Merge branch 'qa_hengyang_base' of http://gitlab.zhidaoauto.com/ecos/yycp-service/Launcher into qa_hengyang_base

2021-06-21 16:38:09 +08:00
parent 0e690d8b1c ea4c58e9b5
commit f6d23fa7c5
59 changed files with 934 additions and 241 deletions
--- a/.idea/runConfigurations.xml
+++ b/.idea/runConfigurations.xml
@@ -3,6 +3,7 @@
  <component name="RunConfigurationProducerService">
    <option name="ignoredProducers">
      <set>
+        <option value="com.android.tools.idea.compose.preview.runconfiguration.ComposePreviewRunConfigurationProducer" />
        <option value="org.jetbrains.plugins.gradle.execution.test.runner.AllInPackageGradleConfigurationProducer" />
        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestClassGradleConfigurationProducer" />
        <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestMethodGradleConfigurationProducer" />
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
@@ -221,7 +221,7 @@ public class OchBusFragment extends BaseOchFragment< OchBusFragment, OchBusPrese
        isOperationStatus = launch;
        if ( launch ) {
            tvOperationStatus.setText( "收车" );
-            showSlidePanle("滑动出发");
+//            showSlidePanle("滑动出发");
            showPanel();
        } else {
            AIAssist.getInstance(getContext()).speakTTSVoice("已收车");
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/IOperationChangedListener.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/IOperationChangedListener.java
@@ -0,0 +1,6 @@
+package com.mogo.och.taxi;
+
+public interface IOperationChangedListener {
+    void onOperationChanged(boolean launch);
+    void onOrderStatusChanged(int status);
+}
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxi.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxi.java
@@ -8,7 +8,10 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.och.IMogoOCH;
 import com.mogo.och.OCHConstants;
+import com.mogo.och.taxi.ui.OCHTaxiFragment;
 import com.mogo.och.taxi.ui.OCHTaxiUiController;
+import com.mogo.service.statusmanager.IMogoStatusChangedListener;
+import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.UiThreadHandler;
 import com.mogo.utils.logger.Logger;

@@ -20,13 +23,17 @@ public
 * 网约车-出租车
 */
@Route( path = OCHConstants.PATH )
-class MogoOCHTaxi implements IMogoOCH {
+class MogoOCHTaxi implements IMogoOCH , IMogoStatusChangedListener {

    private static final String TAG = "MogoOCHTaxi";
-
+    private OCHTaxiFragment ochTaxiFragment;
+    private FragmentActivity mActivity;
+    private int mContainerId;
    @Override
    public void init( FragmentActivity activity, int containerId ) {
-        MogoOCHTaxiModel.getInstance().init( activity.getApplicationContext() );
+        this.mActivity = activity;
+        this.mContainerId = containerId;
+//        MogoOCHTaxiModel.getInstance().init( activity.getApplicationContext() );
        OCHTaxiUiController.getInstance().init( activity, containerId );

        UiThreadHandler.postDelayed( () -> {
@@ -38,5 +45,36 @@ class MogoOCHTaxi implements IMogoOCH {
    @Override
    public void init( Context context ) {
        Logger.d( TAG, "init" );
+        MogoApisHandler.getInstance().getApis().getStatusManagerApi().registerStatusChangedListener("ochTaxi", StatusDescriptor.VR_MODE,this);
+        MogoApisHandler.getInstance().getApis().getStatusManagerApi().registerStatusChangedListener("ochTaxi", StatusDescriptor.TOP_VIEW,this);
+    }
+
+    private void showFragment() {
+        if (ochTaxiFragment == null) {
+            Logger.d(TAG, "准备add fragment======");
+            ochTaxiFragment = new OCHTaxiFragment();
+            mActivity.getSupportFragmentManager().beginTransaction().add(mContainerId, ochTaxiFragment).commit();
+            return;
+        }
+        Logger.d(TAG, "准备show fragment");
+        mActivity.getSupportFragmentManager().beginTransaction().show(ochTaxiFragment).commit();
+    }
+
+    private void hideFragment(){
+        if (ochTaxiFragment != null){
+            mActivity.getSupportFragmentManager().beginTransaction().hide(ochTaxiFragment).commit();
+        }
+    }
+
+    @Override
+    public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
+        if (descriptor == StatusDescriptor.VR_MODE){
+            if (isTrue){
+                showFragment();
+                MogoOCHTaxiModel.getInstance().init( mActivity.getApplicationContext() );
+            }else {
+                hideFragment();
+            }
+        }
    }
 }
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/MogoOCHTaxiModel.java
@@ -5,12 +5,12 @@ import android.content.Intent;
 import android.location.Location;
 import android.net.ConnectivityManager;
 import android.text.TextUtils;
+import android.util.Log;

 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.data.BaseData;
 import com.mogo.commons.network.SubscribeImpl;
-import com.mogo.commons.network.Utils;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
@@ -93,16 +93,18 @@ class MogoOCHTaxiModel {
     */
    private boolean mIsArriveAtEndStation = false;

-    /**
-     * 乘客已到达上车站点
-     */
-    private boolean mIsUserArriveAtStartStation = false;
+//    /**
+//     * 乘客已到达上车站点
+//     */
+//    private boolean mIsUserArriveAtStartStation = false;

    /**
     * 查询订单信息重试次数
     */
    private int mRetryCounter = 0;

+    private int mOCHRHCarstatus = -1;
+
    private Object readResolve() {
        // 阻止反序列化，必须实现 Serializable 接口
        return sInstance;
@@ -111,6 +113,9 @@ class MogoOCHTaxiModel {
    public void init( Context context ) {
        mContext = context.getApplicationContext();

+        if (mOCHTaxiServiceApi == null){
+            mOCHTaxiServiceApi = MogoApisHandler.getInstance().getApis().getNetworkApi().create(OCHTaxiServiceApi.class, HostConst.OCH_DOMAIN);
+        }
        MogoApisHandler.getInstance()
                .getApis()
                .getSocketManagerApi( context )
@@ -130,6 +135,46 @@ class MogoOCHTaxiModel {
        if ( NetworkUtils.isConnected( mContext ) ) {
            restoreOrderInfo();
        }
+        if ( NetworkUtils.isConnected( mContext ) ) {
+            querryCarStatus();
+        }
+    }
+
+    public void querryCarStatus() {
+        mOCHTaxiServiceApi.queryCarStatus( new OCHCarStatus (MoGoAiCloudClientConfig.getInstance().getSn(),0))
+                .subscribeOn(Schedulers.io())
+                .observeOn( AndroidSchedulers.mainThread() )
+                .subscribe( new SubscribeImpl< OCHCarStatusResponse >(RequestOptions.create(mContext)) {
+                    @Override
+                    public void onSuccess(OCHCarStatusResponse data) {
+                        super.onSuccess(data);
+                        Logger.e(TAG,"OCHCarStatusResponse:"+data.data.status);
+                        mOCHRHCarstatus = data.data.status;
+                        //更新view
+                        OCHTaxiUiController.getInstance().onOperationChanged(mOCHRHCarstatus==1);
+                        //刷新数据
+                        updateData(mOCHRHCarstatus);
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                        Logger.e(TAG,"OCHCarStatusResponse:"+e.getMessage());
+                    }
+
+                    @Override
+                    public void onError(String message, int code) {
+                        super.onError(message,code);
+                        Logger.e(TAG,"OCHCarStatusResponse:"+message);
+                    }
+                });
+    }
+
+    public void updateData(int status){
+        if (status == 1){
+            //查询订单
+            restoreOrderInfo();
+        }
    }

    /**
@@ -141,6 +186,7 @@ class MogoOCHTaxiModel {
        if ( mCurrentOCHOrder == null ) {
            // 订单恢复
            String orderInfo = SharedPrefsMgr.getInstance( mContext ).getString( SP_KEY_OCH_TAXI_ORDER );
+            Logger.d(TAG,"restoreOrderInfo:"+orderInfo);
            if ( !TextUtils.isEmpty( orderInfo ) ) {
                mCurrentOCHOrder = GsonUtil.objectFromJson( orderInfo, OCHTaxiOrderResponse.class );
                if ( mCurrentOCHOrder == null ) {
@@ -158,6 +204,28 @@ class MogoOCHTaxiModel {
        }
    }

+//    private void restoreOrderInfo_() {
+//        Logger.d( TAG, "重新查询订单状态" );
+//        mRetryCounter = 0;
+//        if ( mCurrentOCHOrder == null ) {
+//            // 订单恢复
+//            String orderInfo = SharedPrefsMgr.getInstance( mContext ).getString( SP_KEY_OCH_TAXI_ORDER );
+//            if ( !TextUtils.isEmpty( orderInfo ) ) {
+//                mCurrentOCHOrder = GsonUtil.objectFromJson( orderInfo, OCHTaxiOrderResponse.class );
+//                if ( mCurrentOCHOrder == null ) {
+//                    // 解决本地没有缓存订单号的问题
+//                    query2RestoreOrderStatus( null );
+//                } else {
+//                    query2RestoreOrderStatus( mCurrentOCHOrder.orderNo );
+//                }
+//            } else {
+//                // 解决本地没有缓存订单号的问题
+//                query2RestoreOrderStatus( null );
+//            }
+//        } else {
+//            query2RestoreOrderStatus( mCurrentOCHOrder.orderNo );
+//        }
+//    }
    /**
     * 查询订单状态，来恢复旧订单（因crash导致应用重启、断网没收到推送等）状态
     * <p>
@@ -171,62 +239,65 @@ class MogoOCHTaxiModel {
     * @param orderNo
     */
    private void query2RestoreOrderStatus( String orderNo ) {
+        Logger.e(TAG,"query2RestoreOrderStatus:"+orderNo);
        queryOCHOrderStatus( orderNo, new OCHOrderStatusCallback< OCHTaxiOrderResponse2 >() {
            @Override
            public void onSuccess( OCHTaxiOrderResponse2 data ) {
-                if ( data == null || data.result == null ) {
+
+                if ( data == null || data.data == null ) {
                    Logger.d( TAG, "订单已取消或已完成" );
                    clearCurrentOCHOrder();
-                    OCHTaxiUiController.getInstance().removeFragment();
+                    OCHTaxiUiController.getInstance().onOrderStatusChanged(OCHOrderStatus.None.getCode());
                    return;
                }
                convertCurrentOrder( data );
-                OCHOrderStatus status = OCHOrderStatus.valueOf( data.result.orderDispatchType );
+                OCHOrderStatus status = OCHOrderStatus.valueOf( data.data.orderDispatchType );
+                OCHTaxiUiController.getInstance().onOrderStatusChanged(data.data.orderDispatchType);
                switch ( status ) {
                    case Completed:
                        TipToast.shortTip( mContext.getString( R.string.module_och_taxi_order_completed ) );
                        clearCurrentOCHOrder();
-                        OCHTaxiUiController.getInstance().removeFragment();
+//                        OCHTaxiUiController.getInstance().removeFragment();
                        break;
                    case Cancel:
                        TipToast.shortTip( mContext.getString( R.string.module_och_taxi_order_cancel ) );
                        clearCurrentOCHOrder();
-                        OCHTaxiUiController.getInstance().removeFragment();
+//                        OCHTaxiUiController.getInstance().removeFragment();
                        break;
                    case ArriveAtEndStation:
                        mIsArriveAtEndStation = true;
                        mIsArriveAtStartStation = false;
                        mIsOnTheWay2EndStation = false;
-                        mIsUserArriveAtStartStation = false;
-                        OCHTaxiUiController.getInstance().addFragment();
+//                        mIsUserArriveAtStartStation = false;
+//                        OCHTaxiUiController.getInstance().addFragment();
                        break;
                    case ArriveAtStartStation:
                        mIsArriveAtStartStation = true;
                        mIsArriveAtEndStation = false;
                        mIsOnTheWay2EndStation = false;
-                        mIsUserArriveAtStartStation = false;
-                        OCHTaxiUiController.getInstance().addFragment();
+//                        mIsUserArriveAtStartStation = false;
+//                        OCHTaxiUiController.getInstance().addFragment();
                        break;
                    case UserArriveAtStartStation:
                        mIsArriveAtStartStation = true;
                        mIsArriveAtEndStation = false;
                        mIsOnTheWay2EndStation = false;
-                        mIsUserArriveAtStartStation = true;
-                        OCHTaxiUiController.getInstance().addFragment();
+//                        mIsUserArriveAtStartStation = true;
+//                        OCHTaxiUiController.getInstance().addFragment();
                        break;
                    case OnTheWayToEndStation:
                        mIsArriveAtStartStation = false;
                        mIsArriveAtEndStation = false;
                        mIsOnTheWay2EndStation = true;
-                        mIsUserArriveAtStartStation = false;
-                        OCHTaxiUiController.getInstance().addFragment();
+//                        mIsUserArriveAtStartStation = false;
+//                        OCHTaxiUiController.getInstance().addFragment();
                        break;
                    case OnTheWayToStartStation:
                    default:
                        mIsArriveAtStartStation = false;
                        mIsArriveAtEndStation = false;
                        mIsOnTheWay2EndStation = false;
-                        mIsUserArriveAtStartStation = false;
+//                        mIsUserArriveAtStartStation = false;
                        mOrderMsgListener.onMsgReceived( mCurrentOCHOrder );
                        break;
                }
@@ -256,24 +327,24 @@ class MogoOCHTaxiModel {
        if ( mCurrentOCHOrder == null ) {
            mCurrentOCHOrder = new OCHTaxiOrderResponse();
        }
-        mCurrentOCHOrder.orderNo = data.result.orderNo;
-        mCurrentOCHOrder.orderDispatchType = data.result.orderDispatchType;
-        mCurrentOCHOrder.endStation = data.result.endStation;
-        mCurrentOCHOrder.startStation = data.result.startStation;
-        mCurrentOCHOrder.travelDistance = data.result.travelDistance;
-        mCurrentOCHOrder.orderType = data.result.orderType;
+        mCurrentOCHOrder.orderNo = data.data.orderNo;
+        mCurrentOCHOrder.orderDispatchType = data.data.orderDispatchType;
+        mCurrentOCHOrder.endStation = data.data.endStation;
+        mCurrentOCHOrder.startStation = data.data.startStation;
+        mCurrentOCHOrder.travelDistance = data.data.travelDistance;
+        mCurrentOCHOrder.orderType = data.data.orderType;
        mCurrentOCHOrder.drivingRoutes = new ArrayList<>();
        OCHTaxiOrderResponse.OCHTaxiStation startStation = new OCHTaxiOrderResponse.OCHTaxiStation();
-        startStation.lon = data.result.startStationCoordinate.get( 0 );
-        startStation.lat = data.result.startStationCoordinate.get( 1 );
-        startStation.siteId = data.result.startStationId;
-        startStation.siteName = data.result.startStation;
+        startStation.lon = data.data.startStationCoordinate.get( 0 );
+        startStation.lat = data.data.startStationCoordinate.get( 1 );
+        startStation.siteId = data.data.startStationId;
+        startStation.siteName = data.data.startStation;
        mCurrentOCHOrder.drivingRoutes.add( startStation );
        OCHTaxiOrderResponse.OCHTaxiStation endStation = new OCHTaxiOrderResponse.OCHTaxiStation();
-        endStation.lon = data.result.endStationCoordinate.get( 0 );
-        endStation.lat = data.result.endStationCoordinate.get( 1 );
-        endStation.siteId = data.result.endStationId;
-        endStation.siteName = data.result.endStation;
+        endStation.lon = data.data.endStationCoordinate.get( 0 );
+        endStation.lat = data.data.endStationCoordinate.get( 1 );
+        endStation.siteId = data.data.endStationId;
+        endStation.siteName = data.data.endStation;
        mCurrentOCHOrder.drivingRoutes.add( endStation );

        cacheOrderInfo2Native( mCurrentOCHOrder );
@@ -294,6 +365,47 @@ class MogoOCHTaxiModel {
        }
    };

+    public void changedOperationStatus() {
+        if ( mOCHRHCarstatus == -1){
+            querryCarStatus();
+            return;
+        }
+
+        if (checkCurrentOCHOrder()){
+            TipToast.shortTip( "订单未完成,无法下线收车" );
+            return;
+        }
+
+        int status = mOCHRHCarstatus == 1 ? 0 : 1;
+        mOCHTaxiServiceApi.updateCarStatus(new OCHCarStatus(MoGoAiCloudClientConfig.getInstance().getSn(),status))
+                .subscribeOn(Schedulers.io())
+                .observeOn( AndroidSchedulers.mainThread() )
+                .subscribe( new SubscribeImpl< OCHCarStatusResponse >(RequestOptions.create(mContext)) {
+                    @Override
+                    public void onSuccess(OCHCarStatusResponse o) {
+                        super.onSuccess(o);
+                        mOCHRHCarstatus = o.data.status;
+//                        mIsWork = mOCHRHCarstatus.status == 1;
+//                        mOCHRHCarstatus.status = status;
+                        OCHTaxiUiController.getInstance().onOperationChanged(mOCHRHCarstatus == 1);
+                        updateData(mOCHRHCarstatus);
+                        Logger.d(TAG,"changeCarStatus:"+status);
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                        Logger.d(TAG,"changeCarStatus:"+e.getMessage());
+                    }
+
+                    @Override
+                    public void onError(String message, int code) {
+                        super.onError(message, code);
+                        Logger.d(TAG,"changeCarStatus:"+message);
+                    }
+                });
+    }
+
    /**
     * 自车定位
     */
@@ -301,12 +413,12 @@ class MogoOCHTaxiModel {

        @Override
        public void onCarLocationChanged2( Location location ) {
-            Logger.d( TAG, "定位已判断是否达到上车站点: 起点(%s, %s), 当前位置(%s, %s)",
-                    mCurrentOCHOrder.drivingRoutes.get( 0 ).lon,
-                    mCurrentOCHOrder.drivingRoutes.get( 0 ).lat,
-                    location.getLongitude(),
-                    location.getLatitude()
-            );
+//            Logger.d( TAG, "定位已判断是否达到上车站点: 起点(%s, %s), 当前位置(%s, %s)",
+//                    mCurrentOCHOrder.drivingRoutes.get( 0 ).lon,
+//                    mCurrentOCHOrder.drivingRoutes.get( 0 ).lat,
+//                    location.getLongitude(),
+//                    location.getLatitude()
+//            );
            onLocationChanged( location );
        }

@@ -331,9 +443,9 @@ class MogoOCHTaxiModel {
        if ( mIsArriveAtStartStation ) {
            return;
        }
-        if ( mIsUserArriveAtStartStation ) {
-            return;
-        }
+//        if ( mIsUserArriveAtStartStation ) {
+//            return;
+//        }
        judgeStartStation( location );
    }

@@ -392,14 +504,14 @@ class MogoOCHTaxiModel {
        return mIsArriveAtEndStation;
    }

-    /**
-     * 用户是否达到上车站点
-     *
-     * @return
-     */
-    public boolean isUserArriveAtStartStation() {
-        return mIsUserArriveAtStartStation;
-    }
+//    /**
+//     * 用户是否达到上车站点
+//     *
+//     * @return
+//     */
+//    public boolean isUserArriveAtStartStation() {
+//        return mIsUserArriveAtStartStation;
+//    }

    /**
     * 设置去往终点状态
@@ -446,7 +558,8 @@ class MogoOCHTaxiModel {
            if ( !isArriveAtStartStation() ) {
                registerCarLocationListener();
            }
-            OCHTaxiUiController.getInstance().addFragment();
+//            OCHTaxiUiController.getInstance().addFragment();
+            OCHTaxiUiController.getInstance().onOrderStatusChanged(mCurrentOCHOrder.orderDispatchType);
        }
    }

@@ -510,7 +623,7 @@ class MogoOCHTaxiModel {
                    break;
                case UserArriveAtStartStation:
                    mIsArriveAtStartStation = true;
-                    mIsUserArriveAtStartStation = true;
+//                    mIsUserArriveAtStartStation = true;
                    OCHTaxiUiController.getInstance().onUserArriveAtStartStation();
                    break;
                default:
@@ -576,11 +689,13 @@ class MogoOCHTaxiModel {
                        if ( callback != null ) {
                            callback.onError();
                        }
+                        Logger.e(TAG,"updateOCHOrderStatus:"+e.getMessage());
                    }

                    @Override
                    public void onError( String message, int code ) {
                        super.onError( message, code );
+                        Logger.e(TAG,"updateOCHOrderStatus:"+message);
                        if ( callback != null ) {
                            callback.onFail();
                        }
@@ -620,6 +735,7 @@ class MogoOCHTaxiModel {
                    @Override
                    public void onError( String message, int code ) {
                        super.onError( message, code );
+                        Logger.e("MogoOCHTaxi","queryOCHOrderStatus:"+message);
                        if ( callback != null ) {
                            callback.onFail();
                        }
@@ -635,7 +751,7 @@ class MogoOCHTaxiModel {
        mIsArriveAtStartStation = false;
        mIsArriveAtEndStation = false;
        mIsOnTheWay2EndStation = false;
-        mIsUserArriveAtStartStation = false;
+//        mIsUserArriveAtStartStation = false;
        SharedPrefsMgr.getInstance( mContext ).remove( SP_KEY_OCH_TAXI_ORDER );
    }

@@ -646,8 +762,7 @@ class MogoOCHTaxiModel {
     */
    public boolean checkCurrentOCHOrder() {
        if ( mCurrentOCHOrder != null
-                && mCurrentOCHOrder.drivingRoutes != null
-                && mCurrentOCHOrder.drivingRoutes.size() >= 2 ) {
+                && mCurrentOCHOrder.drivingRoutes != null) {
            return true;
        }
        return false;
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHCarStatus.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHCarStatus.java
@@ -0,0 +1,20 @@
+package com.mogo.och.taxi;
+
+import com.mogo.commons.data.BaseData;
+
+public
+/**
+ *
+ * 修改/查询网约车-出租车订单状态的数据结构
+ */
+class OCHCarStatus extends BaseData {
+
+    public String sn;// 不排除本地没有缓存订单号的情况
+    public int status; //0 收车 1出车
+
+    public OCHCarStatus(String sn,
+                        int status ) {
+        this.sn = sn;
+        this.status = status;
+    }
+}
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHCarStatusResponse.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHCarStatusResponse.java
@@ -0,0 +1,29 @@
+package com.mogo.och.taxi;
+
+import com.mogo.commons.data.BaseData;
+
+public
+/**
+ *
+ * 修改/查询网约车-出租车订单状态的数据结构
+ */
+class OCHCarStatusResponse extends BaseData {
+
+    public String sn;// 不排除本地没有缓存订单号的情况
+    public int status; //0 收车 1出车
+    public Result data;
+
+    public OCHCarStatusResponse(String sn,
+                                int status ) {
+        this.sn = sn;
+        this.status = status;
+    }
+    public static class Result{
+        public  int id;
+        public  String sn;
+        public  String areaCode;
+        public  String plateNumber;
+        public  int status;
+//        String remark;
+    }
+}
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHTaxiOrderResponse2.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHTaxiOrderResponse2.java
@@ -13,7 +13,7 @@ public
 */
 class OCHTaxiOrderResponse2 extends BaseData {

-    public Result result;
+    public Result data;

    public static class Result {
        public String _id;
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHTaxiServiceApi.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/OCHTaxiServiceApi.java
@@ -23,7 +23,7 @@ interface OCHTaxiServiceApi {
     * @return
     */
    @Headers( {"Content-type:application/json;charset=UTF-8"} )
-    @POST( "/yycp-onlinecar-hailing/onlineCarHailing/order/updateOCHOrder/v1" )
+    @POST( "/yycp-onlinecar-hailing/onlineCarHailing/order/updateOCHOrderState/v1" )
    Observable< BaseData > updateOrderStatus( @Body OCHTaxiOrderStatus status );

    /**
@@ -32,6 +32,20 @@ interface OCHTaxiServiceApi {
     * @return
     */
    @Headers( {"Content-type:application/json;charset=UTF-8"} )
-    @POST( "/yycp-onlinecar-hailing/onlineCarHailing/order/queryOCHOrderDetails/v1" )
+    @POST( "/yycp-onlinecar-hailing/onlineCarHailing/order/queryOrderForCar/v1" )
    Observable< OCHTaxiOrderResponse2 > queryOrder( @Body OCHTaxiOrderStatus status );
+    /**
+     * 查询网约车状态
+     */
+    @Headers({"Content-type:application/json;charset=UTF-8"})
+    @POST("/yycp-onlinecar-hailing/onlineCarHailing/order/queryTaxiCarStatus/v1")
+    Observable<OCHCarStatusResponse> queryCarStatus(@Body OCHCarStatus  sn );
+
+
+    /**
+     * 更新网约车状态
+     */
+    @Headers({"Content-type:application/json;charset=UTF-8"})
+    @POST("/yycp-onlinecar-hailing/onlineCarHailing/order/updateTaxiCarStatus/v1")
+    Observable<OCHCarStatusResponse> updateCarStatus(@Body OCHCarStatus status );
 }
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
@@ -8,12 +8,14 @@ import android.widget.TextView;
 import androidx.annotation.NonNull;

 import com.mogo.cloud.commons.utils.CoordinateUtils;
+import com.mogo.commons.voice.AIAssist;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.och.BaseOchFragment;
 import com.mogo.och.taxi.IMogoADASAutoPilotStatusChangedListener;
 import com.mogo.och.taxi.IMogoOCHTaxiArriveCallback;
+import com.mogo.och.taxi.IOperationChangedListener;
 import com.mogo.och.taxi.MogoOCHTaxiModel;
 import com.mogo.och.taxi.OCHOrderStatus;
 import com.mogo.och.taxi.OCHOrderStatusCallback;
@@ -35,6 +37,7 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
        IMogoStatusChangedListener,
        IMogoOCHTaxiArriveCallback,
        IMogoADASAutoPilotStatusChangedListener,
+        IOperationChangedListener,
        IMogoCarLocationChangedListener2 {

    public static final String TAG = "OCHTaxiFragment";
@@ -52,7 +55,6 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
    private TextView mStartStationName;
    private TextView mEndStationName;
    private TextView mDistance;
-
    @Override
    public int getStationPanelViewId() {
        return R.layout.module_och_taxi_panel;
@@ -62,6 +64,7 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
    public void restartAutopilot() {
        // 在自动驾驶中，才会有重新开启自动驾驶的操作
        if ( MogoOCHTaxiModel.getInstance().isOnTheWay2EndStation() ) {
+            Logger.d( TAG, "restartAutopilot" );
            MogoOCHTaxiModel.getInstance().startAutoPilot();
        }
    }
@@ -74,9 +77,11 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
        mEndStationName = findViewById( R.id.module_och_taxi_order_end_station );
        mDistance = findViewById( R.id.module_och_taxi_order_distance );

-        showPanel();
+//        showPanel();
+        hidPanel();
        initListeners();
-        updateOrderStatus();
+        // TODO: 2021/6/18 调整接口刷新时间
+//        updateOrderStatus();
        if ( MogoApisHandler.getInstance()
                .getApis()
                .getStatusManagerApi()
@@ -85,8 +90,8 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
        } else {
            flatMode();
        }
-        // 出租车不需要开启按钮
-        tvOperationStatus.setVisibility(View.GONE);
+
+        tvOperationStatus.setVisibility(View.VISIBLE);
    }

    private void initListeners() {
@@ -96,6 +101,7 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
                .registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, this );
        OCHTaxiUiController.getInstance().setOCHTaxiArriveCallback( this );
        OCHTaxiUiController.getInstance().setAutoPilotStatusChangedListener( this );
+        OCHTaxiUiController.getInstance().setOperationChangeListener(this);
        MogoApisHandler.getInstance()
                .getApis()
                .getRegisterCenterApi()
@@ -117,6 +123,12 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
        }
    }

+    @Override
+    protected void onChangeOperationStatus() {
+        super.onChangeOperationStatus();
+        MogoOCHTaxiModel.getInstance().changedOperationStatus();
+    }
+
    private void vrMode() {
        if ( mRootView != null ) {
            mRootView.setVisibility(
@@ -151,15 +163,17 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
        } else if ( MogoOCHTaxiModel.getInstance().isArriveAtStartStation() ) {
            Logger.d( TAG, "已经达到起点" );
            mOrderStatus.setText( R.string.module_och_taxi_waiting );
-            if ( MogoOCHTaxiModel.getInstance().isUserArriveAtStartStation() ) {
-                Logger.d( TAG, "乘客已上车" );
-                slidePanelView.setVisibility( View.VISIBLE );
-//                if ( MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus() == IMogoAdasOCHCallback.STATUS_AUTOPILOT_ENABLE ) {
-//                } else {
-//                    slidePanelView.setVisibility( View.GONE );
-//                }
-                slidePanelView.setText( getString( R.string.module_och_taxi_arrive_at_start_station ) );
-            }
+//            if ( MogoOCHTaxiModel.getInstance().isUserArriveAtStartStation() ) {
+//                Logger.d( TAG, "乘客已上车" );
+//                slidePanelView.setVisibility( View.VISIBLE );
+////                if ( MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus() == IMogoAdasOCHCallback.STATUS_AUTOPILOT_ENABLE ) {
+////                } else {
+////                    slidePanelView.setVisibility( View.GONE );
+////                }
+//                slidePanelView.setText( getString( R.string.module_och_taxi_arrive_at_start_station ) );
+//            }
+            slidePanelView.setVisibility( View.VISIBLE );
+            slidePanelView.setText( getString( R.string.module_och_taxi_arrive_at_start_station ) );
        } else if ( MogoOCHTaxiModel.getInstance().checkCurrentOCHOrder() ) {
            Logger.d( TAG, "去往上车站点" );
            slidePanelView.setVisibility( View.GONE );
@@ -247,6 +261,7 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
                .unregisterStatusChangedListener( TAG, StatusDescriptor.VR_MODE, this );
        OCHTaxiUiController.getInstance().setOCHTaxiArriveCallback( null );
        OCHTaxiUiController.getInstance().setAutoPilotStatusChangedListener( null );
+        OCHTaxiUiController.getInstance().setOperationChangeListener(null);
        MogoApisHandler.getInstance()
                .getApis()
                .getRegisterCenterApi()
@@ -269,7 +284,7 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
                    Logger.d( TAG, "更新状态成功" );
                    MogoOCHTaxiModel.getInstance().clearCurrentOCHOrder();
                    MogoOCHTaxiModel.getInstance().cancelAutopilot();
-                    OCHTaxiUiController.getInstance().removeFragment();
+                    OCHTaxiUiController.getInstance().onOrderStatusChanged(0);
                }

                @Override
@@ -284,8 +299,8 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
            } );
            return;
            // 乘客已确认到达起点，前往下一站并开启自动驾驶
-        } else if ( MogoOCHTaxiModel.getInstance().isUserArriveAtStartStation()
-                && !MogoOCHTaxiModel.getInstance().isOnTheWay2EndStation() ) {
+        } else if (  !MogoOCHTaxiModel.getInstance().isOnTheWay2EndStation() ) {
+//            MogoOCHTaxiModel.getInstance().isUserArriveAtStartStation() &&
            MogoOCHTaxiModel.getInstance().startAutoPilot();
        }
    }
@@ -367,4 +382,32 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
        }
        mLocation = location;
    }
+
+    @Override
+    public void onOperationChanged(boolean launch) {
+        isOperationStatus = launch;
+        if ( launch ) {
+            tvOperationStatus.setText( "收车" );
+//            showSlidePanle("滑动出发");
+//            showPanel();
+        } else {
+            AIAssist.getInstance(getContext()).speakTTSVoice("已收车");
+            tvOperationStatus.setText("出车");
+//            hideSlidePanel();
+//            hidPanel();
+        }
+//        changeLayoutViewStatus(launch);
+    }
+
+    private void changeLayoutViewStatus(boolean launch) {
+        getPanelView().setVisibility(launch ? View.VISIBLE : View.INVISIBLE);
+    }
+
+    @Override
+    public void onOrderStatusChanged(int status) {
+        getActivity().runOnUiThread(() -> {
+            getPanelView().setVisibility(status != 0 ? View.VISIBLE : View.INVISIBLE);
+            updateOrderStatus();
+        });
+    }
 }
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiUiController.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiUiController.java
@@ -10,6 +10,7 @@ import androidx.fragment.app.FragmentManager;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.och.taxi.IMogoADASAutoPilotStatusChangedListener;
 import com.mogo.och.taxi.IMogoOCHTaxiArriveCallback;
+import com.mogo.och.taxi.IOperationChangedListener;
 import com.mogo.och.taxi.MogoOCHTaxiModel;
 import com.mogo.utils.UiThreadHandler;
 import com.mogo.utils.logger.Logger;
@@ -31,6 +32,7 @@ class OCHTaxiUiController implements IMogoOCHTaxiArriveCallback, IMogoADASAutoPi

    private IMogoOCHTaxiArriveCallback mOCHTaxiArriveCallback;
    private IMogoADASAutoPilotStatusChangedListener mAutoPilotStatusChangedListener;
+    private IOperationChangedListener mOperationChangedLisnter;

    private OCHTaxiUiController() {
    }
@@ -101,6 +103,10 @@ class OCHTaxiUiController implements IMogoOCHTaxiArriveCallback, IMogoADASAutoPi
        this.mAutoPilotStatusChangedListener = autoPilotStatusChangedListener;
    }

+    public void setOperationChangeListener(IOperationChangedListener listener){
+        this.mOperationChangedLisnter = listener;
+    }
+
    @Override
    public void onTheWay2StartStation() {
        runOnUIThread( () -> {
@@ -167,6 +173,8 @@ class OCHTaxiUiController implements IMogoOCHTaxiArriveCallback, IMogoADASAutoPi
    }


+
+
    /**
     * 进入鹰眼模式，设置手势缩放地图失效
     */
@@ -178,4 +186,19 @@ class OCHTaxiUiController implements IMogoOCHTaxiArriveCallback, IMogoADASAutoPi
                .getMapUIController()
                .openVrMode( false );
    }
+
+    public void onOperationChanged(boolean b) {
+        runOnUIThread( () -> {
+            if (mOperationChangedLisnter != null){
+                mOperationChangedLisnter.onOperationChanged(b);
+            }
+        } );
+    }
+    public  void onOrderStatusChanged(int status){
+        runOnUIThread( () -> {
+            if (mOperationChangedLisnter != null){
+                mOperationChangedLisnter.onOrderStatusChanged(status);
+            }
+        } );
+    }
 }
--- a/OCH/mogo-och-taxi/src/main/res/layout/module_och_taxi_panel.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/module_och_taxi_panel.xml
@@ -2,6 +2,7 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
+    android:id="@+id/module_och_taxi_layoutview"
    android:layout_width="@dimen/module_mogo_och_autopilot_order_bg_width"
    android:layout_height="@dimen/module_mogo_och_autopilot_order_bg_height"
    android:orientation="vertical">
@@ -72,6 +73,7 @@
            android:layout_height="wrap_content"
            android:text="上车"
            android:textColor="@color/module_och_taxi_order_start_station_anchor_textColor"
+            android:layout_marginRight="@dimen/module_och_taxi_order_text_marginRight"
            android:textSize="@dimen/module_och_taxi_order_start_station_anchor_textSize"
            android:textStyle="bold"
            app:layout_constraintBottom_toBottomOf="@+id/module_och_taxi_order_start_station"
@@ -116,6 +118,7 @@
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="下车"
+            android:layout_marginRight="@dimen/module_och_taxi_order_text_marginRight"
            android:textColor="@color/module_och_taxi_order_end_station_anchor_textColor"
            android:textSize="@dimen/module_och_taxi_order_end_station_anchor_textSize"
            android:textStyle="bold"
--- a/OCH/mogo-och-taxi/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/OCH/mogo-och-taxi/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -5,7 +5,7 @@
    <dimen name="module_och_taxi_order_start_station_marginLeft">15px</dimen>
    <dimen name="module_och_taxi_order_status_marginLeft">25px</dimen>
    <dimen name="module_och_taxi_order_status_marginTop">25px</dimen>
-    <dimen name="module_och_taxi_order_status_textSize">20px</dimen>
+    <dimen name="module_och_taxi_order_status_textSize">32px</dimen>
    <dimen name="module_och_taxi_order_status_divider_height">1px</dimen>
    <dimen name="module_och_taxi_order_status_divider_marginLeft">20px</dimen>
    <dimen name="module_och_taxi_order_status_divider_marginTop">20px</dimen>
@@ -24,4 +24,5 @@
    <dimen name="module_och_taxi_order_distance_anchor_textSize">32px</dimen>
    <dimen name="module_och_taxi_order_distance_textSize">36px</dimen>
    <dimen name="module_och_taxi_order_distance_marginRight">17px</dimen>
+    <dimen name="module_och_taxi_order_text_marginRight">31.5px</dimen>
 </resources>
--- a/OCH/mogo-och-taxi/src/main/res/values/dimens.xml
+++ b/OCH/mogo-och-taxi/src/main/res/values/dimens.xml
@@ -24,4 +24,5 @@
    <dimen name="module_och_taxi_order_distance_anchor_textSize">20px</dimen>
    <dimen name="module_och_taxi_order_distance_textSize">24px</dimen>
    <dimen name="module_och_taxi_order_distance_marginRight">17px</dimen>
+    <dimen name="module_och_taxi_order_text_marginRight">22.5px</dimen>
 </resources>
--- a/OCH/mogo-och/src/main/java/com/mogo/och/view/SlidePanelView.java
+++ b/OCH/mogo-och/src/main/java/com/mogo/och/view/SlidePanelView.java
@@ -57,7 +57,7 @@ public class SlidePanelView extends View {
    private final Paint blockPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
    private final Paint textPaint = new Paint(Paint.ANTI_ALIAS_FLAG);

-    private static int textSize = 40;
+    private static int textSize = 67;
    private static int BLOCK_START_X = 15;
    private static int BLOCK_START_Y = 15;
    private static int NORMAL_TEXT_MARGIN_LEFT = 40;
--- a/OCH/mogo-och/src/main/res/drawable-xhdpi-2560x1440/module_mogo_och_autopilot_status_bg.xml
+++ b/OCH/mogo-och/src/main/res/drawable-xhdpi-2560x1440/module_mogo_och_autopilot_status_bg.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_checked="true">
+        <shape android:shape="rectangle">
+            <corners android:bottomLeftRadius="30px" android:bottomRightRadius="70px" android:topLeftRadius="70px" android:topRightRadius="30px" />
+            <gradient android:angle="315" android:endColor="#2B6EFF" android:startColor="#2B6EFF" />
+        </shape>
+    </item>
+    <item>
+        <shape android:shape="rectangle">
+            <corners android:bottomLeftRadius="30px" android:bottomRightRadius="70px" android:topLeftRadius="70px" android:topRightRadius="30px" />
+            <gradient android:angle="315" android:endColor="#3B4577" android:startColor="#3B4577" />
+        </shape>
+    </item>
+</selector>
+
--- a/OCH/mogo-och/src/main/res/drawable-xhdpi-2560x1440/module_och_base_slide_block.png
+++ b/OCH/mogo-och/src/main/res/drawable-xhdpi-2560x1440/module_och_base_slide_block.png
--- a/OCH/mogo-och/src/main/res/drawable-xhdpi-2560x1440/module_och_bus_ic_autopilot.png
+++ b/OCH/mogo-och/src/main/res/drawable-xhdpi-2560x1440/module_och_bus_ic_autopilot.png
--- a/OCH/mogo-och/src/main/res/drawable/module_mogo_och_autopilot_status_bg.xml
+++ b/OCH/mogo-och/src/main/res/drawable/module_mogo_och_autopilot_status_bg.xml
@@ -2,13 +2,13 @@
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
    <item android:state_checked="true">
        <shape android:shape="rectangle">
-            <corners android:bottomLeftRadius="20px" android:bottomRightRadius="45px" android:topLeftRadius="45px" android:topRightRadius="20px" />
+            <corners android:bottomLeftRadius="30px" android:bottomRightRadius="70px" android:topLeftRadius="70px" android:topRightRadius="30px" />
            <gradient android:angle="315" android:endColor="#2B6EFF" android:startColor="#2B6EFF" />
        </shape>
    </item>
    <item>
        <shape android:shape="rectangle">
-            <corners android:bottomLeftRadius="20px" android:bottomRightRadius="45px" android:topLeftRadius="45px" android:topRightRadius="20px" />
+            <corners android:bottomLeftRadius="30px" android:bottomRightRadius="70px" android:topLeftRadius="70px" android:topRightRadius="30px" />
            <gradient android:angle="315" android:endColor="#3B4577" android:startColor="#3B4577" />
        </shape>
    </item>
--- a/OCH/mogo-och/src/main/res/drawable/module_mogo_och_operation_status_bg.xml
+++ b/OCH/mogo-och/src/main/res/drawable/module_mogo_och_operation_status_bg.xml
@@ -1,10 +1,14 @@
 <?xml version="1.0" encoding="utf-8"?>
 <shape xmlns:android="http://schemas.android.com/apk/res/android"
-    android:shape="rectangle">
-    <corners android:radius="@dimen/module_mogo_och_autopilot_status_bg_corner" />
+    android:shape="oval">
+    <!--    <corners android:radius="@dimen/module_mogo_och_autopilot_status_bg_corner" />-->
    <gradient
        android:startColor="#323C6F"
        android:endColor="#323C6F"
-        android:angle="315"/>
-
+        android:angle="315"
+        />
+    <size
+        android:width="120px"
+        android:height="120px"
+        />
 </shape>
--- a/OCH/mogo-och/src/main/res/drawable/module_och_panel_bkg.xml
+++ b/OCH/mogo-och/src/main/res/drawable/module_och_panel_bkg.xml
@@ -2,7 +2,7 @@
 <layer-list xmlns:android="http://schemas.android.com/apk/res/android">
    <item>
        <shape>
-            <corners android:radius="17px" />
+            <corners android:radius="32px" />
            <solid android:color="#3B4577"/>
        </shape>
    </item>
@@ -12,7 +12,7 @@
        android:right="3px"
        android:top="3px">
        <shape>
-            <corners android:radius="17px" />
+            <corners android:radius="32px" />
            <solid android:color="#3B4577"/>
        </shape>
    </item>
--- a/OCH/mogo-och/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/OCH/mogo-och/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -31,7 +31,8 @@
    <dimen name="module_mogo_och_autopilot_order_bg_height">414px</dimen>


-    <dimen name="module_mogo_och_autopilot_status_text_size">44px</dimen>
+<!--    <dimen name="module_mogo_och_autopilot_status_text_size">44px</dimen>-->
+    <dimen name="module_mogo_och_autopilot_status_text_size">49px</dimen>
    <dimen name="module_mogo_och_autopilot_status_text_padding_top">13px</dimen>
    <dimen name="module_mogo_och_autopilot_status_text_drawable_padding">12px</dimen>
    <dimen name="module_mogo_och_autopilot_status_text_m_l">350px</dimen>
--- a/config.gradle
+++ b/config.gradle
@@ -171,7 +171,9 @@ ext {

            // obu sdk
            obusdk                     : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
-            mebulaobu                  : 'com.zhidao.support.nebulaobu:nebulaobu:1.0.0.3',
+//            mebulaobu                  : 'com.zhidao.support.nebulaobu:nebulaobu:1.0.0.3',
+            mogoobu                    : 'com.zhidao.support.obu:mogoobu:1.0.0.2',
+
            // 左侧面板
            moduleleftpanel            : "com.mogo.module:module-left-panel:${MOGO_MODULE_LEFT_PANEL_VERSION}",
            // 左侧面板空实现
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/network/SubscribeImpl.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/network/SubscribeImpl.java
@@ -43,7 +43,7 @@ public abstract class SubscribeImpl< T extends BaseData > implements Observer< T
    @Override
    public void onNext( T o ) {
        if ( o != null ) {
-            if ( o.code != 0 ) {
+            if ( o.code != 0 && o.code!= 200 ) {
                onError( o.msg, o.code );
            } else {
                onSuccess( o );
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -353,6 +353,9 @@ public class AMapViewWrapper implements IMogoMapView,
                    setUIMode(ui);
                    break;
                case Type_VR:
+                    if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
+                        mMapView.getMapAutoViewHelper().setScaleVRMode(true);
+                    }
                    mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_VR);
                    return;
                case Type_Light:
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
@@ -100,6 +100,7 @@ public class ObjectUtils {
                .setFlat( opt.isFlat() )
                .visible( opt.isVisible() )
                .infoWindowEnable( opt.isInifoWindowEnable() )
+                .scale(opt.getScale())
                .alpha( opt.getAlpha() )
 //                .draggable( opt.isDraggable() )
                .setInfoWindowOffset( opt.getOffsetX(), opt.getOffsetY() )
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
@@ -43,6 +43,9 @@ public class MogoMarkerOptions extends Observable {
    // 设置Marker覆盖物的透明度
    private float alpha = 1.0f;

+    // 设置Marker覆盖物的缩放
+    private float scale = 1.0f;
+
    // Marker覆盖物的坐标是否是Gps
    private boolean isGps = false;

@@ -220,6 +223,12 @@ public class MogoMarkerOptions extends Observable {
        return this;
    }

+    public MogoMarkerOptions scale( float scale ) {
+        this.scale = scale;
+        return this;
+    }
+
+
    public MogoMarkerOptions gps( boolean gps ) {
        isGps = gps;
        return this;
@@ -326,6 +335,10 @@ public class MogoMarkerOptions extends Observable {
        return alpha;
    }

+    public float getScale() {
+        return scale;
+    }
+
    public boolean isGps() {
        return isGps;
    }
@@ -403,6 +416,7 @@ public class MogoMarkerOptions extends Observable {
                ", visible=" + visible +
                ", inifoWindowEnable=" + inifoWindowEnable +
                ", alpha=" + alpha +
+                " ,scale=" + scale+
                ", isGps=" + isGps +
                ", u=" + u +
                ", v=" + v +
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -38,7 +38,7 @@ dependencies {
    implementation rootProject.ext.dependencies.androidxappcompat
    implementation rootProject.ext.dependencies.androidxconstraintlayout
    implementation rootProject.ext.dependencies.arouter
-
+    implementation rootProject.ext.dependencies.rxandroid

    annotationProcessor rootProject.ext.dependencies.aroutercompiler

--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasConstant.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasConstant.java
@@ -0,0 +1,11 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 2021/5/28 15:24
+ */
+public class AdasConstant {
+    public static final String HOST_DEV = "http://dzt-test.zhidaohulian.com";
+    public static final String HOST_TEST = "http://dzt-test.zhidaohulian.com";
+    public static final String HOST_DEMO = "http://dzt-show.zhidaohulian.com";
+    public static final String HOST_PRODUCT = "https://dzt.zhidaohulian.com";
+}
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -1,7 +1,14 @@
 package com.mogo.module.adas;

+import android.os.RemoteException;
+
 import com.google.gson.Gson;
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.data.BaseData;
+import com.mogo.commons.network.SubscribeImpl;
+import com.mogo.module.common.MogoApisHandler;
 import com.mogo.utils.logger.Logger;
+import com.mogo.utils.network.RequestOptions;
 import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
@@ -18,6 +25,18 @@ import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 import com.zhidao.support.adas.high.common.MsgActionType;

 import java.util.ArrayList;
+import java.util.concurrent.TimeUnit;
+
+import io.reactivex.Flowable;
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.annotations.NonNull;
+import io.reactivex.disposables.Disposable;
+import io.reactivex.functions.Consumer;
+import io.reactivex.schedulers.Schedulers;
+import okhttp3.MediaType;
+import okhttp3.RequestBody;
+
+import static com.mogo.commons.context.ContextHolderUtil.getContext;

 /**
 * Created by XuYong on 2021/4/25 14:43
@@ -25,14 +44,22 @@ import java.util.ArrayList;
 public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusListener {

    private final String TAG = "AdasEventManager";
-
    private final Gson gson;
-
    private final ArrayList<AdasDataListener> iAdasEventListeners = new ArrayList<>();
    private final ArrayList<AdasStatusListener> iAdasStatusListeners = new ArrayList<>();
+    private IAdasApiService mAdasApiService;
+    private Disposable uploadAutopilotStatus;
+    //自动驾驶状态
+    private int mCurrentAutopilotStatus = -1;
+    //自动驾驶车速度
+    private float mCurrentAutopilotSpeed = 0;
+    private Disposable mdDisposable;
+    //自动驾驶状态
+    private AutopilotStatus.ValuesBean mAutopilotStatus = null;

    public AdasEventManager() {
        gson =  GsonUtil.getGson();
+        mAdasApiService =  MogoApisHandler.getInstance().getApis().getNetworkApi().create( IAdasApiService.class, AdasConstant.HOST_PRODUCT );
    }

    public void addEventListener(AdasDataListener listener) {
@@ -65,6 +92,11 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
        }
    }

+    public void removeStatusListener() {
+        Logger.d(TAG,"注销adas状态事件监听");
+        iAdasStatusListeners.clear();
+    }
+
    @Override
    public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
        Logger.d(TAG,"onWarnMessage " + warnMessageInfo);
@@ -145,7 +177,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
        AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
        AutopilotStatus.ValuesBean mAutopilotStatus;

-
        if (autopilotStatusValues != null) {
            AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel=new AdasAIDLAutopilotStateModel();
            adasAIDLAutopilotStateModel.setReason(autopilotStatusValues.getReason());
@@ -154,14 +185,15 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
            float speed = autopilotStatusValues.getSpeed();
            adasAIDLAutopilotStateModel.setState(state);
            adasAIDLAutopilotStateModel.setSpeed(speed);
-
+            mCurrentAutopilotStatus = state;
+            mCurrentAutopilotSpeed = speed;
            for (AdasDataListener listener:iAdasEventListeners) {
                if (listener != null) {
                    listener.notifyAutopilotState(adasAIDLAutopilotStateModel);
                }
            }
-        }

+        }
    }

    @Override
@@ -174,8 +206,12 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
                if (endLatLon != null) {
                    AdasAIDLAutopilotArriveModel adasAIDLAutopilotArriveModel = new AdasAIDLAutopilotArriveModel();
                    adasAIDLAutopilotArriveModel.setCarType(result.getCarType());
-                    adasAIDLAutopilotArriveModel.setLat(endLatLon.getLat());
-                    adasAIDLAutopilotArriveModel.setLon(endLatLon.getLon());
+                    double lon = endLatLon.getLon();
+                    double lat = endLatLon.getLat();
+                    adasAIDLAutopilotArriveModel.setLat(lat);
+                    adasAIDLAutopilotArriveModel.setLon(lon);
+                    Logger.d(TAG,"autopilotArrive reportSite");
+                    reportSite(lon, lat);
                    for (AdasDataListener listener:iAdasEventListeners) {
                        if (listener != null) {
                            listener.autopilotArrive(adasAIDLAutopilotArriveModel);
@@ -197,6 +233,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
        for (AdasStatusListener listener :iAdasStatusListeners) {
            listener.onServiceConnected();
        }
+        updateDriveStatusTask();
    }

    @Override
@@ -206,4 +243,78 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
            listener.onServiceDisconnected();
        }
    }
+
+    public void updateDriveStatusTask() {
+        Logger.d(TAG,"updateDriveStatusTask");
+        mdDisposable = Flowable.interval(0,5, TimeUnit.SECONDS)
+                .subscribeOn(Schedulers.io())
+                .unsubscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new Consumer<Long>() {
+                    @Override
+                    public void accept(@NonNull Long aLong) throws Exception {
+                        updateDriveStatus();
+                    }
+                });
+    }
+
+    private void updateDriveStatus() {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        AutonomousDriveStatusBean request = new AutonomousDriveStatusBean(sn, mCurrentAutopilotStatus, mCurrentAutopilotSpeed);
+        RequestBody requestBody = RequestBody.create( MediaType.get( "application/json;charset=UTF-8" ), GsonUtil.jsonFromObject( request ) );
+        mAdasApiService.updateAutonomousDriveStatus(requestBody).
+                 subscribeOn( Schedulers.io() ).observeOn( AndroidSchedulers.mainThread() )
+                 .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
+                     @Override
+                     public void onError(String message, int code) {
+                         super.onError(message, code);
+                     }
+
+                     @Override
+                     public void onError(Throwable e) {
+                         super.onError(e);
+                     }
+
+                     @Override
+                     public void onSuccess(BaseData o) {
+                         super.onSuccess(o);
+                         Logger.d(TAG,"updateDriveStatus success");
+                     }
+                 });
+    }
+
+    private void reportSite( double lon, double lat) {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        ReportSiteBean reportSiteBean = new ReportSiteBean(sn, lon, lat);
+        RequestBody requestBody = RequestBody.create( MediaType.get( "application/json;charset=UTF-8" ), GsonUtil.jsonFromObject( reportSiteBean ) );
+        mAdasApiService.updateReportSite(requestBody).
+                subscribeOn( Schedulers.io() ).observeOn( AndroidSchedulers.mainThread() )
+                .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
+                    @Override
+                    public void onError(String message, int code) {
+                        super.onError(message, code);
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                    }
+
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        super.onSuccess(o);
+                        Logger.d(TAG,"autopilotArrive success");
+                    }
+                });
+    }
+
+    public AdasAIDLAutopilotStateModel autopilotStateCall() {
+        AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel=new AdasAIDLAutopilotStateModel();
+        if (mAutopilotStatus != null) {
+            adasAIDLAutopilotStateModel.setSpeed(mAutopilotStatus.getSpeed());
+            adasAIDLAutopilotStateModel.setState(mAutopilotStatus.getState());
+            adasAIDLAutopilotStateModel.setReason(mAutopilotStatus.getReason());
+        }
+        return adasAIDLAutopilotStateModel;
+    }
 }
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -6,6 +6,8 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.utils.logger.Logger;
+import com.zhidao.autopilot.support.api.AutopilotServiceManage;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;


@@ -51,8 +53,46 @@ public class AdasProvider implements IProvider {
        adasEventManager.removeStatusListener(listener);
    }

+    public void removeAdasStatusListener() {
+        adasEventManager.removeStatusListener();
+    }
+
    public void sendWsMessage(String msg) {
        AdasManager.getInstance().aiCloudToAdasData(msg);
    }

+    public void cancelPolit() {
+        if (AdasManager.getInstance().isSocketConnect()) {
+            AdasManager.getInstance().controlAutopilotCarHead();
+        }
+    }
+
+    public void hideAdas() {
+
+    }
+
+    public void showAdas() {
+
+    }
+
+    public void killAdas() {
+
+    }
+
+    //原ADAS sdk中为空实现
+    public void settingCarModelListInfo(String msg) {
+
+    }
+
+    //原ADAS sdk中为空实现
+    public void setSettingStatus(boolean show) {
+    }
+
+    //原ADAS sdk中为空实现
+    public void setUseAlgorithm(boolean open) {
+    }
+
+    public AdasAIDLAutopilotStateModel autopilotStateCall() {
+        return adasEventManager.autopilotStateCall();
+    }
 }
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java
@@ -0,0 +1,41 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 2021/5/28 16:12
+ */
+public class AutonomousDriveStatusBean {
+
+    private String sn;
+    private int status;
+    private float vehicleSpeed;
+
+    public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
+        this.sn = sn;
+        this.status = status;
+        this.vehicleSpeed = vehicleSpeed;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public int getStatus() {
+        return status;
+    }
+
+    public void setStatus(int status) {
+        this.status = status;
+    }
+
+    public float getVehicleSpeed() {
+        return vehicleSpeed;
+    }
+
+    public void setVehicleSpeed(float vehicleSpeed) {
+        this.vehicleSpeed = vehicleSpeed;
+    }
+}
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasApiService.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasApiService.java
@@ -0,0 +1,24 @@
+package com.mogo.module.adas;
+
+import com.mogo.commons.data.BaseData;
+
+import io.reactivex.Observable;
+import okhttp3.RequestBody;
+import retrofit2.http.Body;
+import retrofit2.http.Headers;
+import retrofit2.http.POST;
+
+/**
+ * Created by XuYong on 2021/5/28 14:24
+ */
+public interface IAdasApiService {
+
+    //上传自动驾驶状态接口
+    @Headers( {"Content-Type:application/json;charset=UTF-8"} )
+    @POST( "/yycp-carDataService/autonomousDrive/updateAutonomousDriveStatus" )
+    Observable<BaseData> updateAutonomousDriveStatus(@Body RequestBody requestBody );
+    //站点上报
+    @Headers( {"Content-Type:application/json;charset=UTF-8"} )
+    @POST( "/yycp-carDataService/autonomousDrive/reportSite" )
+    Observable<BaseData> updateReportSite(@Body RequestBody requestBody );
+}
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java
@@ -0,0 +1,40 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 2021/5/31 16:24
+ */
+public class ReportSiteBean {
+    private String sn;
+    private double lon;
+    private double lat;
+
+    public ReportSiteBean(String sn, double lon, double lat) {
+        this.sn = sn;
+        this.lon = lon;
+        this.lat = lat;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+}
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -380,10 +380,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
        mSwitchMapModeImage = (ImageView) findViewById(R.id.module_switch_model_icon);
        mSwitchMapModeLayout.setOnClickListener(clickListener);
        mSwitchText = (TextView) findViewById(R.id.module_switch_model_text);
-
-        if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
-            enterVrMode();
-        }
    }

    private int debugPanelClickCount = 0;
@@ -393,7 +389,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
    private Group groupFix;

    private void enterVrMode() {
-        if (!localIsVrMode) {
            tvEnterVrMode.setVisibility(View.GONE);
            mMove2CurrentLocation.setVisibility(View.GONE);
            mUploadRoadCondition.setVisibility(View.GONE);
@@ -415,11 +410,9 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
            flSpeed.setVisibility(View.VISIBLE);
            mSwitchMapModeLayout.setVisibility(View.VISIBLE);
            mApis.getV2XListenerManager().changeTipWindowStatusForListener(ACTION_V2X_REMOVE_TIP_WINDOW);
-        }
    }

    private void exitVrMode() {
-        if (localIsVrMode) {
            EntranceViewHolder.getInstance().forceHideNoticeView();
            tvEnterVrMode.setVisibility(View.VISIBLE);
            mMove2CurrentLocation.setVisibility(View.VISIBLE);
@@ -443,7 +436,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
            flSpeed.setVisibility(View.GONE);
            mSwitchMapModeLayout.setVisibility(View.GONE);
            clTrafficLight.setVisibility(View.GONE);
-        }
    }

    private void debugCrashWarn() {
@@ -722,29 +714,21 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
        TopViewAnimHelper.getInstance().setIMogoMapUIController(mMApUIController);
        TopViewNoLinkageAnimHelper.getInstance().setIMogoMapUIController(mMApUIController);

-        // 进入vr模式，不可缩放地图
-        if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
-            UiThreadHandler.postDelayed(this::stepIntoVrMode, 3_500L);
-        }
-
        mClickShareVoiceStrings =
                getContext().getResources().getStringArray(R.array.click_share_voice_guide_array);
        mInnerGuideVoiceStrings =
                getContext().getResources().getStringArray(R.array.search_voice_guide_inner_array);
        mOuterGuideVoiceStrings =
                getContext().getResources().getStringArray(R.array.search_voice_guide_outer_array);
-    }

-    /**
-     * 进入鹰眼模式，设置手势缩放地图失效
-     */
-    private void stepIntoVrMode() {
-        Logger.d(TAG, "进入vr模式");
-        MogoApisHandler.getInstance()
-                .getApis()
-                .getMapServiceApi()
-                .getMapUIController()
-                .openVrMode(false);
+        //TODO 因为衡阳6.30交付没有2D模式，临时方案，进入vr模式，不可缩放地图
+        if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
+            // 进入鹰眼模式，设置手势缩放地图失效
+            Logger.d(TAG, "进入vr模式");
+            mMApUIController.changeMapMode(EnumMapUI.Type_VR);
+            MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, true );
+        }
+
    }

    @Override
--- a/modules/mogo-module-extensions/src/main/res/drawable/yi_biao_pan_bg_nor.xml
+++ b/modules/mogo-module-extensions/src/main/res/drawable/yi_biao_pan_bg_nor.xml
@@ -7,9 +7,14 @@
    <!--    <stroke-->
    <!--        android:width="1dp"-->
    <!--        android:color="#182155" />-->
+<!--    <corners-->
+<!--        android:bottomLeftRadius="@dimen/dp_100"-->
+<!--        android:bottomRightRadius="@dimen/dp_20"-->
+<!--        android:topLeftRadius="@dimen/dp_20"-->
+<!--        android:topRightRadius="@dimen/dp_100" />-->
    <corners
-        android:bottomLeftRadius="@dimen/dp_100"
-        android:bottomRightRadius="@dimen/dp_20"
-        android:topLeftRadius="@dimen/dp_20"
-        android:topRightRadius="@dimen/dp_100" />
+        android:bottomLeftRadius="130px"
+        android:bottomRightRadius="30px"
+        android:topLeftRadius="30px"
+        android:topRightRadius="130px" />
 </shape>
--- a/modules/mogo-module-extensions/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/modules/mogo-module-extensions/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -5,7 +5,7 @@
    <dimen name="module_ext_speed_height">460px</dimen>
    <dimen name="module_ext_arcView_width">320px</dimen>
    <dimen name="module_ext_arcView_height">320px</dimen>
-    <dimen name="module_ext_arcView_stroke_with">15px</dimen>
+    <dimen name="module_ext_arcView_stroke_with">20px</dimen>
    <dimen name="module_ext_arcView_center_text_size">110px</dimen>
    <dimen name="module_ext_arcView_des_text_size">40px</dimen>
    <dimen name="module_switch_map">279px</dimen>
--- a/modules/mogo-module-extensions/src/main/res/values/strings.xml
+++ b/modules/mogo-module-extensions/src/main/res/values/strings.xml
@@ -69,7 +69,7 @@
        <item>提前看看出行路况，试试唤醒小智说，“中关村路况怎么样”</item>
    </string-array>

-    <string name="module_map_model_normal">默认视角</string>
+    <string name="module_map_model_normal">近距视角</string>
    <string name="module_map_model_faster">远距视角</string>

 </resources>
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -437,7 +437,9 @@ public class MogoServices implements IMogoMapListener,
 //                            isNeedUploadCoordinatesDurationInTime() ) {  //todo 实时在线车辆需要注释，否则在2D模式下不能展示
 //                    }
                    //请求在线车辆数据，刷新地图在线车辆
-                    MapMarkerManager.getInstance().getOnlineCarDataByAutoRefreshStrategy( ro.mLonLat );
+                    if (!mLastStatusIsVr){
+                        MapMarkerManager.getInstance().getOnlineCarDataByAutoRefreshStrategy( ro.mLonLat );
+                    }

                    Logger.i( TAG, "刷新半径 = %s, 点 = %s, zoomLevel = %s, amount = %s", ro.mRadius, ro.mLonLat, mLastZoomLevel, ro.mAmount );
                }
@@ -938,6 +940,8 @@ public class MogoServices implements IMogoMapListener,

    @Override
    public void onMapModeChanged( EnumMapUI ui ) {
+        Log.i(TAG, "onMapModeChanged:" + ui);
+        clearAllData();
        if ( ui == EnumMapUI.Type_VR ) {
            if ( !mLastStatusIsVr ) {
                MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, true );
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/StatusChangedAdapter.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/StatusChangedAdapter.java
@@ -8,7 +8,6 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.service.launchercard.LauncherCardRefresher;
 import com.mogo.module.service.marker.MapMarkerManager;
 import com.mogo.module.service.strategy.CarIconDisplayStrategy;
-import com.mogo.module.service.vrmode.VrModeController;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.UiThreadHandler;
@@ -90,7 +89,6 @@ abstract class StatusChangedAdapter implements IMogoStatusChangedListener {
            MogoServices.getInstance().unregisterInternalUnWakeupWords();
            MogoServices.getInstance().stopAutoRefreshStrategy();
        }
-        VrModeController.getInstance().onMainPageResumeStatusChanged(resume);
    }

    public void onMainPageIsBackgroundStatusChanged(boolean isBackground) {
@@ -163,7 +161,6 @@ abstract class StatusChangedAdapter implements IMogoStatusChangedListener {
    }

    public void onVrModeChanged(boolean isVrMode) {
-        VrModeController.getInstance().onVrModeChanged(isVrMode);
        if (MarkerServiceHandler.getMogoStatusManager().isSeekHelping()) {
            onSeekHelpingStatusChanged(true);
        }
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/strategy/CarIconDisplayStrategy.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/strategy/CarIconDisplayStrategy.java
@@ -236,6 +236,7 @@ public class CarIconDisplayStrategy {
                            .icons(mBitmapFrames)
                            .period(20)
                            .zIndex(0)
+                            .scale(MarkerServiceHandler.getMogoStatusManager().isVrMode() ? 0.4f : 1.0f)
                            .autoManager(false)
                            .anchor(0.5f, 0.5f)
                            .position(MarkerServiceHandler.getMapService().getNavi(AbsMogoApplication.getApp()).getCarLocation2()));
--- a/modules/mogo-module-smp/src/main/res/drawable-xhdpi-2560x1440/module_small_map_view_my_location_logo.png
+++ b/modules/mogo-module-smp/src/main/res/drawable-xhdpi-2560x1440/module_small_map_view_my_location_logo.png
--- a/modules/mogo-module-v2x/build.gradle
+++ b/modules/mogo-module-v2x/build.gradle
@@ -94,7 +94,8 @@ dependencies {
    androidTestImplementation 'androidx.test.ext:junit:1.1.1'
    androidTestImplementation 'androidx.test.espresso:espresso-core:3.2.0'
    implementation project(':modules:mogo-module-obu')
-    implementation rootProject.ext.dependencies.mebulaobu
+//    implementation rootProject.ext.dependencies.mebulaobu
+    implementation rootProject.ext.dependencies.mogoobu

 }

--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
@@ -38,11 +38,20 @@ import com.zhidao.mogo.module.obu.obu.IObuCallback;
 import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo;
 import com.zhidao.mogo.module.obu.obu.bean.MogoObuLocationInfo;
 import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo;
-import com.zhidao.support.nebulaobu.NebulaObuClient;
-import com.zhidao.support.nebulaobu.OnObuListener;
-import com.zhidao.support.nebulaobu.model.ActiveSafetyInfo;
-import com.zhidao.support.nebulaobu.model.ObuInfo;
-import com.zhidao.support.nebulaobu.model.ObuInfoMore;
+//import com.zhidao.support.nebulaobu.NebulaObuClient;
+//import com.zhidao.support.nebulaobu.OnObuListener;
+//import com.zhidao.support.nebulaobu.model.ActiveSafetyInfo;
+//import com.zhidao.support.nebulaobu.model.ObuInfo;
+//import com.zhidao.support.nebulaobu.model.ObuInfoMore;
+
+import com.zhidao.support.obu.MogoObuManager;
+import com.zhidao.support.obu.OnMogoObuListener;
+import com.zhidao.support.obu.model.CvxAppInitIndInfo;
+import com.zhidao.support.obu.model.CvxHvCarIndInfo;
+import com.zhidao.support.obu.model.CvxHvInfoIndInfo;
+import com.zhidao.support.obu.model.CvxRvInfoIndInfo;
+import com.zhidao.support.obu.model.CvxSetConfigCfmInfo;
+import com.zhidao.support.obu.model.CvxV2vThreatIndInfo;

 import org.json.JSONArray;
 import org.json.JSONObject;
@@ -94,9 +103,15 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
        obuManager.registerObuDataChangedListener(this);

        //使用adas部门obu sdk (星云)
-        NebulaObuClient.getInstance().init(context);
-        NebulaObuClient.getInstance().registerObu(100);
-        NebulaObuClient.getInstance().registerObuListener(listener);
+//        NebulaObuClient.getInstance().init(context);
+//        NebulaObuClient.getInstance().registerObu(100);
+//        NebulaObuClient.getInstance().registerObuListener(listener);
+
+        //自研obu
+        MogoObuManager.getInstance().init(context);
+        MogoObuManager.getInstance().connect();
+        MogoObuManager.getInstance().registerListener(mogoObuListener);
+        MogoObuManager.getInstance().unregisterListener();

 //        UiThreadHandler.postDelayed( () -> {
 //            //TODO 测试
@@ -109,52 +124,127 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
        context.registerReceiver(obuTypeExchangeReceiver, filter);
    }

-
-    public void release() {
-        NebulaObuClient.getInstance().unregisterObu();
-        NebulaObuClient.getInstance().unregisterObuListener();
-    }
-
-
-    /**
-     * 星云obu数据监听
-     */
-    private OnObuListener listener = new OnObuListener() {
+    private OnMogoObuListener mogoObuListener = new OnMogoObuListener() {
        @Override
-        public void onRegister() {
+        public void onConnected() {
+            //OBU连接成功
+            Logger.d("liyz", "onConnected ------> ");
        }

        @Override
        public void onConnectFail(boolean isNeedReconnect) {
            Logger.d("liyz", "onConnectFail ------> ");
+            //OBU连接失败
        }

        @Override
-        public void onUnregister() {
+        public void onDisconnect() {
+            Logger.d("liyz", "onDisconnect ------> ");
+            //OBU断开连接
        }

        @Override
-        public void onObuInfo(ObuInfo info) {
-            Logger.d("liyz", "onObuInfo ------> " + info.toString());
+        public void onReceiveOriginData(String data) {
+            super.onReceiveOriginData(data);
+            Logger.d("liyz", "onReceiveOriginData ------> data = " + data);
+            //接收到的原始数据
        }

        @Override
-        public void onWarningInfo(List<ActiveSafetyInfo> infoList) {
-            if (infoList != null) {
-                if (infoList.size() > 0) { //一般只有一个
-                    ActiveSafetyInfo info = infoList.get(0);
-                    Logger.d("liyz", "onWarningInfo type ------> " + info.getWarningtype() + "--size = " + infoList.size());
-                    if (info.getWarningtype() == 3) {
-                        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
-                            handleSdkObu(2);
-                        }
-                    }
-                }
-            }
+        public void onSendData(byte[] bytes) {
+            super.onSendData(bytes);
+            //发送的数据
+            Logger.d("liyz", "onSendData ------> ");
+        }
+
+        @Override
+        public void onCvxAppInitIndInfo(CvxAppInitIndInfo info) {
+            super.onCvxAppInitIndInfo(info);
+            Logger.d("liyz", "onCvxAppInitIndInfo ------> " + info.toString());
+            //CV2X系统信息
+        }
+
+        @Override
+        public void onCvxSetConfigCfm(CvxSetConfigCfmInfo info) {
+            super.onCvxSetConfigCfm(info);
+            Logger.d("liyz", "onCvxSetConfigCfm ------> " + info.toString());
+            //设置CV2X系统的配置确认
+        }
+
+        @Override
+        public void onCvxHvCarIndInfo(CvxHvCarIndInfo info) {
+            //主车车辆信息
+            Logger.d("liyz", "onCvxHvCarIndInfo ------> " + info.toString());
+        }
+
+        @Override
+        public void onCvxHvInfoIndInfo(CvxHvInfoIndInfo info) {
+            //主车信息
+        }
+
+        @Override
+        public void onCvxRvInfoIndInfo(CvxRvInfoIndInfo info) {
+            //远车信息
+            Logger.d("liyz", "onCvxRvInfoIndInfo ------> " + info.toString());
+        }
+
+        @Override
+        public void onCvxV2vThreatIndInfo(CvxV2vThreatIndInfo info) {
+            //预警信息
+            Logger.e("liyz", "onCvxRvInfoIndInfo ------> " + info.toString());
+
+            //预警数据的组装，车辆实时移动和变色。
+            //预警方位
+            //预警类型
+
        }
    };


+//    public void release() {
+//        NebulaObuClient.getInstance().unregisterObu();
+//        NebulaObuClient.getInstance().unregisterObuListener();
+//    }
+
+    /**
+     * 星云obu数据监听
+     */
+//    private OnObuListener listener = new OnObuListener() {
+//        @Override
+//        public void onRegister() {
+//        }
+//
+//        @Override
+//        public void onConnectFail(boolean isNeedReconnect) {
+//            Logger.d("liyz", "onConnectFail ------> ");
+//        }
+//
+//        @Override
+//        public void onUnregister() {
+//        }
+//
+//        @Override
+//        public void onObuInfo(ObuInfo info) {
+//            Logger.d("liyz", "onObuInfo ------> " + info.toString());
+//        }
+//
+//        @Override
+//        public void onWarningInfo(List<ActiveSafetyInfo> infoList) {
+//            if (infoList != null) {
+//                if (infoList.size() > 0) { //一般只有一个
+//                    ActiveSafetyInfo info = infoList.get(0);
+//                    Logger.d("liyz", "onWarningInfo type ------> " + info.getWarningtype() + "--size = " + infoList.size());
+//                    if (info.getWarningtype() == 3) {
+//                        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+//                            handleSdkObu(2);
+//                        }
+//                    }
+//                }
+//            }
+//        }
+//    };
+
+
    private void handleSdkObu(int type) {
        V2XMessageEntity<V2XObuEventEntity> messageEntity = new V2XMessageEntity<>();
        messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT);
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/adapter/holder/V2XOtherSeekHelpVH.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/adapter/holder/V2XOtherSeekHelpVH.java
@@ -199,14 +199,14 @@ public class V2XOtherSeekHelpVH extends V2XBaseViewHolder<V2XEventShowEntity> {
            if (mV2XPushMessageEntity.getDistance() > 1000) {
                SpanUtils.with(tvDistance)
                        .append("" + (int) mV2XPushMessageEntity.getDistance() / 1000)
-                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.dp_42 : R.dimen.module_v2x_event_distance_text))
+                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.module_v2x_fault_help_distance_text_size : R.dimen.module_v2x_event_distance_text))
                        .append("公里")
                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.dp_42 : R.dimen.module_v2x_event_distance_title))
                        .create();
            } else {
                SpanUtils.with(tvDistance)
                        .append("" + (int) mV2XPushMessageEntity.getDistance())
-                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.dp_42 : R.dimen.module_v2x_event_distance_text))
+                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.module_v2x_fault_help_distance_text_size : R.dimen.module_v2x_event_distance_text))
                        .append("米")
                        .setFontSize((int) itemView.getResources().getDimension(
                                V2XServiceManager.getMoGoStatusManager().isVrMode() ?
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java
@@ -2,6 +2,7 @@ package com.mogo.module.v2x.manager.impl;

 import android.content.Context;
 import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;

 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.commons.AbsMogoApplication;
@@ -39,10 +40,12 @@ import com.mogo.module.v2x.utils.MarkerUtils;
 import com.mogo.utils.ViewUtils;
 import com.mogo.utils.logger.Logger;

+import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.concurrent.CopyOnWriteArraySet;

+import static com.mogo.module.service.strategy.CarIconDisplayStrategy.sFrameVr;
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
 import static com.mogo.module.v2x.V2XConst.V2X_EVENT_ALARM_POI;

@@ -271,21 +274,35 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
                    } else {
                        mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);
                    }
+                    // 当前Marker设置为最上面
+                    mAlarmInfoMarker.setToTop();
                } else {
-                    optionsRipple.icons(V2XMarkerAdapter.getV2XRoadEventViewGif(context, roadEventEntity));
-                    optionsRipple.period(100);
-                    mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);
+                    if (V2XServiceManager.getMoGoStatusManager().isVrMode()) {
+                        ArrayList<Bitmap> mBitmapFrames = new ArrayList<>();
+                        for (int i : sFrameVr) {
+                            mBitmapFrames.add(BitmapFactory.decodeResource(AbsMogoApplication.getApp().getResources(), i));
+                        }
+                        optionsRipple.icons(mBitmapFrames);
+                        optionsRipple.period(20);
+                        optionsRipple.scale(0.4f);
+                        mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);

-                    MogoMarkerOptions options = new MogoMarkerOptions().object(roadEventEntity)
-                            .latitude(roadEventEntity.getLocation().getLat()).longitude(roadEventEntity.getLocation().getLon());
-                    options.anchor(0.5f, 0.5f);
-                    options.zIndex(MarkerDrawer.MARKER_Z_INDEX_HIGH);
-                    options.icon3DRes(com.mogo.module.common.R.raw.othercar);
-                    options.anchorColor("#C6D83EFF");
-                    m3DMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, options);
+                        MogoMarkerOptions options = new MogoMarkerOptions().object(roadEventEntity)
+                                .latitude(roadEventEntity.getLocation().getLat()).longitude(roadEventEntity.getLocation().getLon());
+                        options.anchor(0.5f, 0.5f);
+                        options.icon3DRes(com.mogo.module.common.R.raw.othercar);
+                        options.anchorColor("#FFBF29FF");
+                        m3DMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, options);
+                        m3DMarker.setToTop();
+                    } else {
+                        optionsRipple.icons(V2XMarkerAdapter.getV2XRoadEventViewGif(context, roadEventEntity));
+                        optionsRipple.period(100);
+                        mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);
+                        // 当前Marker设置为最上面
+                        mAlarmInfoMarker.setToTop();
+                    }
                }
-                // 当前Marker设置为最上面
-                mAlarmInfoMarker.setToTop();
+
                // 绘制连接线
                V2XServiceManager.getMoGoV2XPolylineManager().drawablePolyline(context, roadEventEntity);
                // 缩放地图
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerAdapter.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerAdapter.java
@@ -132,34 +132,6 @@ public class V2XMarkerAdapter {
     */
    public static ArrayList<Bitmap> getV2XRoadEventOrangeMarkerView(Context context, V2XRoadEventEntity alarmInfo) {
        ArrayList<Bitmap> icons = new ArrayList<>();
-        if (V2XServiceManager.getMoGoStatusManager().isVrMode()) {
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0000));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0001));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0002));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0003));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0004));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0005));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0006));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0007));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0008));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0009));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0010));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0011));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0012));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0013));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0014));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0015));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0016));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0017));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0018));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0019));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0020));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0021));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0022));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0023));
-            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, com.mogo.module.service.R.drawable.module_service_ic_car_for_help_0024));
-
-        } else {
            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00011));
            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00012));
            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00013));
@@ -198,8 +170,6 @@ public class V2XMarkerAdapter {
            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00046));
            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00047));
            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00048));
-        }
-
        return icons;
    }

--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerRoadEventView.kt
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerRoadEventView.kt
@@ -102,9 +102,7 @@ class V2XMarkerRoadEventView(context: Context, alarmInfo: V2XRoadEventEntity) :
            }
            // 故障车辆
            V2XPoiTypeEnum.ALERT_CAR_TROUBLE_WARNING.toString() -> {
-                if (!V2XServiceManager.getMoGoStatusManager().isVrMode()) {
-                    ivCar.setImageResource(R.drawable.icon_car_red)
-                }
+                ivCar.setImageResource(R.drawable.icon_car_red)
            }
            // 取快递
            V2XPoiTypeEnum.ALERT_TRAFFIC_EXPRESS -> {
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventScenario.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventScenario.java
@@ -44,7 +44,7 @@ public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> imple

    public static final String URGENCY_COLLISION_WARN_TEXT_ONE = "前车急刹，注意保持安全距离！";
    public static final String URGENCY_COLLISION_WARN_TEXT = "前车急刹";
-    public static final String URGENCY_CROING_WARN_TEXT = "交叉路口碰撞预警";
+    public static final String URGENCY_CROING_WARN_TEXT = "注意交叉路口车辆";

    private static final int MSG_CLOSE_OBU_WINDOW = 1001;
    private static final int DEFAULT_EXPIRE_TIME = 20_000;
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventWindow.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventWindow.java
@@ -85,7 +85,7 @@ public class V2XObuEventWindow extends FrameLayout implements IV2XWindow<V2XObuE
                break;
            case ObuConstant.TYPE_CROSS_COLLISION_WARNING:
                // 交叉路口碰撞预警
-                ivTypeIcon.setImageResource(R.drawable.v2x_icon_ahead_car_brake);
+                ivTypeIcon.setImageResource(R.drawable.v2x_icon_car_collide_warning);
                tvDesc.setText(entity.getDesc());
                tvType.setText("交叉路口碰撞预警");
                tvType.setBackgroundResource(R.drawable.bg_v2x_event_type_read);
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
@@ -79,8 +79,6 @@ public class V2XWarningMarker implements IV2XMarker {
        Log.d(TAG, "显示时间为++" + String.valueOf(showTime));
        pointsBetween();
        bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
-        //预警蒙层
-        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
        isSelfLineClear = false;
        isFirstLocation = false;
        V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
@@ -127,6 +125,9 @@ public class V2XWarningMarker implements IV2XMarker {
                isSelfLineClear = true;
            }, showTime);
        }
+        //预警蒙层
+        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
+
    }

    /**
--- a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_car_collide_warning.png
+++ b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_car_collide_warning.png
--- a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_car_collide_warning.png
+++ b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_car_collide_warning.png
--- a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_car_collide_warning.png
+++ b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_car_collide_warning.png
--- a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_obu_traffic_light.png
+++ b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_obu_traffic_light.png
--- a/modules/mogo-module-v2x/src/main/res/layout/item_v2x_fault_help_vr.xml
+++ b/modules/mogo-module-v2x/src/main/res/layout/item_v2x_fault_help_vr.xml
@@ -5,6 +5,7 @@
    android:layout_width="@dimen/module_v2x_fault_help_width"
    android:layout_height="@dimen/module_v2x_fault_help_height"
    android:layout_marginTop="@dimen/dp_8"
+    android:alpha="0.7"
    android:background="@drawable/bg_v2x_event_bg"
    tools:layout_height="wrap_content">

--- a/modules/mogo-module-v2x/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/modules/mogo-module-v2x/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -30,7 +30,7 @@
    <dimen name="module_v2x_fault_help_name_text_size">48px</dimen>
    <dimen name="module_v2x_fault_help_time_margin_bottom">35px</dimen>
    <dimen name="module_v2x_fault_help_time_text_size">36px</dimen>
-    <dimen name="module_v2x_fault_help_distance_text_size">64px</dimen>
+    <dimen name="module_v2x_fault_help_distance_text_size">80px</dimen>
    <dimen name="module_v2x_fault_help_event_call_width">108px</dimen>

    <dimen name="module_v2x_fault_help_event_navi_margin_right">53px</dimen>
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -5,7 +5,6 @@ import android.content.Context;
 import android.content.Intent;
 import android.os.Handler;
 import android.os.Message;
-import android.os.RemoteException;
 import android.text.TextUtils;
 import android.util.Log;

@@ -47,7 +46,6 @@ import com.zhidao.adasconfig.api.AdasConfigApiController;
 import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
 import com.zhidao.adasconfig.common.config.EnumCarHeading;
 import com.zhidao.adasconfig.common.config.EnumSkinStyle;
-import com.zhidao.autopilot.support.api.AutopilotServiceManage;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
@@ -301,7 +299,8 @@ public class MogoADASController implements IMogoADASController {
    @Override
    public void killADAS() {
        try {
-            AutopilotServiceManage.getInstance().kill();
+            //AutopilotServiceManage.getInstance().kill();
+            adasProvider.killAdas();
        } catch (Exception e) {

        }
@@ -309,6 +308,16 @@ public class MogoADASController implements IMogoADASController {

    private volatile boolean needEmphasizeMyLocation = false;

+    private void testOCH() {
+        RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
+        currentAutopilot.isSpeakVoice = true;
+        currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat( 0, 1 );
+        currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat( 2, 3 );
+        currentAutopilot.vehicleType = 10;
+        Logger.d( TAG, "开启自动驾驶====" + currentAutopilot );
+        aiCloudToAdasData(currentAutopilot);
+    }
+
    @Override
    public void showADAS() {

@@ -331,6 +340,9 @@ public class MogoADASController implements IMogoADASController {
                info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
                AdasManager.getInstance().setBasicInfo(info);
                invokeShowADASOperation();
+
+                //测试网约车
+                //testOCH();
            }

            @Override
@@ -389,7 +401,8 @@ public class MogoADASController implements IMogoADASController {
                        // 向adas发送车模list
                        String carModelList = SharedPrefsMgr.getInstance(context).getString("CAR_MODEL_LIST", "");
                        if (carModelList != null && !carModelList.isEmpty()) {
-                            AutopilotServiceManage.getInstance().settingCarModelListInfo(carModelList);
+                            //AutopilotServiceManage.getInstance().settingCarModelListInfo(carModelList);
+                            adasProvider.settingCarModelListInfo(carModelList);
                        }
                        // 此处进行网络请求，请求成功后再通知一次adas
                        requestCarModelList();
@@ -533,7 +546,8 @@ public class MogoADASController implements IMogoADASController {
            }

            try {
-                AutopilotServiceManage.getInstance().showAdas();
+                //AutopilotServiceManage.getInstance().showAdas();
+                adasProvider.showAdas();
            } catch (Exception e) {
                Intent intent = new Intent(ACTION);
                intent.putExtra(PARAM_COMMAND, VAL_COMMAND);
@@ -556,7 +570,8 @@ public class MogoADASController implements IMogoADASController {
        Logger.d(TAG, "close adas");

        try {
-            AutopilotServiceManage.getInstance().hideAdas();
+            //AutopilotServiceManage.getInstance().hideAdas();
+            adasProvider.hideAdas();
        } catch (Exception e) {
            Intent intent = new Intent(ACTION);
            intent.putExtra(PARAM_COMMAND, VAL_COMMAND);
@@ -585,7 +600,7 @@ public class MogoADASController implements IMogoADASController {

    @Override
    public void init(Context context) {
-        AutopilotServiceManage.getInstance().init(context);
+        //AutopilotServiceManage.getInstance().init(context);
        mIsReleased = false;
        mAdasMessageFactory = new MyMessageFactory();
        adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
@@ -594,12 +609,14 @@ public class MogoADASController implements IMogoADASController {

    @Override
    public void setSettingStatus(boolean show) {
-        AutopilotServiceManage.getInstance().setSettingStatus(show);
+        //AutopilotServiceManage.getInstance().setSettingStatus(show);
+        adasProvider.setSettingStatus(show);
    }

    @Override
    public void setUseAlgorithm(boolean open) {
-        AutopilotServiceManage.getInstance().setUseAlgorithm(open);
+        //AutopilotServiceManage.getInstance().setUseAlgorithm(open);
+        adasProvider.setUseAlgorithm(open);
    }

    @Override
@@ -670,7 +687,8 @@ public class MogoADASController implements IMogoADASController {
        AdasControlCommandParameter parameter = new AdasControlCommandParameter(action, result);
        //位置信息 action是aiCloudToStartAutopilot
        try {
-            AutopilotServiceManage.getInstance().aiCloudToAdasData(GsonUtil.jsonFromObject(parameter));
+            //AutopilotServiceManage.getInstance().aiCloudToAdasData(GsonUtil.jsonFromObject(parameter));
+            adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
        } catch (Exception e) {
            e.printStackTrace();
        }
@@ -692,7 +710,8 @@ public class MogoADASController implements IMogoADASController {
                        String value = GsonUtil.jsonFromObject(o.getResult());
                        SharedPrefsMgr.getInstance(context).putString("CAR_MODEL_LIST", value);
                        if (value != null && !value.isEmpty()) {
-                            AutopilotServiceManage.getInstance().settingCarModelListInfo(value);
+                            //AutopilotServiceManage.getInstance().settingCarModelListInfo(value);
+                            adasProvider.settingCarModelListInfo(value);
                        }
                    }

@@ -716,7 +735,8 @@ public class MogoADASController implements IMogoADASController {
        mIsReleased = true;
        //AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
        adasProvider.removeAdasEventListener(mAdasDataListener);
-        AutopilotServiceManage.getInstance().release();
+        adasProvider.removeAdasStatusListener();
+        //AutopilotServiceManage.getInstance().release();
    }

    @Override
@@ -826,7 +846,8 @@ public class MogoADASController implements IMogoADASController {
        }
        int status = IMogoAdasOCHCallback.STATUS_AUTOPILOT_DISABLE;
        try {
-            status = AutopilotServiceManage.getInstance().autopilotStateCall().getState();
+            //status = AutopilotServiceManage.getInstance().autopilotStateCall().getState();
+            status = adasProvider.autopilotStateCall().getState();
        } catch (Exception e) {
            e.printStackTrace();
        }
@@ -851,11 +872,12 @@ public class MogoADASController implements IMogoADASController {

    @Override
    public void cancelAutopilot() {
-        try {
-            AutopilotServiceManage.getInstance().cancelAutopilot();
-        } catch (RemoteException e) {
-            e.printStackTrace();
-        }
+        //try {
+            //AutopilotServiceManage.getInstance().cancelAutopilot();
+            adasProvider.cancelPolit();
+        //} catch (RemoteException e) {
+        //    e.printStackTrace();
+        //}
    }

    @Override
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/statusmanager/MogoStatusManager.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/statusmanager/MogoStatusManager.java
@@ -159,7 +159,7 @@ public class MogoStatusManager implements IMogoStatusManager {

    private boolean get_bool_val(StatusDescriptor descriptor ) {
        Boolean val = mStatus.get( descriptor );
-        return val == null ? false : val;
+        return val != null && val;
    }

    @Override