a; //行程信息
     MsgTypeBagManagerCmd = 0x1011b; //bag管理
     MsgTypePlanningCmd = 0x1011c; //给planning的指令
+    MsgTypeSetParamReqV2 = 0x1011d; //设置参数命令V2
 }
 
 message Header
@@ -139,9 +141,16 @@ message TrackedObject
     string strUuid = 101;//String类型车辆ID
 }
 
+message BlindAreaData
+{
+    float angleResolution = 1;
+    repeated int32 distances = 2;
+}
+
 message TrackedObjects
 {
     repeated TrackedObject objs = 1;
+    BlindAreaData blindAreaData = 2;
 }
 
 // message definition for MsgTypeGnssInfo
@@ -598,4 +607,8 @@ message PlanningCmd
     PullOverCmd pullOverCmd = 1;
 }
 
+//message definition for MsgTypeSetParamReqV2
+//refer to param_set_cmd.proto for details
 
+//message definition for MsgTypeBackCameraVideo
+//payload:jpeg data 
diff --git a/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto b/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto
new file mode 100644
index 0000000000..1524e30c31
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/param_set_cmd.proto
@@ -0,0 +1,20 @@
+syntax = "proto3";
+package mogo.telematics;
+
+enum ParamSetType 
+{
+    ParamSetTypeNone = 0;
+    ParamSetTypeBlindArea = 1;
+}
+
+message ParamSetCmd
+{
+    uint32 src = 1; // 0: none, 1:pad, 2:aicloud
+    ParamSetType type = 2;
+    oneof Value {
+        bool boolValue = 3;
+        int64 intValue = 4;
+        double floatValue = 5;
+        string stringValue = 6;
+    }
+}
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 b174d75da2..2c78bb7471 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
@@ -21,7 +21,6 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
 import com.google.protobuf.InvalidProtocolBufferException;
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.bean.VersionCompatibility;
 import com.zhidao.support.adas.high.common.AutopilotReview;
 import com.zhidao.support.adas.high.common.ByteUtil;
@@ -45,6 +44,7 @@ import com.zhidao.support.adas.high.socket.FpgaSocket;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterface;
 import com.zhidao.support.adas.high.subscribe.SubscribeInterfaceOptions;
 import com.zhidao.support.adas.high.thread.DispatchHandler;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhjt.service.chain.ChainLog;
 import com.zhjt.service.chain.TracingConstants;
 
@@ -251,7 +251,8 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypeRecordDataConfigResp, new DispatchHandler(MessagePad.MessageType.MsgTypeRecordDataConfigResp, this));
         //Planning决策状态
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypePlanningDecisionState, new DispatchHandler(MessagePad.MessageType.MsgTypePlanningDecisionState, this));
-
+        //清扫车后摄像头数据
+        dispatchHandlers.put(MessagePad.MessageType.MsgTypeBackCameraVideo, new DispatchHandler(MessagePad.MessageType.MsgTypeBackCameraVideo, this));
     }
 
     /**
@@ -446,32 +447,17 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
     public void onDispatchRaw(MessagePad.MessageType type, RawData raw) {
 //        CupidLogUtils.i(TAG, "onDispatchRaw=" + Thread.currentThread().getName() + " TID=" + android.os.Process.myTid());
         try {
-            //分发点云原始数据
-            if (type == MessagePad.MessageType.MsgTypePointCloud) {
-                int len = raw.getPackageLengthValue() - raw.getOffsetValue();
-                byte[] bytes = new byte[len];
-                System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
-                calculateTimeConsumingOnDispatchRaw("3D点云", raw.receiveTime);
-                long nowTime = 0;
-                if (CupidLogUtils.isEnableLog())
-                    nowTime = SystemClock.elapsedRealtime();
-                mAdasListener.onPointCloud(bytes);
-                calculateTimeConsumingBusiness("3D点云", nowTime);
-            } else {
-                if (rawUnpack != null) {
-                    if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
-                        MessagePad.Header header = raw.getHeader();
-                        MessagePad.MessageType messageType = header.getMsgType();
-                        IMsg iMsg = myMessageFactory.createMessage(messageType);
-                        if (iMsg == null) {
-                            callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
-                            return;
-                        }
-                        iMsg.handlerMsg(raw, mAdasListener);
-                    } else {
-                        callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
-                    }
+            if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
+                MessagePad.Header header = raw.getHeader();
+                MessagePad.MessageType messageType = header.getMsgType();
+                IMsg iMsg = myMessageFactory.createMessage(messageType);
+                if (iMsg == null) {
+                    callError(ProtocolStatus.MESSAGE_TYPE_UNKNOWN, raw.originalData.toByteArray());
+                    return;
                 }
+                iMsg.handlerMsg(raw, mAdasListener);
+            } else {
+                callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
             }
         } catch (Exception e) {
             callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
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 8a5318bf1e..a979279247 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
@@ -1,15 +1,16 @@
 package com.zhidao.support.adas.high;
 
 import com.mogo.support.obu.ObuScene;
-import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
+import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
+
+import org.jetbrains.annotations.NotNull;
 
 import bag_manager.BagManagerOuterClass;
 import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
-import mogo.v2x.ObuWarningEvent;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
@@ -108,9 +109,10 @@ public interface OnAdasListener {
     /**
      * 透传的点云数据
      *
+     * @param header     头
      * @param pointCloud 原始数据 只包含PointCloud数据
      */
-    void onPointCloud(byte[] pointCloud);
+    void onPointCloud(MessagePad.Header header, byte[] pointCloud);
 
     /**
      * planning障碍物
@@ -231,10 +233,18 @@ public interface OnAdasListener {
      * 重构后的功能状态
      *
      * @param header         头
-     * @param functionStates 头
+     * @param functionStates 数据
      */
     void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates);
 
+    /**
+     * 清扫车后部摄像头视频 10Hz
+     *
+     * @param header 头
+     * @param data   数据
+     */
+    void onBackCameraVideo(@NotNull MessagePad.Header header, @NotNull byte[] data);
+
     /**
      * 清扫车指标数据
      *
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
index 92f1d31659..fdeb95356d 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -25,6 +25,7 @@ public enum MessageType {
     TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
     TYPE_RECEIVE_CHASSIS_STATES(MessagePad.MessageType.MsgTypeChassisStates, "底盘状态"),
     TYPE_RECEIVE_FUNCTION_STATES(MessagePad.MessageType.MsgTypeFunctionStates, "重构后功能状态"),
+    TYPE_RECEIVE_BACK_CAMERA_VIDEO(MessagePad.MessageType.MsgTypeBackCameraVideo, "清扫车后摄像头"),
 
     TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
     TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
new file mode 100644
index 0000000000..835597daff
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/BackCameraVideoMessage.java
@@ -0,0 +1,33 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+/**
+ * 清扫车后摄像头
+ */
+public class BackCameraVideoMessage extends MyAbstractMessageHandler {
+
+    public BackCameraVideoMessage() {
+    }
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        int len = raw.getPackageLengthValue() - raw.getOffsetValue();
+        byte[] data = new byte[len];
+        System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("清扫车后摄像头", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onBackCameraVideo(raw.getHeader(), data);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("清扫车后摄像头", nowTime);
+    }
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
index 11ec50a301..1597921140 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
@@ -36,6 +36,8 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg functionStatesMessage;//重构后的功能状态
     private IMsg sweeperTaskIndexDataMessage;//清扫车指标数据
     private IMsg bagManagerMessage;//Bag管理应答
+    private IMsg backCameraVideoMessage;//清扫车后摄像头
+    private IMsg pointCloudMessage;//3D点云
 
     private final AutopilotReview autopilotReview;
 
@@ -99,6 +101,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 predictionObstacleTrajectoryMessage = new PredictionObstacleTrajectoryMessage();
             }
             return predictionObstacleTrajectoryMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_POINT_CLOUD.typeCode) {
+            //3D点云
+            if (pointCloudMessage == null) {
+                pointCloudMessage = new PointCloudMessage();
+            }
+            return pointCloudMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.typeCode) {
             //planning障碍物
             if (planningObjectsMessage == null) {
@@ -183,6 +191,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 bagManagerMessage = new BagManagerMessage();
             }
             return bagManagerMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_BACK_CAMERA_VIDEO.typeCode) {
+            //清扫车后摄像头
+            if (backCameraVideoMessage == null) {
+                backCameraVideoMessage = new BackCameraVideoMessage();
+            }
+            return backCameraVideoMessage;
         } else {
             //MessageType.TYPE_DEFAULT.typeCode
             return null;
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
new file mode 100644
index 0000000000..b2a80cf4bb
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
@@ -0,0 +1,34 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+/**
+ * 3D点云原始数据
+ */
+public class PointCloudMessage extends MyAbstractMessageHandler {
+
+    public PointCloudMessage() {
+    }
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        int len = raw.getPackageLengthValue() - raw.getOffsetValue();
+        byte[] data = new byte[len];
+        System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), data, 0, len);
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("3D点云", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onPointCloud(raw.getHeader(), data);
+
+        }
+        AdasChannel.calculateTimeConsumingBusiness("3D点云", nowTime);
+    }
+}
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
index 5692ae6ac3..c9cd8b2ffb 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -120,6 +120,9 @@ public class AMapWrapper implements IMogoMap {
         if (!checkAMap()) {
             return;
         }
+        if(optionsArrayList == null || optionsArrayList.size() == 0){
+            return;
+        }
         ArrayList<MarkerSimpleData> markerOptionsArrayList = new ArrayList<>();
         optionsArrayList.forEach((s, trackedObject) -> {
             MarkerSimpleData markerOptions = ObjectUtils.fromTrafficData(trackedObject);
@@ -127,6 +130,9 @@ public class AMapWrapper implements IMogoMap {
                 markerOptionsArrayList.add(markerOptions);
             }
         });
+        if(markerOptionsArrayList.size() == 0){
+            return;
+        }
         long time = markerOptionsArrayList.get(0).getTime();
         MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, FunctionBuildConfig.isBeautyMode ? 8.0f : 0f, 1, time, 1);
     }
diff --git a/tts/tts-pad/src/main/java/com/mogo/tts/pad/PadTTS.java b/tts/tts-pad/src/main/java/com/mogo/tts/pad/PadTTS.java
index 382f00303a..707876c9b1 100644
--- a/tts/tts-pad/src/main/java/com/mogo/tts/pad/PadTTS.java
+++ b/tts/tts-pad/src/main/java/com/mogo/tts/pad/PadTTS.java
@@ -29,6 +29,8 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.tts.base.IMogoTTS;
 import com.mogo.tts.base.IMogoTTSCallback;
+import com.mogo.tts.base.LangTtsEntity;
+import com.mogo.tts.base.LanguageType;
 import com.mogo.tts.base.MultiLangTtsEntity;
 import com.mogo.tts.base.PreemptType;
 import com.zhidao.auto.platform.voice.VoiceClient;
@@ -443,9 +445,11 @@ public class PadTTS implements IMogoTTS, VoiceClient.VoiceCmdCallBack, OnTtsList
     @MainThread
     public void speakTTSVoiceWithLevel(String text, int ttsLevel, IMogoTTSCallback callBack) {
         if (mHasAuth && mEngine != null) {
-            mSpeakVoiceMap.put(text, callBack);
+            if (callBack != null) {
+                mSpeakVoiceMap.put(text, callBack);
+            }
+            speakTTSVoiceWithLevel(text, ttsLevel);
         }
-        speakTTSVoiceWithLevel(text, ttsLevel);
     }
 
     // 降序插入Tts(目前Level0、1可排队)
@@ -508,7 +512,15 @@ public class PadTTS implements IMogoTTS, VoiceClient.VoiceCmdCallBack, OnTtsList
 
     @Override
     public void speakMultiLangTTSWithLevel(MultiLangTtsEntity ttsEntity, int level, IMogoTTSCallback callback) {
-
+        if (mHasAuth && mEngine != null) {
+            LangTtsEntity entity;
+            if ((entity = ttsEntity.ttsNext()) != null && entity.getLanguage() == LanguageType.CHINESE) {
+                if (callback != null) {
+                    mSpeakVoiceMap.put(entity.getTtsContent(), callback);
+                }
+                speakTTSVoiceWithLevel(entity.getTtsContent(), level);
+            }
+        }
     }
 
     /**