diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index 3c5e6e5711..d8663faa7a 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -1,14 +1,11 @@
 package com.mogo.och.sweeper.fragment;
 
-import android.content.Intent;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
-import android.widget.LinearLayout;
-import android.widget.RelativeLayout;
 
-import com.mogo.commons.debug.DebugConfig;
+import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
@@ -17,12 +14,13 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
-import com.mogo.map.MogoMapUIController;
 import com.mogo.map.listener.IMogoMapListener;
+import com.mogo.map.listener.MogoMapListenerHandler;
+import com.mogo.map.marker.IMogoMarkerManager;
+import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
-import com.mogo.module.common.MogoApisHandler;
 import com.mogo.och.sweeper.R;
 import com.mogo.och.sweeper.ui.SweeperOperatePanelView;
 import com.mogo.och.sweeper.view.SweeperCurrentTaskInfoView;
@@ -109,13 +107,17 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     }
 
     private void updateSwitchMapIcon() {
-        if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isLongSight()) {
-            mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_long);
-        } else if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isMediumSight()) {
-            mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_medium);
-        } else {
-            mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_medium);
+        IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
+        if (controller!=null){
+            if (controller.getCurrentMapVisualAngle().isLongSight()) {
+                mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_long);
+            } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
+                mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_medium);
+            } else {
+                mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_medium);
+            }
         }
+
     }
 
     @Override
@@ -127,7 +129,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     }
 
     private void initListener() {
-        MogoApisHandler.getInstance().getApis().getRegisterCenterApi().registerMogoMapListener(TYPE_ENTRANCE, this);
+        MogoMapListenerHandler.Companion.getMogoMapListenerHandler().registerHostMapListener(TAG, this);
         //清扫模式选择面板打开关闭处理
         mClWorkMode.setOnClickListener(v -> {
             if (mOperatePanel.getVisibility() == View.VISIBLE) {
@@ -218,7 +220,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     @Override
     public void onDestroy() {
         super.onDestroy();
-        MogoApisHandler.getInstance().getApis().getRegisterCenterApi().unregisterMogoMapListener(TYPE_ENTRANCE);
+        MogoMapListenerHandler.Companion.getMogoMapListenerHandler().unregisterHostMapListener(TAG);
     }
 
     @Override
@@ -255,23 +257,27 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mSwitchMapModeLayout.setOnClickListener(new OnPreventFastClickListener() {
             @Override
             public void onClickImpl(View v) {
-                //切换地图的远近视图
-                if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isLongSight()) {
-                    // 2.11.0去掉
+                IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
+                IMogoMarkerManager markerManager = CallerMapUIServiceManager.INSTANCE.getMarkerManager(AbsMogoApplication.getApp());
+                if (controller != null && markerManager != null) {
+                    //切换地图的远近视图
+                    if (controller.getCurrentMapVisualAngle().isLongSight()) {
+                        // 2.11.0去掉
 //                    MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
-                    MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                    mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_medium);
-                } else if (MogoMapUIController.getInstance().getCurrentMapVisualAngle().isMediumSight()) {
-                    // 2.11.0去掉
+                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                        mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_medium);
+                    } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
+                        // 2.11.0去掉
 //                    MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
 //                            .inVisibleWithoutMarkers(DataTypes.TYPE_MARKER_ADAS, BusConst.TYPE_MARKER_BUS_ORDER);
-                    MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
-                    mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_long);
-                } else {
-                    // 2.11.0去掉
+                        controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
+                        mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_long);
+                    } else {
+                        // 2.11.0去掉
 //                    MogoMarkerManager.getInstance(AbsMogoApplication.getApp()).visibleAllMarkers();
-                    MogoMapUIController.getInstance().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
-                    mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_long);
+                        controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
+                        mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_long);
+                    }
                 }
             }
         });
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/listener/FuTianVehicleStateListener.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/listener/FuTianVehicleStateListener.java
deleted file mode 100644
index f4a512a3f3..0000000000
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/listener/FuTianVehicleStateListener.java
+++ /dev/null
@@ -1,41 +0,0 @@
-package com.mogo.och.sweeper.listener;
-
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener;
-
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-import chassis.Chassis;
-
-public abstract class FuTianVehicleStateListener implements IMoGoAutopilotVehicleStateListener{
-    @Override
-    public void onAutopilotLightSwitchData(@Nullable Chassis.LightSwitch lightSwitch) {
-
-    }
-    @Override
-    public void onAutopilotBrakeLightData(boolean brakeLight) {
-
-    }
-    @Override
-    public void onAutopilotSteeringData(float steering) {
-
-    }
-    @Override
-    public void onAutopilotGearData(@NonNull Chassis.GearPosition gear) {
-
-    }
-    @Override
-    public void onAutopilotAcc(float carAcc) {
-
-    }
-    @Override
-    public void onAutopilotThrottle(float throttle) {
-
-    }
-    @Override
-    public void onAutopilotBrake(float brake) {
-
-    }
-    @Override
-    public void onAutopilotDataException(long timestamp) {
-    }
-}
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
index b83891b903..65d2a83c5b 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/SweeperTrafficDataView.kt
@@ -20,17 +20,17 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.och.sweeper.R
 import planning.RoboSweeperTaskIndexOuterClass
-import kotlin.math.abs
 
+/**
+ * 车辆基本信息：方向盘下方的档位 转向灯 限速 速度 电量 水量
+ */
 class SweeperTrafficDataView : ConstraintLayout,
     IMoGoBatteryManagementSystemListener,
     IMoGoChassisLamplightListener,
-    IMoGoChassisSteeringStateListener,
-    IMoGoChassisThrottleStateListener,
     IMoGoChassisGearStateListener,
     IMoGoSweeperFutianCleanSystemListener
 {
-    private var tapPositionView //方向盘
+    private var tapPositionView //方向盘下方的档位
             : TapPositionView? = null
     private var speedImage //速度图标
             : ImageView? = null
@@ -49,6 +49,8 @@ class SweeperTrafficDataView : ConstraintLayout,
     private var trafficLight //红绿灯
             : SweeperTrafficLightView? = null
 
+    private val TAG = "SweeperTrafficDataView"
+
     constructor(context: Context) : super(context) {}
     constructor(context: Context, attrs: AttributeSet?) : super(context, attrs) {
         initView(context)
@@ -73,10 +75,8 @@ class SweeperTrafficDataView : ConstraintLayout,
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
         CallerBatteryManagementSystemListenerManager.addListener(TAG, this)
-        CallerChassisSteeringStateListenerManager.addListener(TAG, this)
         CallerChassisLamplightListenerManager.addListener(TAG, this)
         CallerChassisGearStateListenerManager.addListener(TAG, this)
-        CallerChassisThrottleStateListenerManager.addListener(TAG, this)
         CallerSweeperFutianCleanSystemListenerManager.addListener(TAG, this)
         //增加限速监听
         CallLimitingVelocityListenerManager.addListener(TAG, limitingVelocityListener)
@@ -109,11 +109,6 @@ class SweeperTrafficDataView : ConstraintLayout,
     override fun onBatteryManagementSystemStates(states: BMSSystemStates) {
         tvBattery?.text = String.format("%s%", states.bmsSoc)
     }
-
-    override fun onAutopilotThrottle(throttle: Float) {
-
-    }
-
     /**
      * 车辆转向灯
      * @param lightSwitch
@@ -139,22 +134,8 @@ class SweeperTrafficDataView : ConstraintLayout,
     override fun onAutopilotBrakeLightData(brakeLight: Boolean) {
         d(TAG, "刹车灯:$brakeLight")
     }
-
     /**
-     * 方向盘转向角 左+右-
-     * @param steering
-     */
-    override fun onAutopilotSteeringData(steering: Float) {
-        var steering = steering
-        d(TAG, "steering原始值====$steering")
-        if (abs(steering) < 1) {
-            steering = 0f
-        }
-        d(TAG, "steering忽略小数点后====" + steering.toInt())
-    }
-
-    /**
-     * 档位
+     * 方向盘下方的档位
      * @param gear
      */
     override fun onAutopilotGearData(gear: GearPosition) {
@@ -181,8 +162,4 @@ class SweeperTrafficDataView : ConstraintLayout,
         speedTextView?.text = newSpeed.toString()
         speedImage?.setBackgroundResource(if (newSpeed > 60) R.drawable.sweeper_traffic_data_speed_warning else R.drawable.sweeper_bg_traffic_data_speed)
     }
-
-    companion object {
-        private const val TAG = "SweeperTrafficDataView"
-    }
 }
\ No newline at end of file